Foldable array type electromagnetic sensor support

Abstract

The utility model provides a foldable array type electromagnetic sensor support, which relates to the technical field of sensor supports, and comprises a triangular support plate with a triangular structure and self-adaptive supporting legs, and three vertex angle positions of the triangular support plate are respectively and correspondingly connected with the three self-adaptive supporting legs through universal joints. The three groups of multi-point linkage positioning devices are distributed in an equilateral triangle shape by taking the geometric center of the triangular bracket plate as the symmetric center. Through cooperation of the structures, practicability and adaptability of equipment can be remarkably improved, rapid unfolding and storage of the support are achieved through the modular folding structure, the problem that a traditional fixed support is difficult to adapt to complex terrains and space-limited scenes is solved, and the support is especially suitable for rapid deployment requirements in non-standard environments such as mountainous regions and water areas; meanwhile, the transportation and storage cost is reduced, independent adjustment of X / Y / Z axes is supported, the sensor can be accurately positioned to a target coordinate, and the resolution ratio and efficiency of magnetic field detection are remarkably improved.

Description

Technical Field

[0001] This utility model relates to the field of sensor bracket technology, and in particular to a foldable array electromagnetic sensor bracket. Background Technology

[0002] In fields such as basic geological exploration, electromagnetic sensor supports are key equipment for acquiring magnetic field data, and their performance directly affects exploration accuracy and operational efficiency.

[0003] However, existing sensor supports face numerous technical bottlenecks. Traditional magnetic field measurement equipment typically uses fixed supports with a simple structure, making it difficult to adapt to complex terrains or space-constrained scenarios. Furthermore, the inability to flexibly adjust sensor layout leads to low deployment efficiency. For example, in geological exploration, sensors need to be quickly deployed in mountainous or water-rich terrains. Underground environments are complex, requiring precise sensor positioning and resistance to high temperatures and pressures. However, existing support adjustment mechanisms rely on manual operation or single-direction drive, making multi-dimensional independent adjustment difficult. This results in low magnetic field detection efficiency and poor accuracy. Moreover, array deployment requires repeated positioning, with each deployment taking over 45 minutes, directly impacting the reliability of the detection results.

[0004] For example, the portable foldable engineering instrument bracket in CN210135415U can be partially folded through a sliding component, but the folding rate is less than 50%. It still needs to be disassembled into parts during transportation, resulting in low on-site assembly efficiency and easy loss of parts. Similarly, the bracket for the PROTEM transient electromagnetic instrument probe in CN217208767U and the sensor bracket for transient electromagnetic field measurement in CN216622438U can adapt to complex terrain, but they rely on hydraulic drive and controller coordination, making it difficult to achieve ±0.5° level synchronous angle adjustment of multiple sensor arrays. This results in azimuth deviation in electromagnetic field measurement data. Therefore, a foldable array electromagnetic sensor bracket that solves the above problems is needed. Utility Model Content

[0005] To address the shortcomings of the existing technology, the present invention aims to provide a foldable array electromagnetic sensor bracket that enables rapid deployment and storage through a modular folding structure, and improves sensor positioning accuracy by combining a three-dimensional independent adjustment mechanism.

[0006] To solve the above-mentioned technical problems, the technical solution adopted by this utility model is as follows: This utility model provides a foldable array electromagnetic sensor bracket, including a triangular bracket plate with a triangular structure and adaptive support feet. The three vertices of the triangular bracket plate are respectively connected to the three adaptive support feet through universal joints. The feature is that it also includes three sets of multi-point linkage positioning devices arranged in an equilateral triangle with the geometric center of the triangular bracket plate as the center of symmetry.

[0007] In the preferred embodiment, the three adaptive support feet are distributed in an equilateral triangle with the center of the triangular support plate as the center of symmetry. Each adaptive support foot includes a support rod extending in the vertical direction and an anti-slip pad disposed at the bottom end of the support rod. The universal joint includes a ball socket fixedly connected to the triangular support plate and a ball fixedly connected to the top end of the support rod and rotatably embedded in the ball socket.

[0008] In a preferred embodiment, each multi-point linkage positioning device includes at least two electric push rods orthogonally distributed along the three-dimensional spatial direction. One end of each electric push rod is rotatably connected to the top surface of the triangular support plate via a ball joint, and the piston rod end of the other end is driven to be connected to the motion control platform via a universal coupling.

[0009] In the preferred embodiment, the motion control platform has a regular hexagonal structure, with multiple universal couplings respectively set at the six vertices of the motion control platform. The motion control platform is driven by the coordinated telescopic motion of at least two electric push rods to achieve six degrees of freedom motion adjustment in three-dimensional space, forming a linkage adjustment mechanism.

[0010] The six degrees of freedom include three translational degrees of freedom and three rotational degrees of freedom. The geometric centers of the motion control platform and the triangular support plate are coaxial in the vertical direction, and the six sides of the motion control platform are distributed parallel to the six sides of the triangular support plate.

[0011] In the preferred embodiment, six sets of telescopic sensor arrays are evenly distributed in a circular direction with the geometric center of the motion control platform as the center. The telescopic sensor arrays are located on the side of the motion control platform away from the triangular support plate. The center line connecting the centers of each set of telescopic sensor arrays is concentric with the circumcircle of the motion control platform, and the included angle between each pair of adjacent sets of telescopic sensor arrays is 60°.

[0012] In a preferred embodiment, each telescopic sensor array includes a linear actuator mounted on a motion control platform. The central axes of the six linear actuators are all perpendicular to the surface of the motion control platform and intersect on the vertical axis of the geometric center of the motion control platform, and the driving torque forms a uniform annular load distribution on the motion control platform.

[0013] In a preferred embodiment, each telescopic sensor array further includes a dynamic support plate connected to the end of the piston rod of the linear actuator. The other side of the dynamic support plate has a crescent-shaped concave surface, and the electromagnetic sensor is located at the center of the top surface of the dynamic support plate.

[0014] In a preferred embodiment, each telescopic sensor array further includes a forward constraint positioning plate and a backward constraint positioning plate. The forward constraint positioning plates are symmetrically arranged on both sides of the linear actuator with the central axis of the linear actuator as the axis of symmetry. There are two backward constraint positioning plates, which are symmetrically distributed with the axis of the linear actuator as the axis of symmetry and are both located on one side of the motion control platform. The backward constraint positioning plates are arranged opposite to the corresponding forward constraint positioning plates to form a limit constraint area.

[0015] In a preferred embodiment, each telescopic sensor array further includes a guide slide rod. Guide holes are provided on the inner sidewalls of the forward constraint positioning plate and the rear constraint positioning plate, respectively. The two ends of the guide slide rod are fixed in the guide holes of the forward constraint positioning plate and the rear constraint positioning plate by interference fit. The axis of the guide hole intersects perpendicularly with the piston rod axis of the linear actuator.

[0016] The dynamic support plate faces the linear actuator, and two L-shaped sliding connectors are arranged with the linear actuator as the center of symmetry. Each L-shaped sliding connector includes a horizontally sliding part and a vertically mounted part.

[0017] The horizontal sliding part has a mounting hole that matches the guide slide rod. The mounting hole has a guide ring inside. The guide ring is sleeved on the outer circumference of the guide slide rod and forms a clearance fit with the guide slide rod, so that the dynamic bearing plate moves linearly along the axis of the guide slide rod. The vertical mounting part is fixedly connected to one side of the dynamic bearing plate to form a double-support point guide structure.

[0018] In a preferred embodiment, electromagnetic sensors are arranged along the central axis of the linear actuator to form a switchable geometric array, which includes a ring-shaped distributed array, an orthogonal distributed array, and a triangular distributed array.

[0019] This invention provides a foldable array electromagnetic sensor bracket. Through the cooperation of the above structures, the practicality and adaptability of the equipment can be significantly improved. Its modular folding structure enables the bracket to be quickly unfolded and stored, solving the problem that traditional fixed brackets are difficult to adapt to complex terrain and space-constrained scenarios. It is especially suitable for rapid deployment in non-standard environments such as mountains and water areas, while reducing transportation and storage costs. It supports independent adjustment of X / Y / Z axes, overcoming the shortcomings of insufficient single-axis or dual-axis adjustment accuracy in the prior art, enabling the sensor to accurately locate the target coordinates and significantly improving the resolution and efficiency of magnetic field detection. Attached Figure Description

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

[0021] Figure 1 This is the overall appearance and structural diagram of this utility model;

[0022] Figure 2 This is a utility model Figure 1 A bottom view;

[0023] Figure 3 This is a motion trajectory diagram of the motion control platform of this utility model;

[0024] Figure 4 This is a schematic diagram of the telescopic sensor array structure of this utility model;

[0025] Figure 5 This is a top view schematic diagram of the telescopic sensor array of this utility model;

[0026] Figure 6 This is a schematic diagram of the ring-shaped distributed array of the telescopic sensor array of this utility model;

[0027] Figure 7 This is a schematic diagram of the orthogonal distributed array of the telescopic sensor array of this utility model;

[0028] Figure 8 This is a schematic diagram of the triangular distributed array of the telescopic sensor array of this utility model.

[0029] In the diagram: 1. Triangular support plate; 2. Adaptive support foot; 3. Multi-point linkage positioning device; 4. Motion control platform; 5. Telescopic sensor array; 5. Linear actuator; 51. Dynamic bearing plate; 52. Electromagnetic sensor; 53. Forward constraint positioning plate; 54. Reverse constraint positioning plate; 55. Guide slide bar; 56. L-shaped sliding connector; 57. Annular distributed array; 6. Orthogonal distributed array; 7. Triangular distributed array; 8. Detailed Implementation

[0030] To better understand the purpose, structure, and function of this utility model, the embodiments and features described herein can be combined with each other without conflict. The utility model will now be described in detail with reference to the accompanying drawings and embodiments.

[0031] Example 1

[0032] like Figures 1-8 As shown in the figure, this embodiment illustrates a foldable array electromagnetic sensor bracket, including a triangular bracket plate 1 with a triangular structure and adaptive support feet 2. The three apex positions of the triangular bracket plate 1 are respectively connected to the three adaptive support feet 2 via universal joints.

[0033] Furthermore, such as Figure 2As shown, each adaptive support foot 2 includes a support rod extending in the vertical direction and an anti-slip pad disposed at the bottom end of the support rod. The universal joint includes a ball socket fixedly connected to the triangular bracket plate 1 and a ball fixedly connected to the top end of the support rod and rotatably embedded in the ball socket. The universal joint allows the adaptive support foot 2 to rotate 360 ​​degrees in the horizontal plane.

[0034] Among them, the three adaptive support feet 2 are distributed in an equilateral triangle with the center of the triangular support plate 1 as the center of symmetry, forming a support structure with spatial adaptive adjustment capability.

[0035] In practice, when the triangular support plate 1 is placed on uneven ground, each of the adaptive support feet 2 can adjust the contact angle and contact position between the anti-slip pad and the ground through the multi-directional rotational degrees of freedom of the universal joint, so that the bottom surface of the anti-slip pad always remains in contact with the ground, thereby ensuring that the triangular support plate 1 can still maintain a horizontal and stable state under complex terrain conditions. This structural design can effectively distribute external loads and enhance the overturning resistance and ground adaptability of the entire support structure.

[0036] This also includes three sets of multi-point linkage positioning devices 3 arranged in an equilateral triangle with the geometric center of the triangular support plate 1 facing away from the adaptive support foot 2. Each set of multi-point linkage positioning devices 3 includes at least two electric push rods orthogonally distributed along the X, Y, and Z axes of the spatial coordinate system. One end of each electric push rod is rotatably connected to the top surface of the triangular support plate 1 through a ball joint. The ball joint allows the electric push rod to rotate freely from 0 to 360 degrees and pitch swing ±60 degrees in the horizontal plane.

[0037] Furthermore, such as Figure 1 , 3 As shown, the piston rod ends of each electric actuator are driven to connect to the motion control platform 4 via universal couplings. The motion control platform 4 has a regular hexagonal structure, and the universal couplings are respectively set at the six vertices of the regular hexagonal motion control platform 4. The universal couplings contain two mutually perpendicular rotating joints, which can realize ±45° deflection motion around the X-axis and Y-axis. The rotation center of each rotating joint is located at the geometric position of the vertices of the regular hexagon. The linkage adjustment mechanism thus formed can drive the motion control platform 4 to achieve 6 degrees of freedom motion adjustment in three-dimensional space through the coordinated extension and retraction motion of at least two electric actuators. The 6 degrees of freedom include 3 translational degrees of freedom + 3 rotational degrees of freedom. The linear positioning accuracy can reach ±0.05mm, and the angle adjustment resolution is not less than 0.2 degrees.

[0038] The geometric center of the motion control platform 4 is coaxial with the geometric center of the triangular support plate 1 in the vertical direction, and its six sides are distributed parallel to or at a 30° angle to the three sides of the triangular support plate 1, respectively.

[0039] The motion control platform 4, with its regular hexagonal structure, forms a symmetrical drive structure through six sets of universal couplings and three sets of electric push rods of multi-point linkage positioning devices 3. The side length tolerance between any two adjacent universal couplings is controlled within ±0.02mm, ensuring that the motion synchronization error of each drive point is ≤0.1mm. This regular hexagonal layout allows the motion control platform 4 to be evenly transmitted to the triangular support plate 1 through six symmetrically distributed drive points when subjected to eccentric loads. Compared with the traditional quadrilateral structure, this improves its torsional stiffness while enhancing its flatness retention accuracy.

[0040] Specifically, thanks to the geometric symmetry of the regular hexagonal structure, the linkage adjustment mechanism can achieve precise 6-DOF control of the motion control platform 4 in three-dimensional space: translation accuracy along the X / Y / Z axes ≤ ±0.03mm, pitch / tilt angle adjustment resolution around the X / Y axes ≤ 0.15°, and rotational positioning accuracy around the Z axis ≤ ±0.2°. When external loads are applied to the motion control platform 4, the load distribution uniformity of its regular hexagonal edges is ≥95%, and the maximum load-bearing capacity of a single vertex can reach 200N, significantly improving the positioning stability and structural reliability under complex working conditions.

[0041] During implementation, the equilateral triangle layout design of the multi-point linkage positioning device 3 ensures that the driving force of each set of electric push rods is evenly applied to the geometric center of the top surface of the triangular support plate 1. The multi-point linkage positioning device 3 can drive the motion control platform 4 to perform pitch, yaw, and tilt movements through the independent extension and retraction of each electric push rod. The maximum thrust of a single electric push rod is not less than 300N, and the stroke range is 0-200mm. When the motion control platform 4 carries external equipment, the linkage adjustment mechanism can collect load data in real time through the built-in six-dimensional force sensor (existing technology, not shown). After calculation by the control system, the extension and retraction of each electric push rod is synchronously controlled to achieve fine adjustment of the position and attitude calibration of the motion control platform 4, ensuring that it can maintain a horizontal deviation of ≤0.5° even under complex working conditions with an inclination angle of ≤15°.

[0042] The combined connection structure of ball joint and universal coupling not only ensures the driving force transmission efficiency of electric actuator during multi-dimensional movement, but also avoids the structural stress concentration problem caused by motion interference. Through the coordinated work of multi-point linkage positioning device 3 and bottom adaptive support foot 2, the entire support system can achieve dynamic adjustment of the entire link from basic support to upper load, which significantly improves the positioning accuracy and anti-interference ability of the equipment in uneven ground environment.

[0043] In this embodiment, as Figure 4 , 5As shown, on the side of the motion control platform 4 facing away from the triangular support plate 1, six sets of telescopic sensor arrays 5 are equidistantly distributed in a circular direction with the geometric center of the motion control platform 4 as the center. The center line connecting the centers of each set of telescopic sensor arrays 5 is concentric with the circumcircle of the motion control platform 4, and the included angle between any two adjacent sets of telescopic sensor arrays 5 is 60°. Each set of telescopic sensor arrays 5 includes the following mutually cooperating structural components: linear actuator 51, dynamic support plate 52, electromagnetic sensor 53, forward constraint positioning plate 54, backward constraint positioning plate 55, guide slide rod 56, and L-shaped sliding connector 57;

[0044] Furthermore, the central axes of the six linear actuators 51 are all perpendicular to the surface of the motion control platform 4 and intersect on the vertical axis of the geometric center of the motion control platform 4.

[0045] Each linear actuator 51 is fixedly connected to the motion control platform 4 via a T-shaped flange seat. The bottom surface of the flange seat is provided with an annular positioning boss that fits against the surface of the motion control platform 4. The rigid connection is achieved by three sets of M6 high-strength bolts, wherein the preload torque of the M6 ​​high-strength bolts is 8-10 N·m. The installation center distance between two adjacent linear actuators is 150±0.05mm, ensuring that the circumferential angular error is ≤±0.1°, which meets the spatial symmetry requirements of the six sets of telescopic sensor arrays 5.

[0046] The linear actuator 51 is driven by an electric lead screw with a stroke range of 0-120mm and a positioning accuracy of ±0.06mm. The built-in high-precision Hall sensor (resolution 0.01mm) can provide real-time feedback of piston rod displacement data, providing accurate position signals for the control system.

[0047] Furthermore, the maximum thrust of a single linear actuator is 200N, the tensile strength is 300N, and the deformation deflection under a 100N axial load is ≤0.03mm / m. The drive motor is a 24V DC servo motor with a rated speed of 3000rpm, equipped with a planetary gear reducer (reduction ratio 10:1) to ensure the output shaft speed stability error is ≤±0.5%. The housing is made of 6061-T6 aluminum alloy with an anodized surface (film thickness 15μm), allowing it to operate normally within a temperature range of -20℃ to +60℃, and achieving an IP65 protection rating to effectively resist dust and water intrusion.

[0048] The circumferentially symmetrical arrangement of the six linear actuators 51 enables the driving torque to form a uniform annular load distribution on the motion control platform 4. When any three adjacent actuators extend and retract synchronously, the dynamic bearing plate 52 can be moved in a coordinated manner within a radial range of ±60mm. With the constraint and guidance of the guide slide rod 56, the translation straightness error of the dynamic bearing plate is ensured to be ≤0.08mm.

[0049] The circumferentially equidistant linear actuator array, through geometric symmetry design and high-precision drive control, achieves uniform force and precise positioning of the dynamic bearing plate 52 in the radial direction. Compared with the traditional asymmetrical layout, its displacement synchronization error is reduced by 60%, and the load distribution uniformity is improved to 98%, which significantly enhances the detection stability and reliability of the telescopic sensor array 5 under complex motion conditions.

[0050] In this embodiment, as Figure 4 , 5 As shown, one side of the dynamic support plate 52 is rigidly connected to the end of the piston rod of the linear actuator 51, while the other side has a crescent-shaped concave surface. An electromagnetic sensor 53 is fixedly mounted on the center of the top surface of the dynamic support plate 52 by bolts. The electromagnetic sensor 53 employs a high-precision Hall effect sensor, capable of real-time detection of magnetic field changes in the object under test, with a detection range of 0-500 mT and a resolution of 0.1 mT. The sensor's response time is less than 10 ms, enabling it to quickly and accurately capture magnetic field change signals. To ensure the stability and reliability of the sensor, a protective housing is installed on the outside of the electromagnetic sensor 53. The protective housing is made of aluminum alloy with an anodized surface, achieving an IP67 protection rating, effectively preventing dust and water intrusion.

[0051] When the dynamic bearing plate 52 is in the initial position, the vertical distance between the detection end face and the surface of the motion control platform 4 is 100±0.2mm. The electromagnetic sensor 53 is connected to the internal circuit of the motion control platform 4 through a flexible cable. The cable length is reserved with a 15% extension allowance to avoid stress concentration during the movement.

[0052] Because the dynamic support plate 52 and the piston rod of the linear actuator 51 are rigidly connected, the motion of the linear actuator 51 can be accurately transmitted to the dynamic support plate 52, enabling the positioning accuracy of the dynamic support plate 52 during its telescopic movement to reach ±0.1mm. This high-precision motion transmission ensures that the electromagnetic sensor 53 can accurately reach the detection position of the object under test, improving the accuracy and repeatability of the detection and ensuring that the detection axis is always perpendicular to the surface of the motion control platform 4, with an angle deviation ≤±0.8°.

[0053] In this embodiment, each telescopic sensor array 5 further includes a forward constraint positioning plate 54 and a backward constraint positioning plate 55. The forward constraint positioning plate 54 is symmetrically arranged on both sides of the linear actuator 51 with the central axis of the linear actuator 51 as the axis of symmetry. It is used to constrain the forward displacement of the moving parts driven by the linear actuator 51. There are two backward constraint positioning plates 55. The two backward constraint positioning plates 55 are symmetrically distributed with the axis of the linear actuator 51 as the axis of symmetry, and both are fixedly arranged on one side of the motion control platform 4. The backward constraint positioning plates 55 are arranged opposite to the corresponding forward constraint positioning plates 54.

[0054] The forward constraint positioning plate 54 and the rear constraint positioning plate 55 are arranged symmetrically to form a limiting constraint area on the front and rear sides of the linear actuator 51. This area is used to limit the displacement of the moving parts on the motion control platform 4 in the non-movement direction, ensuring the guiding accuracy and stability of the linear actuator 51 when driving the moving parts to perform linear motion, and preventing deviation or shaking during the motion process.

[0055] The main functions of the forward constraint positioning plate 54 and the rear constraint positioning plate 55 are to provide stable support and positioning for the guide slide rod 56, ensuring that the dynamic bearing plate 52 can perform linear reciprocating motion along the guide slide rod 56 when it follows the piston rod of the linear actuator 51 to perform telescopic motion, and the straightness error of the motion does not exceed ±0.05mm.

[0056] Meanwhile, the constraint positioning plate limits the movement range of the dynamic support plate 52, preventing it from shifting or swaying during movement. When the dynamic support plate 52 reaches its limit position, the constraint positioning plate acts as a buffer and limiter, preventing damage to the equipment due to excessive movement. Specifically, the maximum stroke of the dynamic support plate 52 on the guide slide rod 56 is 150mm. The constraint positioning plate ensures stable movement within this stroke range, and when approaching the limit position, the buffering force is not less than 10N to protect the equipment components.

[0057] Furthermore, the symmetrical arrangement and precise installation of the forward constraint positioning plate 54 and the rear constraint positioning plate 55 ensure uniform force distribution on both sides of the linear actuator 51, improving the stability and reliability of the entire telescopic sensor array 5. When the equipment is subjected to external vibrations with a frequency of 10-100Hz and an amplitude of 0.5mm, the constraint positioning plates can effectively reduce the swaying of the dynamic bearing plate 52, ensuring that the detection accuracy of the electromagnetic sensor 53 is not affected, and the detection error is controlled within ±0.1mm.

[0058] In this embodiment, guide holes are provided on the inner sidewalls of the forward constraint positioning plate 54 and the rear constraint positioning plate 55. The guide slide rod 56 is a cylindrical rigid rod, and its two ends are fixed in the guide holes of the forward constraint positioning plate 54 and the rear constraint positioning plate 55 respectively by interference fit, with an interference amount of 0.02-0.04mm. The axis of the guide hole intersects perpendicularly with the piston rod axis of the linear actuator 51, and the coaxiality error of the two holes is ≤0.01mm, ensuring that the installation straightness of the guide slide rod 56 reaches 0.02mm / 100mm. The guide slide rod 56 is made of SUJ2 bearing steel, and the surface is quenched (hardness HRC60-62) and hard chrome plated (thickness 20μm), with a roughness Ra≤0.2μm, and can withstand a radial load of 200N without permanent deformation.

[0059] The dynamic support plate 52 faces the linear actuator 51 on one side, and two L-shaped sliding connectors 57 are arranged with the linear actuator 51 as the center of symmetry. Each L-shaped sliding connector 57 includes a horizontally sliding part and a vertically mounted part that are vertically connected.

[0060] The horizontal sliding part has a mounting hole that matches the guide slide rod 56, and a built-in guide ring. The guide ring is sleeved on the outer circumference of the guide slide rod 56 and forms a clearance fit with the guide slide rod 56, so that the dynamic bearing plate (52) moves linearly along the axis of the guide slide rod, while limiting radial runout (runout ≤ 0.05 mm).

[0061] The vertical mounting part is fixedly connected to one side of the dynamic bearing plate 52 by countersunk bolts with a bolt spacing of 80mm and a preload torque of 10-12N・m to ensure a rigid connection between the connector and the dynamic bearing plate 52.

[0062] When the linear actuator 51 drives the dynamic support plate 52 to extend and retract, the horizontal sliding parts of the two L-shaped sliding connectors 57 slide synchronously along the guide rod 56 to form a double-support guide structure.

[0063] During the sliding process, the straightness error of the dynamic bearing plate 52 is ≤0.03mm / 100mm, and the parallelism error (relative to the surface of the motion control platform) is ≤0.05°, ensuring that the perpendicularity deviation between the detection axis of the electromagnetic sensor (53) and the axis of the guide slide rod 56 is ≤0.1°.

[0064] The symmetrically arranged sliding connectors ensure that the radial load on the guide rod 56 is evenly distributed. The maximum radial load of a single rod is ≤80N. Combined with the self-aligning function of the linear bearing (aligning angle ±1.5°), it can effectively compensate for installation errors and dynamic off-center loads.

[0065] The mating surfaces of the guide rod 56 and the L-shaped sliding connector 57 are precision ground. The guide ring is made of glass fiber reinforced nylon, which has self-lubricating properties (friction coefficient ≤0.12), and can meet the life requirement of 100,000 reciprocating movements without additional lubrication. The difference in the coefficient of thermal expansion of this guide structure within the temperature range of -40℃ to +85℃ is ≤1.2×10⁻ 5 / ℃, ensuring stability of motion under high and low temperature environments.

[0066] Through the aforementioned symmetrical dual-pivot guide design, the L-shaped sliding connector 57 restricts the motion freedom of the dynamic support plate 52 to a single axial translation, while effectively suppressing the deflection (deflection angle ≤ 0.3°) of the dynamic support plate 52 around the X-axis and Y-axis and the rotation (rotation angle ≤ 0.2°) around the Z-axis. This provides a high-precision motion reference for the electromagnetic sensor 53, ensuring that the position repeatability error during the detection process is ≤ 0.08 mm, and significantly improving the spatial positioning accuracy and anti-interference capability of the telescopic sensor array 5.

[0067] In this embodiment, as Figures 6 to 8 As shown, through the one-to-one correspondence between the linear actuator 51 and the electromagnetic sensor 53, precise control of the spatial position of each electromagnetic sensor 53 is achieved. Given the spatial sensitivity characteristics of magnetic field distribution and intensity, the linear actuator 51 can adjust the axial, radial, and angular positions of the electromagnetic sensor 53 with micrometer-level precision according to measurement requirements, thereby accurately adapting to the magnetic field characteristics of different regions and achieving high-precision measurement in complex magnetic field environments.

[0068] In terms of structural design, the linear actuators 51 are arranged radially. When a certain electromagnetic sensor 53 or linear actuator 51 fails, the remaining electromagnetic sensors 53 can automatically take over the measurement task. The data compensation algorithm maintains the stability of the overall measurement performance of the system, ensuring the continuity and reliability of magnetic field monitoring.

[0069] The electromagnetic sensor 53 forms a switchable geometric array with the central axis of the linear actuator 51 as the reference axis. The geometric array includes a ring-shaped distributed array 6, an orthogonal distributed array 7, and a triangular distributed array 8.

[0070] When any electromagnetic sensor 53 malfunctions, the system maintains operation in the following ways:

[0071] The main controller monitors the status of each module in real time and fuses the health sensor data through the Kalman filter algorithm to compensate for detection blind spots;

[0072] The remaining electromagnetic sensor 53 extends the detection range through the linear actuator 51, ensuring an overall detection coverage of ≥95% and a measurement accuracy decrease of ≤10%.

[0073] The ring-shaped distributed array 6 forms a 360-degree full-circle detection coverage with six electromagnetic sensors 53 centered on the outer circle of the motion control platform 4;

[0074] With the configuration of radial magnetic field gradient algorithm, the resolution of radial magnetic field distribution can be ≤1mT / mm for cylindrical test objects with a radius ≤300mm, which is suitable for detection scenarios such as air gap magnetic field of motor and circumferential leakage magnetic field of cable.

[0075] A single electromagnetic sensor 53 can be independently adjusted by ±50mm, and in conjunction with the telescopic movement of the dynamic support plate 52, the detection radius can be dynamically reconstructed.

[0076] The orthogonal distributed array 7 is formed by six electromagnetic sensors 53 orthogonally arranged along the XY plane of the reference axis to form an m×n matrix (m, n≥2). The sensor spacing d=20-100mm (tolerance ±0.05mm) and the Z-axis direction can be synchronously raised and lowered.

[0077] Based on the tensor decomposition algorithm, the measurement accuracy of the vector components (Bx, By, Bz) of the magnetic field in a rectangular region is ≥0.5%FS, and the angular resolution is ≤0.5°. It is suitable for the directional detection of magnetic fields on PCB boards and magnetic fields on the pole surfaces of electromagnets.

[0078] The X / Y axis travel can be independently adjusted to ±100mm, and the Z axis travel can be adjusted to ±150mm, meeting the magnetic field scanning requirements of planes at different heights.

[0079] The triangular distributed array 8 forms an equilateral triangle with a side length of L=80-150mm through six electromagnetic sensors 53. The center of the triangle is coaxial with the reference axis, and the angle between the bisector of the vertex angle and the X-axis can be adjusted by the adjustment mechanism 9 to achieve 0-360° rotation.

[0080] Using a triangulation algorithm, the spatial positioning error of the magnetic field in irregular areas is ≤1mm, and the magnetic field gradient measurement sensitivity is ≥0.1mT / mm. It is suitable for directional capture of magnetic leakage signals from gearbox cracks and weak magnetic signals from bearing faults.

[0081] The main controller automatically switches the array mode according to the type of magnetic field being measured:

[0082] When detecting a radially symmetric magnetic field, activate the annular distributed array 6 and start the full-circle scanning algorithm;

[0083] When detecting orthogonal anisotropic magnetic fields, switch to orthogonal distributed array 7 and perform vector decomposition measurement;

[0084] When performing multi-dimensional cross-validation of the magnetic field vector in a specific region in three-dimensional space, the triangular distributed array 8 is invoked to implement the three-dimensional spatial positioning algorithm.

[0085] It achieves flexibility, reliability and scalability in magnetic field measurement. Compared with the traditional fixed array structure, it improves detection efficiency and reduces measurement uncertainty in complex environments.

[0086] To enable those skilled in the art to better understand the present invention, the above embodiments are merely preferred technical solutions of the present invention and should not be considered as limitations on the present invention. The scope of protection of the present invention should be the technical solution described in the claims, including equivalent substitutions of the technical features described in the claims. That is, equivalent substitutions and improvements within this scope are also within the scope of protection of the present invention.

[0087] It should also be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this utility model are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate for the embodiments of this utility model described herein.

Claims

1. A foldable array electromagnetic sensor bracket, comprising a triangular support plate (1) and adaptive support feet (2) in a triangular structure, wherein the three apex positions of the triangular support plate (1) are respectively connected to the three adaptive support feet (2) via universal joints, characterized in that, It also includes three sets of multi-point linkage positioning devices (3) arranged in an equilateral triangle with the geometric center of the triangular support plate (1) as the center of symmetry.

2. The foldable array electro-magnetic sensor support of claim 1, wherein, The three adaptive support feet (2) are distributed in an equilateral triangle with the center of the triangular support plate (1) as the center of symmetry. Each adaptive support foot (2) includes a support rod extending in the vertical direction and an anti-slip pad set at the bottom of the support rod. The universal joint includes a ball socket fixedly connected to the triangular support plate (1) and a ball fixedly connected to the top of the support rod and rotatably embedded in the ball socket.

3. The foldable array electro-magnetic sensor support of claim 1, wherein, Each set of multi-point linkage positioning devices (3) includes at least two electric push rods orthogonally distributed along the three-dimensional space direction. One end of each electric push rod is rotatably connected to the top surface of the triangular support plate (1) through a ball joint, and the piston rod end of the other end is driven to be connected to the motion control platform (4) through a universal coupling.

4. The foldable array electro-magnetic sensor support of claim 3, wherein, The motion control platform (4) has a regular hexagonal structure. Multiple universal couplings are respectively set at the six vertices of the motion control platform (4). The motion control platform (4) is driven by the coordinated telescopic motion of at least two electric push rods to achieve motion adjustment of 6 degrees of freedom in three-dimensional space, forming a linkage adjustment mechanism. Among them, the 6 degrees of freedom include 3 translational degrees of freedom and 3 rotational degrees of freedom. The geometric center of the motion control platform (4) and the triangular support plate (1) are coaxial in the vertical direction, and the six sides of the motion control platform (4) are distributed parallel to the six sides of the triangular support plate (1).

5. The foldable array electro-magnetic sensor support of claim 1, wherein, Six sets of telescopic sensor arrays (5) are evenly distributed in a circular direction with the geometric center of the motion control platform (4) as the center. The telescopic sensor arrays (5) are located on the side of the motion control platform (4) away from the triangular support plate (1). The center line of each set of telescopic sensor arrays (5) is concentric with the outer circle of the motion control platform (4). The included angle between each two adjacent sets of telescopic sensor arrays (5) is 60°.

6. The foldable array electro-magnetic sensor support of claim 5, wherein, Each telescopic sensor array (5) includes a linear actuator (51) mounted on the motion control platform (4). The central axes of the six linear actuators (51) are perpendicular to the surface of the motion control platform (4) and intersect on the vertical axis of the geometric center of the motion control platform (4). The driving torque forms a uniform annular load distribution on the motion control platform (4).

7. The foldable array electro-magnetic sensor support of claim 6, wherein, Each telescopic sensor array (5) also includes a dynamic support plate (52) connected to the end of the piston rod of the linear actuator (51). The other side of the dynamic support plate (52) is a crescent-shaped concave surface, and the electromagnetic sensor (53) is located at the center of the top surface of the dynamic support plate (52).

8. The foldable array electro-magnetic sensor support of claim 7, wherein, Each telescopic sensor array (5) also includes a forward constraint positioning plate (54) and a backward constraint positioning plate (55). The forward constraint positioning plate (54) is symmetrically positioned on both sides of the linear actuator (51) with the central axis of the linear actuator (51) as the axis of symmetry. There are two backward constraint positioning plates (55). The two backward constraint positioning plates (55) are symmetrically distributed with the axis of the linear actuator (51) as the axis of symmetry, and are both located on one side of the motion control platform (4). The backward constraint positioning plates (55) and the corresponding forward constraint positioning plates (54) are arranged opposite to each other to form a limit constraint area.

9. The foldable array electro-magnetic sensor support of claim 8, wherein, Each telescopic sensor array (5) also includes a guide slide rod (56). Guide holes are provided on the inner sidewalls of the forward constraint positioning plate (54) and the rear constraint positioning plate (55) respectively. The two ends of the guide slide rod (56) are fixed in the guide holes of the forward constraint positioning plate (54) and the rear constraint positioning plate (55) respectively by interference fit. The axis of the guide hole is perpendicular to the piston rod axis of the linear actuator (51). The dynamic support plate (52) faces the linear actuator (51) on one side, and two L-shaped sliding connectors (57) are arranged with the linear actuator (51) as the center of symmetry. Each L-shaped sliding connector (57) includes a horizontal sliding part and a vertical mounting part that are vertically connected. The horizontal sliding part has a mounting hole that matches the guide slide rod (56). The mounting hole has a built-in guide ring. The guide ring is sleeved on the outer circumference of the guide slide rod (56) and forms a clearance fit with the guide slide rod (56), so that the dynamic bearing plate (52) moves linearly along the axis of the guide slide rod (56). The vertical mounting part is fixedly connected to one side of the dynamic bearing plate (52) to form a double-support guide structure.

10. The foldable array electro-magnetic sensor support of claim 7, wherein, Electromagnetic sensors (53) are arranged along the central axis of the linear actuator (51) to form a switchable geometric array, which includes a ring-shaped distributed array (6), an orthogonal distributed array (7) and a triangular distributed array (8).

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