Rope-driven infrared detection system in narrow and limited space

Abstract

The utility model provides a rope-driven infrared detection system in a narrow and limited space, and particularly belongs to the technical field of nondestructive testing. The redundant degree-of-freedom detection device and the infrared detection equipment are combined, so that the application scene of the infrared detection equipment is expanded; rope transmission, a driving device and a laser excitation device are combined into a part, and a transmission device and a modular detection device are combined into a part, so that the equipment load is reduced, the motion precision is improved, heat of a thermal excitation source is prevented from being conducted to an equipment main body, and maintenance and replacement are facilitated. The device comprises a fixed guide rail and a driving base, and further comprises a laser excitation device and a redundant degree-of-freedom detection device, the redundant degree-of-freedom detection device is composed of a driving base and a redundant degree-of-freedom mechanical arm, the driving base is arranged on the fixed guide rail, a laser excitation device is arranged on one side of the driving base, the redundant degree-of-freedom mechanical arm is arranged on the other side of the driving base, and a modular detection device is arranged at the end of the redundant degree-of-freedom mechanical arm.

Description

Technical Field

[0001] This utility model relates to a rope-driven infrared detection system for use in confined spaces, specifically belonging to the field of non-destructive testing technology. Background Technology

[0002] Infrared non-destructive testing technology is a non-destructive testing method based on thermal imaging technology. It thermally excites an object without affecting its performance. Since local defects in an object can lead to uneven heat transfer, defects or anomalies can be detected by capturing the temperature distribution on the object's surface using infrared imaging equipment, and the size, location, and number of defects can be given.

[0003] Currently, commonly used infrared non-destructive testing excitation methods include photoelectric excitation, ultrasonic excitation, eddy current excitation, and hot air or hot air excitation. Among them, photoelectric excitation, which uses devices with high photothermal conversion efficiency such as lasers for heating, has the advantage of being able to precisely control the excitation position and intensity.

[0004] Infrared non-destructive testing equipment using lasers as thermal excitation is widely used in the field of non-destructive testing. The laser generating device transmits the laser to the laser lens through optical fiber, which allows the large and heavy laser generating device and laser lens to be separated. Automated testing equipment can carry only the laser lens for testing, which has a great advantage in realizing automated testing.

[0005] Existing fixed infrared detection equipment is inconvenient to carry due to the large size of the excitation source, especially in confined spaces and narrow passages. Portable infrared detection devices are limited by their lightweight design and low excitation power, which can only achieve small-area infrared detection. Their detection efficiency in large-scale scenes is low, and they are difficult to apply to scenes with narrow passages. Utility Model Content

[0006] The purpose of this invention is to provide a rope-driven infrared detection system for confined spaces, in order to solve the problem of automated detection of confined spaces by infrared detection systems.

[0007] To solve the above-mentioned technical problems, the technical solution adopted by this utility model is as follows: the new model includes a fixed guide rail and a drive base, and also includes a laser excitation device and a redundant degree of freedom detection device; the redundant degree of freedom detection device consists of a drive base and a redundant degree of freedom robotic arm, the drive base is set on the fixed guide rail, a laser excitation device is set on one side of the drive base, a redundant degree of freedom robotic arm is set on the other side of the drive base, and a modular detection device is set at the end of the redundant degree of freedom robotic arm.

[0008] Furthermore, the device can move linearly by using fixed guide rails, and the entire system supports multi-angle infrared detection in narrow and complex spaces.

[0009] The laser excitation device and the infrared detection device together form an infrared detection equipment. The laser excitation device transmits data through an optical fiber, which is connected to a collimating lens.

[0010] Furthermore, by integrating laser excitation and infrared image acquisition functions into one unit, the linear laser is reflected by a mirror and irradiates the surface of the object to be measured. As the detection device moves, the linear laser sweeps across the surface of the object to be measured, and the infrared camera captures the image and transmits it to the computer for processing.

[0011] The drive base includes a servo motor, a ball screw, a slider guide rail, and a pull plate. A ball screw is fixedly mounted on the output end of the servo motor. A pull plate is connected to the outer side of the ball screw, and the pull plate is positioned inside the slider guide rail. The slider guide rail is fixedly mounted within the drive base.

[0012] Furthermore, the linear movement of the wire drawing plate is ensured by using a slider guide rail.

[0013] The drive base also includes a set screw and a wire rope; a set screw is installed at one end of the pull plate, and the wire rope is fixedly connected to the pull plate by the set screw.

[0014] Furthermore, the device is driven by a steel wire rope.

[0015] The redundant degree-of-freedom robotic arm includes universal joints, an end effector plate, and fastening screws. The arm is connected to seven groups of links, each group having two degrees of freedom. One group of universal joints is connected to an end effector plate, which has mounting holes with fastening screws. The end effector plate is connected to an infrared detection device via these mounting holes and fastening screws.

[0016] Furthermore, the universal joint enables the redundant degree-of-freedom robotic arm to perform multi-angle movements.

[0017] The fixed guide rail and redundant degree-of-freedom detection device are made of aluminum alloy.

[0018] Furthermore, this makes the overall weight of the device lighter.

[0019] The beneficial effects of this utility model are:

[0020] 1. By combining the redundant degree-of-freedom detection device and the infrared detection equipment through rope drive, the application scenarios of the infrared detection equipment are expanded; by adopting rope transmission, the driving device and the laser excitation device are combined into one part, and the transmission device and the modular detection device are combined into one part, which reduces the equipment load, improves motion accuracy, avoids the heat of the thermal excitation source from being conducted to the main body of the equipment, and facilitates maintenance and replacement. Attached Figure Description

[0021] Figure 1This is a schematic diagram of the overall structure of this utility model;

[0022] Figure 2 This is a schematic diagram of the ball screw structure of this utility model;

[0023] Figure 3 This is a schematic diagram of the end connecting disc structure of this utility model;

[0024] Figure 4 This is a schematic diagram of the universal joint structure of this utility model;

[0025] Figure 5 This is a schematic diagram of the drive base structure of this utility model.

[0026] 1. Laser excitation device; 2. Drive base; 3. Redundant degree-of-freedom robotic arm; 4. Modular detection device; 5. Servo motor; 6. Ball screw; 7. Slider guide rail; 8. Pull plate; 9. Set screw; 10. Wire rope; 11. Universal joint; 12. End connector; 13. Fastening screw. Detailed Implementation

[0027] The following will be combined with the appendix Figure 1-5 The technical solutions in the embodiments are described clearly and completely.

[0028] Specific implementation method one: as follows Figure 1 As shown, the system consists of four parts: a laser excitation device 1, a drive base 2, a redundant degree-of-freedom robotic arm 3, and a modular detection device 4. The drive base 2 is slidably mounted on a fixed guide rail, enabling the device to move linearly. The drive base 2 and the redundant degree-of-freedom robotic arm 3 are connected by a steel wire rope 10. The drive base 2 can control the movement of the redundant degree-of-freedom robotic arm 3 in different directions. An infrared detection device is fixedly connected to the end connecting plate of the redundant degree-of-freedom robotic arm 3 by fastening screws, so that the entire system supports multi-angle infrared detection in narrow channels and complex spaces.

[0029] The laser excitation device 1 and the infrared detection device together form an infrared detection device, integrating laser excitation and infrared image acquisition functions. The laser excitation device 1 transmits through an optical fiber, which is connected to a collimating lens. When the laser reaches the end of the detection system, it forms a straight line with uniform density after passing through the collimating lens and the Powell prism. After being reflected by a mirror, the linear laser irradiates the surface of the object to be measured. As the detection device moves, the linear laser sweeps across the surface of the object to be measured. The infrared camera captures the image and transmits it to the computer for processing.

[0030] Specific implementation method two: such as Figure 2-5As shown, a ball screw 6 is fixedly connected to the output shaft end of the servo motor 5. The servo motor 5 can drive the ball screw 6 to rotate synchronously. The pull plate 8 is threadedly connected to the ball screw 6, so the ball screw 6 can drive the pull plate 8 to move linearly. A slider guide rail 7 is slidably provided on the inner side of the pull plate 8. The slider guide rail 7 makes the movement of the pull plate 8 more stable. The pull plate 8 and the wire rope 10 can be fastened by the set screw 9, so that the pull plate 8 can drive the wire rope 10 to drive the rope, thereby controlling the redundant degree of freedom detection device.

[0031] The redundant degree-of-freedom robotic arm 3 is composed of universal joints 11 and arm links connected together. The universal joints 11 connect each arm link, and each joint has two degrees of freedom, resulting in a total of 7 movable arm links. The last set of universal joints 11 is connected to a movable end plate 12. The end plate 12 has mounting holes, and the end plate 12 is stably connected to the infrared detection device by fastening screws 13. The entire infrared detection system has 17 degrees of freedom, and the maximum diameter of the detection part is 92 mm, which can be used for detection in narrow passages and complex interior spaces. All components of the device are made of lightweight aluminum alloy, and the total weight of the machine is 50 kg. The redundant degree-of-freedom robotic arm 3 and the modular detection device 4 weigh less than 7 kg, which reduces the load on the equipment, improves the motion accuracy, avoids the heat of the thermal excitation source from being conducted to the main body of the equipment, and facilitates maintenance and replacement.

[0032] The above description is merely a preferred embodiment of the present utility model and is not intended to limit the present utility model in any way. Although the present utility model has been disclosed above with reference to a preferred embodiment, it is not intended to limit the present utility model. Any person skilled in the art can make some modifications or alterations to the above-disclosed technical content to create equivalent embodiments without departing from the scope of the present utility model's technical solution. Any simple modifications, equivalent substitutions, and improvements made to the above embodiments without departing from the scope of the present utility model's technical solution, based on the technical essence of the present utility model and within the spirit and principles of the present utility model, shall still fall within the protection scope of the present utility model's technical solution.

Claims

1. A rope-driven infrared detection system for confined spaces, comprising a fixed guide rail and a drive base (2), characterized in that, It also includes a laser excitation device (1) and a redundant degree-of-freedom detection device; The redundant degree of freedom detection device consists of a drive base (2) and a redundant degree of freedom robotic arm (3). The drive base (2) is set on a fixed guide rail. A laser excitation device (1) is set on one side of the drive base (2), and a redundant degree of freedom robotic arm (3) is set on the other side of the drive base (2). A modular detection device (4) is set at the end of the redundant degree of freedom robotic arm (3).

2. The rope-driven infrared detection system for confined spaces according to claim 1, characterized in that, The laser excitation device (1) and the infrared detection device together form an infrared detection device. The laser excitation device (1) transmits through an optical fiber, which is connected to the collimating lens.

3. The rope-driven infrared detection system for confined spaces according to claim 1, characterized in that, The redundant degree-of-freedom robotic arm (3) includes a universal joint (11), an end effector (12), and fastening screws (13); The redundant degree-of-freedom robotic arm (3) is connected to the arm via a universal joint (11). The arm is configured with seven sets, each of which has two degrees of freedom. One set of universal joints (11) is connected to an end connection plate (12) at one end. The end connection plate (12) has a mounting hole and a fastening screw (13) is installed in the mounting hole. The end connection plate (12) is connected to the infrared detection device through the mounting hole and the fastening screw (13).

4. The rope-driven infrared detection system for confined spaces according to claim 1, characterized in that, The drive base (2) includes a servo motor (5), a ball screw (6), a slider guide rail (7), and a pull plate (8); A ball screw (6) is fixedly installed at the output end of the servo motor (5). A pull plate (8) is connected to the outside of the ball screw (6). The pull plate (8) is installed inside the slider guide rail (7). The slider guide rail (7) is fixedly installed inside the drive base (2).

5. The rope-driven infrared detection system for confined spaces according to claim 1, characterized in that, The drive base (2) also includes a set screw (9) and a wire rope (10); A set screw (9) is installed at one end of the pull plate (8), and a steel wire rope (10) is fixedly connected to the pull plate (8) by the set screw (9).

6. The rope-driven infrared detection system for confined spaces according to claim 1, characterized in that, The fixed guide rail and redundant degree-of-freedom detection device are made of aluminum alloy.

Images