视觉引导机械臂辅助超声相控阵检测研究  

Research on Ultrasonic Phased Array Detection Assisted by Visually Guided Manipulator

作　　者：赵富 施艳青 王少锋[1] 湛春颖 王国强 ZHAO Fu;SHI Yanqing;WANG Shaofeng;ZHAN Chunying;WANG Guoqiang(College of Mechanical Engineering,Inner Mongolia University of Science and Technology,Baotou 014000,China;Baotou North Seite Testing Technology Co.,Ltd.,Baotou 014000,China;不详)

机构地区：[1]内蒙古科技大学机械工程学院,包头014000 [2]包头北方赛特检测科技有限责任公司,包头014000 [3]内蒙古第一机械集团有限公司,包头014000

出　　处：《组合机床与自动化加工技术》2025年第3期135-139,共5页Modular Machine Tool & Automatic Manufacturing Technique

基　　金：内蒙古自治区高等学校青年科技英才支持计划资助项目(NJYT22063);内蒙古自治区重点研发和成果转化计划项目(2022YFSH0126);高校基本科研业务费项目(2023RCTD012);内蒙古自治区科技计划项目(2022YFHH0081)。

摘　　要：焊接结构受工艺影响不可避免地会产生内部缺陷,严重影响工件稳定性。针对不规则焊接件无损检测问题,提出一种视觉引导机械臂辅助超声相控阵的无损检测方法。首先,对点云数据进行滤波处理并提取其FPFH特征描述子;然后,采用RANSAC+Point-to-plane ICP算法对点云进行模板匹配,接着结合手眼标定与位姿解算过程规划出机械臂的检测路径,然后使用机械臂夹持超声检测探头对工件进行检测;最后,通过超声相控阵检测系统对缺陷进行定性和定量分析,实验结果显示缺陷长度为2.56,与实际人工制造的缺陷相比误差仅为6%。该研究为机械臂辅助超声相控阵无损检测研究提供了一种有效的技术手段,对实际研究具有极大的指导价值。The welded structure is affected by the process,which inevitably produces internal defects,which seriously affects the stability of the workpiece.A vision-guided robotic arm-assisted ultrasonic phased array nondestructive testing method is proposed for the problem of nondestructive testing of irregular weldments.Firstly,the point cloud data was filtered and the point cloud FPFH feature descriptors were extracted;Then,the RANSAC+Point-to-plane ICP algorithm was used to match the template of the point cloud,and then the detection path of the robotic arm was planned by combining the hand-eye calibration and pose solving process,and then the robotic arm was used to clamp the ultrasonic testing probe to detect the workpiece.Finally,the qualitative and quantitative analysis of the defects was carried out by the ultrasonic phased array inspection system,and the experimental results showed that the defect length was 2.56,and the error was only 6%compared with the actual manual defects.This study provides an effective technical means for the study of robotic arm-assisted ultrasonic phased array nondestructive testing,which is of great value as a guide for practical research.

关 键 词：无损检测 焊缝缺陷 位姿解算 点云配准 

分 类 号：TH165[机械工程—机械制造及自动化] TG659[金属学及工艺—金属切削加工及机床]