A bearing ring fully automatic ultrasonic and magnetic powder synchronous nondestructive testing system and method

Abstract

The present invention discloses a fully automatic ultrasonic and magnetic powder synchronous nondestructive testing system and method for bearing rings, belonging to the technical field of bearing nondestructive testing. The testing system comprises: a main testing system, a demagnetizer, a truss robot arm, and an electric control cabinet; the main testing system comprises a testing module, a motion module, a hanging rod module, a jacket module, a magnetic yoke, a lifting module, a magnetic fluid nozzle, and a liquid collection tank; the testing module comprises a movable and controllable visual component and an ultrasonic component; the bearing ring is hung on a rotating hanging rod shaft in the hanging rod module and limited in position. The system can perform nondestructive testing on all surfaces and interiors of the rotating bearing ring, using a demagnetizer for pre- and post-test demagnetization, and using a truss robot arm to transfer the bearing ring, and achieving fully automatic testing through a control method. The present invention solves the technical problem that existing solutions are difficult to automatically and simultaneously perform nondestructive testing on all surface and internal defects of large bearing rings, and is capable of testing bearing rings of a wide range of sizes.

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] In order to solve the above-mentioned technical problems, the present invention provides a fully automatic ultrasonic and magnetic powder synchronous non-destructive testing system and method for bearing rings. The purpose is to solve the technical problems that existing solutions are difficult to automatically and simultaneously perform non-destructive testing of the interior and all surface defects of large bearing rings at one time, and to solve the problem that existing solutions cannot detect bearing rings of various sizes without changing the structure.

[0007] The technical solutions of the present invention are as follows:

[0008] A fully automatic ultrasonic and magnetic powder synchronous nondestructive testing system for bearing rings, comprising:

[0009] Main detection system 1, demagnetizer 3, truss robot arm 4 and electric control cabinet 6;

[0010] 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 liquid nozzle 16, and a liquid collecting tank 162;

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

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

[0013] There are two fluorescent cameras 111, which are arranged on both sides of the detection bracket 113. The spacing between the two fluorescent cameras 111 is adjusted by the first motor 117 through the first screw nut mechanism 116.

[0014] The ultrasonic assembly 12 includes an ultrasonic probe 121, an ultrasonic support 122, a tilt adjustment mechanism, a cleaning magnetic fluid nozzle 126, and a water baffle 127;

[0015] The ultrasonic probe 121 is hinged to one side of the ultrasonic support 122 and is controlled to rotate by the steering gear 125 in the tilt adjustment mechanism on the ultrasonic support 122;

[0016] The ultrasonic probe 121 is vertically arranged, and water flows into the probe, using water as a coupling agent;

[0017] The other side of the ultrasonic bracket 122 is provided with a cleaning magnetic fluid nozzle 126 and a water baffle 127, which are fixed to the detection bracket 113 in sequence;

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

[0019] The truss robot arm 4 is provided with a clamping claw 44 for clamping and placing the bearing ring, and a binocular camera is provided at the end thereof;

[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 core shaft 151, a cylinder 152 and a jacket 154. The core shaft 151 passes through the hollow structure of the hanging rod shaft 141 and is axially connected to the jacket 154 at the outer end.

[0034] 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 tightening of the bearing ring.

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

[0036] The magnetic yoke 17 can be driven to rotate by the fifth motor 173. A second limit switch 174 is provided on the 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 the lifting module 18 can be used to adjust the vertical movement of the magnetic yoke 17.

[0037] The magnetic liquid nozzle 16 is installed on both sides of the bearing ring, and the length of the magnetic liquid nozzle 16 covers the axial distance of the bearing ring. It is connected to the water tank 161 through a pipe and driven by a water pump to spray the magnetic suspension on the bearing ring evenly and in all directions.

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

[0039] The truss robot arm 4 includes a truss 41 , a first movable arm 42 , a second movable arm 43 , and a clamp 44 , and has three translational degrees of freedom and one rotational degree of freedom.

[0040] The electric control cabinet 6 is equipped with a control system, including: an industrial computer, a cloud server, a data acquisition card, an image transmission module, a motor driver, a single-chip microcomputer, a voltage modulator, a relay, a solenoid valve and a host computer and other control units.

[0041] Another object of the present invention is to provide a detection method of a bearing ring fully automatic ultrasonic and magnetic powder synchronous nondestructive testing system:

[0042] Using the bearing ring fully automatic ultrasonic and magnetic powder synchronous nondestructive testing system;

[0043] The detection method includes: a detection method and a detection path planning method, and the detection method includes the following steps:

[0044] Step 01: Control the gripper 44 of the truss robot arm 4 to identify and grab the bearing ring to be tested;

[0045] Step 02: Control the gripper 44 to place the bearing ring flat on the conveyor belt 2. The demagnetizer 3 starts working and the conveyor belt 2 rotates forward to demagnetize the bearing ring. After demagnetization is completed, the demagnetizer 3 stops working, the conveyor belt 2 rotates backward, and the gripper 44 grabs the bearing ring again.

[0046] Step 03: The yoke 17 is adjusted to the vertical diameter magnetization position by the lifting module 18. The sleeve 154 is loosened, and the bearing ring is placed on the hanging rod shaft 141 through the clamping claw 44. The sleeve 154 is retracted to press the bearing ring;

[0047] Step 04: The first motor 117 adjusts the two fluorescent cameras 111 to open via the first screw-nut mechanism 116. The detection module moves to the middle position of the bearing ring axial direction and then descends to the edge of the outer diameter of the bearing ring, so that the detection module is close to the end faces of both sides of the bearing ring.

[0048] Step 05: Turn on the fluorescent camera 111 and the UV lamp 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 the magnetic suspension, and the bearing ring begins to be radially magnetized. The hanging rod shaft 141 rotates and drives the bearing ring to rotate. Visual inspection and ultrasonic inspection are performed on the axial end surfaces of the bearing ring.

[0049] Step 06: After the bearing ring end face is inspected, magnetization is stopped, the inspection module is lifted, the magnetic yoke 17 is rotated 90°, and the inspection module is rotated 90° so that the bearing ring is located between the two fluorescent cameras 111. The bearing ring is axially magnetized and its radial inner and outer annular surfaces are visually inspected and ultrasonically inspected.

[0050] Step 07: After the test is completed, the bearing ring stops rotating, the test module is reset, and the sleeve 154 releases the bearing ring; the clamping jaws 44 place the qualified bearing ring flat on the conveyor belt 2 for demagnetization.

[0051] The 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 is as follows: for planning the sampling path and sampling point distribution when inspecting the end face of the bearing ring, the bearing ring is rotated by the hanging rod shaft 141, and the inspection module first descends vertically in the radial direction to the sampling starting point of the first circular path of the radial inspection;

[0053] Start sampling and testing. Sampling is performed at equal intervals every time the bearing ring rotates a certain arc length. After measuring the first circular path, the detection module descends at a uniform speed in the radial direction and travels along an equidistant spiral path, inspecting the end faces in sequence until the sampling end point of the last circular path is reached.

[0054] Assume the inner diameter of the bearing ring is R a1 , outer diameter is Ra2 , the detection width is r a1 , pitch is r a2 、The distance between the outermost ring of the path and the outer edge of the bearing ring is r a3 、The distance between the innermost circle of the path and the inner edge of the bearing ring is r a4 , the nth sampling point is a n , the arc length between two adjacent sampling points is S a In order to ensure full coverage of the detection of all positions on the bearing ring end face, the following conditions should be met:

[0055] ;

[0056] The radial detection path planning method is as follows: the sampling path and sampling point distribution are planned when detecting the 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 is translated axially to the sampling starting point of the first circular ring path of the axial detection;

[0057] Start sampling and testing. Sampling is performed at equal intervals every time the bearing ring rotates a certain arc length. After measuring the first circular path, the detection module steps along the axial direction at equal arc lengths to perform detection on the next circular path in sequence until the sampling end point of the last ring is measured.

[0058] Assume the inner diameter of the bearing ring is R b1 , outer diameter is R b2 , the detection width is r b1 , the ring distance of 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 link 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 In order to ensure full coverage of the detection of all positions on the radial inner and outer curved surfaces of the bearing ring, the following conditions should be met:

[0059] .

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

[0061] The present invention realizes the non-destructive detection of the internal material and all surface defects of large bearing rings at one time through the design of ultrasonic components and fluorescent magnetic powder vision components.

[0062] The detection module's detection direction change and detection speed control are achieved through a motion module with three degrees of freedom.

[0063] Through the design of the hanging rod module and the clamping sleeve module, the axial limit and radial positioning of a wide range of bearing rings of different sizes are achieved, ensuring that the bearing rings are pressed tightly when rotating;

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

[0065] The coordinated design of the conveyor belt, demagnetizer and truss robotic arm enables demagnetization before and after measurement.

[0066] Particularly outstanding is that the present invention realizes automatic non-destructive detection of internal and all surface defects of large bearing rings at one time, and realizes non-destructive detection of bearing rings of a wide range and different sizes without changing the structure. BRIEF DESCRIPTION OF THE DRAWINGS

[0067] Figure 1 This is a schematic diagram of the overall structure of a fully automatic ultrasonic and magnetic powder synchronous nondestructive testing system for bearing rings of the present invention;

[0068] Figure 2 This is a schematic diagram of the overall structure of a bearing ring fully automatic ultrasonic and magnetic powder synchronous nondestructive testing system according to the present invention, shown in another direction;

[0069] Figure 3 This is a schematic diagram of the three-dimensional structure of the main detection system of a bearing ring fully automatic ultrasonic and magnetic powder synchronous non-destructive testing system of the present invention;

[0070] Figure 4 A schematic diagram of a fully automatic ultrasonic and magnetic powder synchronous nondestructive testing system for bearing rings of the present invention, showing radial magnetization and axial nondestructive testing of both end faces of the bearing rings;

[0071] Figure 5 This is a sampling path and sampling point distribution diagram when the detection module of the bearing ring full-automatic ultrasonic and magnetic powder synchronous non-destructive testing system of the present invention detects the end face of the bearing ring;

[0072] Figure 6 A schematic diagram of the axial magnetization of a fully automatic ultrasonic and magnetic powder synchronous nondestructive testing system for bearing rings of the present invention and radial nondestructive testing of the inner and outer curved surfaces of the bearing rings;

[0073] Figure 7 This is an accessory of the bearing ring full-automatic ultrasonic and magnetic powder synchronous non-destructive testing system of the present invention. Figure 6 A magnified diagram of the detection module in area A;

[0074] Figure 8 This is a schematic diagram of the installation relationship of the detection module parts of a bearing ring full-automatic ultrasonic and magnetic powder synchronous non-destructive testing system of the present invention;

[0075] Figure 9A schematic diagram of ultrasonic probe tilt control and ultrasonic probe water coupling during radial testing of a fully automatic ultrasonic and magnetic powder synchronous nondestructive testing system for bearing rings of the present invention;

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

[0077] Figure 11 This is a timing diagram of the motion module of a fully automatic ultrasonic and magnetic powder synchronous nondestructive testing system for bearing rings of the present invention when the detection module changes from an axial detection position to a radial detection position;

[0078] Figure 12 It is a schematic diagram of the three-dimensional structure of the main detection system during radial detection of a bearing ring full-automatic ultrasonic and magnetic powder synchronous non-destructive testing system of the present invention;

[0079] Figure 13 This is an assembly diagram and a cross-sectional view of the hanging rod module and the jacket module of the fully automatic ultrasonic and magnetic powder synchronous nondestructive testing system for bearing rings of the present invention, with the fifth motor hidden;

[0080] Figure 14 This is a flow chart of a detection method of a bearing ring full-automatic ultrasonic and magnetic powder synchronous non-destructive testing system of the present invention;

[0081] Figure 15 This is a control system architecture block diagram of a fully automatic ultrasonic and magnetic powder synchronous nondestructive testing system for bearing rings of the present invention.

[0082] In the attached figure:

[0083] 1. Main detection system; 11. Vision component; 111. Fluorescent camera; 112. UV lamp; 113. Detection bracket; 114. Camera bracket; 115. First nut; 116. First screw-nut mechanism; 117. First motor; 12. Ultrasonic component; 121. Ultrasonic probe; 122. Ultrasonic bracket; 123. Adjusting connecting rod; 124. Crank; 125. Servo; 126. Cleaning magnetic fluid nozzle; 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 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 nozzle; 161. Water tank; 162. Fluid collection tank; 17. Magnetic yoke; 171. Magnetic core; 172. Excitation coil; 173. Fifth motor; 174. Second limit switch; 18. Lifting module; 181. Lifting rod; 182. Nut and connecting rod; 183. Third nut; 184. Sixth motor;

[0084] 2. Conveyor belt; 3. Demagnetizer; 4. Truss robotic arm; 41. Truss; 42. First movable arm; 43. Second movable arm; 44. Gripper; 51. Loading box; 52. Qualified unloading box; 53. Unqualified unloading box;

[0085] 6.Electrical control cabinet. DETAILED DESCRIPTION

[0086] Example 1:

[0087] See attached Figure 1-15 , a bearing ring fully automatic ultrasonic and magnetic powder synchronous nondestructive testing system, including: a main testing system 1, a demagnetization machine 3, a truss robot arm 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 liquid nozzle 16, and a liquid collecting tank 162;

[0089] The detection module includes a movable and controllable visual component 11 and an ultrasonic component 12;

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

[0091] There are two fluorescent cameras 111 and they are arranged opposite to each other. Each fluorescent camera 111 is surrounded by a circle of ultraviolet lamps 112.

[0092] One of the fluorescent cameras 111 is fixed to a detection bracket 113. The detection bracket 113 is U-shaped and has a first screw-nut mechanism 116 disposed therein.

[0093] Another fluorescence camera 111 is fixed to a camera bracket 114, which is fixed to a first nut 115. The first nut 115 is slidably connected to the detection bracket 113 and is sleeved on the first screw of the first screw-nut mechanism 116. The first motor 117 controls the rotation of the first screw to move the fluorescence camera 111, thereby adjusting the spacing between the two fluorescence cameras 111.

[0094] The ultrasonic assembly 12 includes an ultrasonic probe 121, an ultrasonic support 122, an inclination adjustment mechanism, a cleaning magnetic fluid nozzle 126, and a water baffle 127, and is used for ultrasonic non-destructive testing of bearing rings;

[0095] See attached Figure 8 and attached Figure 9 The ultrasonic probe 121 is vertically arranged, and water is passed through the inside of the probe, using water as a coupling agent;

[0096] The lower end of the ultrasonic probe 121 is hinged to the lower part of the ultrasonic support 122, and the upper end is connected to the upper part of the ultrasonic support 122 through a tilt 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. The crank 124 is fixedly connected to the output shaft of the servo 125. The servo 125 is fixed to the ultrasonic bracket 122, thereby forming a crank rocker motion mechanism. The servo 125 controls the rotation of the crank 124 to adjust the inclination of the ultrasonic probe 121, thereby achieving the fit of the detection surfaces of bearing rings of different sizes and different curvatures.

[0098] The cleaning magnetic liquid nozzle 126 is located between the ultrasonic support 122 and the detection support 113, and high-pressure water is passed through it to quickly clean the magnetic suspension on the ultrasonic pre-detection surface;

[0099] The ultrasonic bracket 122 and the cleaning magnetic fluid nozzle 126 are fixed to the vertically arranged long slot through-hole on the detection bracket 113 by bolts. The upper and lower installation positions of the ultrasonic bracket 122 and the cleaning magnetic fluid nozzle 126 relative to the detection bracket 113 can be adjusted within a certain range, thereby adjusting the distance from the bearing ring.

[0100] The water baffle 127 is provided between the cleaning magnetic fluid nozzle 126 and the fluorescent camera 111 and is fixed to the detection bracket 113 to prevent the sprayed water from interfering with the visual detection of the fluorescent camera 111;

[0101] The demagnetizing machine 3 demagnetizes the bearing ring before and after detection;

[0102] The truss robot arm 4 is provided with a clamping claw 44 for clamping and placing the bearing ring, and a binocular camera is provided at the end thereof;

[0103] 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 (rotation of the detection module).

[0104] 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;

[0105] The magnetic yoke 17 is provided with a rotation control assembly and can be raised and lowered by a lifting module 18 .

[0106] 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;

[0107] The end bracket 133 is located on the top of the bearing ring. The second motor 131 is fixed to the end bracket 133. The output shaft of the second motor 131 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, thereby realizing the change of the detection direction.

[0108] The end bracket 133 is provided with first limit switches 132 at 90° intervals 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 to control the rotation angle;

[0109] 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;

[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 connecting rod 134. The vertical lifting and lowering of the detection module is achieved by the extension and retraction of the electric push rod 136;

[0111] The second screw-nut mechanism 137 is provided on the vertical support of the device and is parallel to the hanging rod axis 141;

[0112] The nut seat 135 cooperates with the second screw of the second screw-nut mechanism 137, and the third motor 138 drives the second screw to rotate, driving the nut seat 135 to move horizontally, thereby realizing 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, two symmetrical and parallel hanging rod shafts 141 are provided for suspending the bearing ring.

[0115] The retaining ring 142 is provided in the middle of the hanging rod shaft 141 and is used for axial limitation and radial positioning of the bearing ring;

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

[0117] The driving gear 144 is meshed with the driven gear 143 , and the driving gear 144 is fixedly connected to the output shaft of the fourth motor 146 . The fourth motor 146 rotates to rotate the driving gear 144 and the driven gear 143 , thereby causing the two hanging rod shafts 141 to rotate synchronously, thereby causing the bearing rings thereon to rotate.

[0118] The jacket module 15 includes: a core shaft 151, a cylinder 152, a sleeve 153, a jacket 154, a jacket bearing 155, a large pressure cover 156, and a small pressure cover 157. The jacket module 15 is provided on the outer end of the hanging rod shaft 141 and is used to loosen or tighten the bearing ring;

[0119] The core shaft 151 passes through the two hollow hanging rod shafts 141, one end of which is connected to the cylinder 152, which controls its extension or retraction. At this end, it is slidably assembled with the hanging rod shaft 141 through a sleeve 153, and the other end is connected to the two sleeves 154 through sleeve bearings 155.

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

[0121] The small pressure cover 157 is connected to the core shaft 151 by screws and presses the inner ring of the sleeve bearing 155. When the bearing ring rotates, the two sleeves 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 sleeve 154, thereby controlling the loosening or tightening of the bearing ring.

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

[0123] The magnetic core 171 is made of silicon steel sheet and is wound with an excitation coil 172. The magnetic yoke 17 is connected to the output shaft of the fifth motor 173. The rotation of the fifth motor 173 drives the magnetic 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 provided 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 magnetic yoke 17 is limited by the limit switch.

[0124] The lifting module 18 includes a lifting rod 181, a nut connecting rod 182, a third nut 183, and a sixth motor 184. The lifting module 18 is mounted on the liquid collecting tank 162 and is used to control the lifting and lowering of the magnetic yoke 17. The main body of the lifting module 18 is a scissor mechanism, and a lifting rod 181 that can slide horizontally is provided in the bottom chute of the scissor mechanism.

[0125] The lifting rod 181 is hinged to one end of 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 screw nut mechanism. The sixth motor 184 is rotated to drive the lifting rod 181 to slide horizontally, thereby driving the magnetic yoke 17 to move vertically up and down, and then adjusting the magnetization position to adapt to bearing rings of different sizes.

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

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

[0128] The truss robot arm 4 includes: a truss 41, a first movable arm 42, a second movable arm 43, and a clamp 44. It has three translational degrees of freedom and one rotational degree of freedom, and is used to grab the bearing rings and place them on the conveyor belt 2 for demagnetization, transfer them to the hanging rod shaft 141 for inspection, and classify and place qualified bearing rings and unqualified bearing rings; a binocular camera is provided at the end thereof for identifying the size and positioning of the bearing rings in the loading box 51, and for positioning the qualified unloading box 52 and the unqualified unloading box 53.

[0129] The electric control cabinet 6 is equipped with a control system, including: an industrial computer, a cloud server, a data acquisition card, a picture transmission module, a motor driver, a single-chip microcomputer, a voltage modulator, a relay, a solenoid valve and a host computer and other control units;

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

[0131] The data acquisition card and image transmission module transmit data to the cloud server for deep learning, and the cloud server interacts with the industrial computer and issues instructions to each control unit; the motor driver receives the signal from the industrial computer to control the mechanical movement of the truss robot arm 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 will record the position information of the detection module, and the second limit switch 174 will record the position information of the yoke 17, and transmit the acquired information to the single chip microcomputer for preliminary processing and then feed back to the industrial computer;

[0133] The electric push rod 136 is controlled by an industrial computer and the single chip microcomputer issues instructions. The single chip microcomputer changes the voltage through a voltage modulator to control the extension and retraction speed of the electric push rod 136.

[0134] The cylinder 152 is controlled by the industrial computer through a relay to translate and press the jacket 154; the magnetic liquid nozzle 16 is controlled by the industrial computer to spray the magnetic suspension liquid through a solenoid valve; the industrial computer is connected to the host computer and realizes human-computer interaction through digital display interface and control panel for digital display and control.

[0135] The present invention also provides a detection method of a bearing ring full-automatic ultrasonic and magnetic powder synchronous non-destructive detection system (device), which adopts a bearing ring full-automatic ultrasonic and magnetic powder synchronous non-destructive detection system in the above specific embodiment;

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

[0137] The detection method comprises the following steps:

[0138] Step 01: Control the truss robot arm 4 to move above the loading box 51. The binocular camera at the end of the truss robot arm is turned on to identify the size of the bearing ring in the loading box 51 and locate it.

[0139] Step 02: Control the gripper 44 on the truss robot arm 4 to sequentially grab the first bearing ring, flip it over, and place it flat on the conveyor belt 2; the demagnetizer 3 starts working, and the conveyor belt 2 rotates forward to demagnetize the bearing ring;

[0140] Step 03: After demagnetization is completed, the demagnetizer 3 stops working, and the conveyor belt 2 reverses to return the bearing ring to its initial position;

[0141] Step 4: The yoke 17 is reset to the vertical diameter magnetization position and adjusted to the appropriate height by the lifting module 18. The jacket 154 is released. The truss robot arm 4 grabs the demagnetized bearing ring and transports it to the inspection area. The bearing ring is placed on the hanging rod shaft 141 and returned to its original position. The jacket 154 is retracted to press the bearing ring tightly.

[0142] Step 05: Move the inspection module to the middle of the bearing ring's axis, open the visual component 11 (two fluorescent cameras 111) and lower it to the edge of the bearing ring's outer diameter, bringing the inspection module close to both sides of the bearing ring's end faces.

[0143] Step 6: Turn on the fluorescent camera 111 and UV lamp 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 the magnetic suspension, and the bearing ring begins to be radially magnetized. The hanging rod shaft 141 drives the bearing ring to rotate (in the direction set by the cleaning magnetic fluid nozzle 126 and the ultrasonic probe 121). At the same time, visual inspection of the two end surfaces of the bearing ring and internal ultrasonic inspection are started;

[0144] Step 07: The ultrasonic probe 121 and the fluorescent camera 111 take samples at equal intervals every time the bearing ring rotates a certain arc length. After measuring the first outer diameter ring, the inspection module descends radially at a uniform speed and follows a spiral path, inspecting the end faces in sequence until the last inner diameter ring is measured.

[0145] Step 08: After inspecting both end faces of the bearing ring, magnetization is stopped, the inspection module is lifted, and the magnetic yoke 17 is rotated 90° to a horizontal axial magnetization position. The inspection module is then rotated 90° and moved to one axial end of the bearing ring and lowered, placing the bearing ring between the two fluorescence cameras 111.

[0146] Step 09: The detection module is translated axially to the first ring sampling position, and the detection module is turned on. The bearing ring keeps rotating and begins axial magnetization. Visual and ultrasonic inspection of the inner and outer ring surfaces of the bearing ring begins.

[0147] Step 10: The ultrasonic probe 121 and the fluorescent camera 111 take samples at equal intervals every time the bearing ring rotates a certain arc length. After the first ring sampling position is detected, the detection module steps along the axial direction at equal arc lengths to detect the next ring in sequence.

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

[0149] Step 12: The truss robot arm 4 moves to grab the tested bearing rings and place them flat on the conveyor belt 2 for demagnetization. After demagnetization, qualified ones are placed in the qualified material box 52 and unqualified ones are placed in the unqualified material box 53.

[0150] In the detection method, the motion sequence of the motion module 13 when the detection module changes from the position after completing the detection of the axial end surfaces of the bearing ring to the position of detecting the radial inner and outer curved surfaces of the bearing ring is as follows:

[0151] S01: The first motor 117 moves to open the two fluorescent cameras 111;

[0152] S02: The electric push rod 136 retracts and lifts the detection module;

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

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

[0155] S05: The second motor 131 is activated to rotate the detection module 90° to a vertical position;

[0156] S06: The first motor 117 is activated to drive the two fluorescent cameras 111 to close together so that the distances between the two cameras and the bearing ring are equal;

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

[0158] S08: After the first ring sampling position is detected, the third motor 138 continues to operate, and the detection module steps along the axial direction with equal arc lengths to sequentially detect the next ring;

[0159] S09: After the last ring is measured, the first motor 117 is activated to open the fluorescent camera 111;

[0160] S10: The third motor 138 is activated to control the detection module to translate axially to an initial position at one end of the bearing ring;

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

[0162] The 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, as follows:

[0163] The axial detection path planning method is shown in the attached Figure 5 As shown, the purpose is to plan the sampling path and sampling point distribution when inspecting the end face of the bearing ring. The bearing ring is driven to rotate by the hanging rod shaft 141, and the inspection module moves relative to the bearing ring. The inspection module first descends vertically along the radial direction to the sampling starting point of the first ring circular path;

[0164] Sampling detection begins, and sampling is performed at equal intervals every time the bearing ring rotates a certain arc length. After measuring the first ring of circular path, the detection module descends at a uniform speed in the radial direction and travels along an equidistant spiral path, inspecting the end face in turn until the sampling end point of the last ring of circular path is measured.

[0165] Assume the inner diameter of the bearing ring is R a1 , outer diameter is R a2 , the detection width is r a1 , pitch is r a2 、The distance between the outermost ring of the path and the outer edge of the bearing ring is r a3 、The distance between the innermost circle of the path and the inner edge of the bearing ring is r a4 , the nth sampling point is a n , the arc length between two adjacent sampling points is S a In order to ensure full coverage of the detection of all positions on the bearing ring end face, the following conditions should be met:

[0166] ;

[0167] Ensure that the detection widths of two adjacent detection paths partially overlap;

[0168] Ensure that the detection width does not cover the detection paths of two adjacent circles and that no repeated detection is performed;

[0169] The pitch and arc length of two connected circles are equal to ensure equidistant sampling and uniform detection;

[0170] Ensure that the detection width covers the inner and outer edges of the bearing ring.

[0171] The radial detection path planning method is shown in the attached Figure 10As shown, the purpose is to plan the sampling path and sampling point distribution when detecting 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 translated axially to the first circular ring path sampling position and starts sampling detection. Every time the bearing ring rotates a certain arc length, the sampling is performed at equal intervals. After measuring the first ring, the detection module steps axially at equal arc lengths to perform the next circular ring path detection in sequence until the sampling end point of the last ring is measured.

[0172] Assume the inner diameter of the bearing ring is R b1 , outer diameter is R b2 , the detection width is r b1 , the ring distance of 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 link 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 In order to ensure full coverage of the detection of all positions on the radial inner and outer curved surfaces of the bearing ring, the following conditions should be met:

[0173]

[0174] Ensure that the detection widths of two adjacent detection paths partially overlap;

[0175] Ensure that the detection width does not cover the detection paths of two adjacent circles and that no repeated detection is performed;

[0176] The pitch and arc length of two connected circles are equal to ensure equidistant sampling and uniform detection;

[0177] Ensure that the detection width covers the inner and outer edges of the bearing ring.

[0178] In summary, the present invention provides a fully automatic ultrasonic and magnetic powder synchronous nondestructive testing system and method for bearing rings, which can simultaneously perform nondestructive testing on the interior and all surfaces of rotating bearing rings, and realize fully automatic testing of bearing rings through control.

Claims

1. A fully automatic ultrasonic and magnetic powder synchronous nondestructive testing system for bearing rings, characterized by: It includes a main detection system (1), a demagnetizer (3), a truss robot arm (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 liquid nozzle (16), and a liquid collecting tank (162); The detection module includes a movable and controllable visual component (11) and an ultrasonic component (12); The visual component (11) includes a fluorescent camera (111), an ultraviolet lamp (112), a detection bracket (113), a first screw nut mechanism (116), and a first motor (117); The number of the fluorescent cameras (111) is two, and they are arranged on both sides of the detection bracket (113); the spacing between the two fluorescent cameras (111) is adjusted by the first motor (117) through the first screw nut mechanism (116); The ultrasonic assembly (12) includes an ultrasonic probe (121), an ultrasonic support (122), an inclination adjustment mechanism, a cleaning magnetic fluid nozzle (126), and a water baffle (127); The ultrasonic probe (121) is hinged to one side of the ultrasonic support (122), and is controlled to rotate by a steering gear (125) in a tilt adjustment mechanism on the ultrasonic support (122); The ultrasonic probe (121) is arranged vertically, and water flows into the interior of the probe, using water as a coupling agent; The other side of the ultrasonic support (122) is provided with a cleaning magnetic fluid nozzle (126) and a water baffle (127), which are fixed to the detection support (113) in sequence; The demagnetizing machine (3) is located in front of the truss robot arm (4), and a conveyor belt (2) is provided below the truss robot arm; the bearing ring is demagnetized before and after detection; The truss robot arm (4) comprises a truss (41), a first movable arm (42), a second movable arm (43), and a clamp (44), and has three translational degrees of freedom and one rotational degree of freedom; The clamping claw (44) is used for clamping and placing the bearing ring, and a binocular camera is provided at the end thereof; The motion module (13) is used to control the movement of the detection module, including translation of the detection module and detection direction change; A bearing ring can be mounted on the hanging rod shaft (141) of the hanging rod module (14) to limit the position of the bearing ring and drive the bearing ring to rotate; The magnetic yoke (17) is provided with a rotation control component and can be raised and lowered by a lifting module (18).

2. The bearing ring fully automatic ultrasonic and magnetic powder synchronous nondestructive testing system according to claim 1 is characterized by: The motion module (13) includes a second motor (131), a first limit switch (132), an end bracket (133), a parallel connecting rod (134), a nut seat (135), an electric push rod (136), a second screw nut mechanism (137) and a third motor (138); 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; 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 hingedly connected to the two parallel connecting rods (134), and the two parallel connecting rods (134) are hingedly connected to the nut seat (135), forming 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 connecting rod (134). The lifting and lowering control of the detection module can be achieved by extending and retracting the electric push rod (136); The second screw nut mechanism (137) is arranged on a vertical support of the device and is parallel to the hanging rod axis (141); the third motor (138) can drive the nut seat (135) to move horizontally via the second screw nut mechanism (137).

3. The bearing ring fully automatic ultrasonic and magnetic powder synchronous nondestructive testing system according to claim 2 is characterized by: The hanging rod module (14) comprises: a hanging rod shaft (141), a retaining ring (142), a synchronous belt (145), and a fourth motor (146); The hanging rod shafts (141) are provided with at least two and are arranged in parallel; the retaining ring (142) is arranged in the middle of the hanging rod shaft (141); The hanging rod shaft (141) is a hollow structure, and a jacket (154) of a jacket module (15) is provided at its outer end for loosening or tightening the bearing ring; The hanging rod shafts (141) are connected via a synchronous belt (145), and one of the hanging rod shafts (141) is driven to rotate by a fourth motor (146), thereby driving the bearing ring to rotate.

4. The bearing ring fully automatic ultrasonic and magnetic powder synchronous nondestructive testing system according to claim 3 is characterized by: The jacket module (15) comprises a core shaft (151), a cylinder (152) and a jacket (154); the core shaft (151) passes through the hanging rod shaft (141) of the hollow structure and is axially connected to the jacket (154) at the outer end; 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 tightening of the bearing ring.

5. The bearing ring fully automatic ultrasonic and magnetic powder synchronous nondestructive testing system according to claim 4 is characterized by: The magnetic yoke (17) comprises a magnetic core (171) and an excitation coil (172), which is used for axial and radial magnetization of 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 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), and the fifth motor (173) is installed on the lifting module (18), and the magnetic yoke (17) can be adjusted to move vertically up and down by the lifting module (18).

6. The bearing ring fully automatic ultrasonic and magnetic powder synchronous nondestructive testing system according to claim 5 is characterized by: The magnetic liquid spray head (16) is installed on both sides of the inner and outer sides of the bearing ring, and the length of the magnetic liquid spray head (16) covers the axial distance of the bearing ring. It is connected to the water tank (161) through a pipeline and driven by a water pump to spray the magnetic suspension liquid uniformly and omnidirectionally on the bearing ring.

7. The bearing ring fully automatic ultrasonic and magnetic powder synchronous nondestructive testing system according to claim 6, characterized in that: The electric control cabinet (6) is provided with a control system, including: an industrial computer, a cloud server, a data acquisition card, an image transmission module, a motor driver, a single chip microcomputer, a voltage modulator, a relay, a solenoid valve and a host computer.

8. A method for detecting bearing rings using a fully automatic ultrasonic and magnetic powder synchronous nondestructive testing system, characterized by: A bearing ring fully automatic ultrasonic and magnetic powder synchronous nondestructive testing system according to claim 7 is used; Here are the steps: s01: controlling the gripper (44) of the truss robot arm (4) to identify and grab the bearing ring to be inspected; s02: Control the clamping claw (44) to place the bearing ring flat on the conveyor belt (2), the demagnetizing machine (3) works, and the conveyor belt (2) rotates forward to demagnetize the bearing ring; after the demagnetization is completed, the demagnetizing machine (3) stops working, the conveyor belt (2) rotates reversely, and the clamping claw (44) grabs the bearing ring again; s03: The magnetic yoke (17) is adjusted to the vertical diameter magnetization position through the lifting module (18), the sleeve (154) is loosened, and the bearing ring is placed on the hanging rod shaft (141) through the clamping claw (44), and the sleeve (154) is retracted to press the bearing ring; s04: The detection module is close to the end faces of both sides of the bearing ring; s05: Turn on the fluorescent camera (111) and the ultraviolet lamp (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 the magnetic suspension, the bearing ring begins to be radially magnetized, the hanging rod shaft (141) rotates and drives the bearing ring to rotate, and visual inspection and ultrasonic inspection are performed on the axial end surfaces of the bearing ring; s06: After the bearing ring end face is inspected, the magnetization is stopped, the inspection module is lifted, the magnetic yoke (17) is rotated 90°, and the inspection module is rotated 90° so that the bearing ring is located between the two fluorescent cameras (111). The bearing ring is axially magnetized and its radial inner and outer annular surfaces are visually inspected and ultrasonically inspected; s07: After the test is completed, the bearing ring stops rotating, the test module is reset, and the clamping sleeve (154) releases the bearing ring; the clamping jaws (44) place the qualified bearing ring flat on the conveyor belt (2) for demagnetization.

9. The detection method of the bearing ring fully automatic ultrasonic and magnetic powder synchronous nondestructive testing system 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 is as follows: when inspecting the end face of a bearing ring, a sampling path and a sampling point distribution are planned; the bearing ring is driven to rotate by a hanging rod shaft (141); the detection module first descends vertically in the radial direction to the sampling starting point of the first circular path of the radial detection; Start sampling and testing. Sampling is performed at equal intervals every time the bearing ring rotates a certain arc length. After measuring the first circular path, the detection module descends at a uniform speed in the radial direction and travels along an equidistant spiral path, inspecting the end faces in sequence until the sampling end point of the last circular path is reached. Assume the inner diameter of the bearing ring is R a1 , outer diameter is R a2 , the detection width is r a1 , pitch is r a2 、The distance between the outermost ring of the path and the outer edge of the bearing ring is r a3 、The distance between the innermost circle of the path and the inner edge of the bearing ring is r a4 , the nth sampling point is a n , the arc length between two adjacent sampling points is S a In order to ensure full coverage of the detection of all positions on the bearing ring end face, the following conditions should be met: ； The radial detection path planning method includes: planning the sampling path and sampling point distribution when detecting the 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 is translated axially to the sampling starting point of the first circular ring path of the axial detection; Start sampling and testing. Sampling is performed at equal intervals every time the bearing ring rotates a certain arc length. After measuring the first circular path, the detection module steps along the axial direction at equal arc lengths to perform detection on the next circular path in sequence until the sampling end point of the last ring is measured. Assume the inner diameter of the bearing ring is R b1 , outer diameter is R b2 , the detection width is r b1 , the ring distance of 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 link 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 In order to ensure full coverage of the detection of all positions on the radial inner and outer curved surfaces of the bearing ring, the following conditions should be met: 。

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