曲面构件一体化超声自动检测方法研究  

Research of Integrated Ultrasonic Auto Detecting Method on Curved Surfaces

作　　者：江健[1] 郭天太[1] 吴思源[1] 周晓军[1] 

机构地区：[1]浙江大学机械制造及自动化系,杭州310027

出　　处：《传感技术学报》2006年第2期383-387,392,共6页Chinese Journal of Sensors and Actuators

摘　　要：曲面型构件超声检测工艺复杂,技术难度大,为了提高对这类零件的检测质量和效率,必须获取曲面构件的造型信息,进行路径规划,使检测路径能够贴合构件的型面。为此,分析了国内曲面构件超声检测的现状,提出了包括超声测距、曲面反求和10-DOF机械手的改进的一体化超声检测系统。系统的特点包括①采用超声探头测距、曲面反求的方法,解决了复杂曲面构件CAD数据的问题。②采用Denavit-Hartenberg方法建立了面向曲面的检测机器人运动学模型,将反求得到的零件CAD模型离散化,通过逆向求解运动学方程,得到控制超声探头走位的运动点位文件。③基于反求得到的零件CAD数据,设计了一种灵敏度自动补偿的算法,以配合曲面构件厚度的变化。该系统具备技术成熟、成本低廉,能够用于检测各种曲面零件,适用于广大中小型企业。实验结果表明,这种方法能够成功地对曲面构件进行自动检测,检测效果良好,检测质量可靠。Processing and technology of ultrasonic nondestructive test （NDT） for curved surface is complex. To improve the detection quality and efficiency of detection of parts of curved surface, modeling data must be obtained for path planning so that detection path can fit the surface of complex surfaces part. So, current situation of curved surfaces detection is surveyed. Then, an integrated ultrasonic NDT system is put forward, which is characterized by： ①Use of ultrasonic measurement and reverse of curved surface to solve the CAD data problem; ②Establish kinematics model for ultrasonic NDT robot with Denavit-Hartenberg theory, then, discretize the CAD model of curved surface, and then, create file of kinematics points for the manipulators by kinematics backward analysis; ③Use of an automatic sensitivity compensation algorithm based on the part^s modeling information obtained in surface reverse to fit the variety of the thickness. The system features integration of low cost and mature technologies, and is suitable for detection of various parts of different complex surfaces in medium-and-small-scale enterprises. The test re sults showed that the system can automatically detect parts of complex surface successfully, and the inspection result is good and reliable.

关 键 词：曲面构件 超声检测 运动学分析 一体化检测技术 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置] TP391[自动化与计算机技术—控制科学与工程]