CN105486465A - Automatic detection tool and method - Google Patents
Automatic detection tool and method Download PDFInfo
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- CN105486465A CN105486465A CN201510801221.3A CN201510801221A CN105486465A CN 105486465 A CN105486465 A CN 105486465A CN 201510801221 A CN201510801221 A CN 201510801221A CN 105486465 A CN105486465 A CN 105486465A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M3/00—Investigating fluid-tightness of structures
- G01M3/02—Investigating fluid-tightness of structures by using fluid or vacuum
- G01M3/04—Investigating fluid-tightness of structures by using fluid or vacuum by detecting the presence of fluid at the leakage point
- G01M3/20—Investigating fluid-tightness of structures by using fluid or vacuum by detecting the presence of fluid at the leakage point using special tracer materials, e.g. dye, fluorescent material, radioactive material
- G01M3/202—Investigating fluid-tightness of structures by using fluid or vacuum by detecting the presence of fluid at the leakage point using special tracer materials, e.g. dye, fluorescent material, radioactive material using mass spectrometer detection systems
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Abstract
The invention provides an automatic detection tool which comprises a bottom structure, a horizontal movement mechanism, a vertical feeding mechanism and a manipulator system, and the detection tool has the advantages of long detection distance, large detection area, many detected points, accurate control and high efficiency. The invention also discloses an automatic detection method based on the automatic detection tool. A horizontal mobile supporting plate is moved to at least two fixed positions of a horizontal guide rail, the manipulator system is adjusted to detect a detected object within the whole length interval along the horizontal guide rail direction without omission, the horizontal supporting plate is prevented from selecting different positions continuously in the length direction, and the automatic detection efficiency can be substantially improved.
Description
Technical field
The present invention relates to a kind of automatic detection frock and the automatic testing method based on this automatic detection frock.
Background technology
Automatic detection frock is used for all trades and professions, plays a part very important, such as at aviation field, is exactly gordian technique to the automatic detection frock of the sealing of integral wing tank and automatic testing method.Aircraft wing integral tank volume is large, sealing requirements is high, there is the shortcomings such as precision is low, cost is high, difficult quantitation, efficiency are not high, operative is complicated in traditional detection frock and detection method, especially carry out oil tight test to need to inject a large amount of aviation kerosenes in integral tank, under the condition not being equipped with the close explosion-proof plants of special oil and the close testing table of special oil, there is huge potential safety hazard.Therefore, be badly in need of high, the safe and reliable advanced person of a kind of accuracy of detection, efficiency and automatically detect frock and automatic testing method to overcome above-mentioned difficulties, to improve detection level and detection efficiency.
Summary of the invention
The technical problem to be solved in the present invention is to provide a kind of detection frock of automatic leak detection, and the detecting distance that can cover is long, area of detection is large, tested measuring point is many, and it is accurate to detect position control, and efficiency is high.
In order to achieve the above object, automatic detection frock of the present invention, comprising:
Polycrystalline substance, it comprises horizontal guide rail and control box, described horizontal guide rail is for supporting and guiding the horizontal mobile mechanism above it, and described control box comprises described control panel and control system, for controlling described horizontal mobile mechanism, vertical feeding mechanism, arm-and-hand system;
Described horizontal mobile mechanism, it comprises and moves horizontally supporting plate and horizontal drive motor, described in move horizontally supporting plate under the driving of described horizontal drive motor, can move along described horizontal guide rail;
Described vertical feeding mechanism, it is arranged on described horizontal mobile mechanism, and can move along described horizontal guide rail together with described horizontal mobile mechanism, described vertical feeding mechanism also comprises electronic slide unit and vertical mobile pallet, move horizontally on supporting plate described in described electronic slide unit is vertically installed in, be provided with vertical driving motor in described electronic slide unit, described vertical mobile pallet vertically can move under the driving of described vertical driving motor;
Described arm-and-hand system, it is installed on described vertical mobile pallet, and described arm-and-hand system comprises mechanical arm, and described arm end is provided with pick-up unit.
Preferably, described vertical feeding mechanism is also provided with vertical guide rail, move horizontally on supporting plate described in described vertical guide rail is also vertically installed in, the side relative with described electronic slide unit on supporting plate is moved horizontally described in described vertical guide rail is arranged on, move horizontally supporting plate described in described vertical mobile pallet is parallel to, described electronic slide unit and described vertical guide rail make described vertical mobile pallet have better balance jointly.
Preferably, described in described electronic slide unit is positioned at, move horizontally the side of the close tested measuring point of supporting plate, described in described vertical guide rail is positioned at, move horizontally the side away from tested measuring point of supporting plate.
In order to achieve the above object, automatic detection frock of the present invention also can be comprise:
Polycrystalline substance, it comprises horizontal guide rail and control box, and described horizontal guide rail is for supporting and guiding the horizontal mobile mechanism above it, and described control box comprises described control panel and control system, for controlling described horizontal mobile mechanism, arm-and-hand system;
Described horizontal mobile mechanism, it comprises and moves horizontally supporting plate and horizontal drive motor, described in move horizontally supporting plate under the driving of described horizontal drive motor, can move along described horizontal guide rail;
Described arm-and-hand system, its be installed on described in move horizontally on supporting plate, described arm-and-hand system comprises mechanical arm, and described arm end is provided with pick-up unit.
In this technical scheme, eliminate the vertical feeding mechanism in preceding solution, arm-and-hand system is directly installed on and moves horizontally on supporting plate, instead of be arranged on the vertical mobile pallet in preceding solution.Thus, whole mechanism can be made more simple.
Preferably, also comprise: framed structure, described horizontal guide rail is arranged on described framed structure or among described framed structure.
Preferably, described framed structure is supported on described control box, and described control panel is arranged on the side of described control box, and described set-up of control system is in described control box.
Preferably, universal wheel is provided with bottom described control box.
Preferably, the described horizontal drive motor on described horizontal mobile mechanism is provided with gear, described horizontal guide rail is provided with the tooth bar be meshed with described gear, described horizontal mobile mechanism is moved along described horizontal guide rail.
Preferably, described arm-and-hand system comprises mechanical arm rotating base and described mechanical arm, described mechanical arm rotating base make described mechanical arm can in surface level integral-rotation, the end of described mechanical arm is provided with described pick-up unit.
Preferably, described mechanical arm comprises mechanical arm underarm and manipulator upper arm, wherein, described mechanical arm underarm and described mechanical arm rotating base hinged, described mechanical arm underarm can be rotated in the pitch direction relative to described mechanical arm rotating base; Described mechanical arm underarm and described manipulator upper arm hinged, the jointed shaft between described mechanical arm underarm and described manipulator upper arm is parallel to the jointed shaft between described mechanical arm underarm and described mechanical arm rotating base; The end of described manipulator upper arm is provided with described pick-up unit.
Preferably, the end of described manipulator upper arm adopts hinge or spherical hinge to be connected with described pick-up unit.
Preferably, described pick-up unit is helium Mass Spectrometer Method device.
Based on above-mentioned automatic detection frock, the present invention also provides a kind of automatic testing method, the described supporting plate that moves horizontally is individually displaced at least two fixed positions on described horizontal guide rail, by adjusting described arm-and-hand system, exhaustively can detect at its whole length of interval along horizontal guide rail direction detected material.
Preferably, by rotating described mechanical arm rotating base, make described mechanical arm can in surface level integral-rotation; By rotating described mechanical arm underarm, described mechanical arm underarm can be rotated in the pitch direction relative to described mechanical arm rotating base; By rotating described manipulator upper arm, described manipulator upper arm can be rotated in the pitch direction relative to described mechanical arm underarm; Thus make, described in move horizontally supporting plate and be individually displaced at least two fixed positions on described horizontal guide rail, exhaustively can detect at its whole length of interval along horizontal guide rail direction detected material.
Preferably, by rotating described mechanical arm rotating base, make described mechanical arm can in surface level integral-rotation; By rotating described mechanical arm underarm, described mechanical arm underarm can be rotated in the pitch direction relative to described mechanical arm rotating base; By rotating described manipulator upper arm, described manipulator upper arm can be rotated in the pitch direction relative to described mechanical arm underarm; By rotating described pick-up unit, described pick-up unit can be rotated around the described hinge of described manipulator upper arm end or described spherical hinge; Thus make, described in move horizontally supporting plate and be individually displaced at least two fixed positions on described horizontal guide rail, exhaustively can detect at its whole length of interval along horizontal guide rail direction detected material.
Preferably, described fixed position is two, three or four.
The beneficial effect of automatic detection frock of the present invention is: detecting distance is long, area of detection is large, tested measuring point is many, and detect position control accurate, efficiency is high.The beneficial effect of automatic testing method of the present invention is: make to move horizontally supporting plate and only need move to limited several positions, and without the need to constantly choosing diverse location at length direction, just exhaustively can detect whole detected region, thus significantly improve the efficiency automatically detected.
Accompanying drawing explanation
Fig. 1 detects frock general structure schematic diagram automatically;
Fig. 2 is the schematic diagram automatically detecting the horizontal mobile mechanism of frock, vertical feeding mechanism and arm-and-hand system;
Fig. 3 is the schematic diagram of the automatic testing method automatically detecting frock based on this;
Fig. 4 is the side schematic view automatically detecting frock.
Embodiment
Below in conjunction with Figure of description, describe the present invention further, following being described as is exemplary, not limitation of the present invention, and other any similar situations also all fall among protection scope of the present invention.
As shown in Figure 1, be automatic detection frock of the present invention, more specifically, the automatic detection frock that the present invention stops leakage in the roof with fuel tanker spiro junction exemplarily, is described in detail the preferred embodiments of the present invention.As shown in Figure 1, the automatic detection frock of fuel tank leak detection comprises four major parts: polycrystalline substance 1000, horizontal mobile mechanism 1100, vertical feeding mechanism 1200, arm-and-hand system 1300.Vertical feeding mechanism 1200 is wherein dispensable, can carry out as the case may be adopting or omitting.
As shown in Figure 1, polycrystalline substance 1000 comprises control box 1002 and the framed structure 1001 be supported on control box 1002.The side of control box 1002 is provided with control panel (not shown), makes operating personnel can carry out the control of instruction input and output easily, is provided with control system, such as host computer etc. in control box 1002.Be provided with universal wheel bottom control box 1002, can move integrally in the venue easily.As depicted in figs. 1 and 2, control box 1002 supports framed structure 1001, horizontal guide rail 1101 is arranged on the frame of framed structure 1001.Horizontal mobile mechanism 1100 comprises the horizontal drive motor 1103 moving horizontally supporting plate 1102 and fix with it, moves horizontally supporting plate 1102 under the driving of horizontal drive motor 1103, can move, namely move horizontally along the X direction along horizontal guide rail 1101.Preferably, horizontal drive motor 1103 is provided with gear 1104, horizontal guide rail 1101 is provided with the tooth bar 1105 be meshed with gear 1104, horizontal mobile mechanism 1100 can be moved along horizontal guide rail 1101.
It is pointed out that as described in Figure 2, vertical feeding mechanism 1200 is wherein also omissible for adopting.When adopting vertical feeding mechanism 1200, being the situation shown in Fig. 2, now carrying arm-and-hand system 1300: the vertical mobile pallet 1202 in vertical feeding mechanism 1200; When omitting vertical feeding mechanism 1200, not shown, now carry arm-and-hand system 1300: move horizontally supporting plate 1202.These two kinds of technical schemes have identical technical conceive, carrying supporting plate can both carry arm-and-hand system 1300 and move horizontally along guide rail X-direction, comparatively speaking, the function in vertical direction (i.e. Z-direction) movement of the carrying supporting plate of front a kind of scheme is more than rear a kind of scheme arm-and-hand system 1300, namely controls the elevating function of carrying supporting plate in Z-direction.
Below, for the situation of the automatic detection frock with vertical feeding mechanism 1200, be described in detail.As shown in Figure 2, vertical feeding mechanism 1200 is arranged on horizontal mobile mechanism 1100, and can move along horizontal guide rail 1101 together with horizontal mobile mechanism 1100.Preferably, vertical feeding mechanism 1200 comprises electronic slide unit 1203, vertical mobile pallet 1202, vertical guide rail 1201.Move horizontally described in electronic slide unit 1203 and vertical guide rail 1201 are vertically installed in respectively on supporting plate 1102, and lay respectively at the both sides of vertical mobile pallet 1202, jointly provide support moving horizontally supporting plate 1102, vertical mobile pallet 1202 can be kept to be parallel to and to move horizontally supporting plate 1102, make moving horizontally supporting plate 1102 and can obtain better balance now.Be provided with vertical driving motor in electronic slide unit 1203, vertical mobile pallet 1202 vertically can move under the driving of vertical driving motor.Wherein, electronic slide unit 1203 is positioned at the side of the close tested measuring point moving horizontally supporting plate 1102, and vertical guide rail 1201 is positioned at the side away from tested measuring point moving horizontally supporting plate 1102, thus more effectively can carry out regulating and controlling to the side of tested measuring point.As shown in Figure 4, vertical guide rail 1201 can adopt L-type, increases its rigidity.
As shown in Figure 2, the vertical mobile pallet 1202 of vertical feeding mechanism 1200 is provided with arm-and-hand system 1300.Arm-and-hand system 1300 comprises mechanical arm rotating base 1304 and described mechanical arm 1301, and wherein, mechanical arm 1301 also comprises mechanical arm underarm 13012 and manipulator upper arm 13011.Mechanical arm rotating base 1304 makes mechanical arm 1301 entirety 360 degree can rotate in surface level.Mechanical arm underarm 13012 is hinged with mechanical arm rotating base 1304, and mechanical arm underarm 13012 can be rotated by relative mechanical hand rotating base 1304 in the pitch direction; Mechanical arm underarm 13012 is hinged with manipulator upper arm 13011, and the jointed shaft between mechanical arm underarm 13012 and manipulator upper arm 13011 is parallel to the jointed shaft between mechanical arm underarm 13012 and mechanical arm rotating base 1304; The end of manipulator upper arm 13011 is provided with pick-up unit 1302, and pick-up unit can be chosen as required, such as chooses the detection cover box for fuel tank leak detection.Preferably, the end of manipulator upper arm 13011 can adopt hinge or spherical hinge to be connected with pick-up unit 1302, and thus, pick-up unit 1302 can fit to the surface of detected material more easily, locates more accurately and detect tested measuring point.
Pick-up unit 1302 for detecting cover box, more specifically, can detect cover box and can adopt helium Mass Spectrometer Method device.Helium Mass Spectrometer Method device is highly sensitive with it, speed is fast, use safety, applied widely and the features such as leak source leak rate can be quantized, be widely used in Aeronautics and Astronautics, automobile and power industry.Compared with other traditional detection leakage method, helium Mass Spectrometer Method is revealed has better technical advantage, adopt the device of helium mass spectrum automatic Leakage Detection of the present invention, the automatic detection of aircraft wing integral tank spiro junction can be realized, thus the quick position detection achieved breakthrough and repairing, ensure that the high-quality of wing wing box, high-level efficiency are assembled.
More than describe the shape and structure of automatic detection frock of the present invention in detail, utilize the present invention, effectively can detect the length direction of detected material.As shown in Figure 3, the detected region of detected material is surf zone 800 at length direction.Now, can according to each measured point of tank surface, moving to some position on horizontal guide rail 1101 by moving horizontally pallet 1102, then adjusting vertical feeding mechanism 1200, adjust arm-and-hand system 1300 again, make pick-up unit the tested measuring point of detected material can be detected.After the detection of detection frock to a tested measuring point terminates automatically, can be as required, the tested measuring point of mobile and horizontal mobile pallet 1102 to the next one detects, or not mobile and horizontal mobile pallet 1102 and just adjust vertical feeding mechanism 1200 and arm-and-hand system 1300 directly detects the tested measuring point of the next one.
Can find out, in above-mentioned automatic testing method, detection frock can be moved to the multiple positions on horizontal guide rail 1101 automatically, can realize the detection of the tested measuring point determined for certain.In view of this, present invention also offers a kind of automatic testing method automatically detecting frock based on this, specifically, as shown in Figure 3, give a concrete instance.In figure, detected material is aircraft wing skin-surface, needs the fuel tank detecting wing cover interior surface whether to there is leakage of oil, during detection, by the direction in Fig. 3, pick-up unit 1302 is upwards aimed at tested measuring point, can detect this tested measuring point.As shown in Figure 3, being detected region at length direction (i.e. X-direction) at aircraft wing covering is surf zone 800, the horizontal length of surf zone 800 is 2400mm, and the difference of surf zone 800 is detected the maximum height difference a little having 286mm (=1786-1500mm) at vertical direction (i.e. Z-direction).The length of horizontal guide rail 1101 is 2500mm, now only need to move horizontally supporting plate 1102 and move to A place in position on horizontal guide rail 1101, B place, position, C place, position, D place, position respectively, the 2400mm horizontal length interval that just can realize effects on surface region 800 is exhaustively detected.For example, when moving horizontally supporting plate 1102 and being moved to A place, position, by regulating vertical feeding mechanism 1200 and arm-and-hand system 1300, just can detect interval J; When moving horizontally supporting plate 1102 and being moved to B place, position, by regulating vertical feeding mechanism 1200 and arm-and-hand system 1300, just can detect interval K.Specifically, vertical feeding mechanism 1200 can carry out the lift adjustment of vertical direction (i.e. Z-direction) to vertical mobile pallet 1202; Arm-and-hand system 1300 can pass through rotating machine arm rotating base 1304, make mechanical arm 1301 can in surface level integral-rotation; By the subordinate arm 13012 of rotary machine, mechanical arm underarm 13012 can be rotated by relative mechanical hand rotating base 1304 in the pitch direction; By rotary machine arm 13011 on hand, manipulator upper arm 13011 can be rotated by the subordinate arm 13012 of relative mechanical in the pitch direction.Preferably, also by rotation detecting device 1302, pick-up unit 1302 can be rotated around the hinge of manipulator upper arm 13011 end or spherical hinge, and then the surf zone 800 of fitting detected adaptedly, and then the tested measuring point of difference accurately located respectively and detects, can not be different and the precision of location and detection is affected in the surface configuration of the tested measuring point of difference due to surf zone 800.Now, because interval J and interval K partially overlaps, therefore only need by programmed control, automatic detection frock when intersection only being distributed to A place, position is carried out detecting or only distribute to the automatic frock that detects in B place, position and is carried out detecting.In like manner, when moving horizontally supporting plate 1102 and being moved to C place, position, by regulating vertical feeding mechanism 1200 and arm-and-hand system 1300, just can detect interval M.Region K and region M also partially overlaps, therefore only need by programmed control, and automatic detection frock when intersection only being distributed to B place, position is carried out detecting or only distribute to the automatic frock that detects in C place, position and carried out detecting.In like manner, when moving horizontally supporting plate 1102 and being moved to D place, position, by regulating vertical feeding mechanism 1200 and arm-and-hand system 1300, just can detect interval N.Region M and region N also partially overlaps, therefore only need by programmed control, and automatic detection frock when intersection only being distributed to C place, position is carried out detecting or only distribute to the automatic frock that detects in D place, position and carried out detecting.Thus, only need to move horizontally supporting plate 1102 and move to A place in position on horizontal guide rail 1101, B place, position, C place, position, D place, position respectively, the 2400mm horizontal length interval that just can realize effects on surface region 800 is exhaustively detected.
Above-mentioned is schematic based on this automatic testing method automatically detecting frock, as previously mentioned, vertical feeding mechanism 1200 is preferred instead of necessary, that is, when the manipulator upper arm 13011 of arm-and-hand system 1300 and mechanical arm underarm 13012 longer, thus there is the stretch amplitude of larger all directions and to when comparatively large regions detects, can omit vertical feeding mechanism 1200.Above-mentioned A place, position, B place, position, C place, position, D place, position are also schematic, can be as the case may be, the factors such as the length of the adjustable height of the length of such as whole measured surf zone 800, the length of horizontal guide rail 1101, vertical feeding mechanism 1200, manipulator upper arm 13011 and mechanical arm underarm 13012, determine the quantity of chosen position.In other words, as long as choose several (at least two, such as two, three or four etc.) fixed position, partially overlap between the detection zone of each adjacent fixed position, just can as required, realize exhaustively detecting at its whole length of interval along horizontal guide rail direction detected material.Easy understand, when the intersection area when between the detection zone of each adjacent fixed position is less, the fixed position choosing lesser amt is exhaustively detected at its whole length of interval along horizontal guide rail direction detected material with regard to realizing.
Also it may be noted that simultaneously, automatic testing method in Fig. 3 is schematic, the present invention not only can realize the detection being positioned at the tested measuring point of the plane curve on paper in Fig. 3, and the detection of the tested measuring point protruded on the three dimensions of paper or recessed paper can also be realized, namely as shown in Figure 2, tested measuring point now can have certain positive or negative value in the Y direction, and without requiring Y=0mm.This is because, arm-and-hand system 1300 is under the common cooperation of its mechanical arm rotating base 1304, mechanical arm underarm 13012, manipulator upper arm 13011 and pick-up unit 1302, can detect the point on three dimensions, especially those are positioned at the point being monitored in the space near paper plane.This shows, this automatic testing method automatically detecting frock can detect each the different tested measuring point in three dimensions.
In sum, be only the most preferred embodiment of invention, be not used for limiting practical range of the present invention.Namely all equivalences done according to the content of the present patent application the scope of the claims change and modify, and all should be technology category of the present invention.
Claims (16)
1. automatically detect a frock, it is characterized in that, comprising:
Polycrystalline substance (1000), it comprises horizontal guide rail (1101) and control box (1002), described horizontal guide rail (1101) is for supporting and guiding the horizontal mobile mechanism (1100) above it, described control box (1002) comprises described control panel and control system, for controlling described horizontal mobile mechanism (1100), vertical feeding mechanism (1200), arm-and-hand system (1300);
Described horizontal mobile mechanism (1100), it comprises and moves horizontally supporting plate (1102) and horizontal drive motor (1103), the described supporting plate (1102) that moves horizontally, under the driving of described horizontal drive motor (1103), can move along described horizontal guide rail (1101);
Described vertical feeding mechanism (1200), it is arranged on described horizontal mobile mechanism (1100), and can be mobile along described horizontal guide rail (1101) together with described horizontal mobile mechanism (1100), described vertical feeding mechanism (1200) also comprises electronic slide unit (1203) and vertical mobile pallet (1202), move horizontally described in described electronic slide unit (1203) is vertically installed on supporting plate (1102), vertical driving motor is provided with in described electronic slide unit (1203), described vertical mobile pallet (1202) vertically can be moved under the driving of described vertical driving motor,
Described arm-and-hand system (1300), it is installed on described vertical mobile pallet (1202), described arm-and-hand system (1300) comprises mechanical arm (1301), and described arm end is provided with pick-up unit (1302).
2. automatically detect frock as claimed in claim 1, it is characterized in that, described vertical feeding mechanism (1200) is also provided with vertical guide rail (1201), move horizontally on supporting plate (1102) described in described vertical guide rail (1201) is also vertically installed in, the side relative with described electronic slide unit (1203) on supporting plate (1102) is moved horizontally described in described vertical guide rail (1201) is arranged on, supporting plate (1102) is moved horizontally described in described vertical mobile pallet (1202) is parallel to, described electronic slide unit (1203) and described vertical guide rail (1201) make described vertical mobile pallet (1202) have better balance jointly.
3. automatic detection frock according to claim 2, it is characterized in that, move horizontally the side of the close tested measuring point of supporting plate (1102) described in described electronic slide unit (1203) is positioned at, described in described vertical guide rail (1201) is positioned at, move horizontally the side away from tested measuring point of supporting plate (1102).
4. automatically detect a frock, it is characterized in that, comprising:
Polycrystalline substance (1000), it comprises horizontal guide rail (1101) and control box (1002), described horizontal guide rail (1101) is for supporting and guiding the horizontal mobile mechanism (1100) above it, described control box (1002) comprises described control panel and control system, for controlling described horizontal mobile mechanism (1100), arm-and-hand system (1300);
Described horizontal mobile mechanism (1100), it comprises and moves horizontally supporting plate (1102) and horizontal drive motor (1103), the described supporting plate (1102) that moves horizontally, under the driving of described horizontal drive motor (1103), can move along described horizontal guide rail (1101);
Described arm-and-hand system (1300), it moves horizontally on supporting plate (1102) described in being installed on, described arm-and-hand system (1300) comprises mechanical arm (1301), and described arm end is provided with pick-up unit (1302).
5. as the automatic detection frock in Claims 1-4 as described in any one, it is characterized in that, also comprise: framed structure (1001), described horizontal guide rail (1101) is arranged on described framed structure (1001) or among described framed structure (1001).
6. automatically detect frock as claimed in claim 5, it is characterized in that, described framed structure (1001) is supported on described control box (1002), described control panel is arranged on the side of described control box (1002), and described set-up of control system is in described control box (1002).
7. automatically detect frock as claimed in claim 6, it is characterized in that, described control box (1002) bottom is provided with universal wheel.
8. automatically detect frock as claimed in claim 5, it is characterized in that, described horizontal drive motor (1103) on described horizontal mobile mechanism (1100) is provided with gear (1104), described horizontal guide rail (1101) is provided with the tooth bar (1105) be meshed with described gear, described horizontal mobile mechanism (1100) can be moved along described horizontal guide rail (1101).
9. as the automatic detection frock in claim 8 as described in any one, it is characterized in that, described arm-and-hand system (1300) comprises mechanical arm rotating base (1304) and described mechanical arm (1301), described mechanical arm rotating base (1304) make described mechanical arm (1301) can in surface level integral-rotation, the end of described mechanical arm (1301) is provided with described pick-up unit (1302).
10. automatically detect frock as claimed in claim 9, it is characterized in that, described mechanical arm (1301) comprises mechanical arm underarm (13012) and manipulator upper arm (13011), wherein,
Described mechanical arm underarm (13012) is hinged with described mechanical arm rotating base (1304), and described mechanical arm underarm (13012) can be rotated in the pitch direction relative to described mechanical arm rotating base (1304);
Described mechanical arm underarm (13012) is hinged with described manipulator upper arm (13011), and the jointed shaft between described mechanical arm underarm (13012) and described manipulator upper arm (13011) is parallel to the jointed shaft between described mechanical arm underarm (13012) and described mechanical arm rotating base (1304);
The end of described manipulator upper arm (13011) is provided with described pick-up unit (1302).
11. detect frock as claimed in claim 10 automatically, it is characterized in that, the end of described manipulator upper arm (13011) adopts hinge or spherical hinge to be connected with described pick-up unit (1302).
12. detect frock as claimed in claim 11 automatically, it is characterized in that, described pick-up unit (1302) is helium Mass Spectrometer Method device.
13. adopt in claim 1-12 the method automatically detecting frock described in any one and carry out automatically detecting, and it is characterized in that,
The described supporting plate (1102) that moves horizontally is individually displaced at least two fixed positions on described horizontal guide rail (1101), by adjusting described arm-and-hand system (1300), exhaustively can detect at its whole length of interval along horizontal guide rail (1101) direction detected material.
14. adopt automatic detection frock according to claim 10 to carry out the method automatically detected, and it is characterized in that,
By rotating described mechanical arm rotating base (1304), make described mechanical arm (1301) can in surface level integral-rotation;
By rotating described mechanical arm underarm (13012), described mechanical arm underarm (13012) can be rotated in the pitch direction relative to described mechanical arm rotating base (1304);
By rotating described manipulator upper arm (13011), described manipulator upper arm (13011) can be rotated in the pitch direction relative to described mechanical arm underarm (13012);
Thus make,
The described supporting plate (1102) that moves horizontally is individually displaced at least two fixed positions on described horizontal guide rail (1101), exhaustively can detect detected material at its whole length of interval along horizontal guide rail (1101) direction.
15. adopt automatic detection frock according to claim 11 to carry out the method automatically detected, and it is characterized in that,
By rotating described mechanical arm rotating base (1304), make described mechanical arm (1301) can in surface level integral-rotation;
By rotating described mechanical arm underarm (13012), described mechanical arm underarm (13012) can be rotated in the pitch direction relative to described mechanical arm rotating base (1304);
By rotating described manipulator upper arm (13011), described manipulator upper arm (13011) can be rotated in the pitch direction relative to described mechanical arm underarm (13012);
By rotating described pick-up unit (1302), described pick-up unit (1302) can be rotated around the described hinge of described manipulator upper arm (13011) end or described spherical hinge;
Thus make,
The described supporting plate (1102) that moves horizontally is individually displaced at least two fixed positions on described horizontal guide rail (1101), exhaustively can detect detected material at its whole length of interval along horizontal guide rail (1101) direction.
The method of 16. automatic detections as described in claim 13,14 or 15, it is characterized in that, described fixed position is two, three or four.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107192509A (en) * | 2017-05-17 | 2017-09-22 | 广西电网有限责任公司电力科学研究院 | A kind of SF6Leakage inspection robot |
| CN107532966A (en) * | 2015-05-22 | 2018-01-02 | 川崎重工业株式会社 | Leak detection system and the leak hunting method using the leak detection system |
| CN110879122A (en) * | 2019-12-13 | 2020-03-13 | 西安飞机工业（集团）有限责任公司 | Device and method for detecting tightness of aircraft wing fuel tank |
| CN111780922A (en) * | 2020-06-28 | 2020-10-16 | 安徽旭帆信息科技有限公司 | Natural gas leakage detection device based on infrared imaging recognition |
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| CN110879122A (en) * | 2019-12-13 | 2020-03-13 | 西安飞机工业（集团）有限责任公司 | Device and method for detecting tightness of aircraft wing fuel tank |
| CN111780922A (en) * | 2020-06-28 | 2020-10-16 | 安徽旭帆信息科技有限公司 | Natural gas leakage detection device based on infrared imaging recognition |
| CN111780922B (en) * | 2020-06-28 | 2022-03-11 | 安徽旭帆信息科技有限公司 | Natural gas leakage detection device based on infrared imaging recognition |
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