부산대학교 도서관

Only keep the tracing points of the robot a one-to-one match to the inspected points on the tested part can the detected ultrasonic signals collect the defect information of the tested part correctly during the ultrasonic testing for the complex curved surface. To solve this problem, in this paper, the 6R robot and the ultrasonic sensor are applied to the automatic detection system for the complex curved surface. First, the frame of system is presented, and then the synchronous acquisition between ultrasonic echo signal and the position of robot is described in detail. Taking for example Staubli TX90XL robot with six freedom degrees, this paper uses mixed synchronous trigger based on time-position to detect the aeronautic engine blade. The ultrasonic signal is acquired and then analysed briefly to test the synchronism of the system.