CN118816775B - An automatic detection device for gas cylinder plastic liner, three-dimensional reconstruction algorithm and analysis method - Google Patents
An automatic detection device for gas cylinder plastic liner, three-dimensional reconstruction algorithm and analysis method Download PDFInfo
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- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
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- G01B17/02—Measuring arrangements characterised by the use of infrasonic, sonic or ultrasonic vibrations for measuring thickness
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- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B17/00—Measuring arrangements characterised by the use of infrasonic, sonic or ultrasonic vibrations
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- G01N29/00—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
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- G01N29/00—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
- G01N29/44—Processing the detected response signal, e.g. electronic circuits specially adapted therefor
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Abstract
The invention discloses an automatic detection device, a three-dimensional reconstruction algorithm and an analysis method for a plastic liner of a gas cylinder, wherein a first phased array probe and a second phased array probe are arranged to respectively acquire ultrasonic monitoring information data of a cylinder body and a seal head end of the plastic liner, so that the full-circumferential scanning of the plastic liner is realized; the three-dimensional reconstruction algorithm is designed, the rotation angle acquisition mechanism and the axial position acquisition mechanism are combined to acquire position data, the data are correlated and reconstructed into three-dimensional data of the whole plastic liner, the information such as the outer diameter, the length, the roundness, the straightness, the wall thickness and the internal defects of the plastic liner are analyzed and evaluated through the analysis method, the scanning process is fully automatic, the automation degree is high, the high precision is achieved, the labor intensity is low, and the detection of the plastic liner is facilitated.
Description
Technical Field
The invention relates to the technical field of vehicle-mounted high-pressure hydrogen storage cylinders, in particular to the technical field of automatic detection devices, three-dimensional reconstruction algorithms and analysis methods for plastic inner containers of gas cylinders.
Background
The vehicle-mounted high-pressure hydrogen storage cylinder is key equipment in the hydrogen energy industry, and the main stream cylinder comprises an aluminum liner and a carbon fiber fully-wound cylinder with a plastic liner. The plastic liner carbon fiber fully-wound gas cylinder has the advantages of small volume, light weight and low cost. The plastic liner is usually welded and formed in a split type, and the sealing heads formed by injection molding at two ends and the barrel body formed by extrusion are welded by a hot plate or laser. In the split welding forming process, the plastic liner of the end socket part and the metal valve seat are formed at one time, but a plurality of welding seams exist in the plastic liner. The dimensional accuracy and the position accuracy of the seal head and the cylinder body influence the weld joint misalignment amount, the heating temperature, the heating time and the welding pressure influence the mechanical properties of the weld joint, and the possibility of fatigue damage and buckling failure is increased. Therefore, the weld joint and the whole plastic liner need to be subjected to molding offline detection.
The overall condition can be judged by the outer surface inspection and the hydrostatic test of the plastic inner container, and the welding quality of the welding line of the plastic inner container can be detected by the phased array ultrasonic detection technology. However, the procedures of the outer surface inspection and phased array ultrasonic detection technology are not mature, and the molding detection efficiency of the plastic liner is affected. The plastic liner molding offline detection method has the technical problems that 1, the outer surface inspection comprises appearance outline, roundness, straightness and barrel length, a plurality of instruments are needed for detection, the process is complex, 2, the automation degree of the plastic liner detection matched with the phased array ultrasonic detection technology is low, the coupling effect of the handheld phased array probe for detecting welding seams is discontinuous, 3, the integration degree of the detected outer surface inspection data and phased array ultrasonic detection data is low, and digital display is not carried out.
Disclosure of Invention
The invention aims to solve the problems in the prior art, and provides an automatic detection device, a three-dimensional reconstruction algorithm and an analysis method for a plastic liner of a gas cylinder, which can fully automatically detect the plastic liner, solve various detection requirements at one time and effectively improve the detection efficiency.
In order to achieve the aim, the invention provides an automatic detection device for a plastic liner of a gas cylinder, which comprises a plastic liner fixing mechanism, a rotary driving mechanism matched with the plastic liner fixing mechanism to drive a plastic liner fixed on the plastic liner fixing mechanism to rotate around the axis of the plastic liner, and a detection water tank matched with the plastic liner fixing mechanism, wherein the plastic liner fixing mechanism is used for fixing the plastic liner on the upper side of the detection water tank, a cylinder detection device arranged towards a plastic liner section and two end socket section detection devices respectively arranged towards two ends of the plastic liner are arranged in the detection water tank, the cylinder detection device and the lower end of the end socket section detection device are both provided with a moving mechanism for driving the cylinder detection device to move along the axial direction of the plastic liner, the cylinder detection device comprises a first phased array probe arranged towards a cylinder section of the plastic liner, the end socket section detection device comprises a second phased array probe arranged towards the plastic liner, and the second phased array probe is of an arc type matched with the plastic liner;
the device comprises a cylinder detection device, a rotary driving mechanism, a rotary angle acquisition mechanism, an axial position acquisition mechanism, a control system and a three-dimensional data, wherein the rotary angle acquisition mechanism is matched with the rotary driving mechanism and used for monitoring the rotary angle of a plastic inner container, the axial position acquisition mechanism is matched with the lateral movement mechanism at the lower side of the cylinder detection device and used for monitoring the position of the movement mechanism, the control system is in data communication connection with the first phased array probe, the second phased array probe and the rotary angle acquisition mechanism, the axial position acquisition mechanism is used for acquiring ultrasonic detection data of the first phased array probe and combining the rotary angle acquisition mechanism and the axial position acquisition mechanism, and the control system is used for correlating and reconstructing all data to reconstruct the three-dimensional data of the whole plastic inner container.
Preferably, the plastic liner fixing mechanism comprises a first centering component matched with one end seal head of the plastic liner and a second centering component matched with the other end seal head of the plastic liner, the first centering component and the second centering component are respectively arranged on a fixed support and a movable support, the movable support is provided with a movable component for controlling the support or/and the centering component arranged on the support to approach or depart from the direction of the plastic liner, and the rotary driving mechanism is a rotary motor arranged on the fixed support and used for driving the first centering component or the second centering component to rotate around the axis of the rotary motor.
Preferably, the moving part comprises an electric push rod, and the electric push rod is arranged on the moving support and used for driving the second centering assembly to approach or depart from the direction of the plastic liner.
Preferably, the moving part further comprises a support guide rail arranged on the lower side of the moving support, the moving support is slidably arranged on the support guide rail, a sliding table slide seat and a secondary adjusting support arranged on the sliding table slide seat are further arranged on the moving support, the first centering assembly or the second centering assembly is arranged on the secondary adjusting support, and one end of the sliding table slide seat is provided with a handle in control connection with the sliding table slide seat.
Preferably, the detection water tank is internally provided with a roller frame assembly for supporting the plastic liner, the roller frame assembly comprises a first roller frame and a second roller frame which are oppositely arranged, wheels matched with the plastic liner are arranged at the tops of the first roller frame and the second roller frame, a roller spacing adjusting device is arranged between the first roller frame and the second roller frame, the roller spacing adjusting device comprises a bidirectional screw rod transversely arranged between the first roller frame and the second roller frame and a roller motor for driving the bidirectional screw rod to rotate, threads at the two ends of the bidirectional screw rod are opposite, and the first roller frame and the second roller frame are respectively connected with threads at the two ends of the bidirectional screw rod through a first nut and a second nut.
Preferably, the moving mechanism comprises a detection trolley, a trolley guide rail is arranged in the detection water tank, the detection trolley is slidably arranged on the trolley guide rail, a first probe support corresponding to the first phased array probe or a second probe support corresponding to the second phased array probe is arranged on the detection trolley, a plurality of vertically arranged guide rods are arranged on the detection trolley, a middle lifting plate is transversely arranged between the guide rods, the middle lifting plate is axially slidably arranged on the guide rods, the first probe support or the second probe support is arranged on the middle lifting plate, the detection trolley comprises a translation bottom plate arranged on the lower side of the middle lifting plate, a lifting mechanism is arranged between the translation bottom plate and the middle lifting plate, and comprises a lifting screw rod and a lifting nut which are respectively arranged on the translation bottom plate and the middle lifting plate, and one end of the lifting screw rod is provided with a longitudinal servo motor for driving the lifting screw rod to rotate.
Preferably, the upper side of the middle lifting plate is further provided with a probe mounting plate, the first probe support or the second probe support is fixedly arranged on the probe mounting plate, the probe mounting plate is axially slidably arranged on the guide rod, and a plurality of elastic supporting pieces which are vertically arranged are arranged between the probe mounting plate and the middle lifting plate.
Preferably, a rack arranged along the length direction of the trolley guide rail of the lower moving mechanism of the cylinder detection device is arranged on the trolley guide rail, a gear meshed with the rack and a trolley motor used for driving the gear to rotate are arranged on the corresponding detection trolley, the axial position acquisition mechanism is an axial encoder, and the trolley motor is provided with the axial encoder synchronously connected with a rotating shaft of the axial encoder.
The invention further aims to provide a three-dimensional reconstruction algorithm for automatic detection of the plastic liner of the gas cylinder, which comprises the following steps that firstly, a barrel section of the plastic liner is subjected to three-dimensional reconstruction, an image coordinate system { A } is established, and the central coordinate of a first group of excitation apertures of a first phased array probe is the origin of the image coordinate system { A }The array arrangement direction is taken as the x-axis of an image coordinate system { A }, the depth direction is taken as the z-axis of the image coordinate system { A }, and the position of a certain point P in the imaged image in { A } isexpressed as;
Step two, establishing a rotation coordinate system { B } of the plastic liner, and taking the bottle mouth position of the plastic liner as the origin of the rotation coordinate system { B }The central axis of the plastic liner is the x axis of the coordinate system { B }, the cross section of the plastic liner cylinder is the yz plane, and the axes of the coordinate system { B } are parallel to the axes of the coordinate system { A }, so the origin of the image coordinate system { A }Coordinates in the rotating coordinate system { B } may be represented by translation vectors;
When the first phased array probe is detected for the first time, the first phased array probe is moved to the position right above the central shaft of the plastic liner=0,Obtained according to the first phased array probe position data acquired by the axial position acquisition mechanism,Obtained by measuring the difference in vertical distance between the first locating component and the first phased array probe surface, then any point P in the image is located in the coordinate system { B }, and;
Thirdly, coordinate transformation of the rotation scanning image, wherein the position of any point P point in the n-th rotation image in a coordinate system { B } is acquired asNth rotated imageThe axis being rotatedThe angle of the two-dimensional angle,The rotation angle is opposite to the rotation angle of the plastic liner; in this embodiment, the scanned image rotates counterclockwise, and the coordinate transformation matrix R isStep four, three-dimensional reconstruction of a plastic liner sealing head section, namely establishing a coordinate system { A ' }, taking the central coordinate of a first group of excitation apertures of a second phased array probe as an original point O, taking the array arrangement direction as an x-axis, taking the depth direction as a z-axis, and expressing the position of a certain point P ' in the { A ' } asStep five, establishing an auxiliary coordinate system { B '}, wherein the spherical center of the sealing head of the plastic liner is used as the origin of the auxiliary coordinate system { B' }The central axis of the plastic liner is used as the x axis of an auxiliary coordinate system { B ' }, and the z axis of the auxiliary coordinate system { B ' } is parallel to the coordinate system { A ' };
The relation between the auxiliary coordinate system { B '} and the origin of the coordinate system { A' } uses a translation vector The P 'point is shown to be located in the auxiliary coordinate system { B' }, whereWherein the method comprises the steps of、、For the position of the second phased array probe in the secondary coordinate system B',R is the radius of the spherical head, h is the distance between the second phased array probe and the water layer on the outer surface of the head,The included angle between the origin connecting line of the probe coordinate system { A ' } and { B ' } and the x axis of the auxiliary coordinate system { B ' };
step six, each coordinate in the auxiliary coordinate system { B' } is converted into a rotary coordinate system { B } used by the cylinder section, and translation vectors of the sealing heads on the same side are converted into translation vectors of the same side sealing heads Translation vector of opposite side seal headToThe rotation angle of the shaft isFirst, theThe P' point on the rotated image is in the rotation coordinate system { B }, andWherein l is the axial length of the barrel section;
And seventhly, integrating the model, and corresponding an ultrasonic detection result to an actual gas cylinder detection part to obtain a three-dimensional reconstruction model of the whole plastic liner.
Another object of the present invention is to provide an analysis method for automatic detection of a plastic liner of a gas cylinder, comprising the steps of S1, outer surface inspection using a rotational coordinate system { B }, andShaft and method for producing the sameThe value of n for the rotation angle is described as the position,The plastic inner container is decomposed into m and p to represent the m group of excitation apertures, wherein p is the array element interval of the phased array probe, and the outer radius of the plastic inner container is as follows under the m group of excitation apertures of the n-th rotating imageWherein, The method comprises the steps of obtaining the thickness of a water layer through calculation of the echo time of an interface between water and a plastic liner in an A scanning signal of phased array ultrasonic detection data;
the plastic liner is driven to rotate until rotating 180 degrees, and the detection process ensures the detection position of the phased array probe Collecting and recording the position detection data, wherein the outer diameter of the plastic liner is as followsWherein N is the number of detected images of the plastic liner rotating for one circle;
at a certain axial position m, the average outer diameter of the whole circumference of the plastic liner is At a certain circumferential position n, the average outer diameter of the whole axial direction of the plastic liner is;
M is the number of excitation apertures distributed over the length of the cylinder,;For the initial excitation aperture number of the first phased array probe,The end excitation aperture serial number of the first phased array probe is obtained by comparing whether the average outer diameter of each axial position on the boundary is continuously increased or not, and the length of the plastic liner barrel is that;
At a certain axial position m, the maximum peripheral wall radius isMinimum outer wall radius ofRoundness in the axial position section is;
The maximum outer wall radius of each axial position of the plastic liner barrel section isMinimum outer wall radius ofThe cylindricity of the cylinder section of the plastic liner isA certain circumferential position n, and the axial maximum outer wall radius isMinimum outer wall radius ofThe straightness of the cylinder section of the plastic liner is;
Under the nth rotation image and m groups of excitation apertures, the wall thickness of the plastic liner isWherein, In order to obtain the ultrasonic wave by calculating the echo time of the inner wall surface of the plastic liner and the underwater sound velocity in the A scanning signal of phased array ultrasonic detection data,For the sound velocity in water,Is the sound velocity in the plastic linerAt the position ofMapping thickness clouds using tone scale at locations, if presentThe position is drawn with a special color,The thickness of the plastic liner is the standard thickness;
s2, analyzing internal defects, wherein in phased array ultrasonic detection data, when other reflected signals exist on the outer wall surface and the inner wall of the plastic inner container, defect analysis and statistics are carried out, and the defect positions are expressed as follows under a rotating coordinate system { B } Wherein x, x ', y ', z and z ' are three-dimensional boundaries of the defect in a coordinate system { B }, and are obtained by combining adjacent phased array ultrasonic detection data, and the defect size is expressed asCounting the number, size and distribution of defects by a list to prepare for subsequent defect evaluation
The automatic detection device, the three-dimensional reconstruction algorithm and the analysis method for the plastic inner container of the gas cylinder have the beneficial effects that the ultrasonic monitoring information data of the cylinder body and the end socket of the plastic inner container are respectively acquired by arranging the first phased array probe and the second phased array probe, the position data of the rotating angle acquisition mechanism and the axial position acquisition mechanism are combined, and the three-dimensional data of the whole plastic inner container are reconstructed by correlating the data, so that the full-circumferential scanning of the plastic inner container can be realized, the three-dimensional data of the whole plastic inner container is reconstructed, the scanning process is fully automatic, the automation degree is high, the manual labor intensity is low, and the detection of the plastic inner container is convenient.
The features and advantages of the present invention will be described in detail by way of example with reference to the accompanying drawings.
Drawings
Fig. 1 is a schematic perspective view of an automatic detection device for a plastic liner of a gas cylinder.
Fig. 2 is a schematic side view of the roller frame assembly.
Fig. 3 is a schematic top view of a portion of a roller frame assembly.
Fig. 4 is a schematic diagram of the primary structure of the inspection trolley and the first phased array probe.
Fig. 5 is a schematic side view of the inspection trolley and the first phased array probe.
Fig. 6 is a schematic diagram of the primary structure of the inspection trolley and the secondary phased array probe.
Fig. 7 is a schematic view of three-dimensional reconstruction of a plastic liner barrel section.
Fig. 8 is a schematic side view three-dimensional reconstruction of a plastic liner barrel section in accordance with the present invention.
Fig. 9 is a schematic diagram of three-dimensional reconstruction of a seal head section of a plastic liner in the invention.
FIG. 10 is a graph showing the results of phased array testing in accordance with the present invention.
FIG. 11 is a schematic view of a plastic liner barrel section of the present invention.
FIG. 12 is a schematic drawing of a thickness cloud according to the present invention.
In the figure, the device comprises a 1-handle, a 2-sliding table sliding seat, a 4-auxiliary adjusting support, a 5-electric push rod, a 7-elastic baffle ring for an inner ring shaft, an 8-shaft sleeve, a 9-bearing, a 10-elastic baffle ring for an outer ring shaft, an 11-centering sleeve, a 12-first locating component, a 15-rotating motor, a 16-circumferential encoder, a 17-fixed support, a 19-roller frame component, a 21-detection trolley, a 22-detection water tank, a 23-second locating component, a 24-rotating shaft, a 25-sleeve, a 26-support guide rail, a 27-movable support, a 28-first nut, a 31-second nut, a 32-bidirectional screw, a 34-roller motor, a 35-roller spacing adjusting device, a 38-first probe support, a 39-first carrier, a 40-probe mounting plate, a 41-longitudinal servo motor, a 42-intermediate lifting plate, a 43-lifting nut, a 44-guide rod, a 46-trolley guide rail, a 47-curved acoustic lens, a 48-guide shaft, a 49-spring, a 50-lifting screw, a 52-translation bottom plate, a 53-axial encoder, a 54-gear, a 55-gear, a 60-second carrier, a 60-60, a phased array support and a 191.
Detailed Description
The present invention will be further described in detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the detailed description and specific examples, while indicating the invention, are intended for purposes of illustration only and are not intended to limit the scope of the invention. In addition, in the following description, descriptions of well-known structures and techniques are omitted so as not to unnecessarily obscure the present invention.
In the description of the present invention, it will be understood that when an element is referred to as being "fixed" or "disposed" on another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element.
In the description of the present invention, it should be noted that the terms "center", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, or orientations or positional relationships in which the inventive product is conventionally placed in use, are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the apparatus or element to be referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," and the like are used merely to distinguish between descriptions and should not be construed as indicating or implying relative importance. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present invention, the meaning of "a plurality" is two or more, unless explicitly defined otherwise. The meaning of "a number" is one or more than one unless specifically defined otherwise.
In the description of the present invention, it should also be noted that, unless explicitly specified and limited otherwise, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, integrally connected, mechanically connected, electrically connected, directly connected, indirectly connected through an intermediary, or in communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
Embodiment one:
Referring to fig. 1-6, the automatic detection device for the plastic liner of the gas cylinder comprises a plastic liner fixing mechanism, a rotating motor 15, a first centering component 12 and a second centering component 23, wherein the first centering component 12 is matched with one end seal head of the plastic liner, the second centering component 23 is matched with the other end seal head of the plastic liner, the first centering component 12 and the second centering component 23 are respectively arranged on a fixed support 17 and a movable support 27, an electric push rod 5 is arranged on the movable support 27 and used for driving the second centering component 23 to approach or separate from the first centering component 12, and the second centering component 23 is driven to move forwards and backwards through the electric push rod 5 and can be matched with the plastic liner, so that the plastic liner is clamped and fixed between the first centering component 12 and the second centering component 23.
Referring to fig. 1, the ultrasonic sensor further comprises a detection water tank 22 matched with the plastic liner fixing mechanism, the plastic liner fixing mechanism fixes the plastic liner on the upper side of the detection water tank 22, the liquid level inside the water tank 22 submerges the plastic liner at a certain position, a cylinder detection device arranged towards a cylinder section of the plastic liner and two end socket section detection devices respectively arranged towards end socket sections of the plastic liner are arranged in the detection water tank 22, the lower ends of the cylinder detection device and the end socket section detection device are respectively provided with a moving mechanism for driving the cylinder detection device to move along the axial direction of the plastic liner, the cylinder detection device comprises a first phased array probe 39 arranged towards the cylinder section of the plastic liner, the first phased array probe 39 is in line position consistency with the detection of the plastic liner, the end socket section detection device comprises a second phased array probe 60 arranged towards the end socket of the plastic liner, the second phased array probe 60 is in arc shape matched with the plastic liner, the ultrasonic sensor further comprises a rotating angle acquisition mechanism matched with the rotating driving mechanism for monitoring the rotating angle of the plastic liner, and a moving mechanism matched with the lower end socket detection device for driving the cylinder detection device for driving the moving mechanism along the axial direction of the plastic liner, the first phased array probe 39 is connected with the first phased array probe 39, and the second phased array probe 39 is connected with the first phased array probe 60 in an axial direction data acquisition system, and the first phased array system is connected with the axial direction data acquisition system, and the second phased array system is connected with the data acquisition system, and the data acquisition system. In this implementation, the first phased array probe 39 can be used for scanning the cylindrical barrel position in the middle section of the plastic liner, the second phased array probe 60 is arranged into an arc-shaped end socket section of the plastic liner, the arc-shaped end socket section of the plastic liner can be scanned, the first phased array probe 39 and the second phased array probe 60 can be combined to scan the whole plastic liner, the moving mechanism is arranged to drive the moving mechanism to move along the axial direction of the plastic liner and cooperate with the rotary driving mechanism, the whole circumferential scanning of the plastic liner can be realized, the three-dimensional data of the whole plastic liner is reconstructed, the scanning process is fully automatic, the automation degree is high, the high precision is achieved, the manual labor intensity is low, and the plastic liner is convenient to detect.
Preferably, the first centering component 12 is a three-jaw air chuck for directly clamping an end closure of the plastic liner.
Referring to fig. 1, the second centering assembly 23 comprises an elastic retainer 7 for an inner ring shaft, a shaft sleeve 8, a bearing 9, an elastic retainer 10 for an outer ring shaft, a centering sleeve 11, a rotating shaft 24 and a sleeve 25, wherein the centering sleeve 11 is fixedly connected with the rotating shaft 24, and an inner hole of the centering sleeve 11 is in a bell mouth shape so as to be connected with a bottle mouth position on one side of a plastic inner container. One end of the sleeve 25 is fixedly connected with the electric push rod 5, and one end of the centering sleeve 11 is rotatably connected with the sleeve 25 through the rotating shaft 24 and the bearing 9, so that the plastic liner can be conveniently rotated in the inspection process. The centering sleeve 11 is convenient to be matched with the mouth of the plastic inner container, and realizes the fixing and positioning functions.
Referring to fig. 1, a support rail 26 is provided at the lower side of the movable support 27, the support is slidably disposed on the support rail 26, a sliding table slide seat 2 and a secondary adjustment support 4 disposed on the sliding table of the sliding table slide seat 2 are further disposed on the movable support 27, the second centering assembly 23 is disposed on the secondary adjustment support 4, and a handle 1 in control connection with the sliding table slide seat 2 is disposed at one end of the sliding table slide seat 2. According to the plastic inner containers with different sizes, the distance between the first centering assembly 12 and the second centering assembly 23 can be adjusted, the sliding table slide seat 2 is used for fine adjustment, the support guide rail 26 is used for coarse adjustment, when the detected inner container length is not changed greatly, the sliding table slide seat 2 can be controlled by the handle 1 to adjust the position of the second centering assembly 23, and when the detected inner container length is changed greatly, the movable support 27 can be moved along the guide rail 26 to realize position adjustment.
Referring to fig. 2 and 3, two sets of roller frame assemblies 19 for supporting the plastic liner are disposed in the detection water tank 22, the roller frame assemblies 19 include a first roller frame 191 and a second roller frame 192 that are disposed opposite to each other, wheels for matching with the plastic liner are disposed at the tops of the first roller frame 191 and the second roller frame 192, a roller spacing adjusting device 35 is disposed between the first roller frame 191 and the second roller frame 192, the roller spacing adjusting device 35 includes a bidirectional screw rod 32 transversely disposed between the first roller frame 191 and the second roller frame 192, and a roller motor 34 for driving the bidirectional screw rod 32 to rotate, threads of the bidirectional screw rod 32 are opposite from the center to the two ends, and the first roller frame 191 and the second roller frame 192 are respectively connected with threads of the two ends of the bidirectional screw rod 32 through a first nut 28 and a second nut 31. When the roller motor 34 drives the bidirectional screw rod 32 to rotate, the first nuts 28 and the second nuts 31 at two ends of the bidirectional screw rod 32 can be driven to be close to or far away from each other, so that the distance between the first wheel frame 191 and the second wheel frame 192 is adjusted, various use requirements are met, and various plastic inner containers with different sizes are adapted.
Referring to fig. 4, 5 and 6, the moving mechanism includes a detection trolley 21, a trolley guide rail 46 is disposed in the detection water tank 22, the detection trolley 21 is slidably disposed on the trolley guide rail 46, a first probe support 38 corresponding to the first phased array probe 39 or a second probe support 62 corresponding to the second phased array probe 60 is disposed on the detection trolley 21, a plurality of vertically disposed guide rods 44 are disposed on the detection trolley 21, a middle lifting plate 42 is transversely disposed between the guide rods 44, the middle lifting plate 42 is axially slidably disposed on the guide rods 44, the first probe support 38 and the second probe support 62 are disposed on the middle lifting plate 42, the detection trolley 21 includes a translation bottom plate 52 disposed on the lower side of the middle lifting plate 42, a lifting mechanism is disposed between the translation bottom plate 52 and the middle lifting plate 42, the lifting mechanism includes a lifting motor 50 and a lifting screw rod 43 disposed on the translation bottom plate 52 and the middle lifting plate 42, and a lifting screw rod 50 is disposed on one end of the middle lifting motor is disposed to drive a servo screw rod 41 for rotating. The longitudinal servo motor 41 can be matched with the lifting nut 43 when driving the lifting screw rod 50 to rotate, so that the middle lifting plate 42 is driven to rise or descend, the height of the middle lifting plate 42 and the upper end phased array probe thereof is adjusted, the scanning detection requirements are met, and the plastic inner containers with different sizes are met.
Referring to fig. 4, during detection, the first phased array probe 39 automatically detects the barrel section along the axial direction of the plastic liner, a rack 56 arranged along the length direction of the rack is arranged on the trolley guide rail 46 of the detection trolley 21 corresponding to the first phased array probe 39, and a gear 55 meshed with the rack 56 and a trolley motor 54 for driving the gear 55 to rotate are arranged on the detection trolley 21. The gear 55 is driven to rotate by the trolley motor 54, so that the detection trolley 21 is driven to reciprocate along the trolley guide rail 46, the positions of the detection trolley 21 and the phased array probe on the detection trolley are adjusted, and the positions of the plastic inner containers are scanned.
Referring to fig. 4, in order to acquire the position information of the first phased array probe 39, an axial position acquisition mechanism is provided on a moving part below the first phased array probe 39, the axial position acquisition mechanism is an axial encoder 53, an axial encoder 53 synchronously connected with a rotation shaft thereof is provided on a cart motor 54, and the axial position information of the detection cart 21 is recorded by the axial encoder 53 and output to a computer.
Referring to fig. 6, the second phased array probe 60 cooperates with the seal head of the plastic liner to detect, the detection trolley 21 at the lower side of the second phased array probe 60 is provided with a fixing device, and the second probe support 62 of the detection trolley 21 has an arc structure consistent with the seal head of the plastic liner.
Referring to fig. 4 and 5, a probe mounting plate 40 is further disposed on the upper side of the middle lifting plate 42, the probe support 38 is fixedly disposed on the probe mounting plate 40, the probe mounting plate 40 is axially slidably disposed on the guide rod 44, a plurality of elastic supporting members disposed vertically are disposed between the probe mounting plate 40 and the middle lifting plate 42, and each elastic supporting member includes a guide shaft 48 disposed vertically and a spring 49 sleeved on the guide shaft 48. The middle lifting plate 42 and the probe mounting plate 40 are supported through the springs 49, a certain buffer is provided between the middle lifting plate 42 and the probe mounting plate 40, the phased array probe is prevented from being damaged due to hard impact, and the service life of the phased array probe is prolonged.
Referring to fig. 1, the rotation angle acquisition mechanism is a circumferential encoder 16, and the fixed support 17 is provided with the circumferential encoder 16 synchronously connected with the rotation shaft of the rotating motor 15. The rotational position of the plastic liner is recorded by the circumferential encoder 16.
Referring to fig. 4 and 5, the surface of the first phased array probe 39 is provided with a curved acoustic lens 47 bonded thereto.
Preferably, the first phased array probe 39 is a probe group of 512 array elements linearly arranged, which is composed of 4 probes of 128 array elements, the first phased array probe 39 can realize bidirectional focusing, electronic line scanning focusing is performed in the array direction, side focusing is performed in the array element width direction through the curved acoustic lens 47, and a plurality of initial array elements are set for electronic line scanning of the first phased array probe 39 to start scanning simultaneously so as to reduce scanning time and improve detection efficiency.
Embodiment two:
Referring to FIGS. 7, 8 and 9, based on the first embodiment, the present embodiment provides a three-dimensional reconstruction algorithm for the above embodiment, which includes the steps of first three-dimensionally reconstructing a plastic liner barrel segment to establish an image coordinate system { A }, wherein a center coordinate of a first group of excitation apertures of a first phased array probe 39 is an origin of the image coordinate system { A } The array arrangement direction is taken as the x-axis of an image coordinate system { A }, the depth direction is taken as the z-axis of the image coordinate system { A }, and the position of a certain point P in the imaged image in { A } isexpressed as;
Step two, establishing a rotation coordinate system { B } of the plastic liner, and taking the bottle mouth position of the plastic liner as the origin of the rotation coordinate system { B }The central axis of the plastic liner is the x axis of the coordinate system { B }, the cross section of the plastic liner cylinder is the yz plane, and the axes of the coordinate system { B } are parallel to the axes of the coordinate system { A }, so the origin of the image coordinate system { A }The coordinates in the rotating coordinate system { B } may be translated vectorsIndicating that, in the first detection, the first phased array probe 39 is moved to the position right above the central axis of the plastic liner=0,From the first phased array probe 39 horizontal position feedback from the axial encoder 53,Obtained by measuring the difference in vertical distance between the first locating assembly 12 and the surface of the first phased array probe 39, then any point P in the image is located in the coordinate system { B }, and;
Step three, coordinate transformation of the rotation scanning image is carried out, and the first step is acquiredThe position of any point P in the rotation image in the coordinate system { B }, isFirst, theRotation imageThe axis being rotatedThe angle of the two-dimensional angle,The rotation angle is opposite to the rotation angle of the plastic liner; in this embodiment, the scanned image rotates counterclockwise, and the coordinate transformation matrix R is;
Step four, three-dimensional reconstruction of the end socket section of the plastic liner, establishing a coordinate system { A ' }, taking the central coordinate of a first group of excitation apertures of the second phased array probe 60 as an origin O, taking the array arrangement direction as an x-axis, taking the depth direction as a z-axis, and expressing the position of a certain point P ' in the { A ' } as;
Establishing an auxiliary coordinate system { B '}, wherein the spherical center of the sealing head of the plastic liner is used as the origin of the auxiliary coordinate system { B' }The central axis of the plastic liner is used as the x axis of an auxiliary coordinate system { B ' }, and the z axis of the auxiliary coordinate system { B ' } is parallel to the coordinate system { A ' };
The relation between the auxiliary coordinate system { B '} and the origin of the coordinate system { A' } uses a translation vector The P 'point is shown to be located in the auxiliary coordinate system { B' }, whereWherein the method comprises the steps of、、For the position of the second phased array probe (60) in the secondary coordinate system B',R is the radius of the spherical end socket, h is the distance between the second phased array probe (60) and the water layer on the outer surface of the end socket,The included angle between the origin connecting line of the probe coordinate system { A ' } and { B ' } and the x axis of the auxiliary coordinate system { B ' };
step six, each coordinate in the auxiliary coordinate system { B' } is converted into a rotary coordinate system { B } used by the cylinder section, and translation vectors of the sealing heads on the same side are converted into translation vectors of the same side sealing heads Translation vector of opposite side seal headToThe rotation angle of the shaft isFirst, theThe P' point on the rotated image is in the rotation coordinate system { B }, andWherein l is the axial length of the barrel section;
And seventhly, integrating the model, and corresponding an ultrasonic detection result to an actual gas cylinder detection part to obtain a three-dimensional reconstruction model of the whole plastic liner. The three-dimensional reconstruction algorithm in the embodiment can be matched with the device structure in the embodiment, a three-dimensional model of the plastic liner is built in a computer by acquiring all data, the three-dimensional reconstruction process is fully automatic, the degree of automation is high, and all data of the three-dimensional model are more accurate, so that the follow-up analysis is convenient.
Embodiment III:
Referring to FIGS. 10, 11 and 12, based on the second embodiment, the present embodiment provides an analysis method for the above embodiment, which includes the steps of S1, surface inspection with a rotation coordinate system { B }, and Shaft and method for producing the sameThe value of n for the rotation angle is described as the position,The plastic inner container is decomposed into mp which represents the m-th group of excitation apertures, p is the array element interval of the phased array probe, and the outer radius of the plastic inner container is as follows under the n-th rotation image and m-th group of excitation aperturesWherein, The method comprises the steps of obtaining the thickness of a water layer through calculation of the echo time of an interface between water and a plastic liner in an A scanning signal of phased array ultrasonic detection data;
the plastic liner is driven to rotate until rotating 180 degrees, and the detection process ensures the detection position of the phased array probe Collecting and recording the position detection data, wherein the outer diameter of the plastic liner is as followsWherein N is the number of detected images of the plastic liner rotating for one circle;
at a certain axial position m, the average outer diameter of the whole circumference of the plastic liner is At a certain circumferential position n, the average outer diameter of the whole axial direction of the plastic liner is;
M is the number of excitation apertures distributed over the length of the cylinder,;For the initial excitation aperture number of the first phased array probe 39,The end excitation aperture serial number of the first phased array probe 39 is obtained by comparing whether the average outer diameter of each axial position on the boundary is continuously increased or not, and the excitation aperture serial numbers of the starting end and the end are the connection positions of the plastic liner barrel section and the end socket section, and the length of the plastic liner barrel is;
At a certain axial position m, the maximum peripheral wall radius isMinimum outer wall radius ofRoundness in the axial position section is;
The maximum outer wall radius of each axial position of the plastic liner barrel section isMinimum outer wall radius ofThe cylindricity of the cylinder section of the plastic liner is;
A certain circumferential position n, and the axial maximum outer wall radius isMinimum outer wall radius ofThe straightness of the cylinder section of the plastic liner is;
Under the nth rotation image and m groups of excitation apertures, the wall thickness of the plastic liner isWherein, In order to obtain the ultrasonic wave by calculating the echo time of the inner wall surface of the plastic liner and the underwater sound velocity in the A scanning signal of phased array ultrasonic detection data,For the sound velocity in water,Is the sound velocity in the plastic linerAt the position ofMapping thickness clouds using tone scale at locations, if presentThe position is drawn with a special color,The thickness of the plastic liner is the standard thickness;
s2, analyzing internal defects, wherein in phased array ultrasonic detection data, when other reflected signals exist on the outer wall surface and the inner wall of the plastic inner container, defect analysis and statistics are carried out, and the defect positions are expressed as follows under a rotating coordinate system { B } Wherein x, x ', y ', z and z ' are three-dimensional boundaries of the defect in a coordinate system { B }, and are obtained by combining adjacent phased array ultrasonic detection data, and the defect size is expressed asAnd counting the number, the size and the distribution of the defects through the list, and preparing for subsequent defect evaluation. The analysis method of the embodiment can be combined with the three-dimensional reconstruction model constructed in the second embodiment to analyze the three-dimensional reconstruction model, so that the defect number, the defect size and the defect distribution of the plastic liner are summarized, the analysis is more convenient, the analysis process is performed fully automatically, more intelligent, more efficient and high-precision.
The working process of the invention comprises the following steps:
In the working process, a plastic inner container is placed on a roller frame assembly 19 before detection starts, a first centering assembly 12 and a second centering assembly 23 fix the plastic inner container, a detection trolley 21 at the lower side of a first phased array probe 39 moves to one end of a plastic inner container cylinder, the position of the first phased array probe 39 is adjusted according to the diameter of the plastic inner container, a curved surface acoustic lens 47 is attached to the plastic inner container, a detection trolley 21 at the lower side of a second phased array probe 60 moves to the position right below sealing heads at two sides of the plastic inner container, the position of the second phased array probe 60 is adjusted, an arc-shaped water wedge 63 is attached to sealing heads at two sides of the plastic inner container, water is injected into the detection water tank 22, the first phased array probe 39 and the second phased array probe 60 realize water coupling, a rotary motor 15 is started to drive the plastic inner container to rotate, and the plastic inner container is attached to the curved surface acoustic lens 47 The first phased array probe 39 and the second phased array probe 60 rotate at equal angles, and after the first phased array probe 39 and the second phased array probe 60 finish scanning at any plastic liner position, the plastic liner rotates againThe angle is used for realizing circumferential scanning, a trolley motor is started, the detection trolley 21 moves at equal intervals by delta, after the first phased array probe 39 at any plastic liner position finishes scanning, the detection trolley 21 moves at delta intervals along the axial direction, so that the axial scanning of the detection trolley 21 is realized, a computer records and sorts ultrasonic detection information of an ultrasonic phased array detector and position data of the axial encoder 53 and the circumferential encoder 16, a three-dimensional result is reconstructed, and information such as the outer diameter, the length, the roundness, the straightness, the wall thickness and internal defects of the plastic liner are analyzed and evaluated.
Standard parts used in the document of the application can be purchased from the market, the specific connection modes of all parts adopt conventional means such as mature bolts, rivets and welding in the prior art, the electric sliding rail sliding seat, the air cylinder, the welding machine, the electric telescopic rod and the internal parts of the controller adopt conventional models in the prior art, the internal structure of the electric sliding rail sliding seat, the air cylinder, the welding machine, the electric telescopic rod and the controller belong to the prior art structure, a worker can finish normal operation of the electric sliding rail sliding seat, the electric telescopic rod and the controller according to the manual of the prior art, and the circuit connection adopts the conventional connection modes in the prior art, so that the specific description is not made.
It should be noted that, although the foregoing embodiments have been described herein, the scope of the present invention is not limited thereby. Therefore, based on the innovative concepts of the present invention, alterations and modifications to the embodiments described herein, or equivalent structures or equivalent flow transformations made by the present description and drawings, apply the above technical solutions directly or indirectly to other relevant technical fields, all of which are included in the scope of protection of the present patent.
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| DE102005007492A1 (en) * | 2005-02-17 | 2006-08-31 | Hecht, Siegmar, Dr.-Ing. | Empty goods e.g. beverage cases, space measuring arrangement for empty good machine, has electronic camera arranged on linear drive or on turning arm drive over cases, and dark field-reflected light illumination evenly illuminating cases |
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| CN113007592A (en) * | 2019-12-19 | 2021-06-22 | 未势能源科技有限公司 | Online detection method for gas storage cylinder |
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