Traction rod eddy current automatic detection system based on multiple mechanical arms

Abstract

The invention discloses a traction rod eddy current automatic detection system based on multiple mechanical arms. The traction rod eddy current automatic detection system comprises a mechanical arm cooperative control unit, an eddy current probe tool unit, a clamping tool unit, a vision unit, a detection control and data processing unit and a workpiece conveying unit. The mechanical arm cooperative control unit comprises a detection mechanical arm and a carrying mechanical arm, the detection mechanical arm detects the traction rod through the eddy current probe tool unit, the carrying mechanical arm grabs the traction rod through the clamping tool unit, and the visual unit is used for monitoring the position of the traction rod. Through cooperative work of the mechanical arms, the carrying mechanical arm rapidly grabs and transfers a traction rod, the detection mechanical arm synchronously carries out detection operation, the eddy current imaging algorithm and the image fusion technology are combined, the defect existence can be accurately judged, and high-precision defect positioning and size analysis are achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of non-destructive testing of traction rods, and in particular to a traction rod eddy current automatic testing system based on multiple mechanical arms. Background Art

[0002] The traction rod of a high-speed train bogie, as the core load-bearing component connecting the car body to the bogie, plays a key role in transmitting traction, braking force, and lateral loads. Its structure, typically made of high-strength alloy steel (such as 42CrMo), comprises a rod body, thin-walled tube ends, and welded connection areas. During train starts, stops, accelerations, and decelerations, the traction rod is subjected to long-term alternating loads, which can easily cause fatigue cracks to develop in the heat-affected zone of the weld, the thin-walled tube ends, and the threaded connections. If these cracks are not detected promptly, they can cause the traction rod to break, leading to bogie instability and even train derailment, seriously threatening driving safety. Therefore, regular nondestructive testing of traction rods is a core component of high-speed rail operation and maintenance systems.

[0003] Currently, inspection of traction rods primarily relies on technologies such as magnetic particle testing, ultrasonic testing, and single-point eddy current testing (EDT), but all have significant drawbacks. Magnetic particle testing and penetrant testing require pre-treatment of the traction rod surface by stripping, polishing, and cleaning, which can take over two hours and generate chemical waste. This violates the trend of green maintenance and only detects surface defects, making them insensitive to microcracks (less than 0.5mm deep) beneath the paint layer. Furthermore, they rely on manual interpretation, resulting in poor repeatability and the inability to store data in a digital format. While ultrasonic testing can identify internal defects, it has poor coupling with complex curved surfaces and a scanning speed of less than 50mm / s, making it difficult to meet the needs of large-scale inspections. Single-point eddy current testing, while capable of penetrating non-conductive paint layers, suffers from low manual operation efficiency, relies on operator experience for path consistency, and is sensitive to lift-off effects. Fluctuations in paint thickness can easily lead to signal drift. Furthermore, it lacks multi-dimensional data fusion capabilities and cannot distinguish between crack depth and tilt angle.

[0004] The core problem of the magnetic particle inspection method is that the inspection process requires the workpiece surface to be pre-treated by paint stripping, resulting in low efficiency and serious environmental pollution. Magnetic particle inspection uses magnetic traces to display surface and near-surface defects by spraying a magnetic suspension and applying a magnetic field. However, the surface of the traction rod is usually covered with a protective paint layer. Before inspection, the paint must be thoroughly stripped and polished to expose the metal substrate. The pretreatment of a single piece takes more than 2 hours, and the paint stripper and waste magnetic powder produce a large amount of chemical pollutants, which violates the requirements of green manufacturing and efficient operation and maintenance. In addition, magnetic particle inspection can only identify surface and shallow defects and is completely insensitive to tiny fatigue cracks under the paint layer. The inspection results rely on manual visual interpretation, which has a high subjective error rate.

[0005] In response to the above-mentioned technical bottlenecks, the present invention proposes an eddy current automatic detection system based on the collaboration of multiple robotic arms. The system aims to achieve collaborative work of two detection robotic arms, with the transport robotic arm quickly grabbing and transferring the traction rod, and the detection robotic arm performing detection operations synchronously. The two operate in parallel, which greatly shortens the detection time of a single traction rod. The eddy current probe can accurately detect subtle defects on the surface and near-surface of the traction rod; at the same time, by pre-detecting the artificial defect test block of the traction rod and setting the defect judgment threshold, combined with the eddy current imaging algorithm and image fusion technology, the existence of defects can be accurately determined and high-precision defect positioning and size analysis can be achieved. Summary of the Invention

[0006] The technical problem to be solved by the present invention is to provide an eddy current automatic detection system for traction rods based on multiple robotic arms. The robotic arms work in coordination, the transporting robotic arms quickly grab and transfer the traction rods, and the detection robotic arms perform detection operations synchronously, which greatly shortens the detection time of a single traction rod. By pre-detecting the artificial defect test block of the traction rod and setting the defect judgment threshold, combined with the eddy current imaging algorithm and image fusion technology, the existence of defects can be accurately determined and high-precision defect positioning and size analysis can be achieved.

[0007] A traction rod eddy current automatic detection system based on multiple robotic arms, It includes: robotic arm collaborative control unit, eddy current probe tool unit, clamping tool unit, vision unit, detection control and data processing unit and workpiece conveying unit; The robotic arm collaborative control unit includes a detection robotic arm and a transport robotic arm. The detection robotic arm detects the traction rod through the eddy current probe tool unit, and the transport robotic arm grabs the traction rod through the clamping tool unit. The transport robotic arm is connected to the vision unit, which is used to monitor the position of the traction rod, making it easier for the transport robotic arm to grab the traction rod and transfer it to the working area of the detection robotic arm. The detection control and data processing unit transmits data with the vision unit, eddy current probe tool unit, robotic arm collaborative control unit and clamping tool unit; It also includes a workpiece conveying unit, which is arranged on one side of the transport robot arm. The transport robot arm is arranged in the area between the detection robot arm and the workpiece conveying unit. The workpiece conveying unit is used to transport the traction rod. The clamping tool unit can clamp the traction rod on the workpiece conveying unit. The detection control and data processing unit and the workpiece conveying unit transmit data.

[0008] As a further limitation of the present technical solution, the detection robot arm includes two symmetrically arranged robot arms, the transport robot arm is arranged in the middle area of one side of the detection robot arm, the end of the detection robot arm is provided with an eddy current probe tool unit, the end of the transport robot arm is provided with a clamping tool unit and a visual unit, and the ends of the detection robot arm and the transport robot arm are respectively equipped with main disks of pneumatic quick change disks.

[0009] As a further limitation of the present technical solution, the detection robot arm is connected to the eddy current probe tool unit through a pneumatic quick-change disk, the eddy current probe tool unit includes an eddy current probe, and a sub-disc of the pneumatic quick-change disk installed on the detection robot arm is connected to the eddy current probe; The handling robot arm is connected to the clamping tool unit through a pneumatic quick-change disk. The clamping tool unit includes a mechanical clamp and a traction rod profiling finger. The sub-disc of the pneumatic quick-change disk on the handling robot arm is connected to the mechanical clamp, and the traction rod profiling finger is installed on the mechanical clamp.

[0010] As a further limitation of this technical solution, the vision unit includes a 3D structured light camera, which is fixedly mounted on a camera bracket, and the camera bracket is mounted at the end of the transport robot arm. The 3D structured light camera is used to obtain its point cloud information and position before grabbing the traction rod.

[0011] As a further limitation of the present technical solution, the detection control and data processing unit includes a control box and a high-frequency eddy current meter. The control box includes a host and a central console. The central console is connected to the host. The high-frequency eddy current meter and the host are both arranged in the control box. The high-frequency eddy current meter is electrically connected to the eddy current probe. The high-frequency eddy current meter is equipped with high-frequency eddy current analysis software. The host is used to receive and process data from the detection robot arm, the handling robot arm, the eddy current probe and the 3D structured light camera.

[0012] As a further limitation of the present technical solution, the workpiece conveying unit includes a traction rod placement hole groove, a traction rod placement tooling and a traction rod placement tooling transmission mechanism. A number of evenly arranged traction rod placement toolings are fixedly arranged on the conveyor belt of the traction rod placement tooling transmission mechanism. The traction rod placement hole groove is provided on the traction rod placement tooling. The traction rod is placed in the traction rod placement hole groove. The clamping tool unit can grab the traction rod in the traction rod placement hole groove. The workpiece conveying unit is arranged within the working range of the handling robot arm.

[0013] As a further limitation of the present technical solution, the traction rod placement hole groove includes a square opening, a connecting groove, a superior arc hole and a superior arc support ring. The two ends of the square opening are respectively connected to the superior arc holes through the connecting grooves. The superior arc holes are symmetrically arranged. A superior arc support ring is arranged at the lower part of the superior arc hole. The superior arc support ring is fixed on the inner wall of the superior arc hole of the traction rod placement hole groove. The superior arc hole matches the shape of the two end heads of the traction rod. The length of the square opening is greater than the middle diameter of the traction rod, which facilitates the traction rod imitation finger to reach into the square opening to clamp the traction rod. The connecting groove can accommodate the traction rod.

[0014] As a further limitation of the present technical solution, the detection robot arm and the handling robot arm realize automated detection operation of the traction rod through a collaborative control algorithm.

[0015] As a further limitation of the present technical solution, the eddy current probe uses high-frequency eddy current technology to penetrate the non-conductive paint layer to obtain metal substrate defect signals.

[0016] As a further limitation of the present technical solution, it also includes a platform for placing the artificial defect test block of the traction rod, which is used to support the artificial defect test block of the traction rod. The artificial defect test block of the traction rod is scanned by the eddy current probe carried by the detection robot arm, and the amplitude of the corresponding defect is determined by the scanning result, which is set as the defect judgment threshold, and the defect judgment threshold is input into the high-frequency eddy current analysis software.

[0017] Compared with the prior art, the advantages and positive effects of the present invention are: Two inspection robotic arms work in tandem. The transport robotic arm quickly grabs and transfers the traction rods, while the inspection robotic arm performs inspections simultaneously. These two arms operate in parallel, significantly reducing the inspection time for a single traction rod. Compared to traditional manual inspection or single-arm inspection methods, this system enables efficient and continuous inspection of entire batches of traction rods. The eddy current probe can accurately detect subtle defects on the surface and near the surface of the traction rod. At the same time, by pre-testing the traction rod artificial defect test block and setting the defect judgment threshold, combined with the eddy current imaging algorithm and image fusion technology, the existence of defects can be accurately determined and high-precision defect location and size analysis can be achieved. The entire inspection process is automated, reducing the need for direct human involvement in inspection operations. Workers only need to perform auxiliary tasks such as equipment startup and material loading, reducing labor intensity. Different types of mechanical grippers are available (such as two-finger pneumatic grippers and three-finger pneumatic grippers) to accommodate pull rod workpieces of varying diameters, improving the tooling's adaptability to diverse products. Furthermore, the robotic arm's collaborative control unit utilizes the manufacturer's own collaborative control algorithm, facilitating equipment commissioning and maintenance. Furthermore, the robotic arm's operating parameters and processes can be flexibly adjusted to meet actual production needs, enhancing the equipment's versatility. The workpiece conveying unit enables precise conveying of workpieces. The designed traction rod placement slots not only adapt to the shape of the traction rod but also facilitate grasping operations by the handling robot arm. The 3D structured light camera obtains the exact position information of the traction rod before grasping, making it easier for the handling robot arm to grasp the traction rod and making the inspection process more orderly and accurate. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation of the present application. Obviously, the drawings described below are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without inventive work. In the drawings: Figure 1 The present invention is a three-dimensional Figure 1 ; Figure 2 The present invention is a three-dimensional Figure 2 ; Figure 3 It is a partial stereogram of the present invention; Figure 4 The present invention is a three-dimensional Figure 3 ; Figure 5 Flowchart of the present invention (in the figure, Y represents yes and N represents no).

[0019] In the figure: 1. Robotic arm collaborative control unit; 101. Transporting robot arm; 102. Inspection robot arm; 103. Pneumatic quick-change disc; 2. Workpiece conveying unit; 201. Traction rod placement hole slot; 2011. Square opening; 2012. Connecting slot; 2013. Excellent arc hole; 2014. Excellent arc support ring; 202. Traction rod placement tooling; 203. Traction rod placement tooling conveying mechanism; 3. Inspection control and data processing unit; 301. Control box; 4. Vision unit; 401. 3D structured light camera; 402. Camera bracket; 5. Clamping tool unit; 501. Mechanical gripper; 502. Traction rod profiling finger; 6. Eddy current probe tool unit; 7. Traction rod artificial defect test block placement platform. DETAILED DESCRIPTION

[0020] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0021] A traction rod eddy current automatic detection system based on multiple robotic arms, It includes: a robotic arm collaborative control unit 1, an eddy current probe tool unit 6, a clamping tool unit 5, a vision unit 4, a detection control and data processing unit 3 and a workpiece conveying unit 2; The robot arm cooperative control unit 1 includes a detection robot arm 102 and a handling robot arm 101. The detection robot arm 102 detects the traction rod through the eddy current probe tool unit 6, and the handling robot arm 101 grabs the traction rod through the clamping tool unit 5. The handling robot arm 101 is connected to the vision unit 4, which is used to monitor the position of the traction rod to facilitate the handling robot arm 101 to grab the traction rod and transfer it to the working area of the detection robot arm 102; The detection control and data processing unit 3 transmits data with the vision unit 4, the eddy current probe tool unit 6, the robot arm cooperative control unit 1 and the clamping tool unit 5; It also includes a workpiece conveying unit 2, which is arranged on one side of the transport robot arm 101. The transport robot arm 101 is arranged in the area between the detection robot arm 102 and the workpiece conveying unit 2. The workpiece conveying unit 2 is used for conveying the traction rod. The clamping tool unit 5 can clamp the traction rod on the workpiece conveying unit 2. The detection control and data processing unit 3 and the workpiece conveying unit 2 transmit data.

[0022] Furthermore, the detection control and data processing unit 3 and the visual unit 4, the eddy current probe tool unit 6, the robot arm cooperative control unit 1, the clamping tool unit 5 and the workpiece conveying unit 2 perform data transmission in a manner including but not limited to wired transmission methods such as Ethernet, USB and CAN bus; wireless transmission methods such as Wi-Fi, Bluetooth and ZigBee; and other transmission methods such as serial communication and optical fiber communication. The detection robot arm 102 and the handling robot arm 101 are both manufactured by ABB, and their factory-provided collaborative control algorithm is used to control the operation of the robot arms. The pneumatic quick-change plate 103 is a Stäubli brand pneumatic quick-change plate 103.

[0023] The detection robot arm 102 includes two symmetrically arranged robot arms, and the transport robot arm 101 is arranged in the middle area of one side of the detection robot arm 102. The end of the detection robot arm 102 is provided with an eddy current probe tool unit 6, and the end of the transport robot arm 101 is provided with a clamping tool unit 5 and a visual unit 4. The ends of the detection robot arm 102 and the transport robot arm 101 are respectively installed with the main disk of the pneumatic quick change disk 103.

[0024] The detection robot arm 102 is connected to the eddy current probe tool unit 6 through the pneumatic quick-change disk 103. The eddy current probe tool unit 6 includes an eddy current probe. The sub-disc of the pneumatic quick-change disk 103 installed on the detection robot arm 102 is connected to the eddy current probe.

[0025] The transport robot arm 101 is connected to the clamping tool unit 5 through the pneumatic quick-change disk 103. The clamping tool unit 5 includes a mechanical clamp 501 and a traction rod imitation finger 502. The sub-disc of the pneumatic quick-change disk 103 on the transport robot arm 101 is connected to the mechanical clamp 501, and the traction rod imitation finger 502 is installed on the mechanical clamp 501.

[0026] The mechanical gripper 501 can be of different types, and can grip workpieces of different diameters, such as a two-finger pneumatic mechanical gripper 501; for example, a three-finger pneumatic mechanical gripper 501. Different types of mechanical grippers 501 can be used to expand the detection of other workpieces.

[0027] In this embodiment, the detection robot arm 102 can be controlled by the host computer to move the eddy current probe connected thereto to a standby area near the detection station. The transport robot arm 101 can carry the mechanical gripper 501 and move to the top of the workpiece conveying unit 2. The transport robot arm 101 can grasp the traction rod through the clamping tool unit 5 and move it to the detection station. The detection robot arm 102 can drive the eddy current probe to the traction rod and control the movement of the eddy current probe to scan the traction rod. The inspection station is located between the two inspection robot arms 102 .

[0028] The vision unit 4 includes a 3D structured light camera 401, which is fixedly mounted on a camera bracket 402. The camera bracket 402 is mounted at the end of the transport robot arm 101. The 3D structured light camera 401 is used to obtain its point cloud information and position before grabbing the traction rod.

[0029] Among them, the 3D structured light camera 401 is Mech-Mind's ProS.

[0030] In this embodiment, the vision unit 4 performs a three-dimensional point cloud scan of the traction rod through the 3D structured light camera 401, analyzes its spatial coordinates and posture data based on the coordinate transformation algorithm, and transmits the data to the host; A coordinate transformation algorithm is a method of converting coordinates in one coordinate system into coordinates in another coordinate system. Common coordinate transformation algorithms include translation transformation, rotation transformation, scaling transformation, and affine transformation. In the present invention, the coordinates of the traction rod in the coordinate system of the 3D structured light camera 401 are obtained by scanning with the 3D structured light camera 401, and a matrix transformation is performed through the coordinate transformation algorithm to convert the coordinates of the traction rod into coordinates in the coordinate systems of the detection robot 102 and the transport robot 101.

[0031] The detection control and data processing unit 3 includes a control box 301 and a high-frequency eddy current meter. The control box 301 includes a host and a central console. The central console is connected to the host. The high-frequency eddy current meter and the host are both arranged in the control box 301. The high-frequency eddy current meter is electrically connected to the eddy current probe. The high-frequency eddy current meter is equipped with high-frequency eddy current analysis software. The host is used to receive and process data from the detection robot 102, the handling robot 101, the eddy current probe and the 3D structured light camera 401.

[0032] In this embodiment, the eddy current probe is connected to the high-frequency eddy current instrument via a multi-core signal cable and an aviation plug; It is necessary to pre-set the scanning path of the traction rod in the host of the detection control and data processing unit 3 according to the traction rod 3D model. The scanning path includes the scanning starting point, the scanning end point and various points in between. During the scanning process, the detection robot arm 102 drives the eddy current probe to move to the preset scanning starting point, starts scanning according to the pre-programmed and debugged robot arm scanning path, completes the real-time acquisition and AD conversion of the detection signal through the high-frequency eddy current instrument and transmits the signal to the host until the scanning reaches the preset scanning end point, completing the scanning process; The high-frequency eddy current instrument sends the collected signal to the host computer, which processes the data through the high-frequency eddy current software. By comparing it with the defect judgment threshold, the defect location and size analysis of the traction rod are realized, and the analysis data is displayed on the display screen of the host computer. The high-frequency eddy current software uses an eddy current imaging algorithm (the eddy current imaging algorithm uses existing technology and will not be described in detail here) to image the traction rod area under the scanning path of the detection robot arm 102, and uses a defect determination threshold to determine the presence of defects in the traction rod. The defect features are mapped to a three-dimensional model of the traction rod through image fusion technology to achieve defect location and size analysis of the traction rod. The 3D model of the traction rod is pre-drawn using 3D drawing software, and the file data is saved and then imported into the high-frequency eddy current analysis software.

[0033] The workpiece conveying unit 2 includes a traction rod placement hole slot 201, a traction rod placement tooling 202 and a traction rod placement tooling transmission mechanism 203. A number of evenly arranged traction rod placement tooling 202 are fixedly arranged on the conveyor belt of the traction rod placement tooling transmission mechanism 203. The traction rod placement tooling 202 is provided with a traction rod placement hole slot 201. The traction rod is placed in the traction rod placement hole slot 201. The clamping tool unit 5 can grab the traction rod in the traction rod placement hole slot 201. The workpiece conveying unit 2 is set within the working range of the handling robot arm 101.

[0034] The traction rod placement hole groove 201 includes a square opening 2011, a connecting groove 2012, a superior arc hole 2013 and a superior arc support ring 2014. The two ends of the square opening 2011 are respectively connected to the superior arc hole 2013 through the connecting groove 2012. The superior arc hole 2013 is symmetrically arranged. A superior arc support ring 2014 is arranged at the lower part of the superior arc hole 2013. The superior arc support ring 2014 is fixed on the inner wall of the superior arc hole 2013 of the traction rod placement hole groove 201. The superior arc hole 2013 matches the shape of the two end heads of the traction rod. The length of the square opening 2011 is greater than the middle diameter of the traction rod, which facilitates the traction rod imitation finger 502 to probe into the square opening 2011 to clamp the traction rod. The connecting groove 2012 can accommodate the traction rod.

[0035] The traction rod placement tooling conveying mechanism 203 is a conveying device of Yuanchuangli Technology, which is driven by its own driving mechanism (the conveying device is an existing product, and its structure and working principle are not described in detail); In this embodiment, a whole batch of traction rods are placed in the traction rod placement slots 201 respectively, and the traction rods can be moved under the drive of the traction rod placement tooling conveying mechanism 203 .

[0036] The detection robot arm 102 and the transport robot arm 101 realize the automated detection operation of the traction rod through a collaborative control algorithm.

[0037] The eddy current probe uses high-frequency eddy current technology to penetrate the non-conductive paint layer to obtain the metal substrate defect signal.

[0038] Among them, high-frequency eddy current technology is a non-destructive testing technology based on the principle of electromagnetic induction. It is mainly used for the detection of surface and near-surface defects of conductive materials. Its principle is: when a coil carrying alternating current is close to a conductive object, the alternating magnetic field generated by the coil will generate induced current in the conductive object, that is, eddy current. Due to the skin effect, eddy currents are more densely distributed on the surface and near-surface areas of the conductive object. When there are defects in the object, such as cracks, holes, etc., it will interfere with the normal distribution of eddy currents, and then cause changes in the coil impedance. By detecting the changes in the coil impedance, it is possible to determine whether there are defects in the conductive object and the location and size of the defects.

[0039] It also includes a traction rod artificial defect test block placement platform 7, which is used to support the traction rod artificial defect test block. The traction rod artificial defect test block is scanned by the eddy current probe carried by the detection robot 102, and the amplitude of the corresponding defect is determined by the scanning result, which is set as the defect judgment threshold, and the defect judgment threshold is input into the high-frequency eddy current analysis software.

[0040] In this embodiment, before the formal inspection, the inspection robot 102 first carries an eddy current probe to inspect the traction rod artificial defect test block on the traction rod artificial defect test block placement platform 7, and uses the parallel scanning detection signal amplitude of the minimum defect on the traction rod artificial defect test block as the defect judgment threshold. During the formal inspection process, signals exceeding this threshold are judged as defect signals.

[0041] During inspection, the high-frequency eddy current software will receive the real-time points sent by the inspection robot 102, present the scanning path on the three-dimensional model of the traction rod, and determine the existence of defects in the traction rod based on the collected information and combined with the above-mentioned defect judgment threshold. The defect features are mapped to the three-dimensional model of the traction rod through image fusion technology to achieve defect location and size analysis of the traction rod.

[0042] It also includes an automatic detection system. The host is equipped with an automatic detection system for detecting the self-inspection and initialization operations of the robotic arm 102, the transport robotic arm 101, the 3D structured light camera 401, the high-frequency eddy current meter and the traction rod placement tooling conveying mechanism 203.

[0043] The detection robot arm 102, the control box 301, the traction rod placement tooling conveying mechanism 203 and the traction rod artificial defect test block placement platform 7 are all arranged on the ground in the working area of the system.

[0044] The method of use of the present invention is: When using, use 3D drawing software to pre-draw the traction rod 3D model, save the file data, import it into the high-frequency eddy current analysis software, and then pre-set the scanning path for the traction rod according to the traction rod 3D model in the host, including setting the starting and ending points and each key point on the scanning path; Subsequently, the traction rod artificial defect test block is placed on the traction rod artificial defect test block placement platform 7. Before the formal test, the detection robot arm 102 first carries the eddy current probe to detect the defect test block on the traction rod artificial defect test block placement platform 7. The amplitude of the parallel scanning detection signal of the smallest defect on the traction rod artificial defect test block is used as the defect judgment threshold. During the formal test process, the signal exceeding the defect judgment threshold is determined as a defect signal; Next, the entire batch of traction rods to be inspected is placed in the traction rod placement slot 201 of the workpiece conveying unit 2. The host controls the traction rod placement tooling conveying mechanism 203 to work and transport the traction rods to the working area of the inspection robot arm 102. The host controls the detection robot arm 102 to automatically drive the eddy current probe to move smoothly to a safe standby area near the detection station. At the same time, the transport robot arm 101, carrying the mechanical gripper 501, moves to the upper part of the conveying area where the traction rod of the workpiece conveying unit 2 is placed on the tooling conveying mechanism 203 and enters the standby state. The host computer controls the 3D structured light camera 401 to perform a three-dimensional point cloud scan of the traction rod, uses a coordinate transformation algorithm to quickly analyze its spatial coordinates and posture data, and transmits them to the host computer in a timely manner; Based on the received analytical data, the host controls the handling robot arm 101 to accurately grab the traction rod and transfer it to the inspection station. When the handling robot arm 101 grabs the traction rod, the traction rod placement tooling conveying mechanism 203 stops working under the control of the host. Then the inspection robot arm 102 carries the eddy current probe and moves to the preset scanning starting point, and starts scanning according to the pre-programmed scanning path. During the scanning process, the high-frequency eddy current instrument completes the real-time acquisition and AD conversion of the detection signal until the scan reaches the preset scanning end point. The detection control and data processing unit 3 processes the data of the traction rod area under the scanning path of the detection robot arm 102, compares the obtained data with the defect judgment threshold, realizes the accurate positioning of the defects and accurate size analysis of the traction rod, and feeds back the results on the display screen of the host. After completing the inspection of a traction rod, the handling robot arm 101 puts it back to its original position and then returns to the state to be grasped. At this time, the host controls the traction rod placement tooling conveying mechanism 203 to work, and drives the downward traction rod to move to the bottom of the handling robot arm 101. The handling robot arm 101 starts the grasping operation. The above process is repeated to obtain the inspection data of each traction rod in turn, thereby completing the automated, efficient and accurate inspection of the entire batch of traction rods. Among them, at the other end of the traction rod placement tooling conveying mechanism 203, the staff can take the inspected traction rods away in real time and put them into the prepared storage box.

[0045] The above disclosure is only a specific embodiment of the present invention, but the present invention is not limited thereto. Any changes that can be conceived by those skilled in the art should fall within the scope of protection of the present invention.

Claims

1. A multi-manipulator-based traction rod eddy current automatic detection system, characterized by: include: A robotic arm cooperative control unit (1), an eddy current probe tool unit (6), a clamping tool unit (5), a vision unit (4), a detection control and data processing unit (3), and a workpiece conveying unit (2); The robot arm cooperative control unit (1) includes a detection robot arm (102) and a transport robot arm (101), wherein the detection robot arm (102) detects the traction rod through the eddy current probe tool unit (6), and the transport robot arm (101) grabs the traction rod through the clamping tool unit (5), and the transport robot arm (101) is connected to the vision unit (4), and the vision unit (4) is used to monitor the position of the traction rod, so as to facilitate the transport robot arm (101) to grab the traction rod and transfer it to the working area of the detection robot arm (102); The detection control and data processing unit (3) transmits data with the vision unit (4), the eddy current probe tool unit (6), the robotic arm cooperative control unit (1) and the clamping tool unit (5); The workpiece conveying unit (2) is also included. The workpiece conveying unit (2) is arranged on one side of the transporting robot arm (101). The transporting robot arm (101) is arranged in an area between the detection robot arm (102) and the workpiece conveying unit (2). The workpiece conveying unit (2) is used for conveying the traction rod. The clamping tool unit (5) can clamp the traction rod on the workpiece conveying unit (2). The detection control and data processing unit (3) and the workpiece conveying unit (2) perform data transmission.

2. The multi-manipulator-based traction rod eddy current automatic detection system according to claim 1, characterized in that: The detection robot arm (102) includes two symmetrically arranged robot arms, the transport robot arm (101) is arranged in the middle area of one side of the detection robot arm (102), the end of the detection robot arm (102) is provided with an eddy current probe tool unit (6), the end of the transport robot arm (101) is provided with a clamping tool unit (5) and a vision unit (4), and the ends of the detection robot arm (102) and the transport robot arm (101) are respectively installed with the main disk of the pneumatic quick change disk (103).

3. The multi-manipulator-based traction rod eddy current automatic detection system according to claim 2, characterized in that: The detection robot arm (102) is connected to the eddy current probe tool unit (6) via the pneumatic quick-change disk (103), the eddy current probe tool unit (6) includes an eddy current probe, and the sub-disc of the pneumatic quick-change disk (103) installed on the detection robot arm (102) is connected to the eddy current probe; The transporting robot arm (101) is connected to the clamping tool unit (5) via the pneumatic quick-change disk (103). The clamping tool unit (5) includes a mechanical clamping claw (501) and a traction rod profiling finger (502). The sub-disc of the pneumatic quick-change disk (103) on the transporting robot arm (101) is connected to the mechanical clamping claw (501), and the traction rod profiling finger (502) is installed on the mechanical clamping claw (501).

4. The multi-manipulator-based traction rod eddy current automatic detection system according to claim 3, characterized in that: The vision unit (4) includes a 3D structured light camera (401), which is fixedly mounted on a camera bracket (402). The camera bracket (402) is mounted at the end of the transport robot arm (101). The 3D structured light camera (401) is used to obtain point cloud information and position of the traction rod before grabbing it.

5. The multi-manipulator-based traction rod eddy current automatic detection system according to claim 4, characterized in that: The detection control and data processing unit (3) includes a control box (301) and a high-frequency eddy current instrument. The control box (301) includes a host and a central console. The central console is connected to the host. The high-frequency eddy current instrument and the host are both arranged in the control box (301). The high-frequency eddy current instrument is electrically connected to the eddy current probe. The high-frequency eddy current instrument is equipped with high-frequency eddy current analysis software. The host is used to receive and process data from the detection robot arm (102), the handling robot arm (101), the eddy current probe and the 3D structured light camera (401).

6. The multi-manipulator-based traction rod eddy current automatic detection system according to claim 5, characterized in that: The workpiece conveying unit (2) comprises a traction rod placement hole groove (201), a traction rod placement tool (202) and a traction rod placement tool conveying mechanism (203). A plurality of evenly arranged traction rod placement tools (202) are fixedly arranged on the conveyor belt of the traction rod placement tool conveying mechanism (203). The traction rod placement tool (202) is provided with a traction rod placement hole groove (201). The traction rod is placed in the traction rod placement hole groove (201). The clamping tool unit (5) can grasp the traction rod in the traction rod placement hole groove (201). The workpiece conveying unit (2) is arranged within the working range of the transport robot arm (101).

7. The multi-manipulator-based traction rod eddy current automatic detection system according to claim 6, characterized in that: The traction rod placement slot (201) comprises a square opening (2011), a connecting slot (2012), a superior arc hole (2013) and a superior arc support ring (2014). The two ends of the square opening (2011) are connected to the superior arc hole (2013) through the connecting slot (2012). The superior arc hole (2013) is symmetrically arranged. The superior arc support ring (2014) is arranged at the lower part of the superior arc hole (2013). The superior arc support ring (2014) is fixed to the inner wall of the superior arc hole (2013) of the traction rod placement slot (201). The superior arc hole (2013) matches the shape of the two end heads of the traction rod. The length of the square opening (2011) is greater than the middle diameter of the traction rod, so that the traction rod imitating finger (502) can easily reach into the square opening (2011) to clamp the traction rod. The connecting slot (2012) can accommodate the traction rod.

8. The multi-manipulator-based traction rod eddy current automatic detection system according to claim 7, characterized in that: The detection robot arm (102) and the transport robot arm (101) realize automated detection operation of the traction rod through a collaborative control algorithm.

9. The multi-manipulator-based traction rod eddy current automatic detection system according to claim 3, characterized in that: The eddy current probe uses high-frequency eddy current technology to penetrate the non-conductive paint layer to obtain the metal substrate defect signal.

10. The multi-manipulator-based traction rod eddy current automatic detection system according to claim 1, characterized in that: The invention also includes a traction rod artificial defect test block placement platform (7), which is used to support the traction rod artificial defect test block. The traction rod artificial defect test block is scanned by an eddy current probe carried by the detection robot arm (102), and the amplitude of the corresponding defect is determined by the scanning result, which is set as the defect judgment threshold, and the defect judgment threshold is input into the high-frequency eddy current analysis software.

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