关键词: 曲面工件;超声测量;自动对正;入射角

Abstract:

Using the characteristics of pulse echo singal during the probe adjustment, a relation model between angle of incidence and time-domain eigenvalue of reflect wave signals was proposed. Angles between cradle heads and normal direction of survey point could be figured out according to two associated angles of incidence. Position and posture values of mechanical arm at the survey point were obtained by solving motion equation. The feedback error of alignment determined another adjustment course was needed or not. Lots of experiments based on 5-axis ultrasonic inspection robot show that the method can meet the accuracy requirements, at the same time it increases the efficiency of the ultrasonic survey greatly. 

Key words: curved component；ultrasonic survey；auto-alignment；angle of incidence