A device for detecting a surface paint layer of a rubber product

Abstract

The application discloses a rubber product surface paint layer detection device, and relates to the technical field of new material detection. The device comprises an integrated probe shell, a flexible tactile sensing layer, a composite force balance driving mechanism, an integrated in-situ light guiding and imaging mechanism and a signal processing module; the flexible tactile sensing layer is arranged at the bottom of the shell and is used for contacting a measured surface; the composite force balance driving mechanism is arranged in the shell and above the sensing layer, and is used for driving the sensing layer to adaptively focus and controlling the contact pressure between the sensing layer and the measured surface; the integrated in-situ light guiding and imaging mechanism is arranged in the shell and is independently opposite to the driving mechanism, and is used for acquiring the image of the measured surface covered by the sensing layer; and the signal processing module is arranged in the shell and is electrically connected with the sensing layer, the driving mechanism and the imaging mechanism. The device realizes the accurate control of the contact pressure and the accurate synchronous acquisition of the tactile and optical information in space.

Description

Technical Field

[0001] This invention relates to the field of new material testing technology, and more specifically, to a device for testing the coating layer on the surface of rubber products. Background Technology

[0002] Assessing the condition of the coating layer on rubber products, such as coating thickness, adhesion, and the presence of defects like cracking or peeling, is crucial for ensuring product quality. Existing surface inspection technologies are mainly divided into contact and non-contact inspections. Non-contact optical imaging technologies, such as machine vision, can quickly acquire surface images, but their image quality is easily affected by ambient light, surface reflectivity, and minute surface undulations, limiting their ability to assess subsurface defects or conditions related to substrate adhesion. Contact tactile sensing technologies, such as probe scanning, can accurately sense surface morphology and microhardness, but they are typically slow, and sharp probes can scratch soft coating surfaces. To combine the advantages of both, some technical solutions attempt to mechanically integrate optical imaging units with contact sensing probes.

[0003] However, such integrated devices often face the following challenges: First, it is difficult to accurately and stably control the contact pressure between the sensing probe and the surface being tested during the detection process. Insufficient pressure can lead to poor contact and inaccurate data, while excessive pressure may damage the paint layer or cause relative displacement between the probe and the imaging components. Second, the optical imaging path and the contact sensing module are usually independent mechanical structures. When the probe is pressed against the surface, the two are prone to slight relative misalignment, resulting in the optical imaging area and the tactile sensing area not being precisely aligned, i.e., what is "seen" is not what is "touched," and the accuracy of data fusion decreases. Third, in order to achieve pressure adjustment and buffering, the mechanism is often complex and bulky, which is not conducive to flexible deployment and detection on the field or on complex curved workpieces. Summary of the Invention

[0004] The purpose of this invention is to solve the problems mentioned in the background art, and thus proposes a device for detecting the paint layer on the surface of rubber products.

[0005] The technical solution adopted by this invention to solve its technical problem is: A device for detecting the coating layer on the surface of rubber products includes an integrated probe housing, a flexible tactile sensing layer, a composite force balance drive mechanism, an integrated in-situ light guide and imaging mechanism, and a signal processing module. The integrated probe housing is a cylindrical hollow structure with an embedded mounting cavity inside its side wall. The flexible tactile sensing layer is disposed at the bottom of the integrated probe housing for contacting and adhering to the surface to be measured. The composite force balance drive mechanism is disposed within the integrated probe housing and above the flexible tactile sensing layer, for driving the flexible tactile sensing layer to perform adaptive focusing and controlling the contact pressure between it and the surface to be measured. The integrated in-situ light guide and imaging mechanism are disposed within the integrated probe housing and are relatively independent of the composite force balance drive mechanism, for acquiring an image of the surface to be measured covered by the flexible tactile sensing layer. The signal processing module is disposed within the integrated probe housing and is electrically connected to the flexible tactile sensing layer, the composite force balance drive mechanism, and the integrated in-situ light guide and imaging mechanism.

[0006] Furthermore, the composite force balance drive mechanism includes a servo drive, a force balance assembly, a floating platform, and a pressure sensor; there are two servo drive units, and their output ends are respectively connected to the first end of a set of the force balance assemblies, the second ends of the two sets of the force balance assemblies are connected to the floating platform, and the pressure sensor is disposed between the floating platform and the flexible tactile sensing layer; the floating platform is internally connected to the integrated probe housing through an elastic support member.

[0007] Furthermore, the force balancing assembly includes an active pendulum and a four-bar linkage; the output end of the servo drive is connected to the active pendulum; the upper end of the four-bar linkage is hinged to the active pendulum, and the lower end of the four-bar linkage is hinged to the floating platform.

[0008] Furthermore, the active swing arm is a T-shaped rod, with its vertical part hinged to the output end of the servo drive component and its two ends of its horizontal part hinged to the four-bar linkage; the four-bar linkage includes two parallel upper links, two parallel lower links, and a central swing arm; one end of the upper link is hinged to both ends of the horizontal part of the active swing arm, and the other end is hinged to the top of the central swing arm; one end of the lower link is hinged to the bottom of the central swing arm, and the other end is hinged to the floating platform.

[0009] Furthermore, the floating platform has a ring-shaped structure; the elastic support is an array of ring-shaped elastic elements disposed between the floating platform and the integrated probe housing; and the array of ring-shaped elastic elements is an array of disc springs, which are uniformly distributed circumferentially.

[0010] Furthermore, the integrated in-situ light guiding and imaging mechanism includes a light guiding beam splitter prism group and a light source; the light guiding beam splitter prism group is disposed inside the integrated probe housing and above the flexible tactile sensing layer; the light source is disposed on the side of the light guiding beam splitter prism group, and the light emitted by it is reflected by the light guiding beam splitter prism group and then emitted vertically downward.

[0011] Furthermore, the light-guiding beam-splitting prism assembly includes a right-angled triangular prism and an isosceles right-angled prism, with the right-angled triangular prism and the isosceles right-angled prism optically bonded together; the light source is a ring-shaped light source, which is fitted around the periphery of the light-guiding beam-splitting prism assembly.

[0012] Furthermore, the integrated in-situ light guiding and imaging mechanism also includes an imaging element, which is fixed inside the integrated probe housing and whose optical axis is aligned with the light guiding beam splitter assembly.

[0013] Furthermore, the flexible tactile sensing layer includes a highly elastic light-transmitting film and multiple displacement sensors; a contact array is provided at the bottom of the highly elastic light-transmitting film; the displacement sensors are located below the contact array or embedded inside the contact array; the top center of the highly elastic light-transmitting film is connected to the pressure sensor of the composite force balance drive mechanism, and its edge is connected to the bottom of the integrated probe housing through a flexible connector.

[0014] Furthermore, it also includes a light guide element embedded within the flexible tactile sensing layer, the light guide element being connected to the light source of the integrated in-situ light guide and imaging mechanism.

[0015] Compared with the prior art, the beneficial effects of the present invention are: This invention first achieves precise and adaptive control of contact pressure through a composite force-balancing drive mechanism. A servo drive unit propels a floating platform via a force-balancing assembly, and the floating platform is flexibly connected to the housing via an elastic support, forming a force-balancing system. A pressure sensor monitors and provides feedback on the contact pressure between the flexible tactile sensing layer and the measured surface in real time. When the contact pressure deviates from the set value, the servo drive unit activates, adjusting the height of the floating platform via a four-bar linkage and other force-balancing components, thereby changing the contact pressure. During this process, the elastic support provides the primary axial elasticity, not only buffering external impacts and preventing damage to internal precision components, but also working in conjunction with the drive system to allow the flexible tactile sensing layer to adaptively conform to the measured surface with slight undulations or unevenness, ensuring stable contact and constant pressure. This fundamentally solves the problems of imprecise contact pressure control, easy surface damage, or inaccurate data in traditional devices.

[0016] Secondly, through the collaborative design of an integrated in-situ light guide and imaging mechanism and a flexible tactile sensing layer, precise synchronous acquisition of tactile and optical information in space and time is achieved. The integrated in-situ light guide and imaging mechanism is fixed to the housing independently of the composite force-balanced drive mechanism, ensuring a stable optical reference. Light is projected vertically downwards through the light guide and beam-splitting prism assembly, passing through the transparent flexible tactile sensing layer and illuminating the same measured surface area covered by it. Simultaneously, the imaging element acquires an image of this area through the same or coaxial optical path. Because the flexible tactile sensing layer is transparent and closely adheres to the measured surface, optical imaging is unaffected, and the imaging area completely overlaps with the area in direct contact with the tactile sensing layer. This ensures that under any contact pressure, the acquired optical image and tactile morphology information strictly correspond to the same microscopic area of ​​the measured surface, solving the data alignment problem of "what is seen" not "what is touched," and laying the foundation for subsequent accurate evaluation based on multimodal information fusion.

[0017] Finally, the entire device is highly integrated into a single probe housing, with a compact layout of a composite force-balanced drive mechanism, an integrated in-situ light guide and imaging mechanism, a flexible tactile sensing layer, and a signal processing module. This integrated design makes the device small and robust, easy to handhold or integrate into automated equipment, and suitable for on-site, online, or complex curved surface workpiece inspection scenarios, overcoming the disadvantages of traditional combined devices being bulky and difficult to deploy. Attached Figure Description

[0018] Figure 1 This is a cross-sectional view of the internal structure of the surface paint layer detection device provided in an embodiment of the present invention; The components include: 1. Integrated probe housing; 11. Embedded mounting cavity; 2. Flexible tactile sensing layer; 21. High-elasticity light-transmitting film; 22. Contact array; 23. Displacement sensor; 24. Flexible connector; 25. Light guide element; 3. Composite force balance drive mechanism; 31. Servo drive component; 32. Force balance assembly; 321. Active swing arm; 322. Four-bar linkage; 3221. Upper link; 3222. Lower link; 3223. Central swing arm; 33. Floating platform; 34. Pressure sensor; 35. Elastic support component; 351. Annular elastic element array; 4. Integrated in-situ light guiding and imaging mechanism; 41. Light guiding and beam splitting prism group; 411. Right-angle triangular prism; 412. Isosceles right-angle prism; 42. Light source; 43. Imaging component; 5. Signal processing module. Detailed Implementation

[0019] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort should fall within the scope of protection of the present application.

[0020] This invention provides a device for detecting the surface coating of rubber products, which is particularly suitable for surface quality inspection of new materials with soft coatings or coatings in industrial fields such as automobiles and consumer electronics. This device can stably, non-destructively, and with high precision simultaneously acquire optical image information and three-dimensional tactile information of the surface in complex curved surfaces or on-site environments, enabling a comprehensive assessment of defects such as coating thickness, adhesion, cracks, and bubbles.

[0021] like Figure 1 As shown, an embodiment of the present invention provides a device for detecting the paint layer on the surface of rubber products, including an integrated probe housing 1, a flexible tactile sensing layer 2, a composite force balance drive mechanism 3, an integrated in-situ light guiding and imaging mechanism 4, and a signal processing module 5.

[0022] The integrated probe housing 1 provides mechanical support and protection for the entire device. The flexible tactile sensing layer 2 is located at the bottom of the integrated probe housing 1, allowing direct contact and close contact with the surface being measured. The composite force-balancing drive mechanism 3 is located within the integrated probe housing 1 and above the flexible tactile sensing layer 2. Its function is to drive the flexible tactile sensing layer 2 to perform adaptive focusing motion and precisely control the contact pressure between it and the surface being measured. The integrated in-situ light guide and imaging mechanism 4 is also located within the integrated probe housing 1, but it is mechanically independent of the composite force-balancing drive mechanism 3. Its function is to acquire optical images of the same surface being measured, covered by the flexible tactile sensing layer 2. The signal processing module 5 is also located within the integrated probe housing 1 and is electrically connected to the flexible tactile sensing layer 2, the composite force-balancing drive mechanism 3, and the integrated in-situ light guide and imaging mechanism 4. It is used to receive, process, and fuse multi-source sensor data. This integrated structural design ensures that the data acquisition references for optical imaging and tactile sensing are highly consistent in space. At the same time, the independent force balance drive mechanism ensures the accuracy and stability of the contact pressure, effectively solving the problems of difficult alignment of optical and tactile data and poor pressure control in traditional solutions.

[0023] In this embodiment, the composite force-balancing drive mechanism 3 includes a servo drive 31, a force-balancing assembly 32, a floating platform 33, and a pressure sensor 34. There are two servo drive units 31, each with its output end connected to the first end of a set of force-balancing assemblies 32. The second ends of both sets of force-balancing assemblies 32 are connected to the floating platform 33. The pressure sensor 34 is positioned between the floating platform 33 and the flexible tactile sensing layer 2. The floating platform 33 is connected to the interior of the integrated probe housing 1 via an elastic support 35. Specifically, the servo drive 31 can be a miniature servo cylinder or a high-precision linear motor. When the device is working, the servo drive 31 drives the force-balancing assembly 32 according to the instructions issued by the signal processing module 5, thereby causing the floating platform 33 to move up and down. The pressure sensor 34 monitors the force applied by the floating platform 33 to the flexible tactile sensing layer 2 in real time and converts it into an electrical signal, feeding it back to the signal processing module 5. The signal processing module 5 compares the real-time pressure value with a preset target pressure value, generates a control signal to adjust the action of the servo drive 31, thus forming a closed-loop pressure control system. The elastic support 35 not only provides flexible, recoverable support for the floating platform 33, but also buffers external vibrations and impacts, protecting the internal precision mechanisms. This combined design allows the flexible tactile sensing layer 2 to adaptively conform to the measured surface with minute undulations under constant, controllable pressure.

[0024] Specifically, the force balancing assembly 32 includes an active pendulum 321 and a four-bar linkage 322. The output end of the servo drive 31 is connected to the active pendulum 321. The upper end of the four-bar linkage 322 is hinged to the active pendulum 321, and the lower end of the four-bar linkage 322 is hinged to the floating platform 33. The active pendulum 321 converts the linear motion of the servo drive 31 into oscillation. In a preferred embodiment, the active pendulum 321 is a T-shaped bar. The vertical part of the T-shaped bar is hinged to the output end of the servo drive 31, and the two ends of its horizontal part are respectively hinged to the two upper linkages 3221 of the four-bar linkage 322. This T-shaped structure can symmetrically drive the four-bar linkages 322 on both sides, ensuring balanced force transmission and preventing the floating platform 33 from experiencing uneven loading and jamming. Figure 1 Besides the structure shown, the active lever 321 can also be designed in other forms, such as a simple straight lever or an L-shaped lever. The advantage of the T-shaped lever over a simple straight lever is that it can provide two symmetrical drive points, making the force on the floating platform 33 more uniform and the movement smoother, thereby improving the stability and accuracy of pressure control.

[0025] In this embodiment, the four-bar linkage 322 includes two parallel upper links 3221, two parallel lower links 3222, and a central swing arm 3223. One end of the upper links 3221 is hinged to the active swing arm 321, and the other end is hinged to the top of the central swing arm 3223. One end of the lower links 3222 is hinged to the bottom of the central swing arm 3223, and the other end is hinged to the floating platform 33. The central swing arm 3223 can be a cross-shaped or X-shaped structure. When the active swing arm 321 moves up and down, it drives the central swing arm 3223 to swing through the upper links 3221, and the central swing arm 3223 then drives the floating platform 33 to move through the lower links 3222. This four-bar linkage plus central pendulum 3223 structure can efficiently and with low friction transmit the vertical displacement of the servo drive 31 to the floating platform 33, while allowing the floating platform 33 to have a small horizontal floating degree of freedom when moving vertically, so as to adapt to the slight misalignment that may occur when the probe contacts the surface being measured, and avoid rigid impact.

[0026] In this embodiment, the floating platform 33 has a ring-shaped structure. The elastic support 35 is a ring-shaped elastic element array 351 disposed between the side edge of the floating platform 33 and the interior of the integrated probe housing 1. The ring-shaped structure facilitates cooperation with the ring-shaped elastic element array 351 to achieve circumferentially uniform elastic support. Specifically, the ring-shaped elastic element array 351 is a disc spring array, which is uniformly distributed circumferentially. For example, eight sets of stacked disc springs can be uniformly arranged circumferentially. Disc springs have the characteristics of high stiffness, small deformation, and high load-bearing capacity. Their array can not only provide stable and adjustable axial elastic force, but also form a force balance system together with the servo drive 31, and effectively absorb impacts and vibrations from all directions. The ring-shaped elastic element array 351 can also take other forms, such as multiple helical springs or elastic rubber columns uniformly arranged circumferentially. The advantage of the disc spring array over the helical spring array is that it occupies less axial space, and its stiffness nonlinear characteristics are more suitable for achieving initial preload and precise force-displacement control, which is beneficial for the miniaturization of the device.

[0027] In this embodiment, the integrated in-situ light guiding and imaging mechanism 4 includes a light guiding and beam splitting prism group 41 and a light source 42. The light guiding and beam splitting prism group 41 is disposed inside the integrated probe housing 1 and above the flexible tactile sensing layer 2. The light source 42 is disposed on the side of the light guiding and beam splitting prism group 41, and the light emitted from it is reflected by the light guiding and beam splitting prism group 41 and then emitted vertically downward. Specifically, the light guiding and beam splitting prism group 41 may include a right-angled triangular prism 411 and an isosceles right-angled prism 412, which are fixed together by optical bonding to form an optical unit. The light source 42 is a ring light source, such as a ring LED light source, which is sleeved around the light guiding and beam splitting prism group 41. The light emitted from the ring light source enters the inclined surface of the light guide beam splitter assembly 41 from the side. After internal total internal reflection or specular reflection, it is transformed into a vertically downward parallel or converging beam, which passes through the flexible tactile sensing layer 2 and illuminates the surface being measured, providing uniform frontal illumination. This coaxial illumination method can effectively reduce the interference of surface specular reflection on imaging, highlighting surface texture and microscopic morphological details. The arrangement of the light guide beam splitter assembly 41 and the light source 42 is not limited to this; other types of beam splitters or prism combinations, as well as point light sources combined with light guide columns, can also be used. The scheme using a cemented prism assembly and a ring light source has the advantages of a compact and stable optical path, ease of miniaturization, and good illumination uniformity.

[0028] Furthermore, the integrated in-situ light guiding and imaging mechanism 4 also includes an imaging element 43. The imaging element 43 is fixed inside the integrated probe housing 1, and its optical axis is aligned with the light guiding beam splitter assembly 41. The imaging element 43 can be a miniature industrial camera equipped with a fixed-focus or zoom lens. The imaging element 43 is fixed to the housing by a rigid bracket and has no direct mechanical connection with moving parts such as the floating platform 33, thus ensuring the absolute stability of its optical reference. The imaging light is reflected back from the surface under test, passes through the flexible tactile sensing layer 2 and the light guiding beam splitter assembly 41 again, and is finally captured by the imaging element 43. Since the illumination light path and the imaging light path are fused through the same set of light guiding beam splitter prisms 41, and the flexible tactile sensing layer 2 is transparent, the image area captured by the imaging element 43 is the area of ​​the surface under test directly below and in close contact with the flexible tactile sensing layer 2, achieving native spatial alignment between the optical image and the tactile information.

[0029] In this embodiment, the flexible tactile sensing layer 2 includes a highly elastic transparent film 21 and multiple displacement sensors 23. A contact array 22 is disposed at the bottom of the highly elastic transparent film 21. The displacement sensors 23 are disposed below or embedded within the contact array 22. The highly elastic transparent film 21 can be made of elastic materials such as transparent silicone or polyurethane, and its light transmittance ensures that overhead illumination light can pass through without interference. The contact array 22 can be a hemispherical, cylindrical, or other microstructure for discrete point contact with the surface being measured. The displacement sensors 23 can be miniature capacitive, inductive, or optical sensors for accurately measuring the minute displacement of each contact relative to the film substrate, thereby reconstructing the three-dimensional morphology of the surface being measured. By embedding the displacement sensors 23 inside the contacts, the sensing blind zone can be minimized, and the spatial resolution of the morphology measurement can be improved. The top of the highly elastic transparent film 21 is connected to the pressure sensor 34 of the composite force balance drive mechanism 3, and its edge is connected to the bottom of the integrated probe housing 1 via a flexible connector 24. The flexible connector 24 can be a flexible pleated ring or bellows, which allows the central part of the membrane to move up and down with the floating platform 33, while sealing and fixing the edge of the membrane to the housing to prevent dust and liquid from entering the probe.

[0030] In this embodiment, the integrated probe housing 1 is a cylindrical hollow structure, with an embedded mounting cavity 11 inside its side wall for mounting the signal processing module 5. The cylindrical structure facilitates handheld operation and integration into the end effector of a robotic arm. The embedded mounting cavity 11 makes full use of the space in the side wall of the housing, allowing the signal processing module 5 to be housed within it, further improving the integration and protection level of the device. The signal processing module 5 typically includes a microprocessor (such as an ARM or DSP chip), memory, an analog-to-digital converter, a motor drive circuit, and a communication interface (such as an Ethernet, USB, or wireless module), etc., which are well-known technologies to those skilled in the art, and their specific circuit configuration will not be described in detail here.

[0031] In this embodiment, the surface coating detection device may further include a light guide element 25 embedded within the flexible tactile sensing layer 2. The light guide element 25 is optically connected to the light source 42 of the integrated in-situ light guiding and imaging mechanism 4. The light guide element 25 may be a light guide fiber or a light guide plate embedded in the gaps of the contact array 22. Part of the light emitted from the light source 42 can be coupled into the light guide element 25 and emitted from the side or bottom of the contact, providing side or bottom supplementary lighting for the contact area between the contact and the surface being measured. This design can further optimize the illumination effect, such as enhancing the illumination of the edges of surface depressions or scratches, thereby obtaining a higher contrast image, which helps in defect identification.

[0032] It should be noted that the workflow of the signal processing module 5 typically includes: receiving and processing the feedback signal from the pressure sensor 34, controlling the servo drive 31 to stabilize the contact pressure at the set value; synchronously triggering the imaging device 43 to acquire images and reading the data from all displacement sensors 23; preprocessing the images (such as noise reduction, enhancement, and feature extraction), processing the displacement data to generate a surface three-dimensional point cloud or topography map; and finally, based on the pre-trained algorithm model, fusing optical image features and topography features to evaluate and classify the paint layer state (such as thickness uniformity, presence of peeling, cracks, etc.), and outputting the results.

[0033] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A device for detecting the paint layer on the surface of rubber products, characterized in that: include: Integrated probe housing (1); A flexible tactile sensing layer (2) is disposed at the bottom of the integrated probe housing (1) for contacting and adhering to the surface to be measured; A composite force balance drive mechanism (3) is disposed inside the integrated probe housing (1) and above the flexible tactile sensing layer (2), and is used to drive the flexible tactile sensing layer (2) to perform adaptive focusing and control the contact pressure between it and the surface being measured. An integrated in-situ light guiding and imaging mechanism (4) is set inside the integrated probe housing (1) and is relatively independent from the composite force balance drive mechanism (3) for acquiring an image of the surface under test covered by the flexible tactile sensing layer (2); The signal processing module (5) is disposed inside the integrated probe housing (1) and is electrically connected to the flexible tactile sensing layer (2), the composite force balance drive mechanism (3), and the integrated in-situ light guide and imaging mechanism (4).

2. The device for detecting the surface coating of rubber products according to claim 1, characterized in that: The composite force balance drive mechanism (3) includes a servo drive (31), a force balance component (32), a floating platform (33), and a pressure sensor (34); the output end of the servo drive (31) is connected to the first end of the force balance component (32), the second end of the force balance component (32) is connected to the floating platform (33), and the pressure sensor (34) is disposed between the floating platform (33) and the flexible tactile sensing layer (2); the floating platform (33) is connected to the interior of the integrated probe housing (1) through an elastic support (35).

3. The device for detecting the surface coating of rubber products according to claim 2, characterized in that: The force balancing assembly (32) includes an active pendulum (321) and a four-bar linkage (322); the output end of the servo drive (31) is connected to the active pendulum (321); the upper end of the four-bar linkage (322) is hinged to the active pendulum (321), and the lower end of the four-bar linkage (322) is hinged to the floating platform (33).

4. The device for detecting the surface coating of rubber products according to claim 3, characterized in that: The active swing arm (321) is a T-shaped rod, with its vertical part hinged to the output end of the servo drive (31) and its horizontal part hinged to the four-bar linkage (322) at both ends. The four-bar linkage (322) includes two parallel upper links (3221), two parallel lower links (3222), and a central swing arm (3223). One end of the upper link (3221) is hinged to both ends of the horizontal part of the active swing arm (321), and the other end is hinged to the top of the central swing arm (3223). One end of the lower link (3222) is hinged to the bottom of the central swing arm (3223), and the other end is hinged to the floating platform (33).

5. The device for detecting the surface coating of rubber products according to claim 4, characterized in that: The floating platform (33) has a ring-shaped structure; the elastic support (35) is an array of ring-shaped elastic elements (351) disposed between the floating platform (33) and the integrated probe housing (1); and the array of ring-shaped elastic elements (351) is a disc spring array, which is uniformly distributed along the circumference.

6. The device for detecting the surface coating of rubber products according to claim 5, characterized in that: The integrated in-situ light guiding and imaging mechanism (4) includes a light guiding beam splitter prism group (41) and a light source (42); the light guiding beam splitter prism group (41) is disposed inside the integrated probe housing (1) and located above the flexible tactile sensing layer (2); the light source (42) is disposed on the side of the light guiding beam splitter prism group (41), and the light emitted by it is reflected by the light guiding beam splitter prism group (41) and then emitted vertically downward.

7. The device for detecting the surface coating of rubber products according to claim 6, characterized in that: The light guide beam splitter prism group (41) includes a right-angled triangular prism (411) and an isosceles right-angled prism (412), and the right-angled triangular prism (411) and the isosceles right-angled prism (412) are optically bonded together; the light source (42) is a ring light source (42), which is sleeved on the periphery of the light guide beam splitter prism group (41).

8. The device for detecting the surface coating of rubber products according to claim 6, characterized in that: The integrated in-situ light guiding and imaging mechanism (4) also includes an imaging element (43), which is fixed inside the integrated probe housing (1) and whose optical axis is aligned with the light guiding beam splitter group (41).

9. The device for detecting the surface coating of rubber products according to claim 6, characterized in that: The flexible tactile sensing layer (2) includes a highly elastic transparent film (21) and multiple displacement sensors (23); a contact array (22) is provided at the bottom of the highly elastic transparent film (21); the displacement sensors (23) are located below the contact array (22) or embedded inside the contact array (22); the top center of the highly elastic transparent film (21) is connected to the pressure sensor (34) of the composite force balance drive mechanism (3), and its edge is connected to the bottom of the integrated probe housing (1) through a flexible connector (24).

10. The device for detecting the surface coating of rubber products according to claim 9, characterized in that: It also includes a light guide element (25) embedded inside the flexible tactile sensing layer (2), which is optically connected to the light source (42) of the integrated in-situ light guide and imaging mechanism (4).

Images