Ultrasonic Detector Rotating Stage to Avoid Arm Control Singularities
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Existing inspection systems face challenges in ease of use and stability due to control singularities and interference issues with articulated arm mechanisms, leading to potential instability and reduced accuracy in ultrasonic wave detection.
Innovation Solution
The detection system incorporates an articulated arm mechanism with a rotating stage and detector at its distal part, allowing for precise adjustment of the detector's tilt without changing its position, thereby avoiding control singularities and reducing interference, and includes a rotary joint for couplant and wiring to maintain stability and accuracy.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If an articulated arm mechanism is used for detector positioning, then the system becomes more versatile and adaptable to different inspection positions, but control singularities and interference issues arise that reduce stability and reliability
Solution Approach 1:
The articulated arm mechanism is divided into multiple independent rotary joints (first rotary joint for azimuth angle, second rotary joint for elevation angle), each controlled separately to achieve positioning without control singularities affecting the entire system
Solution Approach 2:
The system dynamically adjusts the tilt angle and azimuth angle of the detector through independently controlled rotary joints, allowing real-time adaptation to different inspection positions while maintaining stability through separate control of each joint
2Productivity
If the detector is positioned at the distal part of the articulated arm, then the inspection coverage is expanded, but control singularities occur that reduce ease of operation
Solution Approach 1:
The positioning system is segmented into independent rotary joints at different locations along the arm, allowing the detector to reach extended positions without creating control singularities that would complicate operation
Solution Approach 2:
Intermediate rotary joints serve as mediators between the base and the distal detector position, enabling smooth control transitions and avoiding direct control singularities at the endpoint
3Measurement precision
If the detector tilt is adjusted by moving the entire articulated arm, then the tilt can be changed, but the position of the detector changes which reduces measurement precision
Solution Approach 1:
The tilt adjustment function is separated from the positioning function by placing the tilt control at a specific location in the articulated arm structure, allowing independent adjustment of detector orientation without affecting position
Solution Approach 2:
The detector tilt is adjusted by rotating around an axis perpendicular to the positioning axes, adding an independent degree of freedom that allows tilt adjustment without changing the detector's spatial position
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The system enhances the stability and ease of use by minimizing the likelihood of control singularities and interference, improving the accuracy and reliability of ultrasonic wave detection, especially in non-destructive inspections like weld joint verification.
Implementation Method 1
The detector transmits an ultrasonic wave and detects a reflected wave
Data Source
AI summary
According to one embodiment, a detection system includes an arm mechanism and an end effector. The arm mechanism is articulated. The end effector is located at a distal part of the arm mechanism. The end effector includes a rotating stage and a detector. The detector is located at the distal part with the rotating stage interposed. The detector transmits an ultrasonic wave and detects a reflected wave. A tip of the detector is positioned at a rotation center of the rotating stage.