复杂型面构件超声检测中机械回程误差的修正方法  

Correction Method of Mechanical Backlash Error in Ultrasonic Testing of Curved Components

作　　者：张荣繁 倪培君[1] 郭智敏[1,2] 杨卓琳 付康 ZHANG Rongfan;NI Peijun;GUO Zhimin;YANG Zhuolin;FU Kang(Physical Testing&Chemical Analysis Center,Ningbo Branch of China Academy of Ordnance Science,Ningbo 315103,Zhejiang,China;School of Mechanical Engineering,Northwestern Polytechnical University,Xi'an 710072,Shaanxi,China)

机构地区：[1]中国兵器科学研究院宁波分院理化检测中心,浙江宁波315103 [2]西北工业大学机电学院,陕西西安710072

出　　处：《兵工学报》2023年第8期2432-2440,共9页Acta Armamentarii

基　　金：浙江省基础公益研究计划项目(LGG20E010001、LGC19E010001)。

摘　　要：针对复杂型面构件超声自动检测过程中,机械系统各轴回程误差对探头位姿精度、成像质量及检测灵敏度影响的问题,研究了回程误差的识别与路径修正方法,提出一种利用C扫描图像错位锯齿量分析的回程误差测量方法。通过平面试块和棒材试块边界线单轴为主运动的C扫描成像中错位锯齿量,建立与各轴回程误差值的关系;研究利用运动学逆解实现扫描点位关节变量和探头位姿的修正方法。通过某型号复杂型面构件试块进行路径修正前后的对比扫描实验,从成像质量、图元错位情况及检测灵敏度方面验证了该方法的有效性。In the process of automatic ultrasonic detection of complex surface components,the backlash error of each axis of the mechanical system has an badly impact on the probe pose accuracy,image quality and detection sensitivity.In order to solve this problem,the method of identifying and correcting the backlash error is studied in this paper,and a method of measuring the backlash error based on the analysis of the misalignment of C-scan images is proposed.When C-scan imaging of the boundary lines of planar and bar specimens using single axis motion as the main motion,the relationship between the backlash error values of each axis and the amount of misalignment sawtooth in the C-scan image is established.The method of correcting the scanning point joint variables and probe posture using inverse kinematics solutions is studied.The effectiveness of this method is verified through comparative scanning experiments before and after path correction on a certain type of complex surface component test block in terms of imaging quality,element misalignment,and detection sensitivity.

关 键 词：超声检测 C扫描成像 回程误差 路径修正 

分 类 号：TP274.5[自动化与计算机技术—检测技术与自动化装置]