Full-automatic ultrasonic and magnetic powder synchronous nondestructive testing system and method for bearing ring

Abstract

The invention discloses a full-automatic ultrasonic and magnetic powder synchronous nondestructive testing system and method for a bearing ring, and belongs to the technical field of bearing nondestructive testing. The testing system comprises a main testing system, a demagnetizer, a truss mechanical arm and an electric control cabinet; the main detection system comprises a detection module, a motion module, a hanging rod module, a jacket module, a magnet yoke, a lifting module, a magnetic liquid nozzle and a liquid collecting tank; the detection module comprises a vision assembly and an ultrasonic assembly which can be movably controlled; the bearing ring is hung on a rotating hanging rod shaft in the hanging rod module and limited. The system can carry out nondestructive testing on all the surfaces and the interior of the rotating bearing ring, the demagnetizer is used for carrying out pre-testing magnetism and post-testing magnetism, the truss mechanical arm is used for transferring the bearing ring, and full-automatic detection is achieved through a control method. According to the invention, the technical problem that all surface and internal defects of the large bearing ring are difficult to automatically and simultaneously detect in a nondestructive manner at one time in the prior art is solved, and the bearing ring with a large size range can be detected.

Description

Technical Field

[0001] The present invention belongs to the technical field of bearing nondestructive testing, and in particular relates to a full-automatic ultrasonic and magnetic powder synchronous nondestructive testing system and method for bearing rings. Background Art

[0002] Ultrasonic nondestructive testing (UDT) utilizes the propagation properties of ultrasonic waves within materials to detect defects. The principle is that after ultrasonic waves enter the object being tested, they are reflected, refracted, or scattered when they encounter internal defects or interfaces. The receiving probe analyzes the echo's timing, amplitude, and waveform to detect defects such as pores, inclusions, shrinkage, porosity, and cracks. UDT boasts the advantages of being nondestructive, highly sensitive, real-time, widely applicable, and highly safe. It is widely used in the quality inspection of key components in aerospace, nuclear power, and other fields, and is a core technology for industrial quality control.

[0003] Fluorescent magnetic particle nondestructive testing (NDT) is based on the magnetization properties of ferromagnetic materials. During testing, the workpiece is first magnetized. If defects such as cracks or pores are present on or near the surface, magnetic lines of force will escape from the defect, forming a leakage magnetic field. Fluorescent magnetic powder is then sprayed, and the powder is attracted by the leakage magnetic field and aggregates in the defect area. Under ultraviolet light, the powder emits a distinct fluorescence, revealing the outline of the defect. By observing the fluorescent traces, the defect's location, shape, and size can be determined. Fluorescent magnetic particle nondestructive testing offers the advantages of high sensitivity, intuitive display, strong adaptability, efficiency, convenience, and low cost. This method is widely used in fields such as machinery manufacturing and is particularly suitable for defect screening in forgings, castings, and welds.

[0004] As one of the core components of industry, bearings play a vital role in industrial production. Conventional nondestructive testing (NDT) for bearing rings mostly involves alternating ultrasonic and fluorescent magnetic particle testing, not performing both simultaneously. This results in a lengthy, inefficient, and costly process. Furthermore, most procedures are performed manually, resulting in a low automation rate, inaccurate, and incomplete testing.

[0005] The few existing automatic magnetic particle nondestructive testing solutions are mostly for small bearing rings, using the center conductor method for electromagnetic testing, which is only applicable to small bearing rings. There are also relatively few magnetic particle testing technologies for large bearing rings, which basically use the method of magnetizing the middle magnetic coil of the bearing ring. This method is only applicable to one size of bearing ring and has poor size adaptability. Summary of the Invention

[0006] To solve the above technical problems, the present invention provides a full-automatic ultrasonic and magnetic particle synchronous non-destructive testing system and method for bearing rings, aiming to solve the technical problems that it is difficult for the existing solutions to automatically and simultaneously detect the internal and all surface defects of large bearing rings non-destructively at one time, and to solve the problem that the existing solutions cannot detect bearing rings of various different sizes without changing the structure.

[0007] The technical solution of the present invention application is as follows:

[0008] A full-automatic ultrasonic and magnetic particle synchronous non-destructive testing system for bearing rings, comprising:

[0009] A main detection system 1, a demagnetizer 3, a truss manipulator 4 and an electric control cabinet 6;

[0010] The main detection system 1 includes a detection module, a motion module 13, a hanging rod module 14, a clamping sleeve module 15, a magnetic yoke 17, a lifting module 18, a magnetic fluid spray head 16, and a liquid collecting tank 162;

[0011] The detection module includes a visually controllable vision component 11 and an ultrasonic component 12;

[0012] The vision component 11 includes a fluorescence camera 111, an ultraviolet lamp 112, a detection bracket 113, a first lead screw nut mechanism 116, and a first motor 117;

[0013] The number of the fluorescence cameras 111 is 2, which are relatively arranged on both sides of the detection bracket 113; the distance between the two fluorescence cameras 111 is adjusted to open and close by the first motor 117 through the first lead screw nut mechanism 116;

[0014] The ultrasonic component 12 includes an ultrasonic probe 121, an ultrasonic bracket 122, an inclination adjustment mechanism, a cleaning magnetic fluid spray head 126, and a water baffle 127;

[0015] The ultrasonic probe 121 is hinged to one side of the ultrasonic bracket 122 and is controlled to rotate by a servo motor 125 in the inclination adjustment mechanism on the ultrasonic bracket 122;

[0016] The ultrasonic probe 121 is vertically arranged, and water is passed through the probe to use water as a coupling agent;

[0017] On the other side of the ultrasonic bracket 122, there are a cleaning magnetic fluid spray head 126 and a water baffle 127, which are sequentially fixed on the detection bracket 113;

[0018] The demagnetizer 3 demagnetizes the bearing ring before and after detection;

[0019] The truss manipulator 4 is provided with a clamp 44 for clamping and placing the bearing ring, and a binocular camera is arranged at its end;

[0020] The motion module 13 is used to control the movement of the detection module, including the translation of the detection module and the change of the detection direction;

[0021] The hanging rod shaft 141 of the hanging rod module 14 can be limitedly hung with a bearing ring, and drive the bearing ring to rotate;

[0022] The magnetic yoke 17 is provided with a rotation control assembly and can be raised and lowered by a lifting module 18 .

[0023] The motion module 13 includes a second motor 131, a first limit switch 132, an end bracket 133, a parallel link 134, a nut seat 135, an electric push rod 136, a second screw nut mechanism 137 and a third motor 138;

[0024] The second motor 131 is fixed to the end bracket 133, and its output shaft passes through the end bracket 133 and is fixedly connected to one side of the detection bracket 133. The second motor 131 can drive the detection bracket 133 to rotate;

[0025] A first limit switch 132 is provided on the end bracket 133 around the output shaft of the second motor 131 , and a limit switch receiver is provided on the output shaft of the second motor 131 ;

[0026] The end bracket 133 is hingedly connected to the two parallel links 134, and the two parallel links 134 are hingedly connected to the nut seat 135 to form a parallelogram motion mechanism;

[0027] The upper end of the electric push rod 136 is hinged to the top of the nut seat 135, and the lower end is hinged to the upper parallel connecting rod 134. The lifting and lowering control of the detection module can be achieved by extending and retracting the electric push rod 136;

[0028] The second screw-nut mechanism 137 is provided on a vertical support of the device and is parallel to the hanging rod shaft 141 ; the third motor 138 can drive the nut seat 135 to move horizontally via the second screw-nut mechanism 137 .

[0029] The hanging rod module 14 includes: a hanging rod shaft 141, a retaining ring 142, a synchronous belt 145, and a fourth motor 146;

[0030] The said hanging rod shaft 141 is provided with at least two and is arranged in parallel; the said blocking ring 142 is arranged in the middle of the hanging rod shaft 141;

[0031] The hanging rod shaft 141 is a hollow structure, and the outer end thereof is provided with a jacket 154 of the jacket module 15 for loosening or tightening the bearing ring;

[0032] The hanging rod shafts 141 are connected by a synchronous belt 145, and one of the hanging rod shafts 141 is driven to rotate by the fourth motor 146, thereby driving the bearing ring to rotate.

[0033] The jacket module 15 includes a mandrel 151, a cylinder 152 and a jacket 154. The mandrel 151 passes through the hanging rod shaft 141 with a hollow structure and is axially connected to the jacket 154 at the outer end;

[0034] The cylinder 152 is fixedly connected to one end of the mandrel 151 and can control the extension or retraction of the mandrel 151, thereby controlling the loosening or pressing of the bearing race.

[0035] The yoke 17 includes a magnetic core 171 and an exciting coil 172, which are used for axial and radial magnetization of the bearing race;

[0036] The yoke 17 can be driven to rotate by a fifth motor 173. A second limit switch 174 is provided on the outer periphery of the output shaft of the fifth motor 173. A limit switch receiver is provided on the output shaft of the fifth motor 173. The fifth motor 173 is installed on the lifting module 18 and can adjust the vertical up and down movement of the yoke 17 through the lifting module 18.

[0037] The magnetic fluid spray head 16 is installed on both the inner and outer sides of the bearing race, and the length of the magnetic fluid spray head 16 covers the axial distance of the bearing race. It is connected to the water tank 161 through a pipeline and can evenly spray the magnetic suspension liquid on the bearing race in all directions by being driven by a water pump.

[0038] A demagnetizer 3 and a conveyor belt 2 are provided in front of the truss manipulator 4;

[0039] The truss manipulator 4 includes a truss 41, a first moving arm 42, a second moving arm 43, and a gripper 44, and it has three translational degrees of freedom and one rotational degree of freedom.

[0040] A control system is provided in the electric control cabinet 6, including control units such as an industrial computer, a cloud server, a data acquisition card, a video transmission module, a motor driver, a single-chip microcomputer, a voltage modulator, a relay, a solenoid valve, and a host computer.

[0041] Another object of the present invention is to provide a detection method for a fully automatic ultrasonic and magnetic particle synchronous non-destructive detection system for bearing races:

[0042] Adopt the fully automatic ultrasonic and magnetic particle synchronous non-destructive detection system for bearing races described above;

[0043] The detection method includes: a detection method and a detection path planning method. The steps included in the detection method are as follows:

[0044] step01: Control the gripper 44 of the truss manipulator 4 to identify and grasp the bearing race to be detected;

[0045] step02: The control jaw 44 places the bearing ring flat on the conveyor belt 2, the demagnetizer 3 operates, and the conveyor belt 2 rotates forward to demagnetize the bearing ring; after demagnetization is completed, the demagnetizer 3 stops operating, the conveyor belt 2 rotates in reverse, and the jaw 44 grabs the bearing ring again;

[0046] step03: The magnetic yoke 17 is adjusted to the vertical diameter magnetization position through the lifting module 18, the clamping sleeve 154 is loosened, the bearing ring is placed on the hanging rod shaft 141 through the jaw 44, and the clamping sleeve 154 is retracted to press the bearing ring tightly;

[0047] step04 The first motor 117 adjusts the opening of the two fluorescence cameras 111 through the first lead screw nut mechanism 116, the detection module moves to the axial middle position of the bearing ring, and descends to the outer diameter edge position of the bearing ring, so that the detection module is close to both end faces of the bearing ring;

[0048] step05: Turn on the fluorescence cameras 111 and ultraviolet lamps 112, turn on the ultrasonic probe 121 and the cleaning magnetic fluid nozzle 126 to spray water, turn on the magnetic fluid nozzle 16 to spray magnetic suspension fluid, the bearing ring starts radial magnetization, the hanging rod shaft 141 rotates and drives the bearing ring to rotate, and visual inspection and ultrasonic inspection are carried out on both axial end faces of the bearing ring;

[0049] step06: After the end face of the bearing ring is detected, magnetization is stopped, the detection module is lifted, the magnetic yoke 17 rotates 90°, the detection module rotates 90°, so that the bearing ring is located between the two fluorescence cameras 111, axial magnetization of the bearing ring is carried out and visual inspection and ultrasonic inspection are carried out on its radial inner and outer ring curved surfaces;

[0050] step07: After the detection is completed, the bearing ring stops rotating, the detection module is reset, and the clamping sleeve 154 loosens the bearing ring; the jaw 44 places the qualified bearing ring flat on the conveyor belt 2 for demagnetization.

[0051] The described detection path planning method includes: an axial detection path planning method and a radial detection path planning method;

[0052] The axial detection path planning method: Planning the sampling path and sampling point distribution during the end face detection of the bearing ring. The bearing ring is driven by the hanging rod shaft 141 to rotate, and the detection module first descends vertically along the radial direction to the sampling start point of the first ring circular path in the radial detection;

[0053] Start sampling and detection. When the bearing ring rotates a certain arc length, equidistant sampling is carried out. After measuring the first ring circular path, the detection module descends uniformly along the radial direction and forms an equidistant spiral path, and the end faces are detected in turn until the sampling end point of the last ring circular path is measured;

[0054] Let the inner diameter of the bearing ring be R a1 and the outer diameter be Ra2 , the detection width is r a1 , the pitch is r a2 , the outermost circle of the path is r away from the outer edge of the bearing ring a3 , the innermost circle of the path is r away from the inner edge of the bearing ring a4 , the nth sampling point is a n , the arc length between two adjacent sampling points is S a , to ensure full coverage detection of each position on the end face of the bearing ring, the following should be satisfied:

[0055] ;

[0056] The described radial detection path planning method: When detecting the inner and outer ring curved surfaces of the bearing ring, the sampling path and sampling point distribution are planned. The bearing ring is driven by the hanging rod shaft 141 to rotate, and the detection module is translated axially to the sampling start point of the first circular ring path for axial detection;

[0057] Sampling detection starts. When the bearing ring rotates through a certain arc length, equidistant sampling is performed. After measuring the first circular path, the detection module steps axially by an equal arc length to perform the detection of the next circular path in sequence until the sampling end point of the last ring is measured;

[0058] Let the inner diameter of the bearing ring be R b1 and the outer diameter be R b2 , the detection width is r b1 , the ring distance for each axial step is r b2 , the distance between the first ring of the path and the end face is r b3 , the distance between the last ring of the path and the other end face is r b4 , the nth sampling point is b n , the arc length between two adjacent sampling points on the same ring is S b , to ensure full coverage detection of each position on the radial inner and outer curved surfaces of the bearing ring, the following should be satisfied:

[0059] .

[0060] The beneficial effects and advantages of the present invention compared with the prior art are as follows:

[0061] Through the design of the ultrasonic component and the fluorescent magnetic particle vision component, the present invention realizes non-destructive detection of the internal material and all surface defects of the large bearing ring at one time;

[0062] Through the motion module with three degrees of freedom, the present invention realizes the change of the detection direction of the detection module and the control of the detection speed;

[0063] Through the design of the hanging rod module and the jacket module, the present invention realizes axial limit and radial positioning of bearing rings with different sizes in a wide range, and ensures that the bearing ring is pressed tightly during rotation;

[0064] The design of the yoke realizes the switching between radial and axial magnetization; the design of the lifting module realizes the adjustment of the magnetization position under bearing rings of different sizes.

[0065] The coordinated design of the conveyor belt, the demagnetizer and the truss robotic arm realizes pre-test and post-test demagnetization.

[0066] Particularly prominent is that the present invention realizes the automatic, one-time and simultaneous non-destructive detection of internal and all surface defects of large bearing rings, and realizes the non-destructive detection of bearing rings with a wide range and different sizes without changing the structure. Description of the Drawings

[0067] Figure 1 It is a schematic diagram of the overall structure of a full-automatic ultrasonic and magnetic particle synchronous non-destructive detection system for bearing rings according to the present invention;

[0068] Figure 2 It is a schematic diagram of the overall structure of a full-automatic ultrasonic and magnetic particle synchronous non-destructive detection system for bearing rings according to the present invention from another direction;

[0069] Figure 3 It is a schematic diagram of the three-dimensional structure of the main detection system of a full-automatic ultrasonic and magnetic particle synchronous non-destructive detection system for bearing rings according to the present invention;

[0070] Figure 4 It is a schematic diagram of radial magnetization of a full-automatic ultrasonic and magnetic particle synchronous non-destructive detection system for bearing rings according to the present invention and axial non-destructive detection of both end faces of the bearing ring;

[0071] Figure 5 It is a distribution diagram of sampling paths and sampling points when the detection module of a full-automatic ultrasonic and magnetic particle synchronous non-destructive detection system for bearing rings according to the present invention detects the end face of the bearing ring;

[0072] Figure 6 It is a schematic diagram of axial magnetization of a full-automatic ultrasonic and magnetic particle synchronous non-destructive detection system for bearing rings according to the present invention and radial non-destructive detection of the inner and outer curved surfaces of the bearing ring;

[0073] Figure 7 It is an attachment of a full-automatic ultrasonic and magnetic particle synchronous non-destructive detection system for bearing rings according to the present invention Figure 6 and an enlarged schematic diagram of the detection module in area A therein;

[0074] Figure 8 It is a schematic diagram of the installation relationship of parts of the detection module of a full-automatic ultrasonic and magnetic particle synchronous non-destructive detection system for bearing rings according to the present invention;

[0075] Figure 9Schematic diagram of the inclination angle control of the ultrasonic probe and the water coupling of the ultrasonic probe during the radial detection of a full-automatic ultrasonic and magnetic particle synchronous non-destructive testing system for a bearing ring according to the present invention;

[0076] Figure 10 Sampling path and sampling point distribution diagram when the detection module of a full-automatic ultrasonic and magnetic particle synchronous non-destructive testing system for a bearing ring according to the present invention detects the inner and outer curved surfaces of the bearing ring;

[0077] Figure 11 Action timing diagram of the motion module when the detection module of a full-automatic ultrasonic and magnetic particle synchronous non-destructive testing system for a bearing ring according to the present invention changes from the axial detection position to the radial detection;

[0078] Figure 12 Schematic three-dimensional structure diagram of the main detection system during the radial detection of a full-automatic ultrasonic and magnetic particle synchronous non-destructive testing system for a bearing ring according to the present invention;

[0079] Figure 13 Assembly drawing and sectional view of the hanging rod module and the clamping sleeve module of a full-automatic ultrasonic and magnetic particle synchronous non-destructive testing system for a bearing ring according to the present invention after hiding the fifth motor;

[0080] Figure 14 Flow chart of the detection method of a full-automatic ultrasonic and magnetic particle synchronous non-destructive testing system for a bearing ring according to the present invention;

[0081] Figure 15 Block diagram of the control system architecture of a full-automatic ultrasonic and magnetic particle synchronous non-destructive testing system for a bearing ring according to the present invention.

[0082] In the attached drawings:

[0083] 1. Main detection system; 11. Vision component; 111. Fluorescent camera; 112. Ultraviolet lamp; 113. Detection bracket; 114. Camera bracket; 115. First nut; 116. First lead screw nut mechanism; 117. First motor; 12. Ultrasonic component; 121. Ultrasonic probe; 122. Ultrasonic bracket; 123. Adjusting link; 124. Crank; 125. Steering gear; 126. Cleaning magnetic fluid spray head; 127. Water baffle; 13. Motion module; 131. Second motor; 132. First limit switch; 133. End bracket; 134. Parallel link; 135. Nut seat; 136. Electric push rod; 137. Second lead screw nut mechanism; 138. Third motor; 14. Hanging rod module; 141. Hanging rod shaft; 142. Retaining ring; 143. Driven gear; 144. Driving gear; 145. Synchronous belt; 146. Fourth motor; 15. Jacket module; 151. Mandrel; 152. Cylinder; 153. Bushing; 154. Jacket; 155. Jacket bearing; 156. Large gland; 157. Small gland; 16. Magnetic fluid spray head; 161. Water tank; 162. Liquid collection tank; 17. Magnetic yoke; 171. Magnetic core; 172. Excitation coil; 173. Fifth motor; 174. Second limit switch; 18. Lifting module; 181. Lifting pull rod; 182. Nut link; 183. Third nut; 184. Sixth motor;

[0084] 2. Conveyor belt; 3. Demagnetizer; 4. Truss manipulator; 41. Truss; 42. First moving arm; 43. Second moving arm; 44. Jaw; 51. Loading box; 52. Qualified blanking box; 53. Unqualified blanking box;

[0085] 6. Electric control cabinet. Detailed implementation mode

[0086] Embodiment 1:

[0087] See the appendix Figures 1 - 15 As shown in the figure, a full-automatic ultrasonic and magnetic particle synchronous non-destructive testing system for bearing rings includes: a main detection system 1, a demagnetizer 3, a truss manipulator 4 and an electric control cabinet 6;

[0088] The main detection system 1 includes a detection module, a motion module 13, a hanging rod module 14, a jacket module 15, a magnetic yoke 17, a lifting module 18, a magnetic fluid spray head 16 and a liquid collection tank 162;

[0089] The detection module includes a vision component 11 and an ultrasonic component 12 that can be moved and controlled;

[0090] The described vision component 11 includes a fluorescence camera 111, an ultraviolet lamp 112, a detection bracket 113, a camera bracket 114, a first nut 115, a first lead screw nut mechanism 116, and a first motor 117; it is used for the fluorescence magnetic particle vision non-destructive testing of the axial two end faces and the radial inner and outer curved surfaces of the bearing ring.

[0091] The number of the fluorescence cameras 111 is 2 and they are arranged oppositely, and a circle of ultraviolet lamps 112 is surrounded around each fluorescence camera 111.

[0092] One of the fluorescence cameras 111 is fixed to the detection bracket 113, and the detection bracket 113 is U-shaped and internally provided with a first lead screw nut mechanism 116.

[0093] The other fluorescence camera 111 is fixed on the camera bracket 114, and the camera bracket 114 is fixed on the first nut 115; the first nut 115 is slidably connected to the detection bracket 113 and sleeved on the first lead screw of the first lead screw nut mechanism 116, and the rotation of the first lead screw is controlled by the first motor 117 to realize the movement of this fluorescence camera 111, and further realize the opening and closing adjustment of the distance between the two fluorescence cameras 111.

[0094] The described ultrasonic component 12 includes an ultrasonic probe 121, an ultrasonic bracket 122, an inclination adjustment mechanism, a cleaning magnetic fluid spray head 126, and a water baffle 127, and is used for the ultrasonic non-destructive testing of the bearing ring.

[0095] See Appendix Figure 8 and Appendix Figure 9 As shown, the ultrasonic probe 121 is vertically arranged, and water is passed inside the probe, and water is used as a couplant.

[0096] The lower end of the ultrasonic probe 121 is hinged to the lower part of the ultrasonic bracket 122, and the upper end is connected to the upper part of the ultrasonic bracket 122 through an inclination adjustment mechanism.

[0097] In the inclination adjustment mechanism, one end of the adjustment link 123 is hinged to the upper end of the ultrasonic probe 121, and the other end is hinged to the crank 124, and the crank 124 is fixedly connected to the output shaft of the servo motor 125; the servo motor 125 is fixed on the ultrasonic bracket 122, thus forming a crank-rocker motion mechanism; the rotation of the crank 124 is controlled by the servo motor 125 to realize the inclination adjustment of the ultrasonic probe 121, so as to realize the fitting of different curvature detection surfaces of bearing rings of different sizes.

[0098] The cleaning magnetic fluid spray head 126 is located between the ultrasonic bracket 122 and the detection bracket 113, and high-pressure water is passed inside it, and is used for quickly cleaning the magnetic suspension liquid on the ultrasonic pre-detection surface.

[0099] The ultrasonic bracket 122 and the cleaning magnetic fluid spray head 126 are fixed to the long slot through holes vertically arranged on the detection bracket 113 by bolts, and their relative vertical mounting positions on the detection bracket 113 can be adjusted within a certain range, thereby adjusting the distance from the bearing race;

[0100] The water baffle 127 is arranged between the cleaning magnetic fluid spray head 126 and the fluorescence camera 111, and is fixedly connected to the detection bracket 113 to prevent the ejected water from interfering with the visual detection of the fluorescence camera 111;

[0101] The demagnetizer 3 demagnetizes the bearing race before and after detection;

[0102] The truss manipulator 4 is provided with a jaw 44 for clamping and placing the bearing race, and a binocular camera is arranged at its end;

[0103] The motion module 13 is used to control the movement of the detection module, including the translation and detection direction transformation (rotation of the detection module) of the detection module.

[0104] The bearing race can be limit-hung on the hanging rod shaft 141 of the hanging rod module 14 and driven to rotate;

[0105] The magnetic yoke 17 is provided with a rotation control component and can be controlled to lift and lower by the lifting module 18.

[0106] The motion module 13 includes: a second motor 131, a first limit switch 132, an end bracket 133, parallel linkages 134, a nut seat 135, an electric push rod 136, a second lead screw nut mechanism 137, and a third motor 138;

[0107] The end bracket 133 is located at the top of the bearing race. The second motor 131 is fixed to the end bracket 133, and its output shaft passes through the end bracket 133 and is fixedly connected to one side of the detection bracket 113. The rotation of the second motor 131 drives the entire detection module to rotate, realizing the transformation of the detection direction;

[0108] The first limit switch 132 is arranged around the output shaft of the second motor 131 on the end bracket 133 at intervals of 90°. A limit switch receiver is arranged on the output shaft of the second motor 131 to control the rotation angle;

[0109] The end bracket 133 is hinged to the two parallel linkages 134, and the two parallel linkages 134 are hinged to the nut seat 135, forming a parallelogram motion mechanism;

[0110] The upper end of the electric push rod 136 is hinged to the top of the nut seat 135, and the lower end is hinged to the upper parallel linkage 134. The vertical lifting and lowering of the detection module are realized by the telescopic movement of the electric push rod 136;

[0111] The second lead screw nut mechanism 137 is arranged on the vertical bracket of the device and is parallel to the hanging rod shaft 141;

[0112] The nut seat 135 is matched with the second lead screw of the second lead screw nut mechanism 137. The third motor 138 drives the second lead screw to rotate, driving the nut seat 135 to translate, thereby realizing the horizontal movement of the detection module.

[0113] The hanging rod module 14 includes: a hanging rod shaft 141, a retaining ring 142, a driven gear 143, a driving gear 144, a synchronous belt 145, and a fourth motor 146;

[0114] There are at least two hanging rod shafts 141. In this embodiment, there are two symmetric and parallel hanging rod shafts 141 for hanging the bearing rings;

[0115] The retaining ring 142 is arranged in the middle of the hanging rod shaft 141 for axially limiting and radially positioning the bearing ring;

[0116] The hanging rod shaft 141 is of a hollow structure. The inner end of one hanging rod shaft 141 is fixedly connected to the driven gear 143, and this hanging rod shaft 141 is connected to the other hanging rod shaft 141 through the synchronous belt 145;

[0117] The driving gear 144 meshes with the driven gear 143. The driving gear 144 is fixedly connected to the output shaft of the fourth motor 146. By rotating the fourth motor 146, the driving gear 144 drives the driven gear 143 to rotate, so that the two hanging rod shafts 141 rotate synchronously, and then the bearing rings thereon rotate.

[0118] The chuck module 15 includes: a mandrel 151, a cylinder 152, a bushing 153, a chuck 154, a chuck bearing 155, a large gland 156, and a small gland 157. The chuck module 15 is arranged at the outer end of the hanging rod shaft 141 for loosening or clamping the bearing ring;

[0119] The mandrel 151 passes through the two hollow hanging rod shafts 141. One end of it is connected to the cylinder 152, and its extension or retraction is controlled by the cylinder 152. At this end, it is slidably assembled with the hanging rod shaft 141 through the bushing 153, and the other end is respectively connected to the two chucks 154 through the chuck bearings 155;

[0120] The chuck 154 is sleeved outside the hanging rod shaft 141 and can slide on the hanging rod shaft 141. The large gland 156 is connected to the chuck 154 by bolts and presses the outer ring of the chuck bearing 155;

[0121] The small gland 157 is connected to the core shaft 151 by screws and presses the inner ring of the bushing bearing 155. When the bearing ring rotates, the two bushings 154 remain in a clamped state and rotate synchronously without scratching the bearing ring. The axial sliding of the core shaft 151 is controlled by the cylinder 152 to control the extension or retraction of the bushing 154, and further control the loosening or pressing of the bearing ring.

[0122] The yoke 17 includes: a magnetic core 171 and an exciting coil 172, which are used for axial and radial magnetization of the bearing ring;

[0123] The magnetic core 171 is composed of silicon steel sheets, and the exciting coil 172 is wound on it. The yoke 17 is connected to the output shaft of the fifth motor 173. The rotation of the fifth motor 173 drives the yoke 17 to rotate to change the magnetization direction. Two second limit switches 174 with a 90° difference are arranged around the outside of the output shaft of the fifth motor 173. A limit switch receiver is arranged on the output shaft of the fifth motor 173. The fifth motor 173 and the limit switch are installed on the lifting module 18, and the rotation angle of the yoke 17 is limited by the limit switch.

[0124] The lifting module 18 includes: a lifting tie rod 181, a nut connecting rod 182, a third nut 183, and a sixth motor 184; it is installed on the liquid collecting tank 162 and is used to control the lifting of the yoke 17; the main body of the lifting module 18 is a scissor mechanism, and a horizontally slidable lifting tie rod 181 is arranged in the bottom chute of the scissor mechanism;

[0125] One end of the lifting tie rod 181 is hinged to the nut connecting rod 182, and the other end of the nut connecting rod 182 is fixedly connected to the third nut 183 of the third lead screw nut mechanism. The rotation of the sixth motor 184 drives the lifting tie rod 181 to slide horizontally, so as to drive the yoke 17 to move vertically up and down, and further adjust the magnetization position to adapt to bearing rings of different sizes.

[0126] The magnetic fluid spray head 16 is installed on both the inner and outer sides of the bearing ring, and the length of the magnetic fluid spray head 16 covers the axial distance of the bearing ring. It is connected to the water tank 161 through a pipeline and is driven by a water pump, and is used to evenly spray the magnetic suspension liquid on the bearing ring in all directions. The flowing-down magnetic suspension liquid is collected by the liquid collecting tank 162 located at the bottom of the system.

[0127] A demagnetizer 3 and a conveyor belt 2 are arranged in front of the truss manipulator 4. The demagnetizer 3 is arranged above the middle of the conveyor belt 2 and is used for demagnetization before and after the detection of the bearing ring.

[0128] The truss manipulator 4 includes: a truss 41, a first moving arm 42, a second moving arm 43, and a gripper 44. It has three translational degrees of freedom and one rotational degree of freedom, and is used to grasp the bearing ring and place it on the conveyor belt 2 for demagnetization, transfer it to the hanging rod shaft 141 for inspection, and classify and place the qualified and unqualified bearing rings; a binocular camera is arranged at its end, which is used to identify the size and position of the bearing ring in the feeding box 51, and the positions of the qualified discharging box 52 and the unqualified discharging box 53.

[0129] A control system is provided inside the electric control cabinet 6, including: a control unit such as an industrial computer, a cloud server, a data acquisition card, a video transmission module, a motor driver, a single-chip microcomputer, a voltage modulator, a relay, a solenoid valve, and a host computer;

[0130] The industrial computer is the core processing unit; the data acquisition card is used to collect the signals of the ultrasonic probe 121; the video transmission module is used to collect the visual image information of the fluorescence camera 111;

[0131] The data acquisition card and the video transmission module transmit the data to the cloud server for deep learning. The cloud server interacts with the industrial computer and issues instructions to each control unit; the motor driver receives the signals from the industrial computer and is used to control the mechanical movements of the truss manipulator 4, the first motor 117, the second motor 131, the third motor 138, the fourth motor 146, the fifth motor 173, the sixth motor 184, and the conveyor belt 2;

[0132] The first limit switch 132 records the position information of the detection module, and the second limit switch 174 records the position information of the yoke 17, and transmits the obtained information to the single-chip microcomputer for preliminary processing and then feedbacks it to the industrial computer;

[0133] The electric push rod 136 is controlled by the industrial computer and the instruction is issued by the single-chip microcomputer. The single-chip microcomputer changes the voltage through the voltage modulator to control the telescopic speed of the electric push rod 136;

[0134] The cylinder 152 controls the translation and pressing of the clamping sleeve 154 through the relay by the industrial computer; the magnetic fluid spray head 16 controls the spraying of the magnetic suspension liquid through the solenoid valve by the industrial computer; the industrial computer is connected to the host computer, and digital display and control are realized through the digital display interface and the control panel to achieve human-computer interaction. <{

[0135] The present invention also provides a detection method for a full-automatic ultrasonic and magnetic particle synchronous non-destructive detection system (device) for bearing rings, adopting a full-automatic ultrasonic and magnetic particle synchronous non-destructive detection system for bearing rings in the above specific embodiment;

[0136] The detection method includes: a detection method and a detection path planning method;

[0137] The detection method is as follows:

[0138] Step 01: Control the truss manipulator 4 to move above the loading box 51, and turn on the binocular camera at its end to identify the size of the bearing rings in the loading box 51 and position them.

[0139] Step 02: Control the gripper 44 on the truss manipulator 4 to sequentially grasp the first bearing ring, turn it over and place it flat on the conveyor belt 2; the demagnetizer 3 works, and the conveyor belt 2 rotates forward to demagnetize the bearing ring.

[0140] Step 03: After demagnetization is completed, the demagnetizer 3 stops working, the conveyor belt 2 rotates in reverse, and the bearing ring is sent back to the initial position.

[0141] Step 04: The yoke 17 resets to the vertical radial magnetization position and is adjusted to the appropriate height through the lifting module 18. The collet 154 is loosened. The truss manipulator 4 grasps the demagnetized bearing ring, transports it to the detection area, places the bearing ring on the hanging rod shaft 141 and retracts and resets, and the collet 154 retracts and presses the bearing ring tightly.

[0142] Step 05: The detection module moves to the axial middle position of the bearing ring, opens the vision component 11 (two fluorescent cameras 111) and descends to the outer diameter edge position of the bearing ring, so that the detection module is close to both end faces of the bearing ring.

[0143] Step 06: Turn on the fluorescent cameras 111 and the ultraviolet lamp 112, turn on the ultrasonic probe 121 and the cleaning magnetic fluid spray head 126 to spray water, turn on the magnetic fluid spray head 16 to spray the magnetic suspension fluid, the bearing ring starts to be radially magnetized, the hanging rod shaft 141 drives the bearing ring to rotate (rotate in the direction set by the cleaning magnetic fluid spray head 126 and the ultrasonic probe 121), and at the same time, start the visual inspection of both end faces and the internal ultrasonic inspection of the bearing ring.

[0144] Step 07: The ultrasonic probe 121 and the fluorescent camera 111 perform equidistant sampling when the bearing ring rotates a certain arc length. After measuring the first ring of the outer diameter, the detection module descends uniformly along the radial direction and in a spiral path, and sequentially performs end face inspection until the last ring of the inner diameter is measured.

[0145] Step 08: After the inspection of both end faces of the bearing ring is completed, stop magnetization, the detection module is lifted, the yoke 17 rotates 90° to the horizontal axial magnetization position, and then the detection module rotates 90° and moves to one end of the bearing ring axially and descends, so that the bearing ring is located between the two fluorescent cameras 111.

[0146] Step 09: The detection module translates axially to the first ring sampling position, turns on the detection module, the bearing ring keeps rotating and starts axial magnetization, and starts the visual and ultrasonic inspection of the inner and outer ring surfaces of the bearing ring.

[0147] Step 10: The ultrasonic probe 121 and the fluorescence camera 111 perform equidistant sampling when the bearing ring rotates a certain arc length. After the detection at the first ring sampling position is completed, the detection module steps axially by an equidistant arc length in sequence to perform the detection of the next ring;

[0148] Step 11: After the detection of the last ring is completed, the detection in this direction is finished, the magnetization is stopped, the bearing ring stops rotating, the detection module is reset, and the clamping sleeve 154 releases the bearing ring;

[0149] Step 12: The truss manipulator 4 moves, grabs the detected bearing ring, places it flat on the conveyor belt 2 for demagnetization, and after completion, places the qualified ones into the qualified blanking box 52 and the unqualified ones into the unqualified blanking box 53;

[0150] In the described detection method, when the detection module changes from the position after detecting the axial two end faces of the bearing ring to detecting the radial inner and outer curved surfaces of the bearing ring, the action timing steps of the motion module 13 are as follows:

[0151] S01: The first motor 117 operates to drive the two fluorescence cameras 111 to open;

[0152] S02: The electric push rod 136 retracts to lift the detection module;

[0153] S03: The third motor 138 operates to control the detection module to translate axially to one end of the bearing ring;

[0154] S04: The electric push rod 136 extends to lower the detection module close to the bearing ring;

[0155] S05: The second motor 131 operates to drive the detection module to rotate 90° to the vertical position;

[0156] S06: The first motor 117 operates to drive the two fluorescence cameras 111 to close, so that the distances from the two cameras to the bearing ring are equal;

[0157] S07: The third motor 138 operates to control the detection module to translate axially to the first ring sampling position and start the detection;

[0158] S08: After the detection at the first ring sampling position is completed, the third motor 138 continues to operate, and the detection module steps axially by an equidistant arc length in sequence to perform the detection of the next ring;

[0159] S09: After the detection of the last ring is completed, the first motor 117 operates to drive the fluorescence camera 111 to open;

[0160] S10: The third motor 138 operates to control the detection module to translate axially to the initial position at one end of the bearing ring; [[ID=?]]

[0161] S11: Wait for the bearing ring end face detection instruction.

[0162] The described detection path planning method includes an axial detection path planning method and a radial detection path planning method, which are used to achieve comprehensive detection of all positions of the entire bearing ring. Specifically as follows:

[0163] For the axial detection path planning method, refer to the appendix Figure 5 As shown, the purpose is to plan the sampling path and sampling point distribution during the detection of the bearing ring end face. The bearing ring is driven by the hanging rod shaft 141 to rotate, and the detection module moves relative to the bearing ring. The detection module first vertically descends radially to the starting point of the first circular path for sampling;

[0164] Sampling and detection start. When the bearing ring rotates through a certain arc length, equidistant sampling is performed. After measuring the first circular path, the detection module descends radially at a uniform speed and follows an equidistant spiral path to detect the end face in sequence until the sampling end point of the last circular path is measured.

[0165] Let the inner diameter of the bearing ring be R a1 and the outer diameter be R a2 , the detection width be r a1 , the pitch be r a2 , the outermost circle of the path be r away from the outer edge of the bearing ring a3 , the innermost circle of the path be r away from the inner edge of the bearing ring a4 , the nth sampling point be a n , the arc length between adjacent two sampling points be S a , to ensure full coverage detection of all positions on the bearing ring end face, it should satisfy:

[0166] ; Ensure that there is partial overlap in the detection width on adjacent two circles of detection paths; Ensure that the detection width does not cover adjacent two circles of detection paths and there is no repeated detection; The pitch and arc length of two adjacent circles are equal to ensure equidistant sampling and uniform detection; Ensure that the detection width covers the innermost and outermost edges of the bearing ring.

[0167] For the radial detection path planning method, refer to the appendix Figure 10As shown in the figure, the purpose is to plan the sampling path and the distribution of sampling points during the detection of the radial inner and outer ring surfaces of the bearing ring. The bearing ring is driven to rotate by the hanging rod shaft 141, and the detection module moves relative to the bearing ring. The detection module is axially translated to the sampling position of the first circular ring path and starts sampling and detection. When the bearing ring rotates a certain arc length, sampling is performed at equal intervals. After measuring the first ring, the detection module axially steps forward by an equal arc length and sequentially performs the detection of the next circular ring path until the last ring of the sampling end point is measured.

[0168] Let the inner diameter of the bearing ring be R b1 and the outer diameter be R b2 and the detection width be r b1 and the ring pitch of each axial step be r b2 and the distance between the first ring of the path and the end face be r b3 and the distance between the last ring of the path and the other end face be r b4 and the nth sampling point be b n and the arc length between two adjacent sampling points on the same ring be S b , to ensure full coverage detection of all positions on the radial inner and outer surfaces of the bearing ring, the following should be satisfied:

[0169]

[0170] Ensure that there is partial overlap in the detection width on the detection paths of adjacent two circles; Ensure that the detection width does not cover the detection paths of adjacent two circles and there is no repeated detection; The pitch and arc length of two adjacent circles are equal to ensure equal-distance sampling and uniform detection; Ensure that the detection width covers the innermost and outermost edges of the bearing ring.

[0171] In summary, a full-automatic ultrasonic and magnetic particle synchronous non-destructive detection system and method for bearing rings provided by the present invention can simultaneously perform non-destructive detection on the inside and all surfaces of a rotating bearing ring, and realize full-automatic detection of the bearing ring through control.

Claims

1. An automatic ultrasonic and magnetic particle synchronous non-destructive testing system for bearing rings, characterized in that: It includes a main detection system (1), a demagnetizer (3), a truss manipulator (4), and an electric control cabinet (6); The main detection system (1) includes a detection module, a motion module (13), a hanging rod module (14), a jacket module (15), a magnetic yoke (17), a lifting module (18), a magnetic fluid spray head (16), and a liquid collection tank (162); The detection module includes a visually controllable component (11) and an ultrasonic component (12); The visually controllable component (11) includes a fluorescence camera (111), an ultraviolet lamp (112), a detection bracket (113), a first lead screw nut mechanism (116), and a first motor (117); The number of fluorescence cameras (111) is 2, which are relatively arranged on both sides of the detection bracket (113); the distance between the two fluorescence cameras (111) is adjusted by the first motor (117) through the first lead screw nut mechanism (116); The ultrasonic component (12) includes an ultrasonic probe (121), an ultrasonic bracket (122), an inclination adjustment mechanism, a cleaning magnetic fluid spray head (126), and a water baffle (127); The ultrasonic probe (121) is hinged to one side of the ultrasonic bracket (122) and is controlled to rotate by a servo motor (125) in the inclination adjustment mechanism on the ultrasonic bracket (122); The ultrasonic probe (121) is vertically arranged, and water is passed through the probe to use water as a coupling agent; On the other side of the ultrasonic bracket (122), there are a cleaning magnetic fluid spray head (126) and a water baffle (127), which are sequentially fixed on the detection bracket (113); The demagnetizer (3) is arranged in front of the truss manipulator (4), and there is a conveyor belt (2) below; demagnetization is carried out before and after the detection of the bearing ring; The truss manipulator (4) includes a truss (41), a first moving arm (42), a second moving arm (43), and a gripper (44), which has three translational degrees of freedom and one rotational degree of freedom; The gripper (44) is used for clamping and placing the bearing ring, and a binocular camera is arranged at its end; The motion module (13) is used to control the movement of the detection module, including the translation of the detection module and the change of the detection direction; The hanging rod shaft (141) of the hanging rod module (14) can limit and hang the bearing ring and drive the bearing ring to rotate; The magnetic yoke (17) is provided with a rotation control component and can be controlled to lift by the lifting module (18).

2. The full-automatic ultrasonic and magnetic particle synchronous non-destructive detection system for bearing rings according to claim 1, wherein: The motion module (13) includes a second motor (131), a first limit switch (132), an end bracket (133), a parallel link (134), a nut seat (135), an electric push rod (136), a second lead screw nut mechanism (137), and a third motor (138); The second motor (131) is fixed on the end bracket (133), and its output shaft passes through the end bracket (133) and is fixedly connected to one side of the detection bracket (133). The second motor (131) can drive the detection bracket (133) to rotate; A first limit switch (132) is provided on the end bracket (133) around the output shaft of the second motor (131), and a limit switch receiver is provided on the output shaft of the second motor (131); The end bracket (133) is hinged to two parallel linkages (134), and the two parallel linkages (134) are hinged to a nut seat (135) to form a parallelogram motion mechanism; The upper end of the electric push rod (136) is hinged to the top of the nut seat (135), and the lower end is hinged to the upper parallel linkage (134). The lifting and lowering control of the detection module can be realized by the telescopic movement of the electric push rod (136); The second lead screw nut mechanism (137) is arranged on the vertical bracket of the device and is parallel to the hanging rod shaft (141); the third motor (138) can drive the nut seat (135) to move horizontally through the second lead screw nut mechanism (137).

3. A full-automatic ultrasonic and magnetic particle synchronous non-destructive testing system for bearing rings according to claim 2, characterized in that: The hanging rod module (14) includes: a hanging rod shaft (141), a retaining ring (142), a synchronous belt (145), and a fourth motor (146); At least two hanging rod shafts (141) are provided and arranged in parallel; the retaining ring (142) is arranged in the middle of the hanging rod shaft (141); The hanging rod shaft (141) is of a hollow structure, and a clamp (154) of the clamp module (15) is provided at its outer end for loosening or clamping the bearing ring; The hanging rod shafts (141) are connected by a synchronous belt (145), and one of the hanging rod shafts (141) is driven to rotate by the fourth motor (146), thereby driving the bearing ring to rotate.

4. A full-automatic ultrasonic and magnetic particle synchronous non-destructive testing system for bearing rings according to claim 3, characterized in that: The clamp module (15) includes a core shaft (151), a cylinder (152), and a clamp (154). The core shaft (151) passes through the hollow hanging rod shaft (141) and is axially connected to the outer clamp (154); The cylinder (152) is fixedly connected to one end of the core shaft (151) and can control the extension or retraction of the core shaft (151), thereby controlling the loosening or clamping of the bearing ring.

5. A full-automatic ultrasonic and magnetic particle synchronous non-destructive testing system for bearing rings according to claim 4, characterized in that: The magnetic yoke (17) includes: a magnetic core (171) and an exciting coil (172) for axially and radially magnetizing the bearing ring; The magnetic yoke (17) can be driven to rotate by a fifth motor (173). A second limit switch (174) is provided on the outer periphery of the output shaft of the fifth motor (173), and a limit switch receiver is provided on the output shaft of the fifth motor (173). The fifth motor (173) is installed on the lifting module (18) and can adjust the vertical up and down movement of the magnetic yoke (17) through the lifting module (18).

6. A full-automatic ultrasonic and magnetic particle synchronous non-destructive testing system for bearing rings according to claim 5, characterized in that: The magnetic fluid spray head (16) is installed on both the inner and outer sides of the bearing race, and the length of the magnetic fluid spray head (16) covers the axial distance of the bearing race. It is connected to the water tank (161) through a pipeline and can evenly spray the magnetic suspension fluid on the bearing race in all directions by being driven by a water pump.

7. A full-automatic ultrasonic and magnetic particle synchronous non-destructive testing system for bearing races according to claim 6, characterized in that: A control system is provided inside the electric control cabinet (6), including: an industrial control computer, a cloud server, a data acquisition card, a video transmission module, a motor driver, a single-chip microcomputer, a voltage modulator, a relay, a solenoid valve, and a host computer.

8. A detection method for a full-automatic ultrasonic and magnetic particle synchronous non-destructive testing system for bearing races, characterized in that: The full-automatic ultrasonic and magnetic particle synchronous non-destructive testing system for bearing races described in claim 7 is adopted; The steps are as follows: s01: Control the gripper (44) of the truss manipulator (4) to identify and grasp the bearing race to be detected; s02: Control the gripper (44) to place the bearing race flat on the conveyor belt (2), and the demagnetizer (3) works. The conveyor belt (2) rotates forward to demagnetize the bearing race; after demagnetization is completed, the demagnetizer (3) stops working, the conveyor belt (2) rotates in reverse, and the gripper (44) grabs the bearing race again; s03: The magnetic yoke (17) is adjusted to the vertical diameter magnetization position through the lifting module (18), the clamping sleeve (154) is loosened, and the bearing race is placed on the hanging rod shaft (141) through the gripper (44), and the clamping sleeve (154) is retracted to press the bearing race tightly; s04: The detection module approaches both end faces of the bearing race; s05: Turn on the fluorescence camera (111) and the ultraviolet lamp (112), turn on the ultrasonic probe (121) and the cleaning magnetic fluid spray head (126) to spray water, turn on the magnetic fluid spray head (16) to spray the magnetic suspension fluid, the bearing race starts to be magnetized radially, and the hanging rod shaft (141) rotates to drive the bearing race to rotate, and visual inspection and ultrasonic inspection are carried out on both axial end faces of the bearing race; s06: After the end face of the bearing race is detected, magnetization is stopped, the detection module is lifted, the magnetic yoke (17) rotates 90°, and the detection module rotates 90° so that the bearing race is located between two fluorescence cameras (111), and the bearing race is magnetized axially and visual inspection and ultrasonic inspection are carried out on its radial inner and outer ring curved surfaces; s07: After the detection is completed, the bearing race stops rotating, the detection module resets, and the clamping sleeve (154) loosens the bearing race; the gripper (44) places the qualified bearing race flat on the conveyor belt (2) for demagnetization.

9. The detection method of a full-automatic ultrasonic and magnetic particle synchronous non-destructive detection system for a bearing ring according to claim 8, characterized in that: It also includes an axial detection path planning method and a radial detection path planning method; The axial detection path planning method: During the detection of the end face of the bearing race, the sampling path and the distribution of sampling points are planned. The bearing race is driven by the hanging rod shaft (141) to rotate, and the detection module first descends vertically in the radial direction to the sampling start point of the first ring circular path in the radial direction; Sampling detection starts. When the bearing race rotates a certain arc length, sampling is carried out at equal intervals. After the first ring circular path is measured, the detection module descends uniformly in the radial direction and follows an equidistant spiral path to detect the end face in turn until the sampling end point of the last ring circular path is measured; Let the inner diameter of the bearing ring be R a1 and the outer diameter be R a2 , the detection width be r a1 , the pitch be r a2 , the outermost circle of the path be r away from the outer edge of the bearing ring a3 , the innermost circle of the path be r away from the inner edge of the bearing ring a4 , the nth sampling point be a n , the arc length between two adjacent sampling points be S a , to ensure full coverage detection of each position on the end face of the bearing ring, the following should be satisfied: ； The described radial detection path planning method: When detecting the inner and outer ring surfaces of the bearing ring, plan the sampling path and the distribution of sampling points. The bearing ring is driven to rotate by the hanging rod shaft (141), and the detection module is translated axially to the sampling start point of the first circular ring path for axial detection; Start sampling and detection. When the bearing ring rotates a certain arc length, sample at equal intervals. After measuring the first circular path, the detection module steps axially by an equal arc length to sequentially perform the detection of the next circular ring path until the sampling end point of the last ring is measured; Let the inner diameter of the bearing race be R b1 and the outer diameter be R b2 , the detection width be r b1 , the ring pitch for each axial step be r b2 , the distance between the first ring of the path and the end face be r b3 , the distance between the last ring of the path and the other end face be r b4 , the nth sampling point be b n , the arc length between two adjacent sampling points on the same ring be S b , to ensure full coverage detection of all positions on the radial inner and outer surfaces of the bearing ring, the following conditions should be met: 。

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