A detection rod of a terahertz online detection machine

Abstract

The present invention belongs to the field of terahertz detection, and specifically, is a detection rod for a terahertz online detection machine. A connecting rod transmission shaft mechanism is connected to one end of a detection steel pipe, and a detection connecting rod mechanism is installed at the other end. A transmission shaft A of the connecting rod transmission shaft mechanism, serving as an output actuator, passes through the detection steel pipe and is connected to the input end of the detection connecting rod mechanism. The output end of the detection connecting rod mechanism is connected to an angled incident assembly, which has pitch freedom through the power output of the connecting rod transmission shaft mechanism and the transmission of the detection connecting rod mechanism. A terahertz controller is installed on the detection steel pipe, and a servo motor and terahertz controller in the connecting rod transmission shaft mechanism are respectively connected to a control system. The present invention utilizes the transmission shaft A for long-distance transmission, avoiding the complex tensioning of synchronous belts and wire ropes. By installing the servo motor and reducer at the tail, the weight and size of the head are reduced, and multi-point support is used to avoid bending deformation.

Description

Technical Field

[0001] The invention belongs to the field of terahertz detection, in particular to a detection rod of a terahertz online detection machine. Background Art

[0002] Currently, domestic testing of the material and shape characteristics of thermal insulation layers and external coatings is mostly performed semi-automatically or manually. This existing approach has the following drawbacks: First, manual testing cannot inspect complex parts and can easily damage the inner wall; second, manual methods can lead to large errors in 3D imaging and detection; and third, current testing methods are inefficient and cannot meet more stringent testing requirements.

[0003] There is still no equipment in China that can automatically detect the materials and shape characteristics of the insulation layer and the outer coating. The current operating method cannot meet the accuracy, efficiency and dust-free operation requirements of internal detection. Summary of the Invention

[0004] In view of the above-mentioned problems existing in the existing detection of the material and shape characteristics of the thermal insulation layer and the outer coating, the object of the present invention is to provide a detection rod of a terahertz online detection machine.

[0005] The object of the present invention is achieved through the following technical solutions:

[0006] The present invention includes a connecting rod transmission shaft mechanism, a detection steel pipe, a terahertz controller, a detection connecting rod mechanism and an angle incidence component, wherein one end of the detection steel pipe is connected to the connecting rod transmission shaft mechanism, and the other end is installed with the detection connecting rod mechanism. The transmission shaft A of the connecting rod transmission shaft mechanism as the output execution component passes through the detection steel pipe and is connected to the input end of the detection connecting rod mechanism. The output end of the detection connecting rod mechanism is connected to the angle incidence component. The angle incidence component has pitch freedom through the power output of the connecting rod transmission shaft mechanism and the transmission of the detection connecting rod mechanism; the terahertz controller is installed on the detection steel pipe, and the servo motor and the terahertz controller in the connecting rod transmission shaft mechanism are respectively connected to the control system.

[0007] Wherein: the connecting rod transmission shaft mechanism includes a transmission shaft A, a universal joint, a connecting rod bearing seat, a reducer mounting seat, a reducer and a servo motor, the connecting rod bearing seat is connected to one end of the detection steel pipe, two reducer mounting seats are fixed on the connecting rod bearing seat, each of the reducer mounting seats is fixed with a reducer, the input end of each reducer is connected to a servo motor, the output end of each reducer is connected to multiple transmission shafts A, the multiple transmission shafts A connected to each reducer output end are connected through a universal joint, the transmission shaft A connected to the reducer output end is rotatably installed on the connecting rod bearing seat, the two servo motors synchronously output rotational power, and the output rotation directions are opposite; the two servo motors are respectively connected to the control system.

[0008] A plurality of auxiliary support bearing assemblies are provided on the detection steel pipe along the length direction, and the auxiliary support bearing assemblies include deep groove ball bearings, spacers, auxiliary support pins, auxiliary support bearing mounting seats, auxiliary support bearing adjustment plates and fixed seats. The auxiliary support bearing adjustment plates are fixedly connected to the detection steel pipe, and a fixed seat is provided on the inner side of the auxiliary support bearing adjustment plate. The auxiliary support bearing mounting seat is installed on the fixed seat, and two auxiliary support pins are installed on the auxiliary support bearing mounting seat. A deep groove ball bearing is rotatably installed on each of the auxiliary support pins through a spacer, and the deep groove ball bearing is in rolling contact with the transmission shaft A.

[0009] Guide rails are provided on both sides of the detection steel pipe in the length direction.

[0010] Both ends of the guide rail are provided with guide rail limit seats fixedly connected to the detection steel pipe.

[0011] The other end of the detection steel pipe is equipped with a laser ranging sensor A connected to the control system.

[0012] The angle incidence component includes a camera, a laser ranging sensor B and a terahertz angle incidence detection head. The terahertz angle incidence detection head is connected to the output end of the detection linkage mechanism. The terahertz angle incidence detection head is respectively equipped with a camera and a laser ranging sensor B. The camera and the laser ranging sensor B are respectively connected to the control system.

[0013] The detection connecting rod mechanism includes a bearing seat support, a bearing seat, a transmission shaft B, a joint connecting rod, a bevel gear set, a pulley set and a fixed plate. The bearing seat support is fixedly connected to the other end of the detection steel pipe. Bearing seats are installed on both sides of the bearing seat support. The two ends of the transmission shaft B are respectively rotatably connected to the bearing seats on both sides; the bevel gear set includes two active bevel gears and two driven bevel gears. The connecting rod transmission shaft mechanism has two transmission shafts A as output execution components. The two transmission shafts A are respectively rotatably connected to the bearing seat support. Each of the transmission shafts A is connected to an active bevel gear. The two transmission shafts The rotation direction of the driven shaft A is opposite; the two driven bevel gears are respectively connected with the transmission shaft B, and each of the driving bevel gears is meshed with a driven bevel gear for transmission; one end of the joint connecting rod is connected with the transmission shaft B, and a pulley group is provided on one side or both sides of the joint connecting rod, and the pulley group includes two pulleys and a transmission belt, one of the pulleys is installed on the transmission shaft B and connected with the transmission shaft B, and the other pulley is rotatably installed on the other end of the joint connecting rod through a pin shaft, and the two pulleys are connected by a transmission belt; one end of the fixed plate is connected with the pin shaft, and the other end is fixed to the angle incidence component.

[0014] A connecting plate is connected to the transmission belt, a baffle A is installed on one end of the connecting plate facing the bevel gear group, a photoelectric switch A corresponding to the baffle A is installed on the bearing seat support, a photoelectric switch B is installed on the other end of the connecting plate facing the pulley group, and a baffle B corresponding to the photoelectric switch B is installed on the fixed plate; the photoelectric switch A and the photoelectric switch B are respectively connected to the control system.

[0015] A tensioning seat is installed on the joint connecting rod, and tensioning wheels are rotatably installed on the upper and lower ends of the tensioning seat. The tensioning wheels at the upper and lower ends are always in contact with the transmission belts on the upper and lower sides of the pulley.

[0016] The advantages and positive effects of the present invention are:

[0017] 1. The present invention uses the transmission shaft A for long-distance transmission, avoiding the complex tensioning of synchronous belts, wire ropes, etc., by installing the servo motor and reducer at the tail, reducing the weight and size of the head, and avoiding bending deformation through multi-point support. The dual rotation mechanism of the present invention is suitable for measuring heads and products of different diameters.

[0018] 2. The detection linkage mechanism adopted in the present invention uses an encoder to measure the actual rotation angle to supplement the transmission error of the detection rod, and uses a distance sensor to measure the distance between the terahertz measuring head and the measured insulation layer to compensate for the error caused by the deflection deformation of the measuring rod. The present invention uses a bevel gear set and a pulley set to achieve multiple postures of the scanning detection head. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention;

[0020] Figure 2 for Figure 1 Schematic diagram of the three-dimensional structure of the middle connecting rod transmission shaft mechanism;

[0021] Figure 3 for Figure 1 Schematic diagram of the three-dimensional structure of the detection linkage mechanism;

[0022] Figure 4 for Figure 1 A schematic diagram of the three-dimensional structure of the auxiliary support bearing assembly;

[0023] Figure 5 for Figure 1 Schematic diagram of the three-dimensional structure of the medium-angle incidence component;

[0024] Figure 6 Schematic diagram of the three-dimensional structure of the present invention applied to a terahertz online detection machine;

[0025] Among them: 1 is the connecting rod transmission shaft mechanism, 2 is the detection steel pipe, 3 is the guide rail limit seat, 4 is the auxiliary support bearing assembly, 5 is the terahertz controller, 6 is the controller bracket, 7 is the guide rail, 8 is the laser ranging sensor A, 9 is the detection connecting rod mechanism, 10 is the angle incidence assembly, 11 is the transmission shaft A, 12 is the universal joint, 13 is the connecting rod bearing seat, 14 is the reducer mounting seat, 15 is the reducer, 16 is the servo motor, 17 is the bearing seat support, 18 is the bearing seat, 19 is the transmission shaft B, 20 is the joint connecting rod, 21 is the photoelectric switch A, 23 is the photoelectric switch B, 24 is the encoder, 25 is the bevel gear set, 26 is a pulley assembly, 27 is a baffle A, 28 is a connecting plate, 29 is a baffle B, 30 is a fixed plate, 31 is a tensioning seat, 32 is a tensioning pulley, 33 is a deep groove ball bearing, 34 is a spacer, 35 is an auxiliary support pin, 36 is a hexagon socket head screw, 37 is an auxiliary support bearing mounting seat, 38 is an auxiliary support bearing adjustment plate, 39 is an adjustment hole, 40 is a fixed seat, 41 is a camera, 42 is a laser ranging sensor B, 43 is a terahertz angle injection detection head, 44 is an axial walking mechanism base, 45 is a detection rod, 46 is an axial walking and lifting slide, and 47 is an axial walking and lifting guide device. DETAILED DESCRIPTION

[0026] The present invention will be further described below in conjunction with the accompanying drawings.

[0027] like Figures 1 to 5As shown, the present invention includes a connecting rod transmission shaft mechanism 1, a detection steel pipe 2, a guide rail limit seat 3, an auxiliary support bearing assembly 4, a terahertz controller 5, a controller bracket 6, a guide rail 7, a laser ranging sensor A8, a detection connecting rod mechanism 9 and an angle incidence assembly 10. The detection steel pipe 2 is a rectangular beam welded from steel plates. Four guide rails 7 are installed on both sides of the length direction of the detection steel pipe 2, and a guide rail 7 is installed on the upper and lower parts of each side. The front and rear ends of each guide rail 7 are provided with a guide rail limit seat 3 fixed to the detection steel pipe 2. The guide rail limit seat 3 is located at the extreme position of the guide rail 7. The guide rail 7 is used to be slidably connected to the axial walking and lifting guide device 47; the terahertz controller 5 is installed on the detection steel pipe 2 through the controller bracket 6, and is located at the detection steel pipe 2. Middle part; one end of the detection steel pipe 2 is connected to the connecting rod transmission shaft mechanism 1, which is installed on the axial straight line and lifting slide 46, and the other end of the detection steel pipe 2 is installed with a detection connecting rod mechanism 9. The transmission shaft A11 of the connecting rod transmission shaft mechanism 1 as the output actuator passes through the inside of the detection steel pipe 2 and is connected to the input end of the detection connecting rod mechanism 9. The output end of the detection connecting rod mechanism 9 is connected to the angle incidence component 10, and the angle incidence component 10 has pitch freedom through the power output of the connecting rod transmission shaft mechanism 1 and the transmission of the detection connecting rod mechanism 9; the other end of the detection steel pipe 2 is installed with a laser ranging sensor A8, and the laser ranging sensor A8, the terahertz controller 5 and the servo motor 16 in the connecting rod transmission shaft mechanism 1 are respectively connected to the control system.

[0028] The connecting rod transmission shaft mechanism 1 of this embodiment includes a transmission shaft A11, a universal joint 12, a connecting rod bearing seat 13, a reducer mounting seat 14, a reducer 15 and a servo motor 16. The connecting rod bearing seat 13 is fixed to one end of the detection steel pipe 2 and is used to be installed with the axial straight line and the lifting slide 6. Two reducer mounting seats 14 are fixed on the connecting rod bearing seat 13. A reducer 15 is fixed on each reducer mounting seat 14. The input end of each reducer 15 is connected to a servo motor 16. The output end of each reducer 15 is connected to the servo motor 16. The output ends are connected to multiple transmission shafts A11. In this embodiment, six transmission shafts A11 are connected to the output ends of each reducer 15. Adjacent transmission shafts A11 are connected by universal joints 12 (that is, twelve transmission shafts A11 are connected by twelve universal joints 12 as a transmission mechanism). The transmission shaft A11 connected to the output end of the reducer 15 is rotatably installed on the connecting rod bearing seat 13, and the two servo motors 16 synchronously output rotational power, and the output rotation directions are opposite; the two servo motors 16 are respectively connected to the control system.

[0029] The detection steel pipe 2 of this embodiment is provided with a plurality of auxiliary support bearing assemblies 4 along the length direction. The auxiliary support bearing assembly 4 includes a deep groove ball bearing 33, a spacer 34, an auxiliary support pin 35, a hexagon socket head screw 36, an auxiliary support bearing mounting seat 37, an auxiliary support bearing adjustment plate 38 and a fixing seat 40. The auxiliary support bearing adjustment plate 38 is a square plate with adjustment holes 39 at both ends. The auxiliary support bearing adjustment plate 38 is fixed to the side of the detection steel pipe 2 by bolts. The bolts are inserted into the adjustment holes 101 and can be moved in the adjustment holes 101. Move, and after the auxiliary support bearing adjustment plate 38 is adjusted into place, it is tightened and fixed with the detection steel pipe 2; the inner side of the auxiliary support bearing adjustment plate 38 is provided with a fixing seat 40 located inside the detection steel pipe 2, and the auxiliary support bearing mounting seat 37 is fixed to the fixing seat 40 by four hexagonal cylindrical head screws 36, which plays an auxiliary support role. Two auxiliary support pins 35 are installed on the auxiliary support bearing mounting seat 37, and each auxiliary support pin 35 is rotatably installed with a deep groove ball bearing 33 through a spacer sleeve 34, and the deep groove ball bearing 33 is in rolling contact with the drive shaft A11.

[0030] The angled incident component 10 of this embodiment is used to implement the detection function, and includes a camera 41, a laser ranging sensor B42, and a terahertz angled incident detection head 43. The terahertz angled incident detection head 43 is connected to the output end of the detection linkage mechanism 9. The camera 41 and the laser ranging sensor B42 are mounted on the upper surface of the terahertz angled incident detection head 43, and the camera 41 and the laser ranging sensor B42 are respectively connected to the control system. The camera 41 is used to take pictures of the inner wall of the detected object, and the laser ranging sensor B42 is used to detect the distance between the present invention and the inner wall of the detected object to prevent collision.

[0031] The detection connecting rod mechanism 9 of this embodiment includes a bearing seat support 17, a bearing seat 18, a transmission shaft B19, a joint connecting rod 20, a photoelectric switch A21, a photoelectric switch B23, an encoder 24, a bevel gear set 25, a pulley set 26, a baffle A27, a connecting plate 28, a baffle B29, a fixing plate 30, a tensioning seat 31 and a tensioning pulley 32. The bearing seat support 17 is fixed to the other end of the detection steel pipe 2. Bearing seats 18 are installed on both sides of the bearing seat support 17. The two ends of the transmission shaft B19 are respectively connected to the bearing seats 18 on both sides; the bevel gear set 25 includes two active bevel gears and two driven bevel gears. The two transmission shafts A11 serving as output actuators in the connecting rod transmission shaft mechanism 1 are respectively connected to the bearing seat support 17 for rotation. Each transmission shaft A11 is connected to an active bevel gear. The two transmission shafts A11 rotate in opposite directions; the two driven bevel gears are respectively connected to the transmission shaft B19, and each driving bevel gear is meshed with a driven bevel gear for transmission; the joint links 20 of this embodiment are two parallel to each other, and one end of the two joint links 20 is connected to the transmission shaft B19, and a pulley group 26 is provided on the outside of each joint link 20; the pulley group 26 of this embodiment includes two pulleys and a transmission belt, one pulley is installed on the transmission shaft B19 and connected to the transmission shaft B19, and the other pulley is rotatably installed on the other end of the joint link 20 through a pin shaft, and the pin shaft and the other end of the joint link 20 can rotate relative to each other, and the two pulleys in each pulley group 26 are connected by a transmission belt; one end of the fixed plate 30 is connected to the pin shaft, and the other end is fixed to the angle incidence component 10.

[0032] In this embodiment, the conveyor belt is connected to a connecting plate 28. A baffle A27 is mounted on the upper and lower ends of the connecting plate 28 facing the bevel gear assembly 25. A photoelectric switch A21 corresponding to baffle A27 is mounted on the upper and lower ends of the bearing support 17. A photoelectric switch B23 is mounted on the upper and lower ends of the connecting plate 28 facing the pulley assembly 26. A baffle B29 corresponding to photoelectric switch B23 is mounted on the upper and lower ends of the fixed plate 30. Photoelectric switches A21 and B23 are each connected to a control system. Photoelectric switches A21 and B29 serve as protection mechanisms. If photoelectric switch A21 detects baffle A27 on the connecting plate 28, the control system stops the servo motor 16 and the connecting plate 28, preventing it from colliding with the bearing support 17. Similarly, if photoelectric switch B23 detects baffle B29 on the fixed plate 30, the control system stops the servo motor 16 and the connecting plate 28, preventing it from colliding with the fixed plate 30.

[0033] A tensioning seat 31 is installed between the two joint connecting rods 20 of this embodiment, and the connecting plate 28 passes through the tensioning seat 31. Tensioning pulleys 32 are rotatably installed at the upper and lower ends of the tensioning seat 31. The tensioning pulleys 32 at the upper and lower ends are always in contact with the transmission belts on the upper and lower sides of the pulley.

[0034] In this embodiment, encoders 24 are installed on the transmission shaft B19 and the pin respectively to achieve precise control of the motion device. The encoder 24 is connected to the control system.

[0035] The control system of this embodiment is a prior art, which adopts a master-slave distributed control method and includes two parts: a host computer and a slave computer. The host computer includes two industrial computers (one for monitoring the operating status of on-site equipment and one for providing information application services) and a database server, which are placed in a remote central control room. The host computer can realize remote monitoring and parameter setting of production line equipment, and can also save various parameter information, including operating status information of each special machine, workpiece information, operator information, etc., to provide information resources for the information management system. The slave computer consists of a programmable logic controller (PLC), supplemented by a remote I / O slave station, a 1D / 2D code reader and related special machine controllers. The operating console is connected to the equipment control cabinet through a bus to issue instructions for control, and the equipment control cabinet is connected to the terahertz controller 5 through a network cable to control the emission of terahertz signals for detection.

[0036] The working principle of the present invention is:

[0037] like Figures 1 to 6 As shown, the axial walking mechanism base 44 is fixed to the ground by bolts, and the axial walking and lifting guide device 47 is installed on the side of the axial walking mechanism base 44 close to the product to be tested. The axial walking and lifting slide 46 is slidably connected to the axial walking mechanism base 44 and has the freedom to slide along the length direction of the axial walking mechanism base 44; one end of the detection rod 45 (that is, the connecting rod bearing seat 13) is installed on the axial walking and lifting slide 46 and slides with the axial walking and lifting slide 46. The other end of the detection rod 45 is slidably connected to the axial walking and lifting guide device 47 and supported by the axial walking and lifting guide device 47, that is, the guide rail 7 is slidably connected to the axial walking and lifting guide device 47, and the detection rod 45 moves back and forth along the length direction of the axial walking mechanism base 44 with the axial walking and lifting slide 46, and also has the freedom to be driven up and down by the axial walking and lifting slide 46 and the axial walking and lifting guide device 47. The axial walking mechanism base 44 is used to fix the equipment, improve the rigidity and provide motion guidance. The detection rod 45 is used to insert the measuring sensor into the product for measurement. The axial walking and lifting slide 46 is used to realize the switching of the measurement of the inner insulation layer and the outer coating and the adaptation of different products. The axial walking and lifting guide device 47 is used to improve the structural rigidity and strength and reduce the cantilever deformation.

[0038] The two servo motors 16 work synchronously, driving the two transmission shafts A11 to rotate in opposite directions respectively, thereby driving the two active bevel gears to rotate in opposite directions, and realizing the rotation of the transmission shaft B19 through the meshing transmission with the two driven bevel gears, and then driving the angle incidence component 10 to pitch through the joint link 20 and the fixed plate 30; while the transmission shaft B19 rotates, it drives the connecting plate 28 to move forward and backward through the pulley group 26, and utilizes the cooperation between the photoelectric switch A21 and the baffle A27, and the cooperation between the photoelectric switch B23 and the baffle B29 to play a protective role.

[0039] The present invention reduces the weight of the head by installing the servo motor 16 and the reducer 15 of the actuator at the tail, transmits the power over long distances through a long shaft, and reduces the power by a worm gear. To avoid flexible deformation of the transmission shaft A11, an auxiliary support bearing assembly 4 is added in the middle to improve its rigidity.

[0040] The probe linkage mechanism 9 of the present invention, through the head pitch actuator, is used to scan the inner wall of the engine's curved surface and meet the measurement and adjustment requirements of different products. Through axial and rotational motion, it adapts to the different scanning trajectory requirements of the product's head and straight section. By installing an encoder 24, a laser ranging sensor B42, and a camera 41 on the head actuator, the sensors are directly secured at the end to compensate for deformation and transmission errors. The measurement at the end is used as a closed-loop control feedback signal to ensure control accuracy.

Claims

1. A detection rod of a terahertz online detection machine, characterized in that: The invention comprises a connecting rod transmission shaft mechanism (1), a detection steel pipe (2), a terahertz controller (5), a detection connecting rod mechanism (9) and an angle incidence component (10), wherein one end of the detection steel pipe (2) is connected to the connecting rod transmission shaft mechanism (1), and the other end is installed with the detection connecting rod mechanism (9); the transmission shaft A (11) of the connecting rod transmission shaft mechanism (1) as an output actuator passes through the detection steel pipe (2) and is connected to the input end of the detection connecting rod mechanism (9); the output end of the detection connecting rod mechanism (9) is connected to the angle incidence component (10); the angle incidence component (10) has a pitch degree of freedom through the power output of the connecting rod transmission shaft mechanism (1) and the transmission of the detection connecting rod mechanism (9); the terahertz controller (5) is installed on the detection steel pipe (2); the servo motor (16) in the connecting rod transmission shaft mechanism (1) and the terahertz controller (5) are respectively connected to the control system; The connecting rod transmission shaft mechanism (1) includes a transmission shaft A (11), a universal joint (12), a connecting rod bearing seat (13), a reducer mounting seat (14), a reducer (15) and a servo motor (16), wherein the connecting rod bearing seat (13) is connected to one end of the detection steel pipe (2), two reducer mounting seats (14) are fixed on the connecting rod bearing seat (13), each of the reducer mounting seats (14) is fixed with a reducer (15), and the input end of each reducer (15) is connected to a servo motor. The motor (16) is connected to a plurality of transmission shafts A (11) at the output end of each of the reducers (15). The plurality of transmission shafts A (11) connected to the output end of each of the reducers (15) are connected via a universal joint (12). The transmission shafts A (11) connected to the output end of the reducer (15) are rotatably mounted on a connecting rod bearing seat (13). The two servo motors (16) output rotational power synchronously, and the output rotation directions are opposite. The two servo motors (16) are respectively connected to a control system.

2. The detection rod of the terahertz online detection machine according to claim 1, characterized in that: The detection steel pipe (2) is provided with a plurality of auxiliary support bearing assemblies (4) along the length direction, and the auxiliary support bearing assembly (4) includes a deep groove ball bearing (33), a spacer sleeve (34), an auxiliary support pin shaft (35), an auxiliary support bearing mounting seat (37), an auxiliary support bearing adjustment plate (38) and a fixed seat (40), wherein the auxiliary support bearing adjustment plate (38) is fixedly connected to the detection steel pipe (2), and a fixed seat (40) is provided on the inner side of the auxiliary support bearing adjustment plate (38), and the auxiliary support bearing mounting seat (37) is mounted on the fixed seat (40), and two auxiliary support pin shafts (35) are mounted on the auxiliary support bearing mounting seat (37), and each of the auxiliary support pin shafts (35) is rotatably mounted with a deep groove ball bearing (33) through a spacer sleeve (34), and the deep groove ball bearing (33) is in rolling contact with the transmission shaft A (11).

3. The detection rod of the terahertz online detection machine according to claim 1, characterized in that: Guide rails (7) are provided on both sides of the detection steel pipe (2) in the length direction.

4. The detection rod of the terahertz online detection machine according to claim 3, characterized in that: Both ends of the guide rail (7) are provided with guide rail limit seats (3) fixedly connected to the detection steel pipe (2).

5. The detection rod of the terahertz online detection machine according to claim 1, characterized in that: The other end of the detection steel pipe (2) is equipped with a laser distance measuring sensor A (8) connected to the control system.

6. The detection rod of the terahertz online detection machine according to claim 1, characterized in that: The angle incidence component (10) comprises a camera (41), a laser ranging sensor B (42) and a terahertz angle incidence detection head (43), wherein the terahertz angle incidence detection head (43) is connected to the output end of the detection link mechanism (9), and the camera (41) and the laser ranging sensor B (42) are respectively mounted on the terahertz angle incidence detection head (43), and the camera (41) and the laser ranging sensor B (42) are respectively connected to a control system.

7. The detection rod of the terahertz online detection machine according to claim 1, characterized in that: The detection connecting rod mechanism (9) includes a bearing seat support (17), a bearing seat (18), a transmission shaft B (19), a joint connecting rod (20), a bevel gear set (25), a pulley set (26) and a fixed plate (30), wherein the bearing seat support (17) is fixed to the other end of the detection steel pipe (2), and bearing seats (18) are installed on both sides of the bearing seat support (17), and the two ends of the transmission shaft B (19) are respectively connected to the bearing seats (18) on both sides; the bevel gear set (25) includes two active bevel gears and two driven bevel gears, and the connecting rod transmission shaft mechanism (1) has two transmission shafts A (11) as output actuators, and the two transmission shafts A (11) are respectively connected to the bearing seat support (17), and each transmission shaft A (11) is connected to The two drive shafts A (11) are connected to a driving bevel gear, and the rotation directions of the two drive shafts A (11) are opposite; the two driven bevel gears are respectively linked to the drive shaft B (19), and each driving bevel gear is meshed with a driven bevel gear for transmission; one end of the joint connecting rod (20) is linked to the drive shaft B (19), and one side or both sides of the joint connecting rod (20) are provided with a pulley group (26), and the pulley group (26) includes two pulleys and a transmission belt, one of the pulleys is installed on the drive shaft B (19) and linked to the drive shaft B (19), and the other pulley is rotatably installed on the other end of the joint connecting rod (20) through a pin shaft, and the two pulleys are connected through a transmission belt; one end of the fixing plate (30) is linked to the pin shaft, and the other end is fixed to the angle incidence component (10).

8. The detection rod of the terahertz online detection machine according to claim 7, characterized in that: The transmission belt is connected to a connecting plate (28), a baffle A (27) is installed on one end of the connecting plate (28) facing the bevel gear group (25), a photoelectric switch A (21) corresponding to the baffle A (27) is installed on the bearing seat support (17), a photoelectric switch B (23) is installed on the other end of the connecting plate (28) facing the pulley group (26), and a baffle B (29) corresponding to the photoelectric switch B (23) is installed on the fixing plate (30); the photoelectric switch A (21) and the photoelectric switch B (23) are respectively connected to a control system.

9. The detection rod of the terahertz online detection machine according to claim 8, characterized in that: A tensioning seat (31) is mounted on the joint connecting rod (20), and tensioning wheels (32) are rotatably mounted on both upper and lower ends of the tensioning seat (31). The tensioning wheels (32) at the upper and lower ends are always in contact with the transmission belts on the upper and lower sides of the pulley.

Images