Coating thickness detection device for non-planar body and detection method thereof

Abstract

The invention discloses a coating thickness detection device for a non-planar body and a detection method thereof.The coating thickness detection device comprises a coating detection device and a mechanical arm, the coating detection device is connected to the free end of the mechanical arm, and the mechanical arm can enable the detection end of the coating detection device to face an arc detection face; an offset adjusting device is arranged on the coating detection device and can adjust the posture of the coating detection device, so that the extension direction of the central axis of the coating detection device is changed; geometric data of the curved surface are fed back in real time through the distance detection unit group, and the axis of the detection column is dynamically adjusted by adjusting the electric expansion piece, so that the detection probe is always perpendicular to the detected curved surface; a detection reference point is fixed through the adsorption device, and the offset adjusting device automatically calculates an optimal attitude according to multiple groups of distance data to adapt to a complex curved surface; coating reworking caused by manual measurement errors can be greatly reduced, and the method is suitable for large-batch high-precision production scenes.

Description

Technical Field

[0001] The present invention belongs to the technical field of industrial inspection, and more specifically, it relates to a coating thickness detection device for non-planar bodies and a detection method thereof. Background Art

[0002] The existing coating thickness detection technologies use planar contact detection probes and optical detection equipment. When facing curved or irregular surfaces, the detection probes cannot maintain a perpendicular incident angle to contact the coating surface, and the optical detection equipment suffers from signal distortion due to curved surface reflection, resulting in the inability of the existing technologies to accurately detect the coating thickness of non-planar body structures. However, since curved or irregular surface steel structures are commonly used in scenarios with extremely high coating requirements such as ships, and there are relatively large problems with coating quality deviations during the coating spraying process on curved or irregular surfaces themselves, if the coating thickness of curved or irregular surfaces cannot be accurately detected, it will lead to substandard corrosion resistance of the assembled ship. Summary of the Invention

[0003] Object of the Invention: To overcome the deficiencies in the prior art, the present invention provides a coating thickness detection device for non-planar bodies and a detection method thereof. Through the coordinated control of the robotic arm and the dynamic adjustment device, automatic alignment and precise measurement of the curved surface coating are achieved; through the closed-loop feedback of the offset adjustment device and the distance detection unit group, it is ensured that the detection probe is always perpendicular to the measured curved surface, eliminating measurement errors caused by angle deviations; through the adsorption base, offset adjustment device and elastic buffer design, arc surfaces with different curvature radii are compatible, expanding the application range of the device.

[0004] Technical Solution: To achieve the above object, a coating thickness detection device for non-planar bodies and a detection method thereof according to the present invention include a coating detection device and a robotic arm. The coating detection device is connected to the free end of the robotic arm, and the robotic arm can align the detection end of the coating detection device with the arc detection surface; an offset adjustment device is provided on the coating detection device, and the offset adjustment device can adjust the attitude of the coating detection device, thereby changing the extending direction of the central axis of the coating detection device.

[0005] Further, the coating detection device includes a detection column; one end of the detection column is connected to the robotic arm, the central axis of the coating detection device is the axis of the detection column, a detection probe installation groove is provided along the central axis on the end surface of the detection column far from the robotic arm, a probe electric push rod is coaxially arranged with the central axis in the detection probe installation groove, and the end of the movable end of the probe electric push rod is fixedly connected with a detection probe. When the central axis of the detection column coincides with any radial line of the arc detection surface, the probe electric push rod pushes the detection probe to move along the central axis of the detection column towards the direction close to the arc detection surface.

[0006] Further, an adjusting sleeve is coaxially and slidably fitted around the outer periphery of the end of the detection column away from the robotic arm, and a first mounting ring extends radially outward along the axis of the detection column at the end close to the robotic arm. A return spring is connected between the end of the adjusting sleeve close to the robotic arm and the first mounting ring, and the return spring can reset the detection column and the adjusting sleeve after relative sliding occurs.

[0007] Further, it further includes a distance detection unit group. The distance detection unit group is arranged on the detection column, and the offset adjustment device is arranged at the end of the adjusting sleeve away from the detection column. When the robotic arm drives the offset adjustment device to contact the arc-shaped detection surface, the detection lasers of several distance detection units in the distance detection unit group are simultaneously projected onto the arc-shaped detection surface and form several different detection points. Each distance detection unit can detect the distance between itself and its corresponding detection point, and the offset adjustment device can drive the adjusting sleeve to drive the detection column to perform axis offset adjustment according to the detection results of the distance detection unit group.

[0008] Further, the offset adjustment device includes several adjusting electric telescopic devices. A second mounting ring extends radially outward along the axis of the adjusting sleeve at the end away from the detection column. One ends of several adjusting electric telescopic devices are circumferentially and arrayedly hinged on the second mounting ring, and an adsorption base is hinged to the other end of each adjusting electric telescopic device. An adsorption device is arranged at the end of each adsorption base away from the adjusting electric telescopic device. When the adsorption devices on each adsorption base adsorb on the arc-shaped detection surface, each adjusting electric telescopic device performs telescopic movements of different degrees under the control of the distance detection unit group, so that the axis of the adjusting sleeve is offset. Under the constraint of the sliding fit, the adjusting sleeve drives the detection column to perform axis offset adjustment.

[0009] Further, the distance detection unit group includes a first detection unit, a second detection unit, and a third detection unit. The first detection unit, the second detection unit, and the third detection unit are all mounted on the first mounting ring through a mounting bracket, and the extension lines of the first detection laser of the first detection unit, the extension line of the second detection laser of the second detection unit, and the extension line of the third detection laser of the third detection unit are all arranged at an angle with the central axis of the detection column, and the extension lines of the first detection laser, the second detection laser, and the third detection laser intersect the arc-shaped detection surface at detection point a, detection point b, and detection point c respectively.

[0010] Further, the coating detection device is driven and connected to the free end of the robotic arm through a detection drive module. A plurality of adjusting springs are arranged between the end of the detection column away from the adjusting sleeve and the detection drive module. One ends of the plurality of adjusting springs are connected to the end of the detection column away from the adjusting sleeve in a circumferential array, and the other ends are connected to the detection drive module. During the process of the offset adjusting device driving the coating detection device to perform axis offset adjustment, each adjusting spring can ensure that the coating detection device deflects.

[0011] Further, a detection method for a coating thickness detection device for non-planar bodies:

[0012] Step 1: The robotic arm aligns the detection end of the coating detection device with the arc detection surface.

[0013] Step 2: The detection drive module on the robotic arm drives the coating detection device to move towards the arc detection surface: The adsorption devices on each adsorption base adsorb on the arc detection surface, and the detection column and the adjusting sleeve slide relative to each other under the drive of the detection drive module to complete the first approach process.

[0014] Step 3: Each distance detection unit detects the distance between itself and the corresponding detection point on the arc detection surface, and the offset adjusting device drives the coating detection device to perform axis offset adjustment according to the detection results of each distance detection unit.

[0015] Step 4: When the axis of the coating detection device coincides with any radial line of the arc detection surface, the probe electric push rod drives the detection probe to move towards the arc detection surface to complete the second approach process. When the detection probe moves to the detection position, the coating thickness of the arc detection surface is detected.

[0016] Beneficial effects: The coating thickness detection device and its detection method for non-planar bodies of the present invention can real-time feedback the curved surface geometric data through the distance detection unit group, dynamically adjust the axis of the detection column through the adjusting electric telescissor, ensure that the detection probe coincides with the curved surface normal, and through the first rough positioning driven by the robotic arm and the second fine adjustment driven by the probe electric push rod for precise positioning, it can avoid probe collision and improve the positioning accuracy; by combining the detection drive module and the adjusting spring, it realizes the balance between flexible contact and rigid measurement, reduces manual intervention; by fixing the detection reference point through the adsorption device, the offset adjusting device automatically calculates the optimal posture according to multiple sets of distance data to adapt to complex curved surfaces; it can greatly reduce the coating rework caused by manual measurement errors and is applicable to large-scale high-precision production scenarios. Description of the Drawings

[0017] Figure 1 It is a schematic installation diagram of the coating thickness detection device and the robotic arm of the present invention.

[0018] Figure 2 Schematic structural diagram of the coating thickness detection device of the present invention;

[0019] Figure 3 Cross-sectional view of the structure of the coating thickness detection device of the present invention;

[0020] Figure 4 Schematic structural diagram of the coating thickness detection device of the present invention in a state where it is in contact with the arc-shaped detection surface;

[0021] Figure 5 Partial enlarged view A;

[0022] Figure 6 Point position distribution diagram of the coating thickness detection device of the present invention in a coordinate system;

[0023] Figure 7 Schematic diagram of the adjustment process of the present invention. Specific embodiments

[0024] The present invention will be further described below with reference to the accompanying drawings.

[0025] As shown in the Figures 1 to 5 accompanying drawings, a coating thickness detection device and a detection method for a non-planar body include a coating detection device 1 and a robotic arm 2. The robotic arm 2 is movably installed on a working platform. The working platform generally selects a portable platform or a movable platform, such as a portable installation base or a movable trolley platform. The coating detection device 1 is connected to the free end of the robotic arm 2. The robotic arm 2 can direct the detection end of the coating detection device 1 towards the arc-shaped detection surface 20. The arc-shaped detection surface is generally an arc-shaped surface of a steel-shaped body. A coating that cannot sense a magnetic field is sprayed on the arc-shaped detection surface 20. An offset adjustment device 10 is provided on the coating detection device 1. The offset adjustment device 10 can adjust the posture of the coating detection device 1, thereby changing the extending direction of the central axis 22 of the coating detection device 1 until the central axis 22 of the coating detection device 1 coincides with any radial line 21 of the arc-shaped detection surface 20.

[0026] The coating detection device 1 includes a detection column 3; one end of the detection column 3 is connected to the robotic arm 2, the central axis 22 of the coating detection device 1 is the axis of the detection column 3, a detection probe mounting groove 7 is formed along the central axis 22 on the end face of the end of the detection column 3 away from the robotic arm 2, a probe electric push rod 8 is coaxially arranged with the central axis 22 in the detection probe mounting groove 7, the end of the movable end of the probe electric push rod 8 is fixedly connected with a detection probe 9. When the central axis 22 of the detection column 3 coincides with any radial line 21 of the arc-shaped detection surface 20, the probe electric push rod 8 pushes the detection probe 9 to move along the central axis 22 of the detection column 3 towards the direction close to the arc-shaped detection surface 20. The detection probe 9 is the probe of a magnetic coating thickness gauge, and a permanent magnet is arranged in the detection probe 9. When the detection probe 9 is close to the arc-shaped detection surface 20, the magnetic field generated by the detection probe 9 can pass through the coating on the arc-shaped detection surface 20 and form a closed magnetic circuit with the steel matrix below the coating. Since the coating sprayed on the arc-shaped detection surface 2 is a non-magnetic insulating coating, when the detection probe 9 is close to the arc-shaped detection surface 20, coatings with different thicknesses will cause different magnetic field intensities detected by the detection probe 9, and each different magnetic field intensity corresponds to a coating thickness. Moreover, the thicker the coating thickness, the greater the magnetic circuit magnetic resistance formed between the detection probe 9 and the steel matrix below the coating on the arc-shaped detection surface 20, thereby reducing the magnetic flux detected by the detection probe 9. Therefore, the detection probe 9 can judge the coating thickness by detecting the magnitude of the magnetic flux in the magnetic circuit.

[0027] The detection probe 9 further includes a calculation device, the calculation device is associated with the detection probe 9, the calculation device is fixedly installed on the installation platform where the robotic arm 2 is installed, and the calculation device can receive the magnitude of the magnetic flux in the magnetic circuit detected by the detection probe 9, and output the thickness data of the coating at the detection position of the detection probe 9 under the calculation of the internal microcalculator thereof. A display screen is arranged on the calculation device, and the calculation device can display the calculated coating thickness data on the display screen;

[0028] A reading camera is further arranged on the installation platform, the reading camera is installed above the display screen of the calculation device through a bracket, and the lens of the reading camera is directly opposite to the display screen of the calculation device. The reading camera can transmit the coating thickness data displayed on the display screen to the control system.

[0029] Since the display result of the computing device is approximate data after rounding, before the start of the detection process, in order to ensure the accuracy of the detection structure, in addition to selecting the thickness of the standard thickness sheet in the database of the control system, it is also necessary to let the detection probe 9 detect the standard thickness sheet, so that the detection probe 9 can make the first comparison between the magnetic flux magnitude of the detected thickness and the magnetic flux magnitude of the standard thickness sheet, and then the control system makes the second comparison between the detected thickness and the thickness of the standard thickness sheet. The coating thickness of the detection area is judged to meet the standard through the combined results of the two comparisons.

[0030] A regulating sleeve 4 is coaxially and slidably fitted around the outer periphery of the end of the detection column 3 away from the robotic arm 2. The outer peripheral surface of the detection column 3 is in contact with the inner wall of the regulating sleeve 4. One end of the detection column 3 close to the robotic arm 2 extends radially outward to form a first mounting ring 5. A return spring 6 is connected between one end of the regulating sleeve 4 close to the robotic arm 2 and the first mounting ring 5. The return spring 6 can reset the detection column 3 and the regulating sleeve 4 after relative sliding occurs; when the detection end of the coating detection device 1 is aligned with the arc-shaped detection surface 20 by the robotic arm 2, the robotic arm 2 simultaneously drives the detection column 3 and the regulating sleeve 4 to move vertically in the direction close to the arc-shaped detection surface 20. When the end of the regulating sleeve 4 away from the robotic arm 2 contacts the arc-shaped detection surface 20, relative sliding occurs between the regulating sleeve 4 and the detection column 3, that is, the relative distance between the regulating sleeve 4 and the arc-shaped detection surface 20 no longer changes, while the detection column 3 continues to move vertically relative to the regulating sleeve 4 in the direction close to the arc-shaped detection surface 20 under the drive of the robotic arm 2 until the detection column 3 reaches a predetermined position, thus completing the first approaching process of the coating detection device 1. In this state, although the detection probe 9 on the detection column 3 is close to the arc-shaped detection surface 20, the magnetic field generated by the permanent magnet on the detection probe 9 cannot act on the steel matrix under the coating of the arc-shaped detection surface 20.

[0031] Regarding how to limit the relative sliding distance of the detection column 3 relative to the regulating sleeve 4 during the process that after the end of the regulating sleeve 4 away from the robotic arm 2 contacts the arc-shaped detection surface 20, the detection column 3 continues to move vertically relative to the regulating sleeve 4 in the direction close to the arc-shaped detection surface 20 under the drive of the robotic arm 2; a limiting plate can be set inside the regulating sleeve 4, or a sensor can be set at a preset position inside the regulating sleeve. Through the linkage between the sensor and the robotic arm 2, the sensor controls the robotic arm 2 to stop driving after the detection column 3 reaches the preset position, or a pushing device can also be set between the free end of the robotic arm 2 and the detection column 3, and it is set that when the pushing device reaches the maximum pushing distance, the detection column 3 reaches the preset position; or other devices that can achieve precise positioning; since the above settings are all existing devices, no further description is given here, and they are not shown in the drawings either.

[0032] It further includes a distance detection unit group which is arranged on the detection column 3, and the offset adjustment device 10 is arranged at one end of the adjustment sleeve 4 away from the detection column 3. After the detection end of the coating detection device 1 is aligned with the arc-shaped detection surface 20 by the robotic arm 2, the robotic arm 2 simultaneously drives the detection column 3 and the adjustment sleeve 4 to move vertically in the direction close to the arc-shaped detection surface 20 until the offset adjustment device 10 arranged at the end of the adjustment sleeve 4 away from the robotic arm 2 contacts the arc-shaped detection surface 20. The offset adjustment device 10 can keep the axes of the adjustment sleeve 4 and the detection column 3 still in the vertical state in the above scenario, that is, the end faces of the adjustment sleeve 4 and the detection column 3 are both in the horizontal state. In the above state, the detection lasers of several distance detection units in the distance detection unit group are simultaneously projected onto the arc-shaped detection surface 20 and form several different detection points, and each distance detection unit can detect the distance between itself and its corresponding detection point; the offset adjustment device 10 can drive the adjustment sleeve 4 to drive the detection column 3 to perform axis offset adjustment according to the detection results of the distance detection unit group until the central axis 22 of the detection column 3 coincides with any radial line 21 of the arc-shaped detection surface 20.

[0033] The offset adjustment device 10 includes several adjustment electric telescopic devices 11, and each of the adjustment electric telescopic devices 11 is connected to the control system for control. One end of the adjustment sleeve 4 away from the detection column 3 extends radially outward to form a second mounting ring 14, and one ends of several adjustment electric telescopic devices 11 are hinged to the second mounting ring 14 in a circumferential array. The other end of each adjustment electric telescopic device 11 is hinged with an adsorption base 12, and an adsorption device 13 is arranged at one end of each adsorption base 12 away from the adjustment electric telescopic device 11. The adsorption device 13 is a permanent magnet suction cup or a negative pressure suction cup or other devices that can firmly adsorb on the coating surface of the arc-shaped detection surface 20; after the detection end of the coating detection device 1 is aligned with the arc-shaped detection surface 20 by the robotic arm 2, the robotic arm 2 simultaneously drives the detection column 3 and the adjustment sleeve 4 to move vertically in the direction close to the arc-shaped detection surface 20. Since the second mounting ring 14 on the adjustment sleeve 4 is always in the horizontal state during the process that the robotic arm 2 drives the adjustment sleeve 4 to move vertically in the direction close to the arc-shaped detection surface 20, at least one of the several adjustment electric telescopic devices 11 mounted on the second mounting ring 14 will necessarily contact the arc-shaped detection surface 20 first.

[0034] When the adsorption device 13 on any one of a number of adjusting electric telescopic devices 11 comes into contact with the arc-shaped detection surface 20, first, the robotic arm 2 stops driving the detection column 3 and the adjusting sleeve 4 to move vertically in the direction close to the arc-shaped detection surface 20. Then, each of the adjusting electric telescopic devices 11 extends until the adsorption devices 13 on each of the electric telescopic devices 11 are adsorbed on the arc-shaped detection surface 20. When the adsorption devices 13 on each adsorption base 12 are adsorbed on the arc-shaped detection surface 20, the adjusting sleeve 4 is temporarily fixed relative to the arc-shaped detection surface 20. At this time, the robotic arm 2 continues to drive the detection column 3 to slide vertically relative to the adjusting sleeve 3 in the direction close to the arc-shaped detection surface 20 until the detection column 3 reaches a preset position. Finally, each of the adjusting electric telescopic devices 11 performs telescopic movements of different degrees according to the detection results of the distance detection unit group, so that the axis of the adjusting sleeve 4 deviates. Under the constraint of the sliding fit, the adjusting sleeve 4 drives the detection column 3 to perform axis deviation adjustment until the central axis 22 of the detection column 3 coincides with any radial line 21 of the arc-shaped detection surface 20.

[0035] The distance detection unit group includes a first detection unit 25, a second detection unit 15, and a third detection unit 16. The first detection unit 25, the second detection unit 15, and the third detection unit 16 are all laser distance sensors. The first detection unit 25, the second detection unit 15, and the third detection unit 16 are all installed on the first mounting ring 5 through the mounting bracket 17. Moreover, the first detection laser extension line 26 of the first detection unit 25, the second detection laser extension line 23 of the second detection unit 15, and the third detection laser extension line 24 of the third detection unit 16 are all arranged at an angle with the central axis 22 of the detection column 3, and the angle remains unchanged all the time. And the first detection laser extension line 26, the second detection laser extension line 23, and the third detection laser extension line 24 intersect the arc-shaped detection surface 20 at detection points a, b, and c respectively. The center position of the arc-shaped detection surface 20 can be obtained through the geometric relationship among the detection points a, b, c, the first detection unit 25, the second detection unit 15, and the third detection unit 16.

[0036] As Figures 6 to 7 shown, the specific steps to obtain the center of the arc-shaped detection surface 20 through the geometric relationship among the detection points a, b, c, the first detection unit 25, the second detection unit 15, and the third detection unit 16 are as follows:

[0037] On the plane where the first detection unit 25, the second detection unit 15, and the third detection unit 16 are located together, a plane rectangular coordinate system is established with point O as the origin; let the coordinates of the detection point a where the first detection unit 25 intersects the arc-shaped detection surface 20 be (X1, Y1), and the length of the first detection laser extension line 26 between the first detection unit 25 and the detection point a be d1; let the coordinates of the detection point b where the second detection unit 15 intersects the arc-shaped detection surface 20 be (X2, Y2), and the length of the second detection laser extension line 23 between the second detection unit 15 and the detection point b be d2; let the coordinates of the detection point c where the third detection unit 16 intersects the arc-shaped detection surface 20 be (X3, Y3), and the length of the third detection laser extension line 22 between the third detection unit 16 and the detection point c be d3; assume that the coordinates of the center F of the arc-shaped detection surface 20 are (A, B), and the radius is R, that is, the length of the radial line 21 is R; among the above parameters, there are only three unknowns A, B, and R, and in this coordinate system, the following geometric relationships are satisfied:

[0038]

[0039] After squaring, a system of non-linear equations is obtained:

[0040]

[0041] The equations are solved by the elimination method:

[0042] Equation (1) minus equation (2):

[0043] First, expand equation (1) and equation (2) to get:

[0044] (X1 2 -2X1A+A 2 )+(Y1 2 -2Y1B+B 2 )=R 2 +2Rd1+d1 2 (1)

[0045] (X2 2 -2X2A+A 2 )+(Y2 2 -2Y2B+B 2 )=R 2 +2Rd2+d2 2 (2)

[0046] Then subtract to eliminate A 2 , B 2 , R 2 , to get:

[0047] (X1 2 -X2 2) - 2A(X1 - X2) + (Y1 2 - Y2 2 ) - 2B(Y1 - Y2) = 2R(d1 - d2) + (d1 2 - d2 2 )

[0048] Finally, the above equation is arranged to obtain:

[0049] - 2(X1 - X2)A - 2(Y1 - Y2)B - 2(d1 - d2)R = (X2 2 - X1 2 ) + (Y2 2 - Y1 2 ) +

[0050] (d2 2 - d1 2 ) (1 - 2)

[0051] Similarly, subtract equation (3) from equation (1):

[0052] First, expand equation (1) and equation (3) to obtain:

[0053] (X1 2 - 2X1A + A 2 ) + (Y1 2 - 2Y1B + B 2 ) = R 2 + 2Rd1 + d1 2 (1)

[0054] (X3 2 - 2X3A + A 2 ) + (Y3 2 - 2Y3B + B 2 ) = R 2 + 2Rd3 + d3 2 (3)

[0055] Then subtract to eliminate A 2 , B 2 , R 2 , to obtain:

[0056] (X1 2 - X3 2 ) - 2A(X1 - X3) + (Y1 2 - Y3 2 ) - 2B(Y1 - Y3) = 2R(d1 - d3) + (d1 2 - d3 2 )

[0057] Finally, the above equation is arranged to obtain:

[0058] -2(X1 - X3)A - 2(Y1 - Y3)B - 2(d1 - d3)R = (X3 2 - X1 2 ) + (Y3 2 - Y1 2 ) + (d3 2 - d1 2 ) (1 - 3)

[0059] After the above calculation process, the system of equations is now obtained:

[0060]

[0061] Rearrange equation (1 - 2) again to obtain the expression of R:

[0062]

[0063] Rearrange equation (1 - 3) to obtain:

[0064] -2(Y1 - Y3)B = (X3 2 - X1 2 ) + (Y3 2 - Y1 2 ) + (d3 2 - d1 2 ) + 2(X1 - X3)A + 2(d1 - d3)R Rearrange equation (1 - 3) again to obtain the expression of B:

[0065]

[0066] Since the formula is too long, for the convenience of subsequent operations, let:

[0067] N1 = (X2 2 - X1 2 )(Y2 2 - Y1 2 ) + (d2 2 - d1 2 )

[0068] N2 = (X3 2 - X1 2 ) + (Y3 2 - Y1 2 ) + (d3 2 - d1 2 )

[0069] Substitute the expression of B into the expression of R to obtain:

[0070]

[0071] Process the above formula to eliminate \(R\) on the right side of the equal sign:

[0072] Multiply both sides of the equation by \(2(d1 - d2)\cdot2(Y1 - Y3)\) to eliminate the denominator:

[0073]

[0074] Combine like terms:

[0075]

[0076] Move the terms containing \(R\) to the left side of the equation and the remaining terms to the right side:

[0077]

[0078] Finally, organize to obtain the relational expression between \(R\) and \(A\):

[0079]

[0080] For the convenience of subsequent operations, set:

[0081] \(\Delta x=(X1 - X2)(Y1 - Y3)-(X1 - X3)(Y1 - Y2)\)

[0082]

[0083] \(\Delta d=(d1 - d3)(Y1 - Y2)-(d1 - d2)(Y1 - Y3)\) Then substitute the above relational expression between \(R\) and \(A\) into Equation (1 - 2) to obtain

[0084]

[0085] Similarly, substitute the above relational expression between \(R\) and \(A\) into Equation (1 - 3) to obtain

[0086]

[0087] In Formula (4) and Formula (5), there are only two unknowns \(A\) and \(B\), and the rest are known numbers. Therefore, by combining Formula (4) and Formula (5), the center coordinates \((A, B)\) of the arc detection surface 20 in the coordinate system can be solved. After obtaining \((A, B)\), the control system can control each of the adjusting electric telescopic devices 11 to perform telescopic movements of different degrees according to the coordinates of \((A, B)\), so that the adjusting sleeve 4 is offset. Under the constraint of the sliding fit, the adjusting sleeve 4 drives the detection column 3 to perform axis offset adjustment until the axis of the detection column 3 passes through the point \((A, B)\).

[0088] The coating detection device 1 is driven and connected to the free end of the robotic arm 2 by the detection drive module 18. A plurality of adjustment springs 19 are arranged between the end of the detection column 3 away from the adjustment sleeve 4 and the detection drive module 18. One ends of the plurality of adjustment springs 19 are circumferentially arrayed and connected to the end of the detection column 9 away from the adjustment sleeve 4, and the other ends are connected to the detection drive module 18. During the process of the offset adjustment device 10 driving the coating detection device 1 to perform axis offset adjustment, each adjustment spring 19 will bend to varying degrees and at different angles along with the offset of the coating detection device 1. Therefore, each adjustment spring 19 can ensure that the coating detection device 1 undergoes offset, while the robotic arm 2 and the detection drive module 18 do not undergo offset.

[0089] A detection method for a coating thickness detection device for non-planar bodies:

[0090] Step 1: The robotic arm 2 positions the detection end of the coating detection device 1 opposite to the arc detection surface 20.

[0091] Step 2: The detection drive module 18 on the robotic arm 2 drives the coating detection device 1 to move towards the arc detection surface 20.

[0092] Step 3: On the basis of Step 2, the adsorption devices 13 on each adsorption base 12 adsorb on the arc detection surface 20, and the detection column 3 and the adjustment sleeve 4 slide relative to each other under the drive of the detection drive module 18 until the detection column 3 reaches the preset position, completing the first approach process.

[0093] Step 4: On the basis of Step 3, each distance detection unit can detect the distance between itself and its corresponding detection point, and the offset adjustment device 10 drives the coating detection device 1 to perform axis offset adjustment according to the detection results of each distance detection unit.

[0094] Step 5: During the process of Step 4, when the axis of the coating detection device 1 coincides with any radial line 21 of the arc detection surface 20, the offset adjustment device 10 stops driving the coating detection device 1 to perform axis offset adjustment.

[0095] Step 6: On the basis of Step 5, the probe electric push rod 8 drives the detection probe 9 to move towards the arc detection surface 20; completing the second approach process.

[0096] Step 7: During the process of Step 6, when the detection probe 9 moves to the detection position, the coating thickness of the arc detection surface 20 is detected.

[0097] To avoid an increase in detection errors caused by the influence of other factors on the detection probe 9 and further ensure the accuracy of the detection structure, an AI coating recognition camera 27 can also be installed on the robotic arm. The AI coating recognition camera 27 can recognize the coating state on the arc-shaped detection surface 20 through AI and judge the thickness of the coating through the internal AI. Thus, in this solution, through the AI discrimination of the coating thickness on the arc-shaped detection surface 20 by the AI coating recognition camera 27, the discrimination of the magnetic flux magnitude between the coating thickness on the arc-shaped detection surface 20 and the standard thickness piece by the detection probe 9, and the discrimination of the coating thickness calculation result of the calculation device and the coating thickness data in the control system database, a special coating thickness discrimination scheme is formed by the mutual cooperation of three different coating thickness discrimination processes, which can greatly avoid the problem of large errors in a single discrimination process in the traditional scheme.

[0098] The above is the preferred implementation mode described in the present invention. It should be noted that for those of ordinary skill in the art of this technology, without departing from the principle of the present invention, several improvements and retouches can be made, and these improvements and retouches should also be regarded as within the protection scope of the present invention.

Claims

1. A coating thickness detection device for non-planar bodies, characterized in that: It includes a coating detection device (1) and a robotic arm (2). The coating detection device (1) is connected to the free end of the robotic arm (2), and the robotic arm (2) can make the detection end of the coating detection device (1) face the arc-shaped detection surface (20); an offset adjustment device (10) is provided on the coating detection device (1), and the offset adjustment device (10) can adjust the posture of the coating detection device (1), thereby changing the extending direction of the central axis (22) of the coating detection device (1).

2. The coating thickness detection device for non-planar bodies according to claim 1, wherein: The coating detection device (1) includes a detection column (3); one end of the detection column (3) is connected to the robotic arm (2), the central axis (22) of the coating detection device (1) is the axis of the detection column (3), a detection probe mounting groove (7) is axially opened on the end surface of the detection column (3) far from the robotic arm (2) along the central axis (22), a probe electric push rod (8) is coaxially arranged with the central axis (22) in the detection probe mounting groove (7), the end of the movable end of the probe electric push rod (8) is fixedly connected with a detection probe (9), when the central axis (22) of the detection column (3) coincides with any radial line (21) of the arc-shaped detection surface (20), the probe electric push rod (8) pushes the detection probe (9) to move along the central axis (22) of the detection column (3) towards the arc-shaped detection surface (20).

3. The coating thickness detection device for non-planar bodies according to claim 2, characterized in that: A regulating sleeve (4) is coaxially and slidably fitted around the outer periphery of the end of the detection column (3) far from the robotic arm (2), and one end of the detection column (3) close to the robotic arm (2) extends radially outwards to form a first mounting ring (5). The end of the regulating sleeve (4) close to the robotic arm (2) is connected to the first mounting ring (5) through a return spring (6), and the return spring (6) can reset the detection column (3) and the regulating sleeve (4) after relative sliding occurs.

4. The coating thickness detection device for non-planar bodies according to claim 1, characterized in that: It further includes a distance detection unit group. The distance detection unit group is arranged on the detection column (3), and the offset adjustment device (10) is arranged at the end of the regulating sleeve (4) far from the detection column (3). When the robotic arm (2) drives the offset adjustment device (10) to contact the arc-shaped detection surface (20), the detection lasers of several distance detection units in the distance detection unit group are simultaneously projected onto the arc-shaped detection surface (20) and form several different detection points. Each distance detection unit can detect the distance between itself and its corresponding detection point, and the offset adjustment device (10) can drive the regulating sleeve (4) to drive the detection column (3) to perform axis offset adjustment according to the detection results of the distance detection unit group.

5. The coating thickness detection device for non-planar bodies according to claim 4, characterized in that: The offset adjustment device (10) includes a number of adjustment electric telescopic devices (11). One end of the adjustment sleeve (4) away from the detection column (3) extends radially outward along its own axis to form a second mounting ring (14). One ends of the number of adjustment electric telescopic devices (11) are hinged to the second mounting ring (14) in a circumferential array. An adsorption base (12) is hinged to the other end of each adjustment electric telescopic device (11). An adsorption device (13) is provided at one end of each adsorption base (12) away from the adjustment electric telescopic device (11). When the adsorption devices (13) on the adsorption bases (12) adsorb on the arc-shaped detection surface (20), the adjustment electric telescopic devices (11) perform telescopic movements of different degrees under the control of the distance detection unit group, so that the axis of the adjustment sleeve (4) is offset. Under the constraint of sliding fit, the adjustment sleeve (4) drives the detection column (3) to perform axis offset adjustment.

6. The coating thickness detection device for non-planar bodies according to claim 4, characterized in that: The distance detection unit group includes a first detection unit (25), a second detection unit (15) and a third detection unit (16). The first detection unit (25), the second detection unit (15) and the third detection unit (16) are all installed on the first mounting ring (5) through a mounting bracket (17). And the first detection laser extension line (26) of the first detection unit (25), the second detection laser extension line (23) of the second detection unit (15) and the third detection laser extension line (24) of the third detection unit (16) are all arranged at an angle with the central axis (22) of the detection column (3). And the first detection laser extension line (26), the second detection laser extension line (23) and the third detection laser extension line (24) intersect the arc-shaped detection surface (20) at detection point a, detection point b and detection point c respectively.

7. The coating thickness detection device for a non-planar body according to claim 5, characterized in that: The coating detection device (1) is driven and connected to the free end of the robotic arm (2) through a detection drive module (18). A number of adjustment springs (19) are arranged between one end of the detection column (3) away from the adjustment sleeve (4) and the detection drive module (18). One ends of the number of adjustment springs (19) are connected to one end of the detection column (9) away from the adjustment sleeve (4) in a circumferential array, and the other ends are connected to the detection drive module (18). During the process that the offset adjustment device (10) drives the coating detection device (1) to perform axis offset adjustment, each adjustment spring (19) can ensure that the coating detection device (1) is offset.

8. The detection method of a coating thickness detection device for non-planar bodies according to claim 4, characterized in that: Step 1: The robotic arm (2) positions the detection end of the coating detection device (1) facing the arc-shaped detection surface (20); Step 2: The detection drive module (18) on the robotic arm (2) drives the coating detection device (1) to move towards the arc-shaped detection surface (20): The adsorption devices (13) on the adsorption bases (12) adsorb on the arc-shaped detection surface (20), and the detection column (3) and the adjustment sleeve (4) slide relative to each other under the drive of the detection drive module (18) to complete the first approaching process; Step 3: Each distance detection unit detects the distance between itself and the corresponding detection point on the arc-shaped detection surface (20), and the offset adjustment device (10) drives the coating detection device (1) to perform axis offset adjustment according to the detection results of each distance detection unit; Step 4: When the axis of the coating detection device (1) coincides with any radial line (21) of the arc-shaped detection surface (20), the probe electric push rod (8) drives the detection probe (9) to move towards the arc-shaped detection surface (20); the second approaching process is completed; after the detection probe (9) moves to the detection position, the coating thickness of the arc-shaped detection surface (20) is detected.

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