A vacuum loading detection device and detection method based on curvature adjustment

Abstract

The present invention discloses a vacuum loading detection device and detection method based on curvature adjustment, the device includes a mobile trolley, a mechanical arm, a curvature measuring mechanism, a vacuum loading mechanism, a detection head and a computer; two mechanical arms and a computer are respectively arranged on the base on the upper surface of the mobile trolley; the curvature detection mechanism and the vacuum loading mechanism are respectively arranged at the free ends of the two mechanical arms; the computer is respectively connected to the curvature measuring mechanism and the vacuum loading mechanism in communication, after the curvature measuring mechanism transmits the measured curvature data to the computer, the computer feeds back the curvature data to the vacuum loading mechanism, and the vacuum loading mechanism performs vacuum loading on different curved surfaces according to different curvature data; the detection head is arranged at the exact center of the vacuum loading mechanism for internal defect detection. The present invention solves the problem that traditional vacuum loading requires manual movement, and improves detection efficiency; at the same time, vacuum loading of different curved surfaces is realized by real-time measurement of the curvature of the curved surface.

Description

Technical Field

[0001] The invention relates to the research field of nondestructive testing equipment technology, and in particular to a vacuum loading testing device and a testing method based on curvature adjustment. Background Art

[0002] Laser shearing speckle interferometry has the advantages of high precision and full-field real-time measurement, and is widely used in the fields of machinery, aerospace, etc. Non-destructive testing using shearing speckle interferometry requires providing external loads to the object being tested. The loading methods include thermal loading, vacuum loading, vibration loading, etc., among which vacuum loading is the most widely used.

[0003] In the past, vacuum loading included vacuum chamber loading and portable vacuum loading. Vacuum chamber loading is to place the object to be tested in a closed vacuum chamber to achieve vacuum loading, but this loading method has limitations in the internal defect detection of large outdoor objects; in the past, portable vacuum loading methods often test samples in fixed positions, and do not require mobile testing equipment and vacuum loading devices at all times, but this method has certain limitations when testing large outdoor objects, and the rubber chassis of the vacuum cover can often only achieve adsorption loading of flat objects, and cannot achieve adsorption loading of different curved surfaces. Therefore, it is of great significance and application prospects to study a vacuum loading detection device and detection method based on curvature adjustment. Summary of the invention

[0004] In order to solve the above problems, the purpose of the present invention is to provide a vacuum loading detection device and detection method based on curvature adjustment. The device and method can not only solve the problem that traditional vacuum loading requires manual movement, greatly reduce labor and improve detection efficiency; at the same time, the device and method also realize vacuum loading of different surfaces through real-time measurement of the curvature of the surface, thereby greatly increasing the application scope of the vacuum loading device.

[0005] The technical solution for achieving the purpose of the present invention is:

[0006] A vacuum loading detection device based on curvature adjustment comprises a moving trolley, a mechanical arm, a curvature measuring mechanism, a vacuum loading mechanism, a detection head and a computer; two mechanical arms and the computer are respectively arranged on bases on the upper surface of the moving trolley; the curvature detection mechanism and the vacuum loading mechanism are respectively arranged at the free ends of the two mechanical arms, and the rotation of the curvature measuring mechanism and the vacuum loading mechanism is realized by the rotation of the mechanical arms; the computer is respectively connected to the curvature measuring mechanism and the vacuum loading mechanism for communication, and after the curvature measuring mechanism transmits the measured curvature data to the computer, the computer feeds back the curvature data to the vacuum loading mechanism, and the vacuum loading mechanism performs vacuum loading on different curved surfaces according to different curvature data; the detection head is arranged at the exact center of the vacuum loading mechanism, and is used for internal defect detection of the curved surface loaded by the vacuum cover, and the detection result is transmitted to the computer.

[0007] The curvature measuring mechanism includes a base plate, one side of the base plate is fixed to the end of the mechanical arm, and a cross-shaped slide groove is provided on the other side of the base plate. Measuring rods are respectively provided on the transverse and longitudinal grooves of the cross-shaped slide groove, and a curvature measuring head is provided at the end of the measuring rod. A displacement sensor is also provided on the measuring rod. The measuring rod is driven by a motor to slide on the slide groove through the measuring rod control motor. A support rod is also provided on the base plate, one end of the support rod is fixed to the base plate, and the other end is used to fit the measured curved surface; the displacement sensor is connected to a computer for communication.

[0008] The cross-shaped slide groove has a horizontal and vertical length that is equal to the distance between the outer end lines of adjacent support rods.

[0009] The measuring rod is a telescopic measuring rod.

[0010] The vacuum loading mechanism comprises a base, a hydraulic lifting rod, a vacuum cover body and a rubber seat. One side surface of the base is fixed to the end of the mechanical arm, a detection head is arranged in the middle of the other side surface of the base, one end of the hydraulic lifting rod is fixed to the four corners of the base, the other end of the hydraulic lifting rod is fixedly connected to the vacuum cover body, the end surface of the vacuum cover body away from the hydraulic lifting rod is connected to one end of the arc adjustment rod, and the other end of the arc adjustment rod is connected to the rubber seat; transparent glass is arranged on the end surface where the vacuum cover body is connected to the hydraulic lifting rod; a pressure sensor is arranged on the inner side of the rubber seat for measuring the pressure between the rubber seat and the measured curved surface; an arc adjustment rod controller is arranged on the outer side of the vacuum cover body for adjusting the fitting angle between the rubber seat and the measured curved surface; the detection head, the pressure sensor and the arc adjustment rod controller are respectively connected to a computer.

[0011] The detection head is coaxially arranged with the center of the vacuum cover, and the vertical distance between the detection head and the vacuum cover is controlled by a hydraulic lifting rod.

[0012] The arc-shaped adjusting rod is in a coplanar state with the outer side of the vacuum cover.

[0013] The mechanical arm and the moving trolley are controlled by a rotating motor and a driving motor respectively to control the rotation of the mechanical arm and the movement of the trolley.

[0014] The two mechanical arms are centrally symmetrically arranged at two ends of the upper surface base of the moving vehicle.

[0015] The method for detecting vacuum loading using the vacuum loading detection device based on curvature adjustment described above comprises the following steps:

[0016] 1) Move the trolley to the area to be measured, start the rotary motor to rotate the curvature measurement mechanism to the specified measurement area, and adjust the height through the mechanical arm to make the support rod of the curvature measurement mechanism fit the measured surface;

[0017] 2) The motor is controlled by the measuring rod to control the movement of the measuring rod in the horizontal direction and the vertical direction of the cross-shaped slide slot. The center point of the head is set as the original coordinate, and when the measuring rod moves in the vertical and horizontal directions, the displacement sensor obtains the coordinate points of the surface to be measured in the horizontal direction in turn. When the measuring rod moves in the horizontal direction, the displacement sensor obtains the coordinate points of the surface to be measured in the vertical and horizontal directions in turn. The displacement sensor transmits the displacement information to the computer in real time.

[0018] 3) Fit the coordinate points obtained in step 2) to obtain the fitting curves in the horizontal and vertical directions of the surface to be measured, and use the curvature calculation formula Get the curvature of each point, where represent the first and second derivatives of the fitting curve, respectively;

[0019] 4) The control system controls the robot arm to rotate so that the curvature measurement mechanism rotates to the initial position, and the control system controls another robot arm to rotate the vacuum loading mechanism to the specified measurement area;

[0020] 5) According to the measured curvature of the measured surface, the computer sends a command to the arc adjustment rod controller, and the arc adjustment rod controller controls the arc adjustment rod to rotate according to the command, so as to adjust the rubber seat to fit the measured surface accurately;

[0021] 6) The control system controls the movement of the hydraulic lifting rod and adjusts the fitting force between the rubber seat and the measured surface. When the pressure sensor senses the specified pressure, the hydraulic lifting rod stops moving. After the vacuum loading mechanism is tightly fitted with the measured surface, the vacuum pump on the vacuum cover is turned on to vacuum load the surface. Finally, defect detection is performed through the detection head on the base of the vacuum loading mechanism. The detection head transmits the detection results to the computer, and the defect detection of the measured surface is completed.

[0022] When the measured curved surface is a uniform curved surface, the curvature of the measured curved surface can be obtained by simply moving the measuring rod in one direction in the cross-shaped slide slot.

[0023] The vacuum loading detection device and detection method based on curvature adjustment provided by the present invention have the following advantages compared with the prior art:

[0024] (1) This device can realize mobile vacuum loading inspection of large inspection objects, solving the problem that traditional vacuum loading devices are not convenient for real-time mobile vacuum loading inspection, greatly reducing labor and improving inspection efficiency;

[0025] (2) This device uses a curvature measuring device to measure the curvature of different surfaces and obtains curvature data in real time through corresponding measurement methods. At the same time, the device has a simple and reliable structure and can obtain the curvature at different positions. It can cooperate with the vacuum loading device to realize vacuum loading detection of different surfaces.

[0026] (3) The arc adjustment rod controller and the arc adjustment rod are used to adjust the angle of the rubber seat at the bottom of the vacuum cover, which solves the problem that the traditional portable cover cannot adjust the rubber base in real time, ensures the vacuum loading adsorption of different curved surfaces, and greatly increases the outdoor loading detection capability of vacuum loading;

[0027] (4) Pressure sensors are placed on the inner side of the rubber seat, and cooperate with the hydraulic lifting rod to achieve vacuum loading in the measuring area. The pressure sensors can avoid excessive extrusion of the measured surface, and have good reliability. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is a schematic diagram of the overall structure of a vacuum loading detection device based on curvature adjustment;

[0029] Figure 2 It is a structural schematic diagram of the curvature measurement mechanism;

[0030] Figure 3 It is a structural schematic diagram of the vacuum loading mechanism;

[0031] Figure 4 is a flow chart of the detection method;

[0032] Figure 5 is a schematic diagram of the curvature measurement method of the present invention;

[0033] In the figure: 1. Mobile trolley 2. Base on the mobile trolley 3. Curvature measuring mechanism 4. Computer 5. Robotic arm 6. Detection head 7. Vacuum loading mechanism 3-1. Bottom plate 3-2. Support rod 3-3. Cross-shaped slide 3-4. Curvature measuring head 3-5. Displacement sensor 3-6. Measuring rod 3-7. Measuring rod control motor 7-1. Base 7-2. Hydraulic lifting rod 7-3. Arc adjustment rod controller 7-4. Rubber seat 7-5. Arc adjustment rod 7-6. Vacuum cover 7-7. Transparent glass. DETAILED DESCRIPTION

[0034] The content of the present invention is further described below in conjunction with the drawings and embodiments, but the present invention is not limited thereto.

[0035] like Figure 1 As shown, a vacuum loading detection device based on curvature adjustment includes a mobile trolley 1, a mechanical arm 5, a curvature measuring mechanism 3, a vacuum loading mechanism 7, a detection head 6 and a computer 4; two mechanical arms 5 and the computer 4 are respectively arranged on a base 2 on the upper surface of the mobile trolley 1, wherein the two mechanical arms 5 are centrally symmetrically arranged on the base 2 of the trolley 1, and the mechanical arms 5 and the mobile trolley 1 are respectively controlled by a rotating motor and a driving motor to control the rotation of the mechanical arms 5 and the movement of the trolley 1, and the rotating motor and the driving motor are controlled by a control system; the curvature detection mechanism 3 and the vacuum loading mechanism 7 are respectively arranged on the two The free end of a mechanical arm 5 is used to realize the rotation of the curvature measuring mechanism 3 and the vacuum loading mechanism 7 through the rotation of the mechanical arm 5; the computer 4 is respectively connected to the curvature measuring mechanism 3 and the vacuum loading mechanism 7 for communication; after the curvature measuring mechanism 3 transmits the measured curvature data to the computer 4, the computer 4 feeds back the curvature data to the vacuum loading mechanism 7, and the vacuum loading mechanism 7 performs vacuum loading on different curved surfaces according to different curvature data; the detection head 6 is arranged at the center of the vacuum loading mechanism 7, and is used for internal defect detection of the vacuum cover loading curved surface, and the detection result is transmitted to the computer 4.

[0036] like Figure 2 As shown, the curvature measuring mechanism 3 includes a base plate 3-1, one side of the base plate 3-1 is fixed to the end of the mechanical arm 5, and a cross-shaped slide groove 3-3 is provided on the other side of the base plate 3-1. The transverse and longitudinal grooves of the cross-shaped slide groove 3-3 are respectively provided with measuring rods 3-6, and the end of the measuring rod 3-6 is provided with a curvature measuring head 3-4. The measuring rod 3-6 is also provided with a displacement sensor 3-5. The measuring rod 3-6 is driven to slide on the cross-shaped slide groove 3-3 by a measuring rod control motor 3-7. Support rods 3-2 are also provided at the four corners of the base plate 3-1, one end of the support rod 3-2 is fixed to the base plate 3-2, and the other end is used to fit with the measured curved surface; the displacement sensor 3-5 is connected to the computer 4 for communication, and the measuring rod control motor 3-7 is controlled by the control system.

[0037] The cross-shaped slide groove 3-3 has a horizontal and vertical length that is equal to the distance between the outer end lines of the adjacent support rods 3-2. The measuring rod 3-6 is a telescopic measuring rod.

[0038] like Figure 3 As shown, the vacuum loading mechanism 7 includes a base 7-1, a hydraulic lifting rod 7-2, a vacuum cover 7-6, and a rubber seat 7-4. One side of the base 7-1 is fixed to the end of the robot arm 5, and a detection head 6 is arranged in the middle of the other side of the base 7-1. One end of the hydraulic lifting rod 7-2 is fixed to the four corners of the base 7-1, and the other end of the hydraulic lifting rod 7-2 is fixedly connected to the vacuum cover 7-6. The hydraulic lifting rod 7-2 is controlled by a hydraulic controller 7-8 to lift and lower its lifting rod, and the hydraulic controller 7-8 is controlled by a control system, wherein the detection head 6 is coaxially arranged with the center of the vacuum cover 7-6, and the detection head 6 is controlled by the hydraulic lifting rod 7-2. The vertical distance of the vacuum cover 7-6; the end surface of the vacuum cover 7-6 away from the hydraulic lifting rod 7-2 is connected to one end of the arc adjustment rod 7-5, and the other end of the arc adjustment rod 7-5 is connected to the rubber seat 7-4; a transparent glass 7-7 is set on the end surface of the vacuum cover 7-6 connected to the hydraulic lifting rod 7-2; a pressure sensor is provided on the inner side of the rubber seat 7-4 to measure the pressure between the rubber seat 7-4 and the measured curved surface; an arc adjustment rod controller 7-3 is provided on the outer side of the vacuum cover 7-6 to adjust the fitting angle between the rubber seat 7-4 and the measured curved surface; the detection head 6, the pressure sensor and the arc adjustment rod controller 7-3 are respectively connected to the computer.

[0039] The arc-shaped adjustment rod 7-5 is in a coplanar state with the outer side surface of the vacuum cover body 7-6.

[0040] like Figure 4 As shown, a method for detecting vacuum loading using the above-mentioned vacuum loading detection device based on curvature adjustment includes the following steps:

[0041] 1) Move the trolley 1 to the area to be measured, start the rotary motor to rotate the curvature measurement mechanism 3 to the specified measurement area, and adjust the height through the mechanical arm 5 so that the support rod 3-2 of the curvature measurement mechanism 3 fits the measured curved surface;

[0042] 2) The motor 3-7 is controlled by the measuring rod to control the measuring rod 3-2 to move in the horizontal direction and the vertical direction inside the cross-shaped slide groove 3-3, respectively. The head of the support rod 3-2 is taken as the reference, and the center point of the head is set as the original coordinate. When the measuring rod 3-2 in the vertical direction moves, the displacement sensor 3-5 obtains the coordinate points of the surface to be measured in the horizontal direction in sequence. When the measuring rod in the horizontal direction moves, the displacement sensor 3-5 obtains the coordinate points of the surface to be measured in the vertical direction in sequence. The displacement sensor 3-5 transmits the displacement information to the computer 4 in real time;

[0043] 3) Fit the coordinate points obtained in step 2) to obtain the fitting curves in the horizontal and vertical directions of the surface to be measured, and use the curvature calculation formula Get the curvature of each point, where represent the first and second derivatives of the fitting curve, respectively;

[0044] 4) The control system controls the mechanical arm 5 to rotate so that the curvature measuring mechanism 3 rotates to the initial position, and the control system controls another mechanical arm 5 so that the vacuum loading mechanism 7 rotates to the designated measuring area;

[0045] 5) According to the measured curvature of the measured surface, the computer 4 sends a command to the arc adjustment rod controller 7-3, and the arc adjustment rod controller 7-3 controls the arc adjustment rod 7-5 to rotate according to the command, thereby adjusting the rubber seat 7-4 to accurately fit the measured curved surface;

[0046] 6) The control system controls the movement of the hydraulic lifting rod 7-2, and adjusts the fitting force between the rubber seat 7-4 and the measured surface. When the pressure sensor senses the specified pressure, the hydraulic lifting rod 7-2 stops moving. After the vacuum loading mechanism 7 is tightly fitted with the measured surface, the vacuum pump on the vacuum cover 7-6 is turned on to vacuum load the surface. Finally, defect detection is performed through the detection head 6 on the base of the vacuum loading mechanism 7. The detection head 6 transmits the detection results to the computer 4, thus completing the defect detection of the measured surface.

[0047] like Figure 5 As shown in the figure, when the measured surface is a uniform surface, it is only necessary to control the measuring rod to move vertically, that is, CB moves from point O along the OG direction, and the position sensor obtains the coordinate data of each point in real time, and the data is analyzed and processed by a computer to obtain the curvature of the measured curve OBG, and the obtained curvature is fed back to the arc adjustment rod controller, thereby adjusting the rubber seat angle in the horizontal and vertical directions, completing the vacuum loading adjustment of the measured surface, and finally realizing the internal defect detection of the measured surface through the detection head to obtain real-time defect detection data.

Claims

1. A vacuum loading detection device based on curvature adjustment, characterized in that: It includes a mobile trolley, a mechanical arm, a curvature measuring mechanism, a vacuum loading mechanism, a detection head and a computer; two mechanical arms and the computer are respectively arranged on the base on the upper surface of the mobile trolley; the curvature detecting mechanism and the vacuum loading mechanism are respectively arranged at the free ends of the two mechanical arms, and the rotation of the curvature measuring mechanism and the vacuum loading mechanism is realized by the rotation of the mechanical arms, and the mechanical arms and the mobile trolley are respectively controlled by a rotating motor and a driving motor to control the rotation of the mechanical arms and the movement of the trolley; the two mechanical arms are centrally symmetrically arranged at the two ends of the base on the upper surface of the mobile trolley; the computer is respectively communicated with the curvature measuring mechanism and the vacuum loading mechanism, and after the curvature measuring mechanism transmits the measured curvature data to the computer, the computer feeds back the curvature data to the vacuum loading mechanism, and the vacuum loading mechanism performs vacuum loading on different curved surfaces according to different curvature data; the detection head is arranged at the center of the vacuum loading mechanism, and is used for vacuum cover The invention discloses a vacuum loading mechanism for detecting internal defects of a loading surface of a body, and transmitting the detection results to a computer. The vacuum loading mechanism comprises a base, a hydraulic lifting rod, a vacuum cover body and a rubber seat. One side of the base is fixed to the end of a mechanical arm, and a detection head is arranged in the middle of the other side of the base. One end of the hydraulic lifting rod is fixed to the four corners of the base, and the other end of the hydraulic lifting rod is fixedly connected to the vacuum cover body. The end surface of the vacuum cover body away from the hydraulic lifting rod is connected to one end of an arc-shaped adjustment rod, and the other end of the arc-shaped adjustment rod is connected to the rubber seat. Transparent glass is arranged on the end surface where the vacuum cover body is connected to the hydraulic lifting rod. A pressure sensor is arranged on the inner side of the rubber seat for measuring the pressure between the rubber seat and the measured surface. An arc-shaped adjustment rod controller is arranged on the outer side of the vacuum cover body for adjusting the fitting angle between the rubber seat and the measured surface. The detection head, the pressure sensor and the arc-shaped adjustment rod controller are respectively connected to the computer.

2. A vacuum loading detection device based on curvature adjustment according to claim 1, characterized in that: The curvature measuring mechanism includes a base plate, one side of the base plate is fixed to the end of the mechanical arm, and a cross-shaped slide groove is provided on the other side of the base plate. Measuring rods are respectively provided on the transverse and longitudinal grooves of the cross-shaped slide groove, and a curvature measuring head is provided at the end of the measuring rod. A displacement sensor is also provided on the measuring rod. The measuring rod is driven by a motor to slide on the slide groove through the measuring rod control motor. A support rod is also provided on the base plate, one end of the support rod is fixed to the base plate, and the other end is used to fit the measured curved surface; the displacement sensor is connected to a computer for communication.

3. The vacuum loading detection device based on curvature adjustment according to claim 2 is characterized in that: The cross-shaped slide groove has a horizontal and vertical length that is equal to the distance between the outer end lines of adjacent support rods.

4. The vacuum loading detection device based on curvature adjustment according to claim 2 is characterized in that: The measuring rod is a telescopic measuring rod.

5. The vacuum loading detection device based on curvature adjustment according to claim 1, characterized in that: The detection head is coaxially arranged with the center of the vacuum cover, and the vertical distance between the detection head and the vacuum cover is controlled by a hydraulic lifting rod.

6. The vacuum loading detection device based on curvature adjustment according to claim 1 is characterized in that: The arc-shaped adjusting rod is in a coplanar state with the outer side of the vacuum cover.

7. A method for detecting vacuum loading using a vacuum loading detection device based on curvature adjustment as claimed in any one of claims 1 to 6, characterized in that: The steps include: 1) Move the trolley to the area to be measured, start the rotary motor to rotate the curvature measurement mechanism to the specified measurement area, and adjust the height through the mechanical arm to make the support rod of the curvature measurement mechanism fit the measured surface; 2) The motor is controlled by the measuring rod to control the movement of the measuring rod in the horizontal direction and the vertical direction of the cross-shaped slide slot, respectively. The center point of the head of the support rod is set as the original coordinate. When the measuring rod in the vertical direction moves, the displacement sensor obtains the coordinate points of the surface to be measured in the horizontal direction in sequence. When the measuring rod in the horizontal direction moves, the displacement sensor obtains the coordinate points of the surface to be measured in the vertical direction in sequence. The displacement sensor transmits the displacement information to the computer in real time. 3) Fit the coordinate points obtained in step 2) to obtain the fitting curves in the horizontal and vertical directions of the surface to be measured, and use the curvature calculation formula Get the curvature of each point, where y ‘ and y” represent the first and second derivatives of the fitting curve, respectively; 4) The control system controls the mechanical arm to rotate so that the curvature measurement mechanism rotates to the initial position, and the control system controls another mechanical arm to rotate the vacuum loading mechanism to the designated measurement area; 5) According to the measured curvature of the measured surface, the computer sends a command to the arc adjustment rod controller, and the arc adjustment rod controller controls the arc adjustment rod to rotate according to the command, thereby adjusting the rubber seat to accurately fit the measured curved surface; 6) The control system controls the movement of the hydraulic lifting rod and adjusts the fitting force between the rubber seat and the measured surface. When the pressure sensor senses the specified pressure, the hydraulic lifting rod stops moving. After the vacuum loading mechanism is tightly fitted with the measured surface, the vacuum pump on the vacuum cover is turned on to vacuum load the surface. Finally, defect detection is performed through the detection head on the base of the vacuum loading mechanism. The detection head transmits the detection results to the computer, thus completing the defect detection of the measured surface.

8. The detection method according to claim 7, characterized in that: When the measured curved surface is a uniform curved surface, the curvature of the measured curved surface can be obtained by simply moving the measuring rod in one direction in the cross-shaped slide slot.

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