木材缺陷双机械手空气耦合超声检测方法

为了充分利用森林资源、切实提高木材利用率，基于工业机械手技术及空气耦合超声检测技术构建了一种双机械手空气耦合超声检测系统，针对系统缺陷检测分辨力、缺陷复形能力设计验证试验，并进行实验验证。实验结果表明：利用100 kHz 聚焦换能器进行木材样件缺陷检测时，双机械手空气耦合超声检测系统对厚度为15 mm的木材中 5 mm的节子等缺陷有较好的检出能力，并且对不同形状的缺陷具有较强的复形能力，对复杂曲面构件的缺陷也具有较强的检出能力，检测方法的提出为木材的完整性评估和可用性评价提供了强有力的科学依据。

Dual-robot air-coupled ultrasonic testing method for wood defects

In order to make full use of forest resources and effectively improve the utilization rate of wood, a dual-manipulator air-coupled ultrasonic testing system was constructed based on industrial manipulator technology and air-coupled ultrasonic testing technology, and the verification experiments were designed and carried out for the system defects inspection resolution and defects reproduction ability. The experimental results show that when the 100 kHz focusing probe is used for defect inspection of wood samples, the dual-manipulator air-coupled ultrasonic testing system has a good capacity to detect defects such as knots larger than 5 mm in wood with a thickness of 15 mm, and has a strong capacity to reproduce the shape of the defects of complex shapes and to inspect defects in parts with complex-curved surfaces. The successful implementation of the testing method can provide a scientific basis for the integrity and usability assessment of wood.