ROBOTIC TECHNOLOGICAL CELLULTRASONIC FLAW DETECTION

Abstract

Ultrasonic flaw detection is the most versatile non-destructive testing method for detecting defects in various materials. The aim of this work is to develop a robotic technological cell for ultrasonic flaw detection of welded products. To achieve this goal, we selected the necessary equipment, developed an algorithm for the control system, and wrote control and data collection programs. In addition to identifying the product defect, the PC-based control system also ensures safety during the diagnostic process.
 The technical support of the cell consists of an ultrasonic flaw detector "EPOCH 650" with a rectangular pulse generator and a digital receiver, an industrial robot Mitsubishi Electric MELFA RV-FR series, a work table for the required part orientation, inductive sensors for identifying the installation of the part, light barriers to ensure safe operation of the cell and a control system.
 The cell control system is implemented in the form of a chalkboard and includes a central processing device for cell control, a robot control processor for implementing the robot's trajectory and communication with the robot controller, a module for communication with peripheral equipment, and a data logging module for registration, recording and sharing of events in the control system, a digital input module for receiving digital signals of 0 or 24 V DC from contact type sensors, manual control buttons, status signals from alarm systems, positioning drives, etc.
 The cell software ensures the implementation of control algorithms and consists of a control program to control the robot's movements, an executive program to ensure the control system's analysis of signals from the flaw detector, a security system, and user interaction via the system interface, The interface system receives data from the PLC and is responsible for graphically displaying information about the control system.
 The paper presents the results of experimental research and simulation, which confirm the efficiency and effectiveness of the developed algorithms and control programs. By determining the optimal values of the speeds of movement and rotation of the robot links during their simultaneous movement, the speed and productivity of the cell are increased.