Platform height control system for magnetic powder robot

Abstract

The utility model discloses a platform height control system for a magnetic powder robot, which comprises a main control module used for determining a platform motion event of a flaw detection platform relative to a workpiece to be detected according to torque information from a height adjusting module and generating a motor control signal used for adjusting the height of the flaw detection platform based on the platform motion event; and the height adjusting module is used for adjusting the rotation angle of the internal driving motor according to the motor control signal so as to adjust the height of the flaw detection platform. The height of the flaw detection platform can be adaptively controlled, and the problem that the flaw detection platform cannot be attached to the surface of a workpiece to be detected due to manual adjustment of the flaw detection platform is solved.

Description

Technical Field

[0001] This utility model relates to the field of special inspection technology, and in particular to a platform height control system for a magnetic powder robot. Background Technology

[0002] Currently, the suspension devices of existing flaw detection platforms still require manual adjustment of the platform height. Before formal use, the platform height needs to be manually adjusted to the height of the workpiece curvature. During use, it cannot be dynamically and adaptively adjusted. Furthermore, when the workpiece curvature changes or the inner and outer arc surfaces of the surface to be tested are switched, the platform height still needs to be manually adjusted by personnel.

[0003] However, manually adjusting the height of the flaw detection platform can easily result in insufficient contact between the flaw detection device and the workpiece, thus affecting the flaw detection effect. Utility Model Content

[0004] The purpose of this invention is to provide a solution that allows for adaptive adjustment of the height of a flaw detection platform without requiring manual adjustment by the operator. This addresses the problem in the prior art where manual adjustment of the flaw detection platform height can easily result in insufficient contact between the flaw detection device and the workpiece, thus affecting the flaw detection effect.

[0005] To address the aforementioned technical problems, this utility model provides a platform height control system for a magnetic particle robot. The system includes: a measurement module, which generates a motor control signal for adjusting the distance between the flaw detection platform and the workpiece to be tested based on torque information from a height adjustment module; and the height adjustment module, which adjusts the rotation angle of an internal drive motor according to the motor control signal to adjust the height of the flaw detection platform.

[0006] Preferably, the measurement module includes: a communication unit for filtering the torque information to obtain filtered torque information; a processing unit for determining the target rotation angle required for the flaw detection platform to reach the target position based on the filtered torque information and generating a motor control signal; and a motor control unit for generating control commands for controlling each motor in the height adjustment module to reach the target rotation angle based on the motor control signal.

[0007] Preferably, the height adjustment module includes: a mounting platform for fixedly connecting at least one drive motor; multiple guide rods for supporting the mounting platform; the at least one drive motor having its output shaft connected to a linkage mechanism for adjusting the rotation angle via the control command to drive at least one movable module to move along the axial direction of the guide rods; and the at least one movable module configured corresponding to the drive motor for adjusting the interval distance between the flaw detection platform mounted on the at least one movable module and the target position of the workpiece to be tested by moving it.

[0008] Preferably, the height adjustment module further includes at least one workpiece adsorption device corresponding to the active module, the workpiece adsorption device being disposed on the edge side of the mounting platform, wherein the combination of the bottoms of all workpiece adsorption devices is used to construct the workpiece to be tested below the flaw detection platform.

[0009] Preferably, the workpiece adsorption device includes: a connecting mechanism, the first end of which passes through the mounting platform and is fixedly connected to the mounting platform; adsorption components disposed on both sides of the connecting mechanism, wherein the combination of the bottoms of all adsorption components in the workpiece adsorption device is used to adsorb the workpiece to be tested, so as to construct the workpiece to be tested below the flaw detection platform.

[0010] Preferably, the active module includes: a guide mechanism; and a linkage mechanism, one end of which is connected to the output shaft of the drive motor, for driving the guide mechanism to move along the axial direction of the guide rod when rotating.

[0011] Preferably, the linkage mechanism includes: a pin for connecting the links; at least two links, wherein the first end of the combined links is connected to the output shaft of the drive motor, and the second end is connected to the link fixing seat in the guide mechanism.

[0012] Preferably, the guiding mechanism includes: a connecting rod fixing seat, which is disposed on the first layer guiding platform and fixedly connected to the second end of the combined connecting rod arm; at least two inter-platform guide rods, the first end of which passes through the second layer guiding platform and is fixedly connected to the connecting rod fixing seat, and a guide rod terminal is provided at the end of the second end; a guiding platform constructed as a double-layer structure, under which the flaw detection platform is mounted by the at least two inter-platform guide rods and multiple guide rods, the second layer guiding platform is provided with at least two first-type through holes and at least two second-type through holes, wherein the inter-platform guide rods pass through the first-type through holes and penetrate the double-layer guiding platform, and the guide rods pass through the second-type through holes.

[0013] Preferably, the outer diameter of the platform guide rod is smaller than the inner diameter of the first type of through hole, the outer diameter of the guide rod terminal is larger than the inner diameter of the first type of through hole, and the inner diameter of the second type of through hole is larger than the outer diameter of the guide rod.

[0014] Preferably, the measuring module further includes an interface circuit, which is used to receive torque information fed back by each drive motor in the height adjustment module, and to forward the motor control signal to the corresponding drive motor.

[0015] Compared with the prior art, one or more embodiments of the above solutions may have the following advantages or beneficial effects:

[0016] This invention proposes a platform height control system for a magnetic particle robot. This system enables adaptive control of the flaw detection platform's height, avoiding the problem of the flaw detection platform failing to fit the surface of the workpiece during manual adjustment, thus affecting the flaw detection effect.

[0017] Other features and advantages of this invention will be set forth in the description which follows, and will be apparent in part from the description, or may be learned by practicing the invention. The objects and other advantages of this invention may be realized and obtained by means of the structures particularly pointed out in the description, claims, and drawings. Attached Figure Description

[0018] The accompanying drawings are provided to further illustrate the present invention and form part of the specification. They are used in conjunction with the embodiments of the present invention to explain the present invention, but do not constitute a limitation thereof. In the drawings:

[0019] Figure 1 This is a schematic diagram of the overall structure of the platform height control system for a magnetic powder robot according to an embodiment of the present invention.

[0020] Figure 2 This is a schematic diagram of the specific structure of the platform height control system for a magnetic powder robot according to an embodiment of the present invention.

[0021] Figure 3 This is a side view showing the specific structure of the height adjustment module in the platform height control system for a magnetic powder robot according to an embodiment of the present invention. Detailed Implementation

[0022] The following detailed description of the embodiments of this utility model, in conjunction with the accompanying drawings, will provide a thorough understanding of how this utility model uses technical means to solve technical problems and achieve technical effects, enabling its implementation. It should be noted that, provided there is no conflict, the various embodiments and features within them can be combined with each other, and all resulting technical solutions are within the protection scope of this utility model.

[0023] Furthermore, the steps illustrated in the flowcharts of the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Also, although a logical order is shown in the flowcharts, in some cases the steps shown or described may be performed in a different order than that shown here.

[0024] The terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments. Unless the context clearly indicates otherwise, the singular forms “a” and “an” as used herein are also intended to include the plural. It should also be understood that the terms “comprising” and / or “including” as used herein specify the presence of the stated features, integers, steps, operations, units, and / or components, without excluding the presence or addition of one or more other features, integers, steps, operations, units, components, and / or combinations thereof.

[0025] Currently, the suspension devices of existing flaw detection platforms still require manual adjustment of the platform height. Before formal use, the platform height needs to be manually adjusted to the height of the workpiece curvature. During use, it cannot be dynamically and adaptively adjusted. Furthermore, when the workpiece curvature changes or the inner and outer arc surfaces of the surface to be tested are switched, the platform height still needs to be manually adjusted by personnel.

[0026] However, manually adjusting the height of the flaw detection platform can easily result in insufficient contact between the flaw detection device and the workpiece, thus affecting the flaw detection effect.

[0027] Figure 1 This is a schematic diagram of the overall structure of the platform height control system for a magnetic powder robot platform according to an embodiment of this application. Figure 2 This is a schematic diagram of the specific structure of the platform height control system for a magnetic powder robot platform according to an embodiment of this application. The following is in conjunction with... Figure 1 and Figure 2 The specific structure of the platform height control system for magnetic powder robots (hereinafter referred to as the "platform height control system") described in this embodiment of the present invention will be explained.

[0028] like Figure 1 As shown, the platform height control system includes: a measurement module A and a height adjustment module B.

[0029] The measuring module A is used to generate a motor control signal to adjust the distance between the flaw detection platform and the workpiece under test based on the torque information from the height adjustment module B.

[0030] The height adjustment module B is used to adjust the rotation angle of the internal drive motor B3 according to the motor control signal, so as to adjust the height of the flaw detection platform.

[0031] In one embodiment, reference Figure 2 The measurement module A includes: a communication unit A1, a processing unit A2, and a motor control unit A3.

[0032] Communication unit A1 filters the torque information to obtain filtered torque information. Processing unit A2 determines the target rotation angle required for the flaw detection platform to reach the target position based on the filtered torque information and generates motor control signals. Motor control unit A3 generates control commands based on the motor control signals to control each motor in the height adjustment module to reach the target rotation angle.

[0033] In this embodiment, interference signals may exist in the torque information of the height adjustment module B. Therefore, the communication unit A1 filters the torque information to obtain filtered torque information, which is denoted as M. OUT Specifically, communication unit A1 processes the torque information using the following expression:

[0034]

[0035] Where y(k) represents the filtered torque information at the current time k, y(k-1) represents the filtered torque information at the previous time, N represents the length of the filter, x(k) represents the torque information at the current time k, x(k-1) represents the torque information at the previous time, and x(kN) represents the torque information of the previous N times at the current time k.

[0036] In this embodiment, the target position is the location where the flaw detection platform and the workpiece under test can achieve close contact. The target rotation angle represents the rotation angle required for the drive motor B3 to reach the target position.

[0037] Optionally, the communication unit A1, the processing unit A2, and the motor control unit A3 are electrically connected through PCB traces.

[0038] In one embodiment, continue to refer to Figure 2 The measurement module A also includes: interface circuit A4.

[0039] Interface circuit A4 is used to receive torque information fed back from each drive motor B3 in height adjustment module B, and to forward motor control signals to the corresponding drive motor B3.

[0040] In one embodiment, reference Figure 2 The height adjustment module B includes: a mounting platform B1, a guide rod B2, a drive motor B3, and an active module B4 configured corresponding to the drive motor B3.

[0041] refer to Figure 3 There are multiple guide rods B2. There are multiple drive motors B3, and the output shaft of the drive motor B3 is connected to the linkage mechanism. There is at least one movable module B4 configured corresponding to the drive motor B3.

[0042] A mounting platform B1 is used to fix at least one drive motor B3. A combination of multiple guide rods B2 is used to support the mounting platform B1. The drive motor B3 is used to adjust its rotation angle via control commands to move at least one movable module B4 along the axial direction of the guide rods B2. The movable module B4 is used to adjust the interval distance between the flaw detection platform mounted on the at least one movable module B4 and the target position of the workpiece to be tested by movement.

[0043] Further, refer to Figure 3 The active module B4 includes a guide mechanism and a linkage mechanism. One end of the linkage mechanism is connected to the output shaft of the drive motor B3.

[0044] The linkage mechanism is used to drive the guide mechanism to move along the axial direction of the guide rod B2 when rotating.

[0045] Further, continue to refer to Figure 3 The linkage mechanism includes: a pin 1 and at least two linkage arms 2.

[0046] Pin 1 is used to connect the various connecting rod arms 2.

[0047] The first end of the connecting rod arm 2, assembled by the pin 1, is connected to the output shaft of the drive motor B3, and the second end is connected to the connecting rod fixing seat 3 in the guide mechanism.

[0048] Specifically, the linkage mechanism includes at least two articulated arms 2, which are connected by a pin 1. One end of the assembled linkage arm 2 is fixed to the output shaft of the drive motor B3, and can rotate freely by means of the pin 1.

[0049] Furthermore, the guiding mechanism includes: a connecting rod fixing seat 3, a platform guide rod 4, and a guiding platform 5.

[0050] See Figure 3 The guide platform 5 has a double-layer structure, including a first-layer guide platform 6 and a second-layer guide platform 7. The connecting rod fixing seat 3 is disposed on the first-layer guide platform 6 and is fixedly connected to the second end of the combined connecting rod arm 2, and a guide rod terminal 8 is provided at the end of the second end.

[0051] The flaw detection platform is mounted below the guide platform 5 via at least two inter-platform guide rods 4 and multiple guide rods B2. Furthermore, the second-layer guide platform 7 is equipped with at least two first-type through holes and at least two second-type through holes.

[0052] In this embodiment, the inter-platform guide rod 4 passes through the first type of through hole in the double-layered guide platform 5, and the guide rod B2 passes through the second type of through hole.

[0053] Specifically, the outer diameter of the platform guide rod 4 is smaller than the inner diameter of the first type of through hole, and the outer diameter of the guide rod terminal 8 is larger than the inner diameter of the first type of through hole, so that the platform guide rod 4 is fixedly mounted on the first layer guide platform 6. The inner diameter of the second type of through hole is larger than the outer diameter of the guide rod B2, so that the guide platform 5 can move along the axial direction of the guide rod B2.

[0054] Specifically, the guiding mechanism includes: an inter-platform guide rod 4, which is fixedly connected to a connecting rod fixing 3. The connecting rod fixing seat 3 is installed on the guide platform 5, connected to the second end of the connecting rod arm 2, and can rotate freely.

[0055] Optionally, the guide mechanism also includes a linear bearing 9. The linear bearing 9 is mounted on the second guide platform 7 to reduce friction during the axial movement of the second guide platform 7 along the guide rod B2.

[0056] Optionally, the guide platform 5 further includes: a horizontal sub-platform disposed in the horizontal direction and a vertical sub-platform perpendicular to the horizontal sub-platform. The flaw detection device is disposed between at least two vertical sub-platforms.

[0057] In one embodiment, reference Figure 3 The height adjustment module B further includes at least one workpiece adsorption device B5 corresponding to the movable module B4. This workpiece adsorption device is located on the edge side of the mounting platform B1. The combination of the bottoms of all workpiece adsorption devices B5 is used to position the workpiece to be tested below the flaw detection platform.

[0058] Furthermore, the workpiece adsorption device B5 includes a connecting mechanism 10 and an adsorption assembly 11. The adsorption assembly 11 is disposed on both sides of the connecting mechanism 10.

[0059] The first end of the connecting mechanism 10 passes through the mounting platform B1 and is fixedly connected to the mounting platform B1.

[0060] All adsorption components 11 in the workpiece adsorption device B5 are combined to achieve adsorption of the workpiece to be tested, so as to construct the workpiece to be tested below the flaw detection platform.

[0061] Thus, in this embodiment of the invention, when the drive motor B3 outputs the adjusted rotation angle, the first layer guide platform 6 moves along the axial direction of the platform guide rod 4, and drives the second layer guide platform 7 to slide along the axial direction of the guide rod B2 through the guide rod terminal 8 at the lower end of the platform guide rod 4, thereby realizing the height adjustment of the flaw detection platform.

[0062] This invention proposes a platform height control system for a magnetic particle robot. This system enables adaptive control of the flaw detection platform's height, avoiding the problem of the flaw detection platform failing to fit the surface of the workpiece during manual adjustment, thus affecting the flaw detection effect.

[0063] The above description is merely a preferred embodiment of this utility model, but the protection scope of this utility model is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this utility model should be included within the protection scope of this utility model. Therefore, the protection scope of this utility model should be determined by the scope of the claims.

[0064] In the description of this utility model, unless otherwise stated, "a plurality of" means two or more; the terms "upper," "lower," "left," "right," "inner," "outer," "front end," "rear end," "head," "tail," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model. In addition, the terms "first," "second," "third," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0065] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "connected" and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0066] It should be understood that the embodiments disclosed herein are not limited to the specific structures, processing steps, or materials disclosed herein, but should be extended to equivalent substitutions of these features as understood by those skilled in the art. It should also be understood that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting.

[0067] The phrase "an embodiment" or "an embodiment" used in this specification means that a specific feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the present invention. Therefore, the phrase "an embodiment" or "an embodiment" appearing in various places throughout the specification does not necessarily refer to the same embodiment.

[0068] Although the embodiments disclosed in this utility model are as described above, the content is merely for the purpose of facilitating understanding of this utility model and is not intended to limit this utility model. Any person skilled in the art to which this utility model pertains may make any modifications and changes in the form and details of the implementation without departing from the spirit and scope disclosed in this utility model; however, the scope of patent protection of this utility model shall still be determined by the scope defined in the appended claims.

Claims

1. A platform height control system for a magnetic particle robot, characterized in that, include: The measuring module is used to generate a motor control signal for adjusting the distance between the flaw detection platform and the workpiece under test based on the torque information from the height adjustment module. The height adjustment module is used to adjust the rotation angle of the internal drive motor according to the motor control signal, so as to adjust the height of the flaw detection platform. The height adjustment module includes: Mounting platform, which is used to fix at least one drive motor; Multiple guide rods are used to support the mounting platform; The at least one drive motor has its output shaft connected to a linkage mechanism in the movable module, and is used to adjust the rotation angle through the motor control signal so as to drive at least one movable module to move along the axial direction of the guide rod. The at least one movable module configured corresponding to the drive motor is used to adjust the interval distance between the flaw detection platform mounted on the at least one movable module and the target position of the workpiece to be tested by moving. The activity module includes: Guiding mechanism; A linkage mechanism, one end of which is connected to the output shaft of the drive motor, is used to drive the guide mechanism to move along the axial direction of the guide rod when rotating.

2. The platform height control system according to claim 1, characterized in that, The measurement module includes: A communication unit is used to filter the torque information to obtain filtered torque information; The processing unit is used to determine the target rotation angle required for the flaw detection platform to reach the target position based on the filtered torque information and to generate a motor control signal; The motor control unit is used to generate control commands based on the motor control signals to control each motor in the height adjustment module to reach the target rotation angle.

3. The platform height control system according to claim 1, characterized in that, The height adjustment module also includes: At least one workpiece adsorption device is provided corresponding to the active module. The workpiece adsorption device is located on the edge side of the mounting platform, wherein the combination of the bottoms of all workpiece adsorption devices is used to construct the workpiece to be tested below the flaw detection platform.

4. The platform height control system according to claim 3, characterized in that, The workpiece adsorption device includes: A connecting mechanism, the first end of which passes through the mounting platform and is fixedly connected to the mounting platform; The adsorption components arranged on both sides of the connecting mechanism, and the combination of the bottom of all adsorption components in all workpiece adsorption devices, are used to adsorb the workpiece to be tested, so as to construct the workpiece to be tested under the flaw detection platform.

5. The platform height control system according to claim 1, characterized in that, The linkage mechanism includes: Pins are used to connect the various links of the connecting rod arm; At least two linkage arms, wherein the first end of the combined linkage arm is connected to the output shaft of the drive motor, and the second end is connected to the linkage fixing seat in the guide mechanism.

6. The platform height control system according to claim 5, characterized in that, The guiding mechanism includes: A connecting rod fixing seat is disposed on the first guide platform and fixedly connected to the second end of the connecting rod arm of the assembly; At least two platform guide rods, the first end of which passes through the second layer guide platform and is fixedly connected to the connecting rod fixing seat, and the second end is provided with a guide rod terminal; The guide platform is constructed as a double-layer structure. The flaw detection platform is mounted beneath it via at least two inter-platform guide rods and multiple guide rods. The second-layer guide platform is provided with at least two first-type through holes and at least two second-type through holes. The guide rod between the platforms passes through the first type of through hole in the double-layer guide platform, and the guide rod passes through the second type of through hole.

7. The platform height control system according to claim 6, characterized in that, The outer diameter of the platform guide rod is smaller than the inner diameter of the first type of through hole, the outer diameter of the guide rod terminal is larger than the inner diameter of the first type of through hole, and the inner diameter of the second type of through hole is larger than the outer diameter of the guide rod.

8. The platform height control system according to claim 2, characterized in that, The measurement module also includes: An interface circuit is used to receive torque information fed back from each drive motor in the height adjustment module, and to forward the motor control signal to the corresponding drive motor.

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