CN117491500A - Ultrasonic detection method and system - Google Patents
Ultrasonic detection method and system Download PDFInfo
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- CN117491500A CN117491500A CN202311459857.5A CN202311459857A CN117491500A CN 117491500 A CN117491500 A CN 117491500A CN 202311459857 A CN202311459857 A CN 202311459857A CN 117491500 A CN117491500 A CN 117491500A
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- 238000001514 detection method Methods 0.000 title claims abstract description 58
- 238000004088 simulation Methods 0.000 claims description 25
- 238000000034 method Methods 0.000 claims description 18
- 238000007689 inspection Methods 0.000 claims description 6
- 238000012360 testing method Methods 0.000 claims 8
- 239000007787 solid Substances 0.000 claims 1
- 230000035515 penetration Effects 0.000 description 5
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
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- 238000009432 framing Methods 0.000 description 1
- 239000011148 porous material Substances 0.000 description 1
- 238000011165 process development Methods 0.000 description 1
- 238000001028 reflection method Methods 0.000 description 1
- 238000005507 spraying Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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- G01N29/00—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
- G01N29/04—Analysing solids
- G01N29/06—Visualisation of the interior, e.g. acoustic microscopy
- G01N29/0609—Display arrangements, e.g. colour displays
- G01N29/0645—Display representation or displayed parameters, e.g. A-, B- or C-Scan
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N29/00—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
- G01N29/44—Processing the detected response signal, e.g. electronic circuits specially adapted therefor
- G01N29/4409—Processing the detected response signal, e.g. electronic circuits specially adapted therefor by comparison
- G01N29/4418—Processing the detected response signal, e.g. electronic circuits specially adapted therefor by comparison with a model, e.g. best-fit, regression analysis
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Abstract
The embodiment of the application provides an ultrasonic detection method and an ultrasonic detection system. Relates to the technical field of ultrasonic detection. The ultrasonic detection method comprises the following steps: marking a first area (the first area is an area which cannot be detected by the automatic scanning equipment or an area which needs to be scanned in a second scanning mode; the area which needs to be scanned in the second scanning mode covers the area which cannot be detected by the automatic scanning equipment) on the entity of the part; and automatically scanning the part, and scanning the first area in a second scanning mode to complete the scanning detection of the whole part entity. The ultrasonic automatic detection of the oversized part can be realized under the condition that the existing automatic scanning area is limited, the whole part is not required to be detected manually, larger automatic scanning equipment is not required to be customized, and the cost is saved and the efficiency is high. In the abstract drawing, the single arrow indicates the boundary of the undetectable region of the automatic scanning, and the double arrow marks the boundary of the supplementary detection region of the second scanning mode.
Description
Technical Field
The present application relates to the field of ultrasonic detection technologies, and in particular, to an ultrasonic detection method and system.
Background
In order to detect whether the quality problems of layering, debonding, inclusion, pore and the like exist in the part, the part needs to be scanned and detected.
Referring to fig. 1 and 2, fig. 2 is a front view of fig. 1, the 8 m-level double curved wall plate produced by the applicant has a height of about 4m, the maximum detection range of the existing detection device in the Z direction is 3.6m, and since the upper and lower edges of the part are both double curved structures, in order to ensure that the nozzles on both sides are perpendicular to the surface of the part, the device needs a certain turning space (turning is as compared with fig. 3 and 4, and the moving range of the shaded part in the figure is Z) 0 The detectable space z of FIG. 3 varies for different parts due to the different surface curvatures of the different parts 1 Compared to the detectable space z of FIG. 4 2 Large) for the double-walled plate of fig. 1, the actual detectable space is only about 3.2m (ZA is the upper limit of the device effective detection space, ZB is the lower limit of the device effective detection space), which further illustrates the limitations of the existing detection devices.
Because of project requirements, ultrasonic detection is carried out on the part, internal defect conditions of the part are checked, and guidance is provided for process development. If the detection is performed by a foreign company, the cost is high, and no suitable suppliers can perform the detection in the market at present. If a new device is customized, the cost is too high and the cycle time is too long.
If the portable ultrasonic flaw detector is adopted to manually detect the whole part, the efficiency is too low and the reliability is poor. Therefore, how to realize the ultrasonic automatic penetration method C scanning detection of the oversized double-curved wall plate under the existing condition and how to utilize the automatic scanning equipment to carry out ultrasonic detection on oversized parts becomes the technical problem which needs to be solved.
Disclosure of Invention
The invention aims to provide an ultrasonic detection method and an ultrasonic detection system, which are used for solving the technical problem of how to carry out ultrasonic detection on oversized parts by utilizing automatic scanning equipment.
In order to achieve the above purpose, the following technical solutions are adopted in the embodiments of the present application.
In a first aspect, an embodiment of the present application provides an ultrasonic inspection method for a case where a part entity to be scanned cannot be completely placed in an area detectable by automated scanning, the ultrasonic inspection method including:
marking a first area on the part entity; the first area is an area which is undetectable by the automatic scanning equipment or an area which needs to be scanned in a second scanning mode; the area to be scanned in the second scanning mode is covered with an area undetectable by the automated scanning equipment;
automatically scanning a detectable area of the automatic scanning of the part entity;
and scanning the first area in a second scanning mode.
Optionally, the step of marking the first region at the part entity includes:
fixing the relative positions of a part digital-analog and a tool digital-analog in scanning detection software; the part digital model is the digital model of the part entity, and the tool digital model is the digital model of the tool entity;
establishing an initial scanning digital model according to the part digital model and the initial estimated detectable space;
according to the initial scanning digital model, path simulation planning of automatic scanning is carried out;
judging whether the initial scanning digital model needs to be adjusted according to the path simulation planning condition of automatic scanning;
if yes, the initial scanning digital model is adjusted to obtain a final scanning digital model; if not, taking the initial scanning digital model as a final scanning digital model;
and marking the first area on the part entity according to the final scanning digital-analog.
Optionally, the step of establishing an initial scan digital-to-analog model includes:
and dividing the part digital model by using the boundary of the initial estimated detectable space, and establishing the initial scanning digital model according to the part digital model in the initial estimated detectable space.
Optionally:
(1) Before the step of marking the first area by the part entity according to the final scan digital-to-analog, the ultrasonic detection method further comprises:
marking an entity reference point on the part entity;
marking a digital-analog reference point on the part digital-analog;
the position of the entity reference point at the part entity is consistent with the position of the digital-analog reference point at the part digital-analog;
(2) The step of marking the first area on the part entity according to the final scanned digital-analog comprises the following steps:
clamping and fixing the part entity by using a tool entity so that the difference between the coordinates of the entity reference point relative to a tool entity coordinate system and the coordinates of the digital-analog reference point relative to a tool digital-analog coordinate system is smaller than a preset threshold; the tooling entity coordinate system corresponds to the tooling digital-analog coordinate system;
after clamping and fixing the part entity by using a tool entity, marking the first area on the part entity according to the final scanning digital model.
Optionally, the step of clamping and fixing the part entity with the fixture entity comprises:
the part entity is initially clamped by a fixture entity, and initial coordinates of the entity reference point in an initial clamping state relative to a fixture entity coordinate system are obtained;
and according to the difference value between the initial coordinate and the coordinate of the digital-analog reference point relative to the tooling digital-analog coordinate system, clamping the part entity by the tooling entity is adjusted so that the difference between the coordinate of the entity reference point relative to the tooling entity coordinate system and the coordinate of the digital-analog reference point relative to the tooling digital-analog coordinate system is smaller than a preset threshold.
Optionally, the number of the entity reference points is 3, and the number of the digital-analog reference points is 3.
Optionally, the step of determining whether the initial scan digital-to-analog needs to be adjusted according to the path simulation planning of the automated scan includes:
step A, if the scanning area of the path simulation of the automatic scanning is smaller than the initial scanning digital model, the boundary of the initial scanning digital model is reduced inwards, and the reduced initial scanning digital model is obtained according to the new boundary;
and (C) circularly executing the step A until the area which can be scanned by the path simulation of the automatic scanning can contain the initial scanning digital model, and taking the initial scanning digital model at the moment as a final scanning digital model.
Optionally, the step of determining whether the initial scan digital-to-analog needs to be adjusted according to the path simulation planning of the automated scan includes:
step B, if the scanning area of the path simulation of the automatic scanning is larger than the initial scanning digital model, the boundary of the initial scanning digital model is outwards expanded, and the increased initial scanning digital model is obtained according to the new boundary;
and B, circularly executing the step B until the area which can be scanned by the path simulation of the automatic scanning cannot contain the initial scanning digital model, and taking the initial scanning digital model in the last circularly executing the step B as a final scanning digital model.
Optionally, after marking the first area by the part entity according to the final scan digital-to-analog, and before automatically scanning the area detectable by the automated scanning of the part entity, the ultrasonic detection method further comprises:
and performing the scanning of the idle running, and determining that the nozzle spacing is normal in the scanning process.
In a second aspect, embodiments of the present application provide an ultrasonic detection system for implementing the ultrasonic detection method of the first aspect, the ultrasonic detection system including:
marking means for marking the first region in a part entity; the first area is an area which is undetectable by the automatic scanning equipment or an area which needs to be scanned in a second scanning mode;
the automatic scanning device is used for automatically scanning the detectable area of the automatic scanning of the part entity;
and the second scanning mode scanning device is used for scanning the first area in the second scanning mode.
Compared with the prior art, the application has the following beneficial effects:
according to the ultrasonic detection method and the ultrasonic detection equipment provided by the embodiment of the application, the part entity is divided into two areas, one area is the area which can be scanned by automatic scanning originally, and the rest areas are finished by means other than automatic scanning, so that the scanning detection of the whole part entity can be finished. The ultrasonic automatic detection of the oversized part can be realized under the condition that the existing automatic scanning area is limited, the whole part is not required to be detected manually, larger automatic scanning equipment is not required to be customized, and the cost is saved and the efficiency is high.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered limiting the scope, and that other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of a prior art scanning device that is not capable of scanning an entire part;
FIG. 2 is a front view of FIG. 1;
FIGS. 3 and 4 are illustrations of the comparison of the detectable regions of different parts;
fig. 5 is a schematic diagram of an automatic scanning undetectable region boundary and a second scanning method scanning a complementary detection region boundary according to an embodiment of the present application.
Detailed Description
For the purposes of making the objects, technical solutions and advantages of the embodiments of the present application more clear, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and the described embodiments are some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, which are generally described in the figures herein, may be arranged and designed in a wide variety of different configurations.
Accordingly, the following detailed description of the embodiments of the present application, as presented in the figures, is not intended to limit the scope of the application, as claimed, but is merely representative of selected embodiments of the application. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are within the scope of the present disclosure. The following embodiments and features of the embodiments may be combined with each other without conflict.
In the description of the present application, it should be noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. The term "coupled" is to be interpreted broadly, as being a fixed connection, a removable connection, or an integral connection, for example; can be directly connected or indirectly connected through an intermediate medium.
Under the condition that the existing automatic scanning area is limited, the ultrasonic automatic penetration method C scanning detection of the oversized part cannot be realized.
In order to overcome the above problems, the embodiments of the present application provide an ultrasonic inspection method, for a case where a part entity to be scanned cannot be completely placed in an area detectable by automated scanning, where the ultrasonic inspection method includes the following steps (the order of the steps is not limited in the present application, as long as the arrangement of the steps conforms to a logic implementation):
marking a first area (the first area can be an area which is not detectable by the automatic scanning equipment or can be an area which needs to be scanned in a second scanning mode; the area which needs to be scanned in the second scanning mode is an area which covers the area which is not detectable by the automatic scanning equipment and can be a larger area so as to ensure that the whole part entity is scanned, and the second scanning mode is independent of the automatic scanning mode so as to overcome the defect that the automatic scanning equipment cannot scan the whole part);
automatically scanning a detectable area of automatic scanning of the part entity through automatic scanning equipment;
and scanning the first area in a second scanning mode.
The first area and the automatically scanning detectable area are added to cover the whole part entity, so that the scanning detection of the whole part entity can be completed. The automatic scanning device can adopt an automatic detection/scanning method such as a penetration method, a pulse reflection method or a phased array technology, and the like, can display in a C scanning mode when analyzing detection data in the follow-up step, can display in an A scanning mode at a certain point, or can select a certain section to display in a B scanning mode. The second scanning mode may be one of a manual a-scan, a manual C-scan, or a manual phased array detection method, and the manual may be performed by a technician, a robot, or other automated equipment.
In one embodiment, the scheme can realize the ultrasonic automatic penetration C-scan detection of oversized parts under the condition that the existing automatic scanning area is limited. The whole part does not need to be detected manually, larger automatic scanning equipment does not need to be customized, and cost is saved and the device is efficient, so that the device has the beneficial effects.
For the step of marking the first area on the part entity, the first area can be found by using the scan detection software, referring to fig. 1 to 4, the curved surface represents the part entity to be scanned, the part formed by the square blocks in the figure represents the tooling entity of the scanning device except the part, the part digital model and the tooling digital model (the digital model refers to a digital three-dimensional model in the software and can be in the form of a point cloud) corresponding to the shape and the size are built in the scan detection software, and then the following steps are implemented:
fixing the relative position of a part digital-to-tooling digital-to-analogue in scanning detection software (the part digital-to-analogue is the digital-to-analogue of a part entity and the tooling digital-to-analogue is the digital-to-analogue of a tooling entity);
establishing an initial scan digital model based on the part digital model and the initial pre-estimated detectable space (e.g., segmenting the part digital model with the boundary of the initial pre-estimated detectable space, as if framing out a portion of the part digital model, the portion of the part digital model within the initial pre-estimated detectable space as the initial scan digital model);
according to the initial scanning digital model, carrying out path simulation planning of automatic scanning;
judging whether the initial scan digital model needs to be adjusted according to the path simulation planning condition of automatic scanning (because the initial estimated detectable space may be inaccurate, some parts of the initial scan digital model may not be scanned, and then a smaller range is needed to frame the part digital model as the final scan digital model);
if yes, adjusting the initial scanning digital model to obtain a final scanning digital model; if not, taking the initial scanning digital model as a final scanning digital model;
thus, the first region can be marked on the part entity according to the final scan digital-analog in the scan detection software.
The step of fixing the relative positions of the part digital-analog and the tool digital-analog in the scanning detection software needs to be noted as follows:
(1) With respect to the position of the tooling digital-to-analog, there is an initial estimated detectable space, which may be a predefined space, such as a 3200mm high space between planes ZA and ZB in fig. 1, but which is not truly detectable; the actual detectable space may be larger than the "initially estimated detectable space" or smaller than the "initially estimated detectable space". That is, the predefined space may be (a) significantly larger than the true detectable space or (b) significantly smaller than the true detectable space. The simplest way is to directly handle the largest detectable space (i.e. z in fig. 3 0 ) As an "initial estimated detectable space".
(2) The part number model is placed as much as possible into the "initial estimated detectable space" so that as many parts as possible are subsequently available for automated scanning. But need not take the most ideal position, "as many as possible" is the preferred way. For example, in the most ideal case, 90% of the part may be placed in the initial estimated detectable space, and in practice 80% may be sufficient, but it is disadvantageous if only 50%.
Corresponding to the two embodiments (a) and (b), there are two steps of "determining whether the initial scan digital-analog needs to be adjusted according to the path simulation planning of the automated scan:
(a) Step A, if the scanning area of the path simulation of the automatic scanning is smaller than the initial scanning digital model, the boundary of the initial scanning digital model is reduced inwards, and the reduced initial scanning digital model is obtained according to the new boundary;
and (C) executing the step A in a circulating way until the area which can be scanned by the path simulation of the automatic scanning can contain an initial scanning digital-to-analog, and taking the initial scanning digital-to-analog at the moment as a final scanning digital-to-analog.
(b) Step B, if the scanning area of the path simulation of the automatic scanning is larger than the initial scanning digital model, the boundary of the initial scanning digital model is outwards expanded, and the increased initial scanning digital model is obtained according to the new boundary;
and B, circularly executing the step B until the area which can be scanned by the path simulation of the automatic scanning cannot contain the initial scanning digital model, and taking the initial scanning digital model in the last circularly executing the step B as the final scanning digital model.
After the final scan digital-to-analog is obtained, it is determined that the part is scanable and can be bordered by the part entity. The marked boundary may be the same boundary corresponding to the boundary of the final scan phantom or may be slightly larger than the boundary of the final scan phantom, which ensures that the second scan mode scan can cover areas that are not automatically scanned.
In order to ensure that the relative position relation between the part entity and the tool entity can be consistent with the relative position relation between the part digital model and the tool digital model, the relative position relation can be determined by marking a reference point on the part and the coordinates of the reference point relative to a tool coordinate system, and the relative position relation is specifically as follows:
marking an entity reference point on a part entity, marking a digital-analog reference point on a part digital-analog, and enabling the position of the entity reference point on the part entity to be consistent with the position of the digital-analog reference point on the part digital-analog; the number of the reference points can be 3, and the 3 reference points can accurately position a part with a complex curved surface.
When the fixture entity is used for clamping and fixing the part entity, the difference between the coordinates of the entity reference point relative to the fixture entity coordinate system and the coordinates of the digital-analog reference point relative to the fixture digital-analog coordinate system is smaller than a preset threshold (for example, 5 mm); the fixture entity coordinate system corresponds to a fixture digital-analog coordinate system; after clamping and fixing the part entity by the tool entity, marking a first area on the part entity according to the final scanning digital-analog.
Clamping and fixing the part entity by the fixture entity is not necessarily completed by one-time clamping, and may be performed by first performing an initial clamping, then adjusting the position, and finally clamping and fixing, wherein the process may be as follows:
carrying out initial clamping on the part entity by using a tool entity to obtain initial coordinates of an entity reference point in an initial clamping state relative to a tool entity coordinate system;
and adjusting the clamping of the fixture entity to the part entity according to the difference between the initial coordinate and the coordinate of the digital-analog reference point relative to the fixture digital-analog coordinate system, so that the difference between the coordinate of the entity reference point relative to the fixture entity coordinate system and the coordinate of the digital-analog reference point relative to the fixture digital-analog coordinate system is smaller than a preset threshold.
After the clamping is finished, in order to ensure accurate positions, the scanning of the idle running can be performed first, and the normal nozzle spacing in the scanning process is determined. And after the nozzle spacing is determined to be normal in the scanning process, carrying out automatic scanning.
In summary of the above alternative embodiments, one alternative flow that is accomplished is as follows:
fixing the relative positions of the part digital-analog and the tooling digital-analog in the scanning detection software, and putting the part digital-analog into an initial estimated detectable space as much as possible;
dividing a part number model by using the boundary of the initial pre-estimated detectable space, and establishing an initial scanning digital model according to the part of the part number model in the initial pre-estimated detectable space;
marking an entity reference point on a part entity in a predicted detectable space, taking a digital-analog reference point on a part number model in the predicted detectable space, wherein the entity reference point and the digital-analog reference point are reference points corresponding to each other one by one, and the digital-analog reference point is also positioned in the range of an initial scanning digital-analog (if the size of the part is overlarge, if the corner at the edge is selected as the digital-analog reference point, the equipment cannot move a probe to the position of the entity reference point of the corresponding part entity for coordinate acquisition;
according to the initial scanning digital model, carrying out path simulation planning of automatic scanning;
judging whether the initial scanning digital model needs to be adjusted according to the path simulation planning condition of automatic scanning;
if yes, adjusting the initial scanning digital model to obtain a final scanning digital model; if not, taking the initial scanning digital model as a final scanning digital model;
before clamping the part entity, marking a first area on the part entity according to the boundary of the final scanned digital-analog;
clamping the entity of the part, namely fixing the part, then collecting and positioning the coordinates of the reference point of the entity through a point-taking probe, and properly adjusting the gesture of the part according to the deviation between the reference point of the entity and the reference point of the digital model;
after the deviation between the entity reference point and the digital-analog reference point is qualified, carrying out idle running scanning by using a larger set distance and a larger step of the nozzle from the entity surface of the part, and determining that the distance between the nozzle and the entity surface of the part is qualified and collision does not occur in the scanning process;
setting detection parameters including scanning speed, water spraying flow, setting distance from normal nozzle to the surface of the part entity and stepping, and then completing automatic scanning according to the detection parameters;
and (3) performing manual pulse reflection A scanning detection on the part outside the automatic scanning detectable region according to the position of the mark, wherein the part is subjected to outward expansion by at least 50mm, and finally 100% detection of the part is realized, as shown in fig. 5, the single arrow indicates the boundary of the automatic scanning undetectable region, and the double arrow indicates the boundary of the A scanning supplementary detection region.
Based on the above embodiments, the embodiments of the present application further provide an ultrasonic detection system, configured to implement the above ultrasonic detection method, where the ultrasonic detection system includes:
marking means for marking a first region in the part entity; the first area is an area which is undetectable by the automatic scanning equipment or an area which needs to be scanned in a second scanning mode; the marking tool can be a ruler or a marker pen, the marker pen is used for manual marking by measuring the ruler; the projection of the contour lines may also be performed by special equipment, such as a laser projection device, and the marking may be performed on the surface of the part according to the projection lines.
The automatic scanning device is used for automatically scanning the detectable area of the automatic scanning of the part entity;
and the second scanning mode scanning device is used for scanning the first area in the second scanning mode.
In general, the application provides an ultrasonic detection method and an ultrasonic detection system, under the condition of limited equipment, the embodiment of the application can realize the ultrasonic automatic penetration C-scanning detection of most areas of 8 m-level large-size hyperbolic wall plate parts, save the cost of external cooperation detection and equipment transformation/purchase for companies, improve the detection efficiency and ensure the detection quality.
The above-described embodiments of the apparatus and system are merely illustrative, and some or all of the modules may be selected according to actual needs to achieve the objectives of the present embodiment. Those of ordinary skill in the art will understand and implement the present invention without undue burden.
The foregoing is merely a preferred embodiment of the present application, but the scope of the present application is not limited thereto, and any changes or substitutions easily contemplated by those skilled in the art within the technical scope of the present application should be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (10)
1. An ultrasonic inspection method for use in situations where a part entity to be scanned cannot be placed completely within an area detectable by automated scanning, the ultrasonic inspection method comprising:
marking a first area on the part entity; the first area is an area which is undetectable by the automatic scanning equipment or an area which needs to be scanned in a second scanning mode; the area to be scanned in the second scanning mode is covered with an area undetectable by the automated scanning equipment;
automatically scanning a detectable area of the automatic scanning of the part entity;
and scanning the first area in a second scanning mode.
2. The method of claim 1, wherein the step of marking the first area at the part entity comprises:
fixing the relative positions of a part digital-analog and a tool digital-analog in scanning detection software; the part digital model is the digital model of the part entity, and the tool digital model is the digital model of the tool entity;
establishing an initial scanning digital model according to the part digital model and the initial estimated detectable space;
according to the initial scanning digital model, path simulation planning of automatic scanning is carried out;
judging whether the initial scanning digital model needs to be adjusted according to the path simulation planning condition of automatic scanning;
if yes, the initial scanning digital model is adjusted to obtain a final scanning digital model; if not, taking the initial scanning digital model as a final scanning digital model;
and marking the first area on the part entity according to the final scanning digital-analog.
3. The ultrasonic testing method of claim 2, wherein the step of establishing an initial scan digital model based on the part digital model and the initial pre-estimated detectable space comprises:
and dividing the part digital model by using the boundary of the initial estimated detectable space, and establishing the initial scanning digital model according to the part digital model in the initial estimated detectable space.
4. The ultrasonic testing method of claim 2, wherein:
before the step of marking the first area by the part entity according to the final scan digital-to-analog, the ultrasonic detection method further comprises:
marking an entity reference point on the part entity;
marking a digital-analog reference point on the part digital-analog;
the position of the entity reference point at the part entity is consistent with the position of the digital-analog reference point at the part digital-analog;
the step of marking the first area on the part entity according to the final scanned digital-analog comprises the following steps:
clamping and fixing the part entity by using a tool entity so that the difference between the coordinates of the entity reference point relative to a tool entity coordinate system and the coordinates of the digital-analog reference point relative to a tool digital-analog coordinate system is smaller than a preset threshold; the tooling entity coordinate system corresponds to the tooling digital-analog coordinate system;
after clamping and fixing the part entity by using a tool entity, marking the first area on the part entity according to the final scanning digital model.
5. The ultrasonic testing method of claim 4, wherein the step of clamping and securing the part body with a tool body comprises:
the part entity is initially clamped by a fixture entity, and initial coordinates of the entity reference point in an initial clamping state relative to a fixture entity coordinate system are obtained;
and according to the difference value between the initial coordinate and the coordinate of the digital-analog reference point relative to the tooling digital-analog coordinate system, clamping the part entity by the tooling entity is adjusted so that the difference between the coordinate of the entity reference point relative to the tooling entity coordinate system and the coordinate of the digital-analog reference point relative to the tooling digital-analog coordinate system is smaller than a preset threshold.
6. The ultrasonic testing method of claim 4, wherein the number of physical reference points is 3 and the number of digital-to-analog reference points is 3.
7. The ultrasonic testing method of claim 2, wherein the step of determining whether the initial scan digital-to-analog needs to be adjusted based on the path simulation plan of the automated scan comprises:
step A, if the scanning area of the path simulation of the automatic scanning is smaller than the initial scanning digital model, the boundary of the initial scanning digital model is reduced inwards, and the reduced initial scanning digital model is obtained according to the new boundary;
and (C) circularly executing the step A until the area which can be scanned by the path simulation of the automatic scanning can contain the initial scanning digital model, and taking the initial scanning digital model at the moment as a final scanning digital model.
8. The ultrasonic testing method of claim 2, wherein the step of determining whether the initial scan digital-to-analog needs to be adjusted based on the path simulation plan of the automated scan comprises:
step B, if the scanning area of the path simulation of the automatic scanning is larger than the initial scanning digital model, the boundary of the initial scanning digital model is outwards expanded, and the increased initial scanning digital model is obtained according to the new boundary;
and B, circularly executing the step B until the area which can be scanned by the path simulation of the automatic scanning cannot contain the initial scanning digital model, and taking the initial scanning digital model in the last circularly executing the step B as a final scanning digital model.
9. The ultrasonic testing method of claim 2, wherein after marking the first area by the part entity according to the final scan digital-to-analog, and before automatically scanning the area detectable by the automated scan of the part entity, the ultrasonic testing method further comprises:
and performing the scanning of the idle running, and determining that the distance between the nozzle and the solid surface of the part is normal in the scanning process.
10. An ultrasonic detection system for implementing the ultrasonic detection method of any one of claims 1-9, the ultrasonic detection system comprising:
marking means for marking the first region in a part entity; the first area is an area which is undetectable by the automatic scanning equipment or an area which needs to be scanned in a second scanning mode;
the automatic scanning device is used for automatically scanning the detectable area of the automatic scanning of the part entity;
and the second scanning mode scanning device is used for scanning the first area in the second scanning mode.
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