Linear module fault self-checking system and detection method thereof

Abstract

The present application relates to a kind of linear module fault self-checking system and its detection method, it is related to linear module technical field.It includes shell, the shell is provided with induction component, module controller and control motor, the induction component, module controller and control motor are electrically connected, the shell is provided with screw rod drive mechanism, one end of the screw rod drive mechanism is provided with sliding block, the induction component includes sound collecting ring, sound collecting probe and collision ring, the collision ring is sleeved in the outer side wall of sliding block, the collision ring is gap matched with sliding block, the sound collecting ring is set on the side of sliding block, the sound collecting probe is provided with several, several the sound collecting probe is set along the circumference of sound collecting ring, the sound collecting probe is set towards the direction of collision ring, the sound collecting probe is used to collect the noise generated by sliding block and collision ring collision.The present application has the effect of reducing the false detection rate of self-checking system.

Description

Technical Field

[0001] This invention relates to the field of linear modules, and in particular to a self-diagnostic system and method for fault detection in linear modules. Background Technology

[0002] Linear modules, also known as Cartesian robots or linear slides, are automation upgrade units following linear guides, linear motion modules, and ball screw linear transmission mechanisms. They can achieve linear and curvilinear motion of loads through the combination of various units, making automation of light loads more flexible and positioning more precise.

[0003] When using linear motion modules, module vibration is a common problem, requiring manual troubleshooting. Currently, Chinese patent CN116317330B discloses a linear motion module, including a sensing component for testing module vibration, a module controller electrically connected to the sensing component for executing a self-test program to detect faults, and a motor for outputting fault codes. However, in this linear motion module, feedback on vibration is provided by using a laser ranging unit to measure the inner wall of the sensing groove on an arc or spherical surface.

[0004] However, in actual use, linear modules are often used in conjunction with equipment, and it is quite common for the machine to vibrate during operation. If the sensor components are controlled to perform self-checks based solely on changes in the detection values ​​of the laser rangefinder, false detections are likely to occur, which would require operators to frequently stop the machine to check the linear modules. Therefore, this needs to be improved. Summary of the Invention

[0005] To address the issue of false positives in linear module self-testing systems in related technologies, this invention provides a linear module fault self-testing system and its detection method.

[0006] The present invention provides a self-diagnostic system and method for linear module faults, which adopts the following technical solution:

[0007] A self-diagnostic system for linear module faults includes a housing. A sensing component, a module controller, and a control motor are disposed within the housing and electrically connected. A lead screw transmission mechanism is disposed within the housing, with a slider at one end of the lead screw transmission mechanism. The sensing component includes a sound-collecting ring, sound-collecting probes, and a collision ring. The collision ring is sleeved on the outer wall of the slider and has a clearance fit with the slider. The sound-collecting ring is disposed on one side of the slider. A plurality of sound-collecting probes are disposed along the circumference of the sound-collecting ring and facing the collision ring. The sound-collecting probes are used to collect noise generated by the collision between the slider and the collision ring.

[0008] The self-test process of the module controller includes: merging the noise signals collected by all the radio probes; acquiring the noise-reduced signal of each radio probe, wherein the noise-reduced signal is the peak value in the noise signal; based on the noise-reduced signal and the linear module running time, extracting the number of noise peaks per unit time; comparing the number of noise peaks per unit time with a preset qualified threshold; if the number of noise peaks is greater than the preset qualified threshold, then the self-test program is started.

[0009] By adopting the above technical solution, when the linear module is placed in the factory or on the production line, it will vibrate. The system first tests the linear module before it starts, using a sound-collecting ring and a sound-collecting probe. This tests the linear module's operation under conditions of offline operation and environmental disturbance. Based on the vibration of the linear module, the sound-collecting probe picks up the vibrations generated by the collision between the linear module and the collision ring. After the sound is collected, the position of the sound-collecting probe is adjusted to reduce interference from external noise. The linear module is then restarted, and sound is collected while the linear module is running. This improves the accuracy of the subsequent self-testing of the linear module by the module controller.

[0010] Optionally, a connecting rod is provided inside the housing, and the microphone ring is located at one end of the connecting rod. Several locking holes are provided through the side wall of the microphone ring along the wall thickness direction. The microphone probe is inserted through the locking holes and connected to the microphone ring. A locking structure is provided in the limiting groove. The locking structure is used to fix the microphone probe. A driving device is provided at the end of the microphone ring away from the collision ring. The driving device is used to drive the microphone probe to move.

[0011] By adopting the above technical solution, when the linear module is in offline mode, the sound receiving probes collect sound. Since there are several sound receiving probes arranged around the circumference of the sound receiving ring, each sound receiving probe only collects the noise generated after colliding with the linear module in a certain area of ​​the collision ring. By adjusting the position of each sound receiving probe, the noise peak value collected by each sound receiving probe is the same. Therefore, if there is a problem after the linear module is started, the collision at that point will be aggravated. On the one hand, the program setting for module control startup is optimized, and on the other hand, the threshold for starting the self-test system is increased, thereby increasing the accuracy of self-test.

[0012] Optionally, the locking structure includes a locking block, a limiting block, and a retaining spring. A locking rod is provided on the end wall of the microphone probe away from the microphone ring. A locking groove is formed along the length direction on the end wall of the locking rod. The locking rod is slidably connected to the locking hole through the locking groove. The locking block is provided on the inner side wall of the locking hole. The locking block is slidably connected to the locking groove. A limiting groove is formed on the inner side wall of the locking groove. The retaining spring is provided on the side wall of the locking block. The limiting block is provided at the end of the retaining spring away from the locking block. A limiting groove is formed on the inner side wall of the locking groove. The limiting block is slidably connected to the limiting groove.

[0013] By adopting the above technical solution, the structure of the locking block, limiting block and abutment spring makes the sound probe more stable when sliding on the sound ring, thereby increasing the overall service life of the system and the smoothness of the system during use.

[0014] Optionally, an electromagnet is provided on the side wall of the locking block, and a connecting magnet is provided on the side wall of the limiting block near the electromagnet. When the electromagnet is energized, the electromagnet attracts the connecting magnet, and the electromagnet is electrically connected to the module controller.

[0015] By adopting the above technical solution, through the structure of the electromagnet and the connecting magnet, when it is necessary to adjust the position of the radio probe, the electromagnet can be energized. After being energized, the electromagnet attracts the connecting magnet, thereby causing the limiting block to move toward the locking block, and thus allowing the locking rod to move within the locking hole, thereby realizing the change of the position of the radio probe.

[0016] Optionally, the driving device includes a drive motor, a drive gear, and a drive rack. The drive motor is disposed on the side wall of the receiver ring away from the collision ring. The output end of the drive gear is provided with a linkage rod. The drive gear is disposed on the end wall of the linkage rod. The drive gear is controlled to rotate by the drive motor. The drive gear is disposed on the side wall of the locking rod near the drive gear. The drive gear is meshed with the drive rack.

[0017] By adopting the above technical solution, when the radio probe needs to be adjusted in position, the drive motor can control the drive gear to rotate. The drive gear is meshed with the drive rack. When the drive gear rotates, the drive rack drives the locking rod to move. By adopting the structure of the drive gear and the drive rack, the direction of movement of the locking rod can be controlled by the forward or reverse rotation of the drive gear.

[0018] Optionally, a first trigger connector is provided on the side wall of the locking block, and a second trigger connector is provided on the side wall of the limiting block near the first trigger connector. When the adsorption electromagnet is attracted to the connecting magnet, the first trigger connector is connected to the second trigger connector, and the first trigger connector and the second trigger connector are electrically connected to the driving device.

[0019] By adopting the above technical solution, when the electromagnet is energized and attracts the connecting magnet, the limiting block moves toward the locking block, thereby allowing the locking rod to move freely in the locking hole. At this time, the first trigger connector and the second trigger connector abut against each other, thereby driving the driving device to move the locking rod.

[0020] Optionally, the locking rod has a mounting surface on its side wall, the side wall of the drive rack away from the drive gear is fitted to the mounting surface, the locking rod has a connecting groove on its end wall away from the collision ring, the drive rack has a fixing groove on its end wall near the connecting groove, the side walls of the fixing groove and the connecting groove are inclined relative to each other, and a locking piece is inserted into both the fixing groove and the connecting groove.

[0021] By adopting the above technical solution, the locking rod and the drive rack are detachably connected through the mounting surface. Furthermore, by locking the locking piece into the fixing groove and the connecting groove, the locking rod and the drive rack can be quickly disassembled and assembled, and the drive rack can be quickly replaced after wear.

[0022] Optionally, a silencing box is fitted onto the side wall of the sound-receiving ring. The side wall of the silencing box has a sandwich structure, and sound-insulating cotton is provided inside the sandwich structure of the side wall of the silencing box.

[0023] By adopting the above technical solution, the structure of the silent box reduces the impact of external noise on the receiver probe under normal operating conditions, and further improves the accuracy of the receiver probe in collecting noise generated when colliding with the linear module and the collision ring.

[0024] In summary, the present invention has at least one of the following beneficial effects:

[0025] 1. When the linear module is placed in the factory or on the production line, it will vibrate. First, a sound-collecting ring and sound-collecting probe are used to test the linear module when it is not in operation. This test determines the linear module's operating status under conditions of offline operation and environmental disturbance. Based on the vibration status of the linear module, the sound-collecting probe records the vibrations generated by the collision between the linear module and the collision ring. After recording, the position of the sound-collecting probe is adjusted to reduce interference from external noise. The linear module is then restarted, and sound collection continues while the linear module is running. This improves the accuracy of the subsequent self-testing of the linear module by the module controller.

[0026] 2. When the linear module is offline, the sound receiving probes collect sound. Since there are several sound receiving probes arranged around the circumference of the sound receiving ring, each sound receiving probe only collects the noise generated after the linear module collides with a section of the collision ring. By adjusting the position of each sound receiving probe, the peak noise collected by each sound receiving probe is made the same. Therefore, if there is a problem after the linear module is started, the collision at that point will be aggravated. This optimizes the module control start-up program setting on the one hand, and increases the self-test system start-up threshold on the other hand, thereby increasing the accuracy of the self-test. Attached Figure Description

[0027] Figure 1 This is a schematic diagram of the structure of an embodiment of the present invention;

[0028] Figure 2 This is a schematic diagram illustrating the connection relationship between the driving device and the receiver ring in an embodiment of the present invention;

[0029] Figure 3 for Figure 2 An enlarged schematic diagram of part A in the middle;

[0030] Figure 4 for Figure 2 Enlarged schematic diagram of part B in the middle;

[0031] Figure 5 This is a schematic diagram illustrating the connection relationship between the receiver ring and the connecting rod in an embodiment of the present invention;

[0032] Figure 6 for Figure 5 An enlarged schematic diagram of section C.

[0033] In the diagram: 1. Housing; 11. Sensing component; 111. Receiver ring; 112. Receiver probe; 113. Collision ring; 2. Connecting rod; 21. Locking hole; 22. Locking structure; 221. Locking block; 222. Limiting block; 223. Abutment spring; 23. Locking rod; 24. Locking groove; 25. Limiting groove; 26. Attraction electromagnet; 27. Connecting magnet; 28. Driving device; 281. Drive motor; 282. Drive gear; 283. Drive rack; 3. Linkage rod; 31. First trigger connector; 32. Second trigger connector; 33. Mounting surface; 34. Connecting groove; 35. Fixing groove; 36. Locking piece; 4. Silent box. Detailed Implementation

[0034] The following is in conjunction with the appendix Figure 1-6 The present invention will be described in further detail below.

[0035] This invention discloses a self-diagnostic system and method for fault detection in linear modules. (Refer to...) Figure 1 A self-diagnostic system for linear modules is installed on the linear module. It includes a housing 1 and a sensing component 11, a module controller, and a control motor disposed inside the housing 1. The sensing component 11 is electrically connected to the module controller and is used to collect noise signals generated by the linear module during operation. The sensing component 11 outputs these signals to the module controller for self-diagnosis, enabling rapid analysis of problems within the linear module. The sensing component 11 includes a sound-receiving ring 111, a sound-receiving probe 112, and a collision ring 113. The collision ring 113 is fitted around the linear module, with the linear module located at the axis of the collision ring 113. When the linear module vibrates, it collides with the collision ring 113, generating noise.

[0036] Reference Figure 1 and Figure 2A connecting rod 2 is bolted to the inner wall of the housing 1. A sound-collecting ring 111 is fixedly connected to the end of the connecting rod 2 away from the inner wall of the housing 1. The sound-collecting ring 111 has a circular structure, and several locking holes 21 are formed along the wall thickness direction on the side wall of the sound-collecting ring 111. The locking holes 21 are arranged circumferentially around the sound-collecting ring 111. The sound-collecting probe 112 is positioned facing the collision ring 113. The sound-collecting probe 112 is used to collect noise when the linear module collides with the collision ring 113. A locking rod 23 is fixedly connected to the end of the sound-collecting probe 112 away from the collision ring 113. The locking rod 23 is inserted into the locking hole 21 and is slidably connected to the locking hole 21. A silencing box 4 is provided at the end of the receiver ring 111 away from the collision ring 113. The silencing box 4 is used to further reduce the interference of external noise on the receiver probe 112. The silencing box 4 is hollow inside, and sound-absorbing cotton is provided inside the side wall of the silencing box 4. A driving device 28 is provided inside the silencing box 4. The driving device 28 is used to drive the locking rod 23 to adjust the distance between the receiver probe 112 and the collision ring 113, thereby reducing the impact of external vibration on noise collection.

[0037] Reference Figure 2 and Figure 3 The driving device 28 includes a drive motor 281, a drive gear 282, and a drive rack 283. The drive motor 281 is fixedly installed in the mute box 4 by bolts, and the drive motor 281 is positioned towards the receiver ring 111 away from the collision ring 113. The drive gear 282 is fixedly installed at the output end of the drive motor 281 via a linkage rod 3, and the drive gear 282 is perpendicular to the locking rod 23. A mounting surface 33 is provided on the bottom wall of the locking rod 23. The mounting surface 33 is flat. The drive rack 283 is detachably connected to the side wall of the mounting surface 33, and the drive rack 283 is meshed with the drive gear 282. When the drive motor 281 drives the drive gear 282 to rotate via the linkage rod 3, the drive gear 282 drives the drive rack 283 to move, thereby driving the locking rod 23 to move, and thus adjusting the position of the receiver probe 112.

[0038] Reference Figure 2 and Figure 4A connecting groove 34 is provided at the end of the locking rod 23 away from the collision ring 113, and the connecting groove 34 is provided along the length direction of the locking rod 23. A fixing groove 35 is provided at the end of the drive rack 283 near the connecting groove 34, and the fixing groove 35 is provided along the length direction of the drive rack 283. Both the fixing groove 35 and the connecting groove 34 are inclined, and the distance between the end walls of the fixing groove 35 and the connecting groove 34 away from the collision ring 113 is greater than the distance between the end walls of the fixing groove 35 and the connecting groove 34 near the collision ring 113. A locking piece 36 is inserted into both the fixing groove 35 and the connecting groove 34, and the locking piece 36 is adapted to fit the fixing groove 35 and the connecting groove 34. The locking piece 36 includes an upper locking part and a lower locking part. The upper locking part and the lower locking part are detachably connected by a snap-fit. The upper locking part is inserted into the connecting groove 34, and the lower locking part is inserted into the fixing groove 35. This realizes the detachable connection between the locking rod 23 and the drive rack 283. Furthermore, by locking the locking piece 36 into the fixing groove 35 and the connecting groove 34, the locking rod 23 and the drive rack 283 can be quickly disassembled and assembled, and the drive rack 283 can be quickly replaced after wear.

[0039] Reference Figure 1 , Figure 5 and Figure 6 When the microphone probe 112 picks up noise, after the driving device 28 adjusts the position of the locking rod 23 and the microphone probe 112, the locking structure 22 is needed to fix the locking rod 23 to ensure the stability of the microphone probe 112 during sound pickup. The locking structure 22 includes a locking block 221, a limiting block 222, and a retaining spring 223. The locking block 221 is integrally formed on the inner side wall of the locking hole 21. A locking groove 24 is formed on the side wall of the locking rod 23 along the length direction of the locking rod 23. The locking block 221 is inserted into the locking groove 24, and the locking block 221 is slidably connected to the locking groove 24. A limiting groove 25 is formed on the inner sidewall of the locking groove 24, and the limiting groove 25 is connected to the locking groove 24. The abutment spring 223 is welded and fixed to the sidewall of the locking block 221 facing the limiting groove 25. The limiting block 222 is welded and fixed to the end of the abutment spring 223 away from the locking block 221, and the limiting block 222 is slidably connected to the locking groove 24, and the abutment spring 223 is in a compressed state. An anti-slip adhesive layer is glued to the sidewall of the limiting block 222 away from the abutment spring 223, so that when the abutment spring 223 presses the limiting block 222 against the inner sidewall of the limiting groove 25, it is not easy for it to slip. A stabilizing tube is provided on the side wall of the locking block 221 near the limiting block 222. A stabilizing rod is slidably inserted into the stabilizing tube. The end of the stabilizing rod away from the locking block 221 is connected to the side wall of the limiting block 222, thereby increasing the stability of the limiting block 222 when it abuts against the inner side wall of the limiting groove 25.

[0040] Reference Figure 5 and Figure 6An electromagnet 26 is bolted to the side wall of the locking block 221 near the limiting block 222. A connecting magnet 27 is glued to the side wall of the limiting block 222 near the electromagnet 26. When the electromagnet 26 is energized, it and the connecting magnet 27 are magnetically attracted. A first trigger connector 31 is welded to the side of the locking block 221 near the electromagnet and is welded to the end wall of the stabilizing rod. A second trigger connector 32 is welded to the side wall of the limiting block 222 near the first trigger connector 31. The first and second trigger connectors 31 and 32 are located inside the stabilizing rod and stabilizing tube, and are electrically connected to the drive motor 281. When the electromagnet 26 is energized and connected to the connecting magnet 27, the first and second trigger connectors 31 and 32 abut against each other, causing the drive motor 281 to drive the drive gear 282 to rotate, thereby causing the locking rod 23 to move.

[0041] The implementation principle of a linear module fault detection method according to an embodiment of the present invention is as follows: First, before the linear module is put into operation, it is placed at the working location. Then, each radio probe 112 is activated. At this time, the linear module vibrates due to the vibration of the external environment or the vibration of the equipment on which the linear module is installed, and collides with the collision ring 113. After the radio probe 112 receives the noise, the module controller processes the collected noise signal and compares the signals collected by each radio probe 112. The peak value of the noise signal generated by each radio probe 112 is compared. Here, the peak value of the noise signal generated by the linear module in the offline state is compared with the collision ring 113. The position where the impact produces the maximum sound is the position of maximum offset of the linear module in offline state. Based on the acquired signal, the module controller starts the drive device 28, which drives the locking rod 23 to move in the locking hole 21. At the same time, the electromagnet 26 is energized, so that the electromagnet 26 abuts against the connecting magnet 27, and the limiting block 222 moves away from the inner wall of the limiting groove 25. Meanwhile, the drive gear 282 rotates under the drive of the drive motor 281, and drives the locking rod 23 to move with the drive rack 283 until the module controller detects that the peak value of the received noise signal on each radio probe 112 is equal.

[0042] Next, the linear module is started and begins to work normally. As the linear module operates, the sound receiving probe 112 collects the noise signal generated between it and the collision ring 113 again. If the noise peak generated by the vibration of the collision ring 113 exceeds the preset threshold, the linear module is self-tested by the module controller. Compared with the laser self-test used in the prior art, the linear module fault self-testing system in this invention reduces the false detection rate.

[0043] The above are all preferred embodiments of the present invention and are not intended to limit the scope of protection of the present invention. Therefore, all equivalent changes made in accordance with the structure, shape and principle of the present invention should be covered within the scope of protection of the present invention.

Claims

1. A linear module fault self-diagnosis system, comprising a housing (1), wherein a sensing component (11), a module controller, and a control motor are disposed within the housing (1), the sensing component (11), the module controller, and the control motor are electrically connected, and a lead screw transmission mechanism is disposed within the housing (1), wherein a slider is disposed at one end of the lead screw transmission mechanism, characterized in that: The sensing component (11) includes a sound-collecting ring (111), a sound-collecting probe (112), and a collision ring (113). The collision ring (113) is sleeved on the outer wall of the slider and is in clearance fit with the slider. The sound-collecting ring (111) is located on one side of the slider. A plurality of sound-collecting probes (112) are provided, and the plurality of sound-collecting probes (112) are arranged circumferentially along the sound-collecting ring (111). The sound-collecting probes (112) are arranged in the direction of the collision ring (113). The sound-collecting probes (112) are used to collect the noise generated by the collision between the slider and the collision ring (113). The self-test process of the module controller includes: merging the noise signals collected by all the radio probes (112); acquiring the noise-removed signal of each radio probe (112), wherein the noise-removed signal is the peak value in the noise signal; based on the noise-removed signal and the running time of the linear module, extracting the number of noise peaks per unit time; comparing the number of noise peaks per unit time with a preset qualified threshold; if the number of noise peaks is greater than the preset qualified threshold, then starting the self-test program. A connecting rod (2) is provided inside the housing (1). The receiver ring (111) is located at one end of the connecting rod (2). Several locking holes (21) are provided through the side wall of the receiver ring (111) along the wall thickness direction. A locking rod (23) is provided on the end wall of the receiver probe (112) away from the receiver ring (111). A locking groove (24) is provided on the end wall of the locking rod (23) along the length direction. The locking rod (23) slides through the locking groove (24) and the locking holes (21). The connection is provided with a limiting groove (25) on the inner side wall of the locking groove (24). The microphone probe (112) is connected to the microphone ring (111) through the locking hole (21). A locking structure (22) is provided in the limiting groove (25). The locking structure (22) is used to fix the microphone probe (112). A driving device (28) is provided at the end of the microphone ring (111) away from the collision ring (113). The driving device (28) is used to drive the microphone probe (112) to move. The locking structure (22) includes a locking block (221), a limiting block (222), and a retaining spring (223). The locking block (221) is disposed on the inner side wall of the locking hole (21). The locking block (221) is slidably connected to the locking groove (24). The retaining spring (223) is disposed on the side wall of the locking block (221). The limiting block (222) is disposed at the end of the retaining spring (223) away from the locking block (221). The limiting block (222) is slidably connected to the limiting groove (25).

2. The linear module fault self-testing system according to claim 1, characterized in that: An electromagnet (26) is provided on the side wall of the locking block (221), and a connecting magnet (27) is provided on the side wall of the limiting block (222) near the electromagnet (26). When the electromagnet (26) is energized, the electromagnet (26) and the connecting magnet (27) attract each other. The electromagnet (26) is electrically connected to the module controller.

3. The linear module fault self-testing system according to claim 2, characterized in that: The driving device (28) includes a driving motor (281), a driving gear (282), and a driving rack (283). The driving motor (281) is located on the side wall of the receiver ring (111) away from the collision ring (113). The output end of the driving gear (282) is provided with a linkage rod (3). The driving gear (282) is located on the end wall of the linkage rod (3). The driving gear (282) is controlled to rotate by the driving motor (281). The driving gear (282) is located on the side wall of the locking rod (23) near the driving gear (282). The driving gear (282) is meshed with the driving rack (283).

4. The linear module fault self-testing system according to any one of claims 2 or 3, characterized in that: The locking block (221) has a first trigger connector (31) on its side wall, and the limiting block (222) has a second trigger connector (32) on its side wall near the first trigger connector (31). When the adsorption electromagnet (26) is attracted to the connecting magnet (27), the first trigger connector (31) and the second trigger connector (32) are connected. The first trigger connector (31) and the second trigger connector (32) are electrically connected to the driving device (28).

5. The linear module fault self-diagnosis system according to claim 3, characterized in that: The locking rod (23) has a mounting surface (33) on its side wall. The side wall of the drive rack (283) away from the drive gear (282) is fitted with the mounting surface (33). The end wall of the locking rod (23) away from the collision ring (113) has a connecting groove (34). The end wall of the drive rack (283) near the connecting groove (34) has a fixing groove (35). The side walls of the fixing groove (35) and the connecting groove (34) are inclined relative to each other. A locking piece (36) is inserted into the fixing groove (35) and the connecting groove (34).

6. The linear module fault self-testing system according to claim 3, characterized in that: A silencing box (4) is fitted on the side wall of the sound ring (111). The side wall of the silencing box (4) has a sandwich structure, and sound insulation cotton is provided in the sandwich of the side wall of the silencing box (4).

7. A self-diagnostic method for linear module faults, applied to the self-diagnostic system for linear module faults described in any one of claims 1-6, characterized in that: Including steps S1. The linear module remains stationary, and the radio probe (112) and drive device (28) are turned on to complete the self-adjusting radio reception through the radio probe (112); S2. Based on the self-adjusting sound reception result, the driving device (28) drives the locking rod (23) and the sound receiving probe (112) to slide in the locking hole (21), thereby causing a difference in the position between each sound receiving probe (112) and the collision ring (113), and making the peak value of the noise received by each sound receiving probe (112) equal. S3. Start the linear module. At the same time, the sound receiving probe (112) continuously receives sound and, based on the noise signal obtained by the sound receiving probe (112) and the preset judgment threshold, determine whether there is an internal problem in the operation of the linear module. S4. If the problem exists, the module controller will perform a self-test on the linear module and output the problem that exists in the linear module itself.

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