Abstract
The automatic measurement, especially for products with complex shapes, has always been one of the most important application areas of robots. Aiming at the challenge of measuring residual stress under curved surface, in this paper, the residual stress ultrasonic measuring robot system with two manipulators is constructed, which is based on combining industrial robot technology with residual stress ultrasonic nondestructive measuring technology. The system is mainly composed of a motion control system, an ultrasonic detection system, and a data processing system. The robotic arm controls the movement of the two ultrasonic transducers along the set scanning path which is based on the geometric model of components and adjusts the transducer's posture in time according to the shape of the workpiece being measured. The configuration information based on workpiece coordinate system is transformed into a position data that takes into consideration the first critical angle and can be recognized by the robot. Considering the effect of curvature, the principle model of residual stress measuring by the critical refraction longitudinal wave is established. The measured signal including the stress state of the measured region, as well as the actual position and posture information of the transducers, is processed by the computer in real time, which realizes automatic nondestructive measurement of residual stress under curved surface.
Highlights
Complex surface components have been widely used in aviation, aerospace, marine, automobile, and molds industry and have played an extremely important role, such as in engine blades and propellers, which is directly related to the reliability and safety of the equipment
The software system consists of the upper computer software subsystem and the lower computer software subsystem
The upper computer software is implemented in the industrial control computer to complete the trajectory planning and coordinate transforming
Summary
Complex surface components have been widely used in aviation, aerospace, marine, automobile, and molds industry and have played an extremely important role, such as in engine blades and propellers, which is directly related to the reliability and safety of the equipment. The manufacturing process of complex surface components is cumbersome and complex, which will inevitably produce residual stress on the surface [1]. These complex surface components will have residual stresses due to impact loads, thermal loads, and corrosion during long-term service. The existence of this residual stress seriously affects the shape and mechanical properties of the components and promotes the generation and propagation of cracks, causing the components to suddenly break under the working load, leading to malfunctions and even serious safety accidents [2]. It is very important to measure and evaluate the residual stress of complex surface components
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