Suspended variable-angle laser detection device and detection method

Abstract

The present invention relates to a hanging variable angle laser detection device and a detection method thereof, which comprises a variable angle drive module, a transmitting adjustment arm and a receiving adjustment arm, wherein the transmitting adjustment arm is arranged at the first end of the variable angle drive module, and the receiving adjustment arm is arranged at the second end of the variable angle drive module, the variable angle drive module is connected to the robot end effector, and a specimen to be tested is placed under the variable angle drive module, and a laser signal is emitted to the surface of the specimen to be tested by starting a transmitting source, and reflected to a receiving source, and then a full range of laser detection is performed on the specimen to be tested. The present invention adopts an epicyclic gear train structure in which a sun gear and a planetary gear are meshed, takes a virtual circle center as a scanning center point, avoids a redundant mechanical scanning center point at the bottom, and maximizes the protection that the entire mechanism does not physically interfere with the surface of the scanned piece, broadens the application environment of the mechanism, and can realize automatic scanning detection along a preset trajectory for various specimens, thereby improving detection efficiency.

Description

Technical Field

[0001] The present invention relates to the field of laser measurement technology, and in particular to a suspended variable-angle laser detection device and a detection method. Background Art

[0002] Due to the technical characteristics of laser such as high brightness, linearity, coherence and monochromaticity, it can achieve efficient, stable and high-precision non-contact measurement of various types of targets. In recent years, laser detection has achieved remarkable results in various fields such as security inspection, medical imaging, and cultural relics protection.

[0003] Among the existing laser detection technologies, most of the single-channel reflective laser detection methods commonly used for material property detection are fixed-point scanning modes for small specimens, and there is a lack of mobile detection devices for large specimens. However, the existing fixed-point scanning devices basically have a fixed-point mechanical base, which is very likely to interfere with the surface of the large specimen to be scanned, and is not suitable for automated scanning applications of large specimens. Therefore, the present invention proposes a hanging variable-angle laser detection device and detection method, which have solved the above problems. Summary of the invention

[0004] In view of the problems existing in the prior art, the present invention provides a suspended variable-angle laser detection device and a detection method, which adopts a revolving gear train structure in which a sun gear and a planetary gear cooperate. While ensuring the realization of basic functions such as calibration, thickness measurement, and imaging, a virtual circle center is used as the scanning center point, avoiding the redundant mechanical scanning center point at the bottom, and maximally ensuring that the entire mechanism does not produce physical interference with the surface of the scanned object, greatly broadening the application environment of the mechanism, and at the same time being able to realize automatic scanning and detection along a preset trajectory for various non-fixed-point specimens and large-size specimens, greatly improving the detection efficiency.

[0005] The technical solution adopted by the present invention is a suspended variable-angle laser detection device, which includes a variable-angle drive module, a transmitting adjustment arm and a receiving adjustment arm. The variable-angle drive module includes a connecting backplate, a ring gear, a first driving component and a second driving component. The first end face of the ring gear is provided with the connecting backplate, and the second end face of the ring gear is provided with a ring guide rail. The first driving component is arranged at the first end of the ring gear, and the first gear in the first driving component is meshed with the ring gear for transmission. The first connecting frame in the first driving component is slidably arranged on the ring guide rail, and the second driving component is arranged at the second end of the ring gear, and the second gear in the second driving component is meshed with the ring gear for transmission, and the second connecting frame in the second driving component is slidably arranged on the ring guide rail; the transmitting adjustment arm is arranged on the first connecting frame in the first driving component, and the transmitting adjustment arm includes a transmitting guide rail, a transmitting slider, a transmitting rotating table, a transmitting source, a transmitting optical path component and a transmitting locker. The transmitting guide rail is arranged on the first connecting frame. The transmitting slide is slidably provided on the transmitting guide rail, the transmitting slide is arranged on the fixed platform of the transmitting rotating table, and the transmitting source is arranged on the movable platform of the transmitting rotating table, the transmitting optical path component is arranged above the transmitting guide rail, the transmitting source and the transmitting optical path component are fixedly connected by the transmitting locking device, and the transmitting source and the transmitting optical path component are in the same straight line; the receiving adjustment arm is arranged on the second connecting frame in the second driving component, and the receiving adjustment arm comprises a receiving guide rail, a receiving slide, a receiving rotating table, a receiving source, a receiving optical path component and a receiving locking device, the receiving guide rail is arranged on the second connecting frame, and the receiving slide is slidably provided on the receiving guide rail, the receiving slide is arranged on the fixed platform of the receiving rotating table, and the receiving source is arranged on the movable platform of the receiving rotating table, the receiving optical path component is arranged above the receiving guide rail, the receiving source and the receiving optical path component are fixedly connected by the receiving locking device, and the receiving source and the receiving optical path component are in the same straight line.

[0006] Preferably, a connecting flange connected to the robot end effector is provided on the first end surface of the connecting back plate, and a power supply module is also provided on the second end surface of the connecting back plate.

[0007] Further, the first driving assembly includes a first motor, a first gear, a first rotating shaft, a first connecting frame and a first slide plate, the first slide plate is arranged at the first end of the first connecting frame, and a first guide wheel is arranged at the corner of the first slide plate, the first guide wheel is in rolling contact with the annular guide rail, and the first motor is arranged on the first connecting frame, the first rotating shaft is supported on the first connecting frame, and the output shaft of the first motor is connected to the first end of the first rotating shaft through a coupling, the first gear is arranged on the first rotating shaft, and the first gear is meshed with the annular gear for transmission.

[0008] Further, the second driving assembly includes a second motor, a second gear, a second rotating shaft, a second connecting frame and a second slide, the second slide is arranged at the first end of the second connecting frame, and a second guide wheel is provided at the corner of the second slide, the second guide wheel is in rolling contact with the annular guide rail, and the second motor is arranged on the second connecting frame, the second rotating shaft is supported on the second connecting frame, and the output shaft of the second motor is connected to the first end of the second rotating shaft through a coupling, the second gear is arranged on the second rotating shaft, and the second gear is meshed with the annular gear for transmission.

[0009] Preferably, the emission locking device includes an emission source connecting plate, an emission optical path connecting plate, an emission support ring and an emission locking shaft, the emission source connecting plate is fixedly connected to the emission source, and the first end of the emission source connecting plate is provided with an emission lug, the emission optical path connecting plate is fixedly connected to the emission optical path component, and the first end of the emission optical path connecting plate is provided with an emission locking ring, the emission optical path component is arranged at one end of the emission source, and the first end of the emission locking shaft is connected to the emission lug, and the emission locking ring is locked to the second end of the emission locking shaft through the emission support ring.

[0010] Preferably, the receiving locker includes a receiving source connecting plate, a receiving optical path connecting plate, a receiving support ring and a receiving locking shaft, the receiving source connecting plate is fixedly connected to the receiving source, and the first end of the receiving source connecting plate is provided with a receiving lug, the receiving optical path connecting plate is fixedly connected to the receiving optical path component, and the first end of the receiving optical path connecting plate is provided with a receiving locking ring, the receiving optical path component is arranged at one end of the receiving source, and the first end of the receiving locking shaft is connected to the receiving lug, and the receiving locking ring is locked to the second end of the receiving locking shaft through the receiving support ring.

[0011] Another aspect of the present invention provides a detection method of a suspended variable-angle laser detection device, which comprises the following steps:

[0012] S1. Assemble the laser detection device and perform preliminary calibration;

[0013] S2. According to the characteristic detection requirements of the test piece to be tested, different test modes are selected to perform characteristic detection on the test piece to be tested. If the fixed angle mode is selected to detect the thickness of the test piece to be tested, steps S3 to S4 are executed; if the parallel angle mode is selected to detect the characteristics of the test piece to be tested, steps S5 to S8 are directly executed;

[0014] S3, driving the transmitting adjustment arm and the receiving adjustment arm to rotate to a specified angle in space and fix them;

[0015] S4, start the transmitting source to transmit the laser signal, the laser signal passes through the transmitting optical path component, the laser signal is reflected to the receiving optical path component, and is received by the receiving source, a single-path reflected laser loop signal is obtained, and then the test piece to be tested is detected, and step S9 is executed;

[0016] S5, driving the transmitting adjustment arm and the receiving adjustment arm to rotate, adjusting the transmitting adjustment arm and the receiving adjustment arm from a horizontal state to a vertical state, and completing the bringing together of the transmitting adjustment arm and the receiving adjustment arm;

[0017] S6, adjusting the rotation angles of the transmitting adjustment arm and the receiving adjustment arm through the transmitting rotating platform on the transmitting adjustment arm and the receiving rotating platform on the receiving adjustment arm;

[0018] S7, adjusting the linear positions of the transmitting adjustment arm and the receiving adjustment arm through the transmitting guide rail on the transmitting adjustment arm and the receiving guide rail on the receiving adjustment arm;

[0019] S8, start the transmitting source to transmit a laser signal, the laser signal passes through the transmitting optical path component, the laser signal is reflected to the receiving optical path component, and is received by the receiving source, a single-path reflected laser loop signal is obtained, and then the test piece to be tested is detected, and step S9 is executed;

[0020] S9, repeat steps S2 to S8 to perform all-round laser detection on the test piece.

[0021] Furthermore, in step S1, the laser detection device is assembled and preliminarily calibrated, and the specific steps are as follows:

[0022] S11, installing the variable angle drive module on the end effector of the robot;

[0023] S12, installing the transmitting adjustment arm and the receiving adjustment arm on the first driving assembly and the second driving assembly respectively;

[0024] S13, starting the first driving assembly and the second driving assembly to respectively drive the transmitting adjustment arm and the receiving adjustment arm to rotate to any fixed angle in space;

[0025] S14, measuring the actual operating angle value between the transmitting adjustment arm and the receiving adjustment arm, and judging whether the error between the actual operating angle value of the transmitting adjustment arm and the receiving adjustment arm and the theoretical driving angle value meets the angle error value requirement, if the error between the actual operating angle value of the transmitting adjustment arm and the receiving adjustment arm and the theoretical driving angle value exceeds the angle error value requirement, executing step S15; if the error between the actual operating angle value of the transmitting adjustment arm and the receiving adjustment arm and the theoretical driving angle value meets the angle error value requirement, executing step S16;

[0026] S15, re-adjusting the meshing accuracy of the gears in the first drive assembly and the second drive assembly with the ring gear in the variable angle drive module;

[0027] S16, placing the test piece to be tested under the robot, and starting to perform laser detection on the test piece to be tested.

[0028] Preferably, the angle error value in step S14 ranges from -3° to 3°.

[0029] The characteristics and beneficial effects of the present invention are:

[0030] 1. The suspended variable-angle laser detection device and detection method provided by the present invention adopt an epicyclic gear train structure in which a sun gear and a planetary gear cooperate, and are installed in a suspended manner as a whole. While ensuring the realization of basic functions such as calibration, thickness measurement, and imaging, the virtual center of the circle is used as the scanning center point, avoiding the redundant mechanical scanning center point at the bottom, ensuring that the overall mechanism does not physically interfere with the surface of the scanned object, and broadening the application environment of the mechanism.

[0031] 2. The suspended variable-angle laser detection device and detection method provided by the present invention are based on a special suspended installation method and can cooperate with a robot arm to automatically scan the trajectory. By coordinating this mechanism with a load robot and using an automated scanning detection method, it is possible to achieve automatic scanning and detection along a preset trajectory for various non-fixed-point specimens and large-size specimens, thereby improving detection efficiency.

[0032] 3. The suspended variable-angle laser detection device and detection method provided by the present invention respectively provide a transmitting adjustment arm and a receiving adjustment arm at both ends of the variable-angle drive module, and gear meshing is adopted between each driving component on the transmitting adjustment arm and the receiving adjustment arm and the ring gear. By driving the gears on each driving component to mesh with the ring gear, the transmitting adjustment arm and the receiving adjustment arm can be driven to move to a specified angle in space, which is beneficial to control the angle change accuracy, realize the precise electric angle change of the transmitting source and the receiving source of the measuring instrument, and avoid the problem of large deviation in the measurement result caused by angle deviation.

[0033] 4. The suspended variable-angle laser detection device and detection method provided by the present invention respectively set adjustment components under the transmitting source and the receiving source. The transmitting source and the receiving source can be rotated on the connecting plate and moved horizontally linearly. The transmitting source and the receiving source can be adjusted according to different models of test pieces to be measured and test requirements, which is conducive to measuring different characteristics of the test pieces to be measured, and can also improve the flexibility and adaptability of the test piece measurement. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 It is a schematic diagram of the overall structure of the laser detection device of the present invention;

[0035] Figure 2 is a top view of the laser detection device of the present invention;

[0036] Figure 3 It is a structural schematic diagram of the variable angle driving module of the present invention;

[0037] Figure 4 It is a schematic diagram of a transmitting adjustment arm and a receiving adjustment arm installed on the variable angle driving module of the present invention;

[0038] Figure 5 It is a structural schematic diagram of the launch adjustment arm of the present invention;

[0039] Figure 6 It is a structural schematic diagram of the receiving adjustment arm of the present invention;

[0040] Figure 7 It is a flow chart of the detection method of the present invention.

[0041] Main reference numerals:

[0042] Variable angle drive module 1; connecting back plate 11; annular gear 12; first drive assembly 13; first motor 131; first gear 132; first rotating shaft 133; first connecting frame 134; first slide 135; second drive assembly 14; second motor 141; second gear 142; second rotating shaft 143; second connecting frame 144; second slide 145; annular guide rail 15; connecting flange 16; power supply module 17; launching adjustment arm 2; launching guide rail 21; launching slider 22; launching rotating table 23; launching source 24; launching optical path assembly 25; launching locker 26; receiving adjustment arm 3; receiving guide rail 31; receiving slider 32; receiving rotating table 33; receiving source 34; receiving optical path assembly 35; receiving locker 36; robot 4; specimen 5. DETAILED DESCRIPTION

[0043] In order to fully describe the technical content, structural features, objectives and effects of the present invention, the following will be described in detail with reference to the accompanying drawings.

[0044] A hanging variable angle laser detection device of the present invention, such as Figure 1 and Figure 2 As shown, it includes a variable angle driving module 1, a transmitting adjustment arm 2 and a receiving adjustment arm 3. The variable angle driving module 1 is connected to the end effector of the robot 4, and the specimen 5 to be tested is placed under the variable angle driving module 1. By adjusting the posture of the end effector of the robot 4, the specimen 5 to be tested can be automatically scanned in all directions. During the scanning process, the transmitting source 24 is started to emit a laser signal to the surface of the specimen 5 to be tested, so that the specimen 5 to be tested can be subjected to all-round laser detection.

[0045] like Figure 3 As shown, the variable angle drive module 1 includes a connecting back plate 11, a ring gear 12, a first drive component 13 and a second drive component 14. The first end surface of the ring gear 12 is provided with a connecting back plate 11, and the second end surface of the ring gear 12 is provided with a ring guide rail 15. The first drive component 13 is arranged at the first end of the ring gear 12, and the first gear in the first drive component 13 is meshed with the ring gear 12 for transmission, and the first connecting frame 134 in the first drive component 13 is slidably arranged on the ring guide rail 15, the second drive component 14 is arranged at the second end of the ring gear 12, and the second gear in the second drive component 14 is meshed with the ring gear 12 for transmission, and the second connecting frame 144 in the second drive component 14 is slidably arranged on the ring guide rail 15.

[0046] Specifically, a connecting flange 16 connected to the robot end effector is provided on the first end surface of the connecting back plate 11 , and a power supply module 17 is also provided on the second end surface of the connecting back plate.

[0047] like Figure 3 As shown, the first driving assembly 13 includes a first motor 131, a first gear 132, a first rotating shaft 133, a first connecting frame 134 and a first slide 135. The first slide 135 is arranged at the first end of the first connecting frame 134, and a first guide wheel is arranged at the corner of the first slide 135. The first guide wheel is in rolling contact with the annular guide rail 15. The first motor 131 is arranged on the first connecting frame 134, the first rotating shaft 133 is supported on the first connecting frame 134, and the output shaft of the first motor 131 is connected to the first end of the first rotating shaft 133 through a coupling. The first gear 132 is arranged on the first rotating shaft 133, and the first gear 133 is meshed with the ring gear 12 for transmission.

[0048] like Figure 3As shown, the second driving assembly 14 includes a second motor 141, a second gear 142, a second rotating shaft 143, a second connecting frame 144 and a second slide 145. The second slide 145 is arranged at the first end of the second connecting frame 144, and a second guide wheel is arranged at the corner of the second slide 145. The second guide wheel is in rolling contact with the annular guide rail 15. The second motor 141 is arranged on the second connecting frame 144, the second rotating shaft 143 is supported on the second connecting frame 144, and the output shaft of the second motor 141 is connected to the first end of the second rotating shaft 143 through a coupling. The second gear 142 is arranged on the second rotating shaft 143, and the second gear 142 is meshed with the ring gear 12 for transmission.

[0049] like Figure 4 and Figure 5 As shown, the emission adjustment arm 2 is arranged on the first connecting frame 134 in the first driving component 13, and the emission adjustment arm 2 includes an emission guide rail 21, an emission slider 22, an emission rotating table 23, an emission source 24, an emission optical path component 25 and an emission locker 26. The emission guide rail 21 is arranged on the first connecting frame 134, and the emission slider 22 is slidably provided on the emission guide rail 21, the emission slider 22 is arranged on the fixed platform of the emission rotating table 23, and the emission source 24 is arranged on the movable platform of the emission rotating table 23, the emission optical path component 25 is arranged above the emission guide rail 21, the emission source 24 and the emission optical path component 25 are fixedly connected by the emission locker 26, and the emission source 24 and the emission optical path component 25 are in the same straight line.

[0050] In a preferred embodiment, the emission locker 26 includes an emission source connecting plate, an emission optical path connecting plate, an emission support ring and an emission locking shaft. The emission source connecting plate is fixedly connected to the emission source 24, and an emission lug is provided at the first end of the emission source connecting plate. The emission optical path connecting plate is fixedly connected to the emission optical path assembly 25, and an emission locking ring is provided at the first end of the emission optical path connecting plate. The emission optical path assembly 25 is arranged at one end of the emission source 24, and the first end of the emission locking shaft is connected to the emission lug, and the emission locking ring is locked to the second end of the emission locking shaft through the emission support ring.

[0051] like Figure 4 and Figure 6As shown, the receiving adjustment arm 3 is arranged on the second connecting frame 144 in the second driving assembly 14, and the receiving adjustment arm 3 includes a receiving guide rail 31, a receiving slider 32, a receiving rotating table 33, a receiving source 34, a receiving optical path assembly 35 and a receiving locker 36. The receiving guide rail 31 is arranged on the second connecting frame 144, and a receiving slider 32 is slidably provided on the receiving guide rail 31, the receiving slider 32 is arranged on the fixed platform of the receiving rotating table 33, and the receiving source 34 is arranged on the moving platform of the receiving rotating table 33, and the receiving optical path assembly 35 is arranged above the receiving guide rail 31, and the receiving source 34 and the receiving optical path assembly 35 are fixedly connected by the receiving locker 36, and the receiving source 34 and the receiving optical path assembly 35 are in the same straight line.

[0052] In a preferred embodiment, the receiving locker 36 includes a receiving source connecting plate, a receiving optical path connecting plate, a receiving support ring and a receiving locking shaft. The receiving source connecting plate is fixedly connected to the receiving source 34, and a receiving lug is provided at the first end of the receiving source connecting plate. The receiving optical path connecting plate is fixedly connected to the receiving optical path assembly 35, and a receiving locking ring is provided at the first end of the receiving optical path connecting plate. The receiving optical path assembly 35 is arranged at one end of the receiving source 34, and the first end of the receiving locking shaft is connected to the receiving lug, and the receiving locking ring is locked to the second end of the receiving locking shaft through the receiving support ring.

[0053] The present invention provides a detection method for a suspended variable-angle laser detection device, such as Figure 7 As shown, it includes the following steps:

[0054] S1. Assemble the laser detection device and perform preliminary calibration;

[0055] S2. According to the characteristic detection requirements of the test piece 5 to be tested, different test modes are selected to perform characteristic detection on the test piece 5 to be tested. If the fixed angle mode is selected to detect the thickness of the test piece 5 to be tested, steps S3 to S4 are executed; if the parallel angle mode is selected to detect the characteristics of the test piece 5 to be tested, steps S5 to S8 are directly executed;

[0056] S3, driving the transmitting adjustment arm 2 and the receiving adjustment arm 3 to rotate to a specified angle in space and fix them;

[0057] S4, start the transmitting source 24 to transmit a laser signal, the laser signal passes through the transmitting optical path component 25, the laser signal is reflected to the receiving optical path component 35, and is received by the receiving source 34, a single-path reflected laser loop signal is obtained, and then the test piece 5 to be tested is detected, and step S9 is executed;

[0058] S5, driving the transmitting adjustment arm 2 and the receiving adjustment arm 3 to rotate, adjusting the transmitting adjustment arm 2 and the receiving adjustment arm 3 from a horizontal state to a vertical state, and completing the closing of the transmitting adjustment arm 2 and the receiving adjustment arm 3;

[0059] S6, adjusting the rotation angles of the transmitting adjustment arm 2 and the receiving adjustment arm 3 through the transmitting rotating platform 23 on the transmitting adjustment arm 2 and the receiving rotating platform 33 on the receiving adjustment arm 3;

[0060] S7, adjusting the linear positions of the transmitting adjustment arm 2 and the receiving adjustment arm 3 through the transmitting guide rail 21 on the transmitting adjustment arm 2 and the receiving guide rail 31 on the receiving adjustment arm 3;

[0061] S8, start the transmitting source 24 to transmit a laser signal, the laser signal passes through the transmitting optical path component 25, the laser signal is reflected to the receiving optical path component 35, and is received by the receiving source 34, a single-path reflected laser loop signal is obtained, and then the test piece 5 to be tested is detected, and step S9 is executed;

[0062] S9, repeating steps S2 to S8, and then performing all-round laser detection on the test piece 5.

[0063] Specifically, in step S1, a laser detection device is assembled and preliminarily calibrated. The specific steps are as follows:

[0064] S11, installing the variable angle driving module 1 on the end effector of the robot 4;

[0065] S12, respectively installing the transmitting adjustment arm 2 and the receiving adjustment arm 3 on the first driving assembly 13 and the second driving assembly 14;

[0066] S13, start the first driving assembly 13 and the second driving assembly 14, respectively driving the transmitting adjustment arm 2 and the receiving adjustment arm 3 to rotate to any fixed angle in space;

[0067] S14, measuring the actual operating angle value between the transmitting adjustment arm 2 and the receiving adjustment arm 3, and judging whether the error between the actual operating angle value of the transmitting adjustment arm 2 and the receiving adjustment arm 3 and the theoretical driving angle value meets the angle error value requirement, if the error between the actual operating angle value of the transmitting adjustment arm 2 and the receiving adjustment arm 3 and the theoretical driving angle value exceeds the angle error value requirement, executing step S15; if the error between the actual operating angle value of the transmitting adjustment arm 2 and the receiving adjustment arm 3 and the theoretical driving angle value meets the angle error value requirement, executing step S16;

[0068] S15, re-adjusting the meshing accuracy of the gears in the first drive assembly 13 and the second drive assembly 14 with the ring gear 12 in the variable angle drive module 1;

[0069] S16 , placing the test piece 5 to be tested under the robot 4 , and starting to perform laser detection on the test piece 5 to be tested.

[0070] Preferably, the angle error value in step S14 ranges from -3° to 3°.

[0071] The specific operation steps of the present invention are as follows:

[0072] like Figure 1 to Figure 7 As shown, a hanging variable-angle laser detection device and a detection method of the present invention connect and fasten the transmitting adjustment arm 2 and the receiving adjustment arm 3 to the variable-angle drive module 1 respectively, and complete the assembly of the three modules including the variable-angle drive module 1, the transmitting adjustment arm 2, and the receiving adjustment arm 3. A connecting flange 16 is used, and the front end face of the connecting flange 16 is connected to the threaded hole on the back side of the spare plate of the variable-angle drive module 1, and the rear end face is connected to the end face of the end effector of the robot 4. The hanging mechanism as a whole is fixedly connected to the joint arm of the robot 4 through the connecting flange 16; confirm that there is no abnormality in the gear meshing clearance, and there is no jamming when manually turning the operation, so that the planetary gear can realize the revolution motion along the fixed hanging frame.

[0073] After completing the structural inspection of the mechanism, carry out trial drive debugging of the mechanism, power on the first drive component 13 and the second drive component 14 to put them in working state, and after starting, each drive their own load planetary gears, i.e., the first gear 132 and the second gear 142, to generate self-rotation motion, and generate orbital motion along the ring gear 12 through the meshing part, and visually observe whether there is any jamming during the operation of the mechanism, and use the dual-drive mode to operate the transmitting arm 2 and the receiving arm 3 to any fixed angle in space according to the drive settings, and use the angle protractor to complete the measurement of the angle, and confirm that the error between the actual operating angle and the theoretical drive angle meets the use requirements, and the error range is ±3°.

[0074] After the first connecting frame 134 is fixed to the launch adjustment arm 2 and the second connecting frame 144 is fastened to the receiving adjustment arm 3, according to the dual-drive driving mode, the drive module is started to generate a load rotation angle, and the launch adjustment arm 2 and the receiving adjustment arm 3 are respectively operated to the specified angle in space and completed to hold and fix. The required operating angles of the two are θ1 and θ2 respectively, to achieve fixed angle mode measurement. The spatial angle presentation method is closely related to the driving module operation mode and the overall mechanism connection mode. The initial state of the mechanism is that the two gears are placed horizontally relative to each other, and the number of teeth of the fixed annular hanger is Z. S , the number of teeth of the active rotating planetary gear is Z P , the number of revolutions of the transmitting arm driving motor is N1, and the number of revolutions of the receiving arm driving motor is N2, then θ1=P i -2*P i *Z P *N1 / Z S ,θ2=P i -2*P i *P i *Z P *N2 / Z S, the final included angle θ between the transmitting adjustment arm 2 and the receiving adjustment arm 3 of the overall mechanism in space is θ=θ1+θ2.

[0075] Before the test officially begins, confirm that the large test piece is placed firmly, adjust the extension state of the robot arm joint, visually observe the distance between the hanging detection mechanism and the test piece driven by the robot arm, and continuously adjust the lifting height of the robot arm until the hanging device does not overlap with any height point of the test piece in space. By adjusting the forward and backward states of the robot arm, the automatic scanning of the test piece can be completed. During the automatic scanning process, start the laser source of the equipment to obtain a single-channel reflected laser loop signal to obtain full-scan test laser data.

[0076] After completing the fixed-angle measurement, if you need to use the parallel angle measurement mode, you need to use the drive module to move the transmitting adjustment arm 2 and the receiving adjustment arm 3 together, complete the spatial rotation angle posture adjustment through the self-rotation rotation pair of the transmitting adjustment arm 2 and the receiving adjustment arm 3, and finally complete the linear position offset of the transmitting adjustment arm and the receiving adjustment arm, and finally realize the side-by-side combination mode of the transmitting adjustment arm 2 and the receiving adjustment arm 3. The subsequent robot arm adjustment and automated scanning process are basically the same as the fixed-angle mode

[0077] The present invention adopts an epicyclic gear train structure in which a sun gear and a planetary gear cooperate, and the whole is installed in a hanging manner. While ensuring the realization of basic functions such as calibration, thickness measurement, and imaging, the virtual center of the circle is used as the scanning center point, avoiding the redundant mechanical scanning center point at the bottom, and maximally ensuring that the mechanism as a whole does not physically interfere with the surface of the scanned part, greatly broadening the application environment of the mechanism. At the same time, based on a special hanging installation method, it can cooperate with the robot arm to automatically scan the track. By cooperating the mechanism with a load robot and using an automated scanning detection method, it can realize automatic scanning detection along a preset track for various non-fixed-point specimens and large-size specimens, greatly improving the detection efficiency. In addition, a transmitting adjustment arm and a receiving adjustment arm are respectively arranged at both ends of the variable angle drive module, and gear meshing is adopted between each drive component on the transmitting adjustment arm and the receiving adjustment arm and the ring gear. By driving the gears on each drive component to mesh with the ring gear, the transmitting adjustment arm and the receiving adjustment arm can be driven to move to a specified angle in space, which is conducive to controlling the angle change accuracy, realizing the precise electric angle change of the transmitting source and the receiving source of the measuring instrument, and avoiding the problem of large deviation in the measurement result caused by the angle deviation. Finally, adjustment components are set under the transmitting source and the receiving source respectively. The transmitting source and the receiving source can be rotated on the connecting plate and moved horizontally linearly. The transmitting source and the receiving source can be adjusted according to different models of test pieces to be measured and test requirements, which is conducive to measuring different characteristics of the test pieces to be measured, and can also improve the flexibility and adaptability of the test piece measurement.

[0078] The above embodiments are only descriptions of the preferred implementation modes of the present invention, and are not intended to limit the scope of the present invention. Without departing from the design spirit of the present invention, various modifications and improvements made to the technical solutions of the present invention by ordinary technicians in this field should all fall within the protection scope determined by the claims of the present invention.

Claims

1. A hanging variable angle laser detection device, characterized in that: It includes a variable angle driving module, a transmitting adjustment arm and a receiving adjustment arm. The variable angle driving module comprises a connecting back plate, a ring gear, a first driving assembly and a second driving assembly, the first end surface of the ring gear is provided with the connecting back plate, and the second end surface of the ring gear is provided with a ring guide rail, the first driving assembly is arranged at the first end of the ring gear, and the first gear in the first driving assembly is meshed with the ring gear for transmission, the first connecting frame in the first driving assembly is slidably arranged on the ring guide rail, the second driving assembly is arranged at the second end of the ring gear, and the second gear in the second driving assembly is meshed with the ring gear for transmission, and the second connecting frame in the second driving assembly is slidably arranged on the ring guide rail; The emission adjustment arm is arranged on the first connecting frame in the first driving assembly, and the emission adjustment arm includes an emission guide rail, an emission slider, an emission rotating table, an emission source, an emission optical path component and an emission locker, the emission guide rail is arranged on the first connecting frame, and the emission slider is slidably arranged on the emission guide rail, the emission slider is arranged on the fixed platform of the emission rotating table, and the emission source is arranged on the moving platform of the emission rotating table, the emission optical path component is arranged above the emission guide rail, the emission source and the emission optical path component are fixedly connected by the emission locker, and the emission source and the emission optical path component are in the same straight line; The receiving adjustment arm is arranged on the second connecting frame in the second driving assembly, and the receiving adjustment arm includes a receiving guide rail, a receiving slider, a receiving rotating table, a receiving source, a receiving optical path assembly and a receiving locker. The receiving guide rail is arranged on the second connecting frame, and the receiving slider is slidably arranged on the receiving guide rail. The receiving slider is arranged on the fixed platform of the receiving rotating table, and the receiving source is arranged on the moving platform of the receiving rotating table. The receiving optical path assembly is arranged above the receiving guide rail, and the receiving source and the receiving optical path assembly are fixedly connected by the receiving locker, and the receiving source and the receiving optical path assembly are in the same straight line.

2. The hanging variable angle laser detection device according to claim 1, characterized in that: A connecting flange connected to the robot end effector is provided on the first end surface of the connecting back plate, and a power supply module is also provided on the second end surface of the connecting back plate.

3. The hanging variable angle laser detection device according to claim 1, characterized in that: The first driving assembly includes a first motor, a first gear, a first rotating shaft, a first connecting frame and a first slide plate. The first slide plate is arranged at the first end of the first connecting frame, and a first guide wheel is arranged at the corner of the first slide plate. The first guide wheel is in rolling contact with the annular guide rail. The first motor is arranged on the first connecting frame, the first rotating shaft is supported on the first connecting frame, and the output shaft of the first motor is connected to the first end of the first rotating shaft through a coupling. The first gear is arranged on the first rotating shaft, and the first gear is meshed with the annular gear for transmission.

4. The hanging variable angle laser detection device according to claim 3, characterized in that: The second driving assembly includes a second motor, a second gear, a second rotating shaft, a second connecting frame and a second slide plate. The second slide plate is arranged at the first end of the second connecting frame, and a second guide wheel is arranged at the corner of the second slide plate. The second guide wheel is in rolling contact with the annular guide rail. The second motor is arranged on the second connecting frame, the second rotating shaft is supported on the second connecting frame, and the output shaft of the second motor is connected to the first end of the second rotating shaft through a coupling. The second gear is arranged on the second rotating shaft, and the second gear is meshed with the annular gear for transmission.

5. The hanging variable angle laser detection device according to claim 1, characterized in that: The emission locking device includes an emission source connecting plate, an emission optical path connecting plate, an emission support ring and an emission locking shaft, the emission source connecting plate is fixedly connected to the emission source, and the first end of the emission source connecting plate is provided with an emission lug, the emission optical path connecting plate is fixedly connected to the emission optical path component, and the first end of the emission optical path connecting plate is provided with an emission locking ring, the emission optical path component is arranged at one end of the emission source, and the first end of the emission locking shaft is connected to the emission lug, and the emission locking ring is locked to the second end of the emission locking shaft through the emission support ring.

6. The hanging variable angle laser detection device according to claim 5, characterized in that: The receiving locker includes a receiving source connecting plate, a receiving optical path connecting plate, a receiving support ring and a receiving locking shaft, the receiving source connecting plate is fixedly connected to the receiving source, and the first end of the receiving source connecting plate is provided with a receiving lug, the receiving optical path connecting plate is fixedly connected to the receiving optical path component, and the first end of the receiving optical path connecting plate is provided with a receiving locking ring, the receiving optical path component is arranged at one end of the receiving source, and the first end of the receiving locking shaft is connected to the receiving lug, and the receiving locking ring is locked to the second end of the receiving locking shaft through the receiving support ring.

7. A detection method of a suspended variable-angle laser detection device according to any one of claims 1 to 6, characterized in that: It includes the following steps: S1. Assemble the laser detection device and perform preliminary calibration; S2. According to the characteristic detection requirements of the test piece to be tested, different test modes are selected to perform characteristic detection on the test piece to be tested. If the fixed angle mode is selected to detect the thickness of the test piece to be tested, steps S3 to S4 are executed; if the parallel angle mode is selected to detect the characteristics of the test piece to be tested, steps S5 to S8 are directly executed; S3, driving the transmitting adjustment arm and the receiving adjustment arm to rotate to a specified angle in space and fix them; S4, start the transmitting source to transmit the laser signal, the laser signal passes through the transmitting optical path component, the laser signal is reflected to the receiving optical path component, and is received by the receiving source, a single-path reflected laser loop signal is obtained, and then the test piece to be tested is detected, and step S9 is executed; S5, driving the transmitting adjustment arm and the receiving adjustment arm to rotate, adjusting the transmitting adjustment arm and the receiving adjustment arm from a horizontal state to a vertical state, and completing the bringing together of the transmitting adjustment arm and the receiving adjustment arm; S6, adjusting the rotation angles of the transmitting adjustment arm and the receiving adjustment arm through the transmitting rotating platform on the transmitting adjustment arm and the receiving rotating platform on the receiving adjustment arm; S7, adjusting the linear positions of the transmitting adjustment arm and the receiving adjustment arm through the transmitting guide rail on the transmitting adjustment arm and the receiving guide rail on the receiving adjustment arm; S8, start the transmitting source to transmit a laser signal, the laser signal passes through the transmitting optical path component, the laser signal is reflected to the receiving optical path component, and is received by the receiving source, a single-path reflected laser loop signal is obtained, and then the test piece to be tested is detected, and step S9 is executed; S9, repeat steps S2 to S8 to perform all-round laser detection on the test piece.

8. The detection method of the suspended variable-angle laser detection device according to claim 7, characterized in that: In step S1, the laser detection device is assembled and preliminarily calibrated. The specific steps are as follows: S11, installing the variable angle drive module on the end effector of the robot; S12, installing the transmitting adjustment arm and the receiving adjustment arm on the first driving assembly and the second driving assembly respectively; S13, starting the first driving assembly and the second driving assembly to respectively drive the transmitting adjustment arm and the receiving adjustment arm to rotate to any fixed angle in space; S14, measuring the actual operating angle value between the transmitting adjustment arm and the receiving adjustment arm, and judging whether the error between the actual operating angle value of the transmitting adjustment arm and the receiving adjustment arm and the theoretical driving angle value meets the angle error value requirement, if the error between the actual operating angle value of the transmitting adjustment arm and the receiving adjustment arm and the theoretical driving angle value exceeds the angle error value requirement, executing step S15; if the error between the actual operating angle value of the transmitting adjustment arm and the receiving adjustment arm and the theoretical driving angle value meets the angle error value requirement, executing step S16; S15, re-adjusting the meshing accuracy of the gears in the first drive assembly and the second drive assembly with the ring gear in the variable angle drive module; S16, placing the test piece to be tested under the robot, and starting to perform laser detection on the test piece to be tested.

9. The detection method of the suspended variable-angle laser detection device according to claim 8, characterized in that: The angle error value in step S14 ranges from -3° to 3°.

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