Collision detection device for water immersion flaw detection

Abstract

The invention relates to the technical field of water immersion flaw detection equipment, and discloses a water immersion flaw detection collision detection device which comprises a mechanical arm, an inner shaft and an outer shaft, two upper supports are arranged on the periphery of the mechanical arm, two lower supports are arranged on the periphery of the mechanical arm, and trigger assemblies are arranged in the middles of the two lower supports. The middle parts of the two upper supports are provided with detection assemblies, and the middle parts of the two lower supports are provided with reset assemblies. Fixing assemblies are arranged in the middles of the two upper supports and the middles of the two lower supports, each triggering assembly comprises a plurality of fixing lugs, the fixing lugs are fixedly connected to the tops of the two lower supports respectively, and a rotating shaft is rotationally connected between every two adjacent fixing lugs. Through a trigger mode of combining pure mechanical lever type transmission and non-contact induction, a complicated electronic element or a contact switch is prevented from being directly arranged at a collision point, and the stability and durability of the device in a water immersion environment are improved.

Description

Technical Field

[0001] This invention relates to the field of water immersion flaw detection equipment technology, specifically to a collision detection device for water immersion flaw detection. Background Technology

[0002] In the field of modern industrial non-destructive testing, water immersion testing equipment is widely used in automated production lines due to its high precision and reliability. However, during the operation of such equipment, its core components, such as the end effector, universal joint, and transducer, need to frequently perform complex three-dimensional movements to scan the workpiece, making it extremely prone to accidental collisions with the workpiece, fixture, or other objects in the work slot.

[0003] Currently, collision protection measures for this type of equipment are not yet perfect. Existing protective devices are often simple in structure or expose electrical contacts directly to humid environments, resulting in poor operational stability under water immersion conditions, susceptibility to corrosion, and easy signal failure.

[0004] At the same time, its protection range often has blind spots, and it cannot achieve all-round protection. Moreover, its alarm mechanism is limited to sound and light prompts and cannot force all axes of the equipment to stop immediately at the moment of collision, thus failing to effectively avoid secondary damage caused by inertia.

[0005] Furthermore, these devices typically lack versatility, making them difficult to adjust flexibly to different workpieces or testing environments. Their high cost and complex installation processes further limit their widespread application. These shortcomings collectively lead to high failure rates of core components, expensive maintenance costs, and frequent production line downtime, severely impacting production efficiency and economic benefits. Summary of the Invention

[0006] To address the shortcomings of existing technologies, this invention provides a collision detection device for water immersion flaw detection, which solves the problem that core components such as universal joints and transducers are easily damaged by collisions during operation due to the lack of effective, reliable, and adaptable collision protection devices in existing water immersion flaw detection equipment.

[0007] To achieve the above objectives, the present invention provides the following technical solution: a collision detection device for water immersion flaw detection, comprising a robotic arm, an inner shaft, and an outer shaft. Two upper supports and two lower supports are arranged around the outer periphery of the robotic arm. A triggering component is located at the center of each of the two lower supports, a detection component is located at the center of each of the two upper supports, and a reset component is located at the center of each of the two lower supports. A fixing component is located at the center of each of the two upper supports and the two lower supports.

[0008] The triggering component includes multiple fixed ears, which are respectively fixedly connected to the top of the two lower brackets. A rotating shaft is rotatably connected between two adjacent fixed ears. A metal detection block is fixedly connected to the outer periphery of the rotating shaft, and a contact rod is fixedly connected to the bottom of the metal detection block.

[0009] Preferably, the detection component includes multiple mounting holes and multiple sensors, with the multiple mounting holes respectively opened in the middle of the two upper brackets, and the multiple sensors respectively fixedly connected to the middle of the multiple mounting holes.

[0010] Preferably, the reset assembly includes multiple mounting slot 1 and multiple mounting slot 2. The multiple mounting slot 1 are respectively opened in the middle of the two lower brackets, and the multiple mounting slot 2 are respectively opened in the middle of the multiple metal detection blocks. A tension spring is provided between the multiple mounting slot 1 and the multiple mounting slot 2.

[0011] Preferably, the fixing component includes multiple connecting holes one and multiple connecting holes two. The multiple connecting holes one are respectively opened in the middle of the upper bracket, and the multiple connecting holes two are respectively opened in the middle of the two lower brackets. The two upper brackets and the two lower brackets are all fixed to the outer periphery of the robotic arm by bolts.

[0012] Preferably, a groove is provided in the middle of both lower supports, and the metal detection block is located in the middle of the groove.

[0013] Preferably, each of the plurality of fixing ears has a through hole in the middle, the rotating shaft is disposed in the middle of the through hole, the metal detection block has a fixing hole in the middle, and the rotating shaft is located in the middle of the fixing hole.

[0014] Preferably, the contact rod is located around the universal joint and is parallel to the direction of movement of the robotic arm.

[0015] Preferably, the sensor is located above the metal detection block.

[0016] This invention provides a collision detection device for water immersion flaw detection. It has the following beneficial effects:

[0017] 1. This invention adopts a triggering method that combines pure mechanical lever transmission with non-contact sensing, avoiding placing complex electronic components or contact switches directly at the collision point. This improves the stability and durability of the device in water immersion environments. The sensor has a protection rating of up to IP68. Combined with a stainless steel detection block, it can ensure that the device can operate reliably underwater for a long time. Once a collision occurs, the mechanical structure can respond instantly, triggering sensitively and ensuring the immediacy of detection.

[0018] 2. This invention arranges four sets of detection mechanisms around the universal joint using a ring bracket, forming all-round physical protection. The contact rod contacts the collision object first, protecting the expensive internal universal joint and transducer. More importantly, when any sensor is triggered, its signal will be directly connected to the equipment's main emergency stop chain, forcing all axes to stop moving. This provides extremely high safety redundancy and can effectively prevent more complex equipment damage caused by collisions in a single direction, maximizing the safety of the core equipment.

[0019] 3. This invention allows for convenient replacement of contact rods of different lengths or shapes based on the size of the protected component or the shape of the workpiece to adapt to different protection ranges. Simultaneously, the required triggering impact force can be altered by adjusting the strength of the tension spring, meeting sensitivity requirements under various working conditions. This modularity and adjustability, combined with its simple structure and low manufacturing cost, makes it not only easy to install and maintain but also readily applicable to various water immersion flaw detection equipment. By effectively preventing equipment damage, it directly reduces maintenance costs and downtime losses, resulting in significant economic benefits. Attached Figure Description

[0020] Figure 1 This is a perspective view of the present invention;

[0021] Figure 2 This is a schematic diagram of the upper support structure of the present invention;

[0022] Figure 3 This is a schematic diagram of the lower support structure of the present invention;

[0023] Figure 4 This is a schematic cross-sectional view of the lower support of the present invention;

[0024] Figure 5 This is a schematic diagram of the metal detection block structure of the present invention;

[0025] Figure 6 This is a schematic diagram of the sensor wiring for the present invention.

[0026] The components are as follows: 1. Robotic arm; 2. Upper support; 3. Lower support; 4. Sensor; 5. Rotating shaft; 6. Fixing lug; 7. Metal detection block; 8. Contact rod; 9. Inner shaft; 10. Outer shaft; 11. Connecting hole one; 12. Connecting hole two; 13. Slide groove; 14. Through hole; 15. Mounting groove one; 16. Mounting groove two; 17. Fixing hole; 18. Tension spring; 19. Mounting hole. Detailed Implementation

[0027] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0028] Please see the appendix Figure 1 -Appendix Figure 6 This invention provides a collision detection device for water immersion flaw detection, including a robotic arm 1, an inner shaft 9, and an outer shaft 10. Two upper supports 2 and two lower supports 3 are arranged around the outer periphery of the robotic arm 1. A triggering component is arranged in the middle of each of the two lower supports 3. A detection component is arranged in the middle of each of the two upper supports 2. A reset component is arranged in the middle of each of the two lower supports 3. A fixing component is arranged in the middle of each of the two upper supports 2 and the two lower supports 3.

[0029] In one specific embodiment, two upper supports 2 are paired and combined to form an upper ring, and two lower supports 3 are paired and combined to form a lower ring. These two rings are fastened to the outer wall of the robotic arm 1 by a fixing component, with the upper supports 2 located directly above the lower supports 3, maintaining a preset vertical distance between them. A movable trigger component is provided on the lower supports 3, and a detection component for sensing is provided on the upper supports 2. The trigger component and the reset component work together to ensure that the device remains stable in the non-triggered state and can automatically reset after being triggered. The entire device forms a ring-shaped protective structure surrounding the universal joint and the transducer.

[0030] See appendix Figure 1 Appendix Figure 3 and attached Figure 5 The triggering component includes multiple fixed ears 6, which are fixedly connected to the top of two lower supports 3 respectively. A rotating shaft 5 is rotatably connected between two adjacent fixed ears 6. A metal detection block 7 is fixedly connected to the outer periphery of the rotating shaft 5. A contact rod 8 is fixedly connected to the bottom of the metal detection block 7. The contact rod 8 is located outside the universal joint and parallel to the movement direction of the robotic arm 1. A through hole 14 is opened in the middle of each of the multiple fixed ears 6. The rotating shaft 5 is located in the middle of the through hole 14. A fixing hole 17 is opened in the middle of the metal detection block 7. The rotating shaft 5 is located in the middle of the fixing hole 17. A sliding groove 13 is opened in the middle of each of the two lower supports 3. The metal detection block 7 is located in the middle of the sliding groove 13.

[0031] In one specific embodiment, the lower support 3 is provided with a fixing lug 6 as a support structure. Each metal detection block 7 is fixed to the rotating shaft 5 through a fixing hole 17 at its center, and the two ends of the rotating shaft 5 are respectively rotated in the through holes 14 of two adjacent fixing lugs 6, so that the metal detection block 7 can rotate up and down around the rotating shaft 5. The metal detection block 7 is preferably made of a material with good magnetic permeability and corrosion resistance, such as stainless steel, to cooperate with the detection component for detection and adapt to the underwater working environment. The contact rod 8 extending from the lower end of the metal detection block 7 is the direct contact point of the collision. Its length and shape can be customized according to the size of the protected object (such as a universal joint) to ensure that it is always located at the outermost edge of the protected object. The contact rod 8 is parallel to the typical movement direction of the robotic arm 1, so as to detect collisions from the forward direction most effectively. The sliding groove 13 opened on the lower support 3 provides the necessary space for the rotation of the metal detection block 7, avoiding motion interference. And through this lever form, when the contact rod 8 is hit, the lever action of the rotating shaft 5 converts the small horizontal displacement into the metal detection block 7 moving towards the sensor 4, realizing high sensitivity and instantaneous response of the trigger.

[0032] See appendix Figure 1 Appendix Figure 2 and attached Figure 6 The detection component includes multiple mounting holes 19 and multiple sensors 4. The multiple mounting holes 19 are respectively opened in the middle of the two upper brackets 2, and the multiple sensors 4 are respectively fixedly connected in the middle of the multiple mounting holes 19. The sensors 4 are located above the metal detection block 7.

[0033] In one specific embodiment, the upper bracket 2 is mounted directly above the lower bracket 3 to support the sensor 4. The sensor 4 is preferably an inductive proximity sensor with a detection distance set between 1.5mm and 2mm, capable of accurately sensing approaching metal detection blocks 7. The sensor 4 has an IP68 protection rating, ensuring long-term stable operation in water immersion environments. The sensor 4 is installed in the mounting holes 19 of the upper bracket 2, with each sensor 4's mounting position vertically corresponding to the highest point of the movement trajectory of the metal detection block 7 below it. This ensures that once the metal detection block 7 is triggered to swing upwards, it can be reliably detected immediately by the sensor 4. Simultaneously, this non-contact detection method completely separates the sensor 4, which is an electrical component, from the triggering component, which is a physical impact point, avoiding the risk of damage to the sensor 4 due to direct collision or long-term vibration. Combined with the sensor 4's own high IP68 protection rating, the overall stability and service life of the device under harsh conditions such as water immersion are improved, ensuring that collision signals can be reliably triggered over a long period.

[0034] See appendix Figure 4 and attached Figure 5The reset assembly includes multiple mounting slots 15 and multiple mounting slots 16. The multiple mounting slots 15 are respectively opened in the middle of the two lower brackets 3, and the multiple mounting slots 16 are respectively opened in the middle of the multiple metal detection blocks 7. A tension spring 18 is provided between the multiple mounting slots 15 and the multiple mounting slots 16.

[0035] In one specific embodiment, one end of the tension spring 18 is hooked onto the mounting slot 15 of the lower bracket 3, and the other end is hooked onto the mounting slot 16 of the metal detection block 7. Initially, the tension spring 18 is in a slightly pre-stretched state, and the resulting tension pulls the metal detection block 7 downwards, keeping it stationary away from the sensor 4, while simultaneously keeping the contact rod 8 in its outwardmost alert position. When a collision occurs, the external force overcomes the tension of the tension spring 18, causing the detection block to rotate. When the external force disappears, the recoil force of the tension spring 18 automatically pulls the metal detection block 7 and the contact rod 8 back to their initial alert positions, completing the reset. By replacing the tension spring 18 with different stiffness coefficients, the sensitivity of the triggering device can be easily adjusted to adapt to different operating conditions.

[0036] See appendix Figure 1 and attached Figure 2 The fixing component includes multiple connecting holes 11 and multiple connecting holes 12. The multiple connecting holes 11 are respectively opened in the middle of the upper bracket 2, and the multiple connecting holes 12 are respectively opened in the middle of the two lower brackets 3. The two upper brackets 2 and the two lower brackets 3 are all fixed to the outer periphery of the robotic arm 1 by bolts.

[0037] In one specific embodiment, both the upper bracket 2 and the lower bracket 3 are semi-circular structures. The two semi-circular brackets are combined and secured to the outer cylindrical surface of the robotic arm 1 using bolts or other fasteners via connecting holes 11 and 12, respectively. This clamp-type installation method is simple in structure, reliable in fixation, and easy to install, disassemble, and adjust the overall position of the device along the axial direction of the robotic arm 1, offering strong flexibility and convenience.

[0038] Working Principle: When a collision occurs during device operation, the outermost contact rod 8 first collides with the obstacle. The impact force acts on the contact rod 8, causing it to rotate around the pivot 5, which serves as a fulcrum. Since the contact rod 8 and the metal detection block 7 are rigidly connected, the rotation of the contact rod 8 immediately causes the metal detection block 7 to flip upwards, rapidly bringing it close to the detection component directly above it. When the metal detection block 7 enters the effective detection range of the detection component, the internal circuit state of the detection component changes, immediately outputting a stop signal. Throughout the triggering process, the impact force is transmitted through the mechanical structure, while the signal is generated through the non-contact sensing of the metal detection block 7 by the detection component. This completely isolates the vulnerable electrical components from the direct physical impact point. The stainless steel metal detection block 7 also resists underwater corrosion, ensuring high sensitivity and long-term reliability of the entire device in humid or even water-immersed environments.

[0039] Two upper supports 2 and two lower supports 3 are mounted on the outer periphery of the robotic arm 1 via a fixing assembly, forming a 360-degree ring-shaped protective structure. Multiple independent triggering and detection components are evenly distributed along this ring structure. Signals from all sensors 4 are connected in parallel or series to the equipment's main emergency stop chain. At the electrical control level, signals from multiple sensors 4 are logically connected to the highest-level emergency stop chain. When any sensor 4 is triggered, its signal is interpreted by the emergency stop chain as a highest-priority stop command. Once the emergency stop chain receives the signal, it bypasses conventional program control and directly cuts off the power source to all motion axes (such as the robotic arm 1 and the moving axes of the flaw detection equipment). This ensures that the machine immediately stops all movement the moment a collision hazard is detected, preventing more serious secondary damage due to inertia or continued program execution. This provides extremely high safety redundancy because the protective effect does not rely on complex collision direction judgment but achieves comprehensive safety assurance in the simplest and most reliable way.

[0040] As the foremost detection component, the length and shape of the contact rod 8 directly determine the size and outline of the protected area. Because it is a simple, independent part, users can easily customize or replace contact rods 8 of different specifications according to the size of the workpiece being measured or the size of the universal joint, thereby flexibly adjusting the safety distance and achieving precise protection for different targets. It is highly adaptable. At the same time, when the collision causes the metal detection block 7 to rotate, it will pull the tension spring 18. The elastic force of the tension spring 18 determines the minimum collision force required for triggering. The trigger sensitivity can be set by replacing the tension spring 18 with different spring coefficients. For example, in situations where it is necessary to avoid accidental contact due to water flow or slight vibration, a stronger tension spring 18 can be used; conversely, a weaker tension spring 18 can be used to deal with very slight collisions. The entire collision detection device is an independent module that can be quickly installed on or removed from the robotic arm 1 through fixing components, facilitating daily maintenance, inspection, and replacement. Its simple structure and installation method, combined with the use of common standard parts (sensor 4, tension spring 18, bolts), result in low manufacturing costs and reduce the high repair costs and production downtime losses caused by damage to core components (universal joint, transducer) due to equipment collisions, resulting in high economic benefits.

Claims

1. A collision detection device for water immersion flaw detection, characterized in that, The system includes a robotic arm (1), an inner shaft (9), and an outer shaft (10). The robotic arm (1) has two upper supports (2) on its outer periphery and two lower supports (3) on its outer periphery. Each of the two lower supports (3) has a trigger component in its middle, each of the two upper supports (2) has a detection component in its middle, and each of the two lower supports (3) has a reset component in its middle. Each of the two upper supports (2) and the two lower supports (3) has a fixing component in its middle. The triggering component includes multiple fixed ears (6), which are respectively fixedly connected to the top of the two lower brackets (3). A rotating shaft (5) is rotatably connected between two adjacent fixed ears (6). A metal detection block (7) is fixedly connected to the outer periphery of the rotating shaft (5), and a contact rod (8) is fixedly connected to the bottom of the metal detection block (7).

2. The collision detection device for water immersion flaw detection according to claim 1, characterized in that, The detection component includes multiple mounting holes (19) and multiple sensors (4). The multiple mounting holes (19) are respectively opened in the middle of the two upper brackets (2), and the multiple sensors (4) are respectively fixedly connected to the middle of the multiple mounting holes (19).

3. The collision detection device for water immersion flaw detection according to claim 1, characterized in that, The reset assembly includes multiple mounting slots 1 (15) and multiple mounting slots 2 (16). The multiple mounting slots 1 (15) are respectively opened in the middle of the two lower brackets (3), and the multiple mounting slots 2 (16) are respectively opened in the middle of the multiple metal detection blocks (7). A tension spring (18) is provided between the multiple mounting slots 1 (15) and the multiple mounting slots 2 (16).

4. The collision detection device for water immersion flaw detection according to claim 1, characterized in that, The fixing component includes multiple connecting holes one (11) and multiple connecting holes two (12). The multiple connecting holes one (11) are respectively opened in the middle of the upper bracket (2), and the multiple connecting holes two (12) are respectively opened in the middle of the two lower brackets (3). The two upper brackets (2) and the two lower brackets (3) are all fixed to the outer periphery of the robotic arm (1) by bolts.

5. The collision detection device for water immersion flaw detection according to claim 2, characterized in that, The two lower supports (3) are provided with a groove (13) in the middle, and the metal detection block (7) is located in the middle of the groove (13).

6. The collision detection device for water immersion flaw detection according to claim 1, characterized in that, Each of the fixed ears (6) has a through hole (14) in the middle, the rotating shaft (5) is located in the middle of the through hole (14), the metal detection block (7) has a fixed hole (17) in the middle, and the rotating shaft (5) is located in the middle of the fixed hole (17).

7. The collision detection device for water immersion flaw detection according to claim 1, characterized in that, The contact rod (8) is located around the universal joint and is parallel to the direction of movement of the robotic arm (1).

8. The collision detection device for water immersion flaw detection according to claim 2, characterized in that, The sensor (4) is located above the metal detection block (7).

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