阅读说明：本技术 一种用于民用航空典型结构无损检测系统 (Nondestructive testing system for civil aviation typical structure ) 是由 余芸 孙硕添 于 2020-12-09 设计创作，主要内容包括：本发明提供了一种用于民用航空典型结构无损检测系统,其特征在于,包括机械臂、超声探头、数据采集及控制模块、超声检测仪、应用服务器及算法服务器。本发明的超声探头通过楔块和螺钉固定安装在机械臂上,保证机械臂的运动和超声检测的同步性；本发明中的应用服务器实现了机械臂的位置数据和超声检测数据实时同步显示,方便了检测人员的操作和控制。本发明提供的设备及时准确地记录和保存了机械臂位置数据和超声检测数据,为检测材料的可追溯性、后继通过图像识别技术对材料缺陷进行准确定位提供了依据。(The invention provides a nondestructive testing system for a typical civil aviation structure, which is characterized by comprising a mechanical arm, an ultrasonic probe, a data acquisition and control module, an ultrasonic detector, an application server and an algorithm server. The ultrasonic probe is fixedly arranged on the mechanical arm through the wedge block and the screw, so that the synchronism of the movement of the mechanical arm and ultrasonic detection is ensured; the application server realizes real-time synchronous display of the position data of the mechanical arm and the ultrasonic detection data, and facilitates operation and control of detection personnel. The equipment provided by the invention can timely and accurately record and store the position data of the mechanical arm and the ultrasonic detection data, and provides a basis for detecting the traceability of the material and accurately positioning the material defects through an image recognition technology subsequently.)

1. The utility model provides a be used for civil aviation typical structure nondestructive test system, its characterized in that includes arm (1), ultrasonic probe (2), data acquisition and control module (3), ultrasonic testing appearance (4), application server (5) and algorithm server (6), wherein:

the mechanical arm (1) receives a control signal sent by the application server (5) through the local area network, then carries out corresponding work, and feeds back position data and a positioning signal to the application server and the data acquisition and control module (3) through the local area network in real time in the motion process;

after the data acquisition and control module (3) receives the position data of the mechanical arm (1), calculating the difference between the positions of the mechanical arm (1) at the previous time and the position of the mechanical arm (1) at the next time to obtain the moving distance of the mechanical arm, and then converting the moving distance value D of the mechanical arm into the pulse number N by using the conversion ratio K of the distance and the pulse, wherein N is K multiplied by D; moreover, the data acquisition and control module (3) judges the moving direction of the mechanical arm (1) by using the received positioning signal of the mechanical arm (1); the data acquisition and control module generates a PWM pulse signal after combining the pulse number N and the moving direction and sends the PWM pulse signal to the ultrasonic detector (4);

the ultrasonic probe (2) is fixed at the tail end of the mechanical arm (1) and is used for carrying out ultrasonic detection on the detection material (10) so as to obtain an ultrasonic signal; the ultrasonic probe (2) sends the obtained ultrasonic signal to the ultrasonic detector (4) through a cable;

the ultrasonic detector (4) receives the pulse signal given by the data acquisition and control equipment (3) and converts the pulse signal into the moving position data of the scanning shaft and the stepping shaft of the ultrasonic detector (4) through the encoder; receiving an ultrasonic signal obtained by an ultrasonic probe (2), converting the ultrasonic signal into an a-scanning data value, and then calculating a c-scanning data value by adding a threshold value; the ultrasonic detector (4) outputs the obtained scanning data to the application server (5) through a local area network;

the application server (5) stores the received scanning data value, the position data of the mechanical arm and the positioning information, calculates and converts the scanning data value, the position data and the positioning information into images, and displays the detection result of the material to be detected to detection personnel in real time;

and the algorithm server (6) acquires the data stored in the application server (5) and the corresponding scanned data value, position data and positioning information thereof, then performs image processing, positions the defect position and defect type of the detection material and feeds back the defect position and defect type to the detection personnel.

2. The system for the nondestructive inspection of typical structures for civil aviation as in claim 1, characterized in that the data communication between the robot arm (1) and the data acquisition and control module (3) is carried out using the UDP protocol.

3. The system for the nondestructive inspection of typical structures for civil aviation according to claim 1, characterized in that the ultrasonic probe (2) employs a phased array probe; the ultrasonic detector (4) adopts a phased array host of an ultrasonic transmitting and receiving system.

4. The system for the nondestructive inspection of typical structures for civil aviation according to claim 3, characterized in that the phased array probe is arranged inside the phased array wedge (7); the phased array wedge block (7) is fixedly connected with the tail end of the mechanical arm (1) through a screw (8); the material (10) to be detected is positioned below the phased array wedge block (7) and is placed on the upper surface of the detection workbench (9); a circle of groove (11) is arranged on the periphery of the upper surface of the detection workbench (9).

5. The nondestructive testing system for the typical civil aviation structure as defined in claim 4 wherein the groove (11) is communicated with a return port on the testing platform (9), the return port is connected with a water tank (13) through a return pipe (12), a booster pump (14) is arranged at a water outlet of the water tank (13), and the water outlet of the water tank (13) is connected with the ultrasonic probe (2) through a water outlet pipe (15) after being boosted by the booster pump (14).

6. The nondestructive testing system for the typical structure of civil aviation as set forth in claim 1, characterized in that after the data acquisition and control device (3) receives the position signal of the robot arm (1), the difference between the two positions is calculated to obtain the moving distance of the robot arm, and the moving distance value of the robot arm is converted into the number of pulses by the conversion ratio of the distance and the pulses;

the data acquisition and control equipment (3) simultaneously receives direction signals given by the mechanical arm (1), and controls the sequence of writing the high and low levels of the PWM wave according to the direction signals;

digital collection and controlgear (3) have four pins to link to each other with ultrasonic detector (4) through the cable, define first pin, second pin, third pin and fourth pin respectively, ultrasonic detector (4) receive digital collection and controlgear's (3) TTL level signal through above-mentioned four pins, wherein: the pulse number sent by the first pin and the second pin is converted into the moving distance of the scanning shaft, and the pulse phase difference of the first pin and the second pin determines the positive direction and the negative direction of the scanning shaft of the ultrasonic detector (4); the pulse numbers sent by the third pin and the fourth pin are converted into the moving distance of the stepping shaft of the ultrasonic detector (4), and the pulse phase difference of the third pin and the fourth pin determines the moving direction of the stepping shaft of the ultrasonic detector (4).

Technical Field

The invention relates to nondestructive testing for a typical structure of civil aviation, belonging to the technical field of nondestructive testing.

Background

The composite material is widely applied to the fields of aerospace and the like due to the advantages of high specific strength, high modulus, good fatigue performance and the like, the usage amount of the composite material is greatly increased along with the continuous improvement of the manufacturing technical level of the composite material in recent years, and the usage amount of the composite material of a new foreign generation of large passenger plane has been over 50 percent of the usage amount of the composite material of the new foreign generation of large passenger plane. The amount of composite material used in large passenger aircraft has become an important indicator for the advancement and market competitiveness of commercial aircraft.

With the wide application of composite materials, the detection of composite materials is also more and more important. At present, the research and application of the composite material structure nondestructive testing technology and the nondestructive testing management system of civil aircrafts in China are still in a very preliminary stage, and have a great difference with foreign countries. In the production process of the composite material structure, in order to determine whether the technical indexes meet the design requirements, the product quality is inspected by different nondestructive testing means in each production link so as to ensure the final quality of the product.

The traditional nondestructive testing system generally adopts a foreign system, the mechanical part and the ultrasonic part are divided into two pieces of operating software, the two pieces of software are respectively opened to be set during specific operation, the software is switched to be checked when the condition of nondestructive testing is observed, the use is inconvenient, and the adopted mechanical structure is only suitable for scanning some small-sized planar materials.

Disclosure of Invention

The technical problem to be solved by the invention is as follows: the mechanical arm control and the ultrasonic detection are mutually independent and convert the mechanical arm position signal into a pulse signal which can be identified by an ultrasonic detector encoder in real time.

In order to solve the technical problems, the technical scheme of the invention is to provide a nondestructive testing system for a typical civil aviation structure, which is characterized by comprising a mechanical arm, an ultrasonic probe, a data acquisition and control module, an ultrasonic detector, an application server and an algorithm server, wherein:

the mechanical arm receives the control signal sent by the application server through the local area network, then carries out corresponding work, and feeds back the position data and the positioning signal to the application server and the data acquisition and control module through the local area network in real time in the movement process;

after the data acquisition and control module receives the position data of the mechanical arm, calculating the difference value of the two positions to obtain the moving distance of the mechanical arm, and then converting the moving distance value D of the mechanical arm into the pulse number N by using the conversion ratio K of the distance and the pulse, wherein N is K multiplied by D; the data acquisition and control module judges the moving direction of the mechanical arm by using the received positioning signal of the mechanical arm; the data acquisition and control module generates a PWM pulse signal after combining the pulse number N and the moving direction and sends the PWM pulse signal to the ultrasonic detector;

the ultrasonic probe is fixed at the tail end of the mechanical arm and used for carrying out ultrasonic detection on the detection material so as to obtain an ultrasonic signal; the ultrasonic probe sends the obtained ultrasonic signal to an ultrasonic detector through a cable;

the ultrasonic detector is used for receiving a pulse signal given by the data acquisition and control equipment, converting the pulse signal into the moving position data of a scanning shaft and a stepping shaft of the ultrasonic detector through the encoder, receiving an ultrasonic signal obtained by the ultrasonic probe, converting the ultrasonic signal into an a-scanning data value, and then calculating a c-scanning data value by adding a threshold value; the ultrasonic detector outputs the obtained scanning data value to an application server through a local area network;

the application server stores and receives the scanning data, the position data of the mechanical arm and the positioning signal, calculates and converts the scanning data, the position data and the positioning signal into images and then displays the images to detection personnel in real time;

and the algorithm server acquires the image stored in the application server, the corresponding scanning data, the position data of the mechanical arm and the positioning signal, performs image processing, positions the defect position, the defect type and the like of the detection material and feeds the defect position, the defect type and the like back to the detection personnel.

Preferably, the mechanical arm and the data acquisition and control module are in data communication by adopting a UDP protocol.

Preferably, the ultrasonic probe adopts a phased array probe; the ultrasonic detector adopts a phased array host of an ultrasonic transmitting and receiving system.

Preferably, the phased array probe is arranged inside the phased array wedge block; the phased array wedge block is fixedly connected with the tail end of the mechanical arm through a screw; the material to be detected is positioned below the phased array wedge block and is placed on the upper surface of the detection workbench; a circle of groove is formed in the periphery of the upper surface of the detection workbench.

Preferably, the groove is communicated with a backflow port on the detection workbench, the backflow port is connected with the water tank through a backflow pipe, a booster pump is arranged at a water outlet of the water tank, and a water outlet of the water tank is connected with the ultrasonic probe after being boosted by the booster pump.

Preferably, after the data acquisition and control device receives the position signal of the mechanical arm, the difference between the positions of the mechanical arm at the front and the back is calculated to obtain the moving distance of the mechanical arm, and the moving distance value of the mechanical arm is converted into the pulse number according to the conversion ratio of the distance to the pulse;

the data acquisition and control equipment simultaneously receives a direction signal given by the mechanical arm and controls the sequence of writing the high and low levels of the PWM wave according to the direction signal;

digital collection and controlgear pass through the cable with the ultrasonic detector links to each other for four pins, defines first pin, second pin, third pin and fourth pin respectively, and the ultrasonic detector receives digital collection and controlgear's TTL level signal through above-mentioned four pins, wherein: the pulse number sent by the first pin and the second pin is converted into the moving distance of the scanning shaft, and the pulse phase difference of the first pin and the second pin determines the positive direction and the negative direction of the scanning shaft of the ultrasonic detector; the pulse numbers sent by the third pin and the fourth pin are converted into the moving distance of the stepping shaft of the ultrasonic detector, and the pulse phase difference of the third pin and the fourth pin determines the moving direction of the stepping shaft of the ultrasonic detector.

The ultrasonic probe is fixedly arranged on the mechanical arm through the wedge block and the screw, so that the synchronism of the movement of the mechanical arm and ultrasonic detection is ensured; the data acquisition and control equipment receives a mechanical arm position signal through a UDP protocol and converts the mechanical arm position signal into a PWM signal, so that the real-time performance of data transmission is ensured, the application server realizes the real-time synchronous display of the position data and the ultrasonic detection data of the mechanical arm, and the operation and the control of detection personnel are facilitated; the whole system timely and accurately records and stores the position data of the mechanical arm and the ultrasonic detection data, and provides a basis for detecting the traceability of the material and accurately positioning the material defects through the image recognition technology subsequently.

Drawings

FIG. 1 is a functional block diagram of an implementation of the non-destructive inspection system for civil aviation typical structures of the present invention;

FIG. 2 is a partial block diagram of a non-destructive inspection system for civil aviation typical structures in accordance with the present invention;

fig. 3 is a right side view of the structure shown in fig. 2.

Detailed Description

The invention will be further illustrated with reference to the following specific examples. It should be understood that these examples are for illustrative purposes only and are not intended to limit the scope of the present invention. Further, it should be understood that various changes or modifications of the present invention may be made by those skilled in the art after reading the teaching of the present invention, and such equivalents may fall within the scope of the present invention as defined in the appended claims.

As shown in fig. 1, the nondestructive testing apparatus for a typical civil aviation structure disclosed by the present invention includes a mechanical arm 1, an ultrasonic probe 2, a data acquisition and control module 3, an ultrasonic detector 4, an application server 5 and an algorithm server 6.

The mechanical arm 1 is connected with the data acquisition and control module 3 and the application server 5 through a local area network. An ultrasonic probe 2 fixed on the mechanical arm 1 is connected with an ultrasonic detector 4 through a cable. The data acquisition and control device 3 is connected with the ultrasonic detector 4 through a cable. The ultrasonic detector 4 is connected with an application server 5 through a local area network, and the application server 5 is connected with an algorithm server 6 through the local area network.

As shown in fig. 2 and 3, in combination with the requirement for the detection image in the non-destructive detection process, in the present invention, the ultrasonic probe 2 adopts a phased array probe, and the ultrasonic detector 4 adopts a phased array host of an ultrasonic transmitting and receiving system. In order to ensure that the mechanical arm 1 is tightly connected with the phased array probe and ensure that the phased array probe does not shake in the motion process of the mechanical arm, in the embodiment, the phased array probe is arranged inside the phased array wedge block 7. The phased array wedge block 7 is fixedly connected with the tail end of the mechanical arm 1 through a screw 8. The material 10 to be detected is located below the phased array wedge 7, and the material 10 to be detected is placed on the upper surface of the detection workbench 9. A circle of grooves 11 are formed in the periphery of the upper surface of the detection workbench 9, the grooves 11 are communicated with a return port in the detection workbench 9, the return port is connected with a water tank 13 through a return pipe 12, a booster pump 14 is arranged at a water outlet of the water tank 13, and a water outlet of the water tank 13 is connected with the ultrasonic probe 2 through a water outlet pipe 15 after passing through the booster pump 14. After water of the ultrasonic probe 2 flows into the groove 11, the water flows back to the water tank 13 through the return pipe 12 at the lower part, and the water of the water tank 13 is pressurized by the booster pump 14 and then is supplied to the ultrasonic probe 2 again for ultrasonic detection.

The mechanical arm 1 replaces the traditional TCP protocol with the UDP protocol to transmit the position signal to the data acquisition and control equipment 3, so that higher transmission rate is obtained, and the synchronization of the position data of the mechanical arm 1 and the data obtained by the ultrasonic probe 2 is ensured. The mechanical arm 1 communicates with the application server 5 through a TCP protocol, receives a control signal sent by the application server 5, starts and stops the mechanical arm 1 according to the control signal, and transmits a position signal to the application server 5 for reference of a detector. The ultrasonic probe 2 mounted on the mechanical arm 1 transmits the obtained ultrasonic signal to the ultrasonic detector 4 for detecting whether the material has defects or not, and the ultrasonic detector 4 gives corresponding ultrasonic detection data. After the data acquisition and control equipment 3 receives the position signal of the mechanical arm 1, the difference between the two positions is calculated to obtain the moving distance of the mechanical arm, and the moving distance value of the mechanical arm is converted into the pulse number according to the conversion ratio of the distance to the pulse. In this embodiment, assuming that the conversion ratio value is 10, 10 pulses are transmitted by moving 1 mm. The data acquisition and control equipment 3 simultaneously receives the direction signals given by the mechanical arm 1 and controls the sequence of writing the high and low levels of the PWM wave according to the direction signals. The digital acquisition and control device 3 has four pins connected to the ultrasonic detector 4 via cables, and the ultrasonic detector 4 receives the TTL level signals of the digital acquisition and control device 3. The pulse number sent by the first pin and the second pin is converted into the moving distance of the scanning shaft, and the pulse phase difference of the first pin and the second pin determines the positive direction and the negative direction of the scanning shaft of the ultrasonic detector 4. The pulse numbers sent by the third pin and the fourth pin are converted into the moving distance of the stepping shaft of the ultrasonic detector 4, and the pulse phase difference of the third pin and the fourth pin determines the moving direction of the stepping shaft of the ultrasonic detector 4. In this embodiment, the phase of the 1 st pin is advanced by 90 degrees from the phase of the 2 nd pin, assuming that the received direction signal is moving in the positive direction of the scanning axis. In combination with the moving direction and the number of pulses, the data acquisition and control device 3 sends a PWM pulse signal to the ultrasonic detector 4 through the PWM module. The ultrasonic detector 4 receives the pulse signal from the data acquisition and control device 3, converts the pulse signal into the moving position data of the ultrasonic scanning axis and the stepping axis through the encoder, receives the ultrasonic signal obtained by the ultrasonic probe 2, converts the ultrasonic signal into an a-scanning data value, and calculates the c-scanning data value by adding a threshold value. The ultrasound detector 4 transmits the acquired scanned data values to the application server 5. The application server 5 converts the received scanning data value, the position data of the mechanical arm 1 and the positioning information into images, and displays the images to detection personnel in real time in an image mode, so that the detection personnel can know the state of the detected material. Meanwhile, the application server 5 stores the acquired scanning data, the position data and the positioning information according to a specified format, and provides the scanning data, the position data and the positioning information to the algorithm server 6 for image processing. The algorithm server 6 obtains the data stored in the application server 5 and then performs algorithm processing to locate the defect position. The invention integrates the control work of starting, stopping and the like of the ultrasonic detector 4 and the mechanical arm 1 at the same time, facilitates the operation of detection personnel, realizes the synchronization of a mechanical arm position signal and an ultrasonic signal through the data acquisition and control equipment 3, completes the conversion from the mechanical arm position data to a pulse signal, calls the data of the application server 5 through a local area network by the algorithm server 6, and performs image recognition and detection condition analysis.