CN110006475A - Detection device and detection execution method - Google Patents
Detection device and detection execution method Download PDFInfo
- Publication number
- CN110006475A CN110006475A CN201910411407.6A CN201910411407A CN110006475A CN 110006475 A CN110006475 A CN 110006475A CN 201910411407 A CN201910411407 A CN 201910411407A CN 110006475 A CN110006475 A CN 110006475A
- Authority
- CN
- China
- Prior art keywords
- carrier
- detection
- detection device
- deformation
- testing agency
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000001514 detection method Methods 0.000 title claims abstract description 144
- 238000000034 method Methods 0.000 title claims abstract description 20
- 238000012360 testing method Methods 0.000 claims abstract description 92
- 230000007246 mechanism Effects 0.000 claims abstract description 49
- 239000000523 sample Substances 0.000 claims description 51
- 239000000956 alloy Substances 0.000 claims description 35
- 229910045601 alloy Inorganic materials 0.000 claims description 35
- 239000000463 material Substances 0.000 claims description 22
- 239000011159 matrix material Substances 0.000 claims description 21
- 238000010438 heat treatment Methods 0.000 claims description 19
- 230000008859 change Effects 0.000 claims description 17
- 238000005452 bending Methods 0.000 claims description 11
- 230000000694 effects Effects 0.000 claims description 10
- 108010003272 Hyaluronate lyase Proteins 0.000 claims description 9
- 238000007689 inspection Methods 0.000 claims description 6
- 230000009471 action Effects 0.000 claims description 5
- 229920001746 electroactive polymer Polymers 0.000 claims description 5
- 230000005489 elastic deformation Effects 0.000 claims description 4
- 238000004519 manufacturing process Methods 0.000 abstract description 7
- 239000000499 gel Substances 0.000 description 14
- 239000007788 liquid Substances 0.000 description 13
- 238000005516 engineering process Methods 0.000 description 8
- 238000010586 diagram Methods 0.000 description 7
- 239000007779 soft material Substances 0.000 description 7
- 239000000306 component Substances 0.000 description 5
- 230000008569 process Effects 0.000 description 4
- 230000003044 adaptive effect Effects 0.000 description 3
- 238000004891 communication Methods 0.000 description 3
- 239000008358 core component Substances 0.000 description 3
- 238000002474 experimental method Methods 0.000 description 3
- 230000006870 function Effects 0.000 description 3
- 238000012423 maintenance Methods 0.000 description 3
- 238000005259 measurement Methods 0.000 description 3
- 239000007787 solid Substances 0.000 description 3
- 238000004497 NIR spectroscopy Methods 0.000 description 2
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 239000000203 mixture Substances 0.000 description 2
- 239000003973 paint Substances 0.000 description 2
- 239000000741 silica gel Substances 0.000 description 2
- 229910002027 silica gel Inorganic materials 0.000 description 2
- 238000001228 spectrum Methods 0.000 description 2
- 230000009466 transformation Effects 0.000 description 2
- 239000011800 void material Substances 0.000 description 2
- 238000004458 analytical method Methods 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 230000001413 cellular effect Effects 0.000 description 1
- QVFWZNCVPCJQOP-UHFFFAOYSA-N chloralodol Chemical compound CC(O)(C)CC(C)OC(O)C(Cl)(Cl)Cl QVFWZNCVPCJQOP-UHFFFAOYSA-N 0.000 description 1
- 238000005253 cladding Methods 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 239000000109 continuous material Substances 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 238000001816 cooling Methods 0.000 description 1
- 239000006185 dispersion Substances 0.000 description 1
- 238000005485 electric heating Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000013100 final test Methods 0.000 description 1
- -1 flexible.For popular Substances 0.000 description 1
- 230000003447 ipsilateral effect Effects 0.000 description 1
- 230000004807 localization Effects 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 229920002521 macromolecule Polymers 0.000 description 1
- 239000002245 particle Substances 0.000 description 1
- 229920000642 polymer Polymers 0.000 description 1
- 239000002861 polymer material Substances 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 238000005070 sampling Methods 0.000 description 1
- 230000003595 spectral effect Effects 0.000 description 1
- 230000000087 stabilizing effect Effects 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D11/00—Component parts of measuring arrangements not specially adapted for a specific variable
- G01D11/30—Supports specially adapted for an instrument; Supports specially adapted for a set of instruments
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/05—Programmable logic controllers, e.g. simulating logic interconnections of signals according to ladder diagrams or function charts
- G05B19/058—Safety, monitoring
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/10—Plc systems
- G05B2219/16—Plc to applications
- G05B2219/163—Domotique, domestic, home control, automation, smart, intelligent house
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Investigating Strength Of Materials By Application Of Mechanical Stress (AREA)
Abstract
The present invention provides a kind of detection device and detection execution methods, are related to the technical field of the equipment surfaces such as automobile detection, specifically, detection device includes mobile mechanism and testing agency；Area to be tested of the mobile mechanism for moving body detection to target object；Testing agency includes carrier, detection means and deformation driving assembly；The first end of carrier is mounted in mobile mechanism, and detection means are mounted on the second end of carrier；Deformation driving assembly is used to make carrier that plastic deformation occur and maintain the deformation state of carrier, to drive the sound end of detection means close and be attached to target object surface.The present invention is solved is difficult the technical issues of carrying out Surface testing using current automation equipment except production line, and testing agency is used in several cases.
Description
Technical field
The present invention relates to the surface detection technique fields of the equipment such as automobile, hold more particularly, to a kind of detection device and detection
Row method.
Background technique
Surface detection technique is widely used in technical field of automobile detection.Many detection projects are needed to tested vehicle
Surface is tested.Such as: surface of vehicle film thickness is detected using current vortex or magnetic eddy detection technology, for examining
Look into film thickness whether uniform ground；Another example is: being detected using ultrasonic detection technology to car body outer structural parts, it is used for
Check that whether continuous material internal structure is not damaged；Another example is: being irradiated using Near Infrared Spectroscopy Detection Technology to measured body surface
Detection, for analyzing whether measured surface material composition meets prescribed requirement；Etc..These measure the items to judge vehicle (packet
Including new car and used car) appearance and configuration state have very important value, and it is irreplaceable.
The characteristics of above detection technique be need will test device sensor (probe) be attached at measured surface (or with it is tested
Surface keeps a close constant distance), and it is vertical with tested plane (or parallel) to adjust probe detection direction.It detects part
Project also requires to apply certain strength compression between probe and tested surface.
Currently in practical applications, above-mentioned Surface testing project is frequently necessary to man-hour manually hand-held detection device and probe to vehicle
Single-spot testing is carried out, mainly using paint film instrument, supersonic detector, spectrum detection instrument etc..To integrally be carried out to vehicle comprehensively
Detection needs to carry out intensive continuous single-point sampling.Working efficiency is low, and man-hour manually hand-held error is larger, and detection accuracy is difficult to ensure, behaviour
Make it is improper be also easy to scratch measured surface.
It is current also to carry detecting instrument based on automation equipments such as robot, multi-axis machine arm, AGV trolleies, along preparatory
Planning acts route, the automatic technical solution for executing Surface testing.These schemes generally require to preset outside accurate vehicle
Model is seen, is executed along fixed route, is compared and be suitble to execute detection in vehicle production assembly line.And except production line, this
A little schemes be frequently encountered lack auto model, auto model accuracy not enough, contour of the vehicle curved surface is difficult to position, rigidity executes
Mechanism and surface of vehicle hard contact easily cause the problems such as measured surface damage, so being difficult to apply at present except production line
Automation equipment carries out car surface detection.
Summary of the invention
The first object of the present invention is to provide a kind of detection device, with solve it is existing in the prior art production line it
It is difficult the technical issues of carrying out Surface testing using current automation equipment outside.
The second object of the present invention is to provide a kind of detection execution method, to solve existing in the prior art producing
It is difficult the technical issues of carrying out Surface testing using current automation equipment except line.
Based on above-mentioned first purpose, the present invention provides a kind of detection device, the detection device include mobile mechanism and
The testing agency being mounted in the mobile mechanism；The mobile mechanism be used to move the testing agency to target object to
Detection zone；
The testing agency includes carrier, detection means and deformation driving assembly；The first end of the carrier is mounted on
In the mobile mechanism, the detection means are mounted on the second end of the carrier；The material of the carrier at least outer wall is soft
Material；The deformation driving assembly is used to make carrier that plastic deformation occur and maintain the deformation state of carrier, to drive inspection
The sound end of survey component is close and is attached to target object surface；
Under the maintained deformation state of the carrier, elastic deformation can occur for the carrier under the effect of external force, with
Make contact Elastic Contact of the sound end of testing agency with target object surface.
Further, the carrier is gel cavity structure；
The deformation driving assembly can change the internal pressure of the chamber of the carrier, so that the carrier passes through expansion
Or it shrinks and generates plastic deformation.
Further, the deformation driving assembly includes hydraulic system or baric systerm, the hydraulic system or air pressure system
System passes through pipeline and the chamber.
Further, the spreading factor along the opposite sides face that first end to the second extreme direction extends of the carrier is not
When together, so that plastic deformation occurs for the carrier, the deformation degree of stretch of two sides is different, to adjust the spy of the testing agency
The direction of head.
Further, the carrier is recessed inwardly to be formed along one of side that first end to the second extreme direction extends
Undulation portion, the undulation portion have one or more.
Further, the material of the carrier is electroactive polymer；Conducting matrix grain, the load are provided in the carrier
Body bending degree under the action of different voltages is different；
The deformation driving assembly can load different voltage to conducting matrix grain, so that flexible become occurs for the carrier
Shape.
Further, the conducting matrix grain is applied between the first end and second end of the extending direction of the carrier.
Further, the material of the carrier is gel；
Memorial alloy skeleton is provided in the carrier；The memorial alloy skeleton has differently curved at different temperatures
State；
The deformation driving assembly can change the temperature of the memorial alloy skeleton, so that the memorial alloy skeleton band
It moves the carrier and plastic deformation occurs.
Further, the deformation driving assembly includes heating wire, and the heating wire is connect with the memorial alloy skeleton,
Change the temperature of the memorial alloy skeleton in a manner of through electrified regulation.
Further, the memorial alloy skeleton is applied between the first end and second end of the carrier, the electric heating
Silk is arranged with the memorial alloy skeleton side-by-side alignment.
Further, the detection device further includes mounting base and linkwork；
The mounting base is fixedly connected with the mobile mechanism, and the carrier is mounted on the mounting base by linkwork
On.
Further, spring is provided between the linkwork and the carrier, the spring is used in the detection
When the probe of mechanism is moved in place, it is resisted against probe on target object always.
Further, the quantity of the testing agency is multiple, and multiple testing agencies are separately mounted to the movement
In mechanism.
Based on above-mentioned second purpose, the present invention provides a kind of detection execution method, is based on detection described in any of the above embodiments
Device, the detection execution method include:
At moving body detection to the area to be tested of close target object, and make the probe side of testing agency towards mesh
Mark object；
Drive carrier that plastic deformation occurs, so that the probe of testing agency is attached to target object surface.
Detection device of the present invention drives testing agency mobile by mobile mechanism, so that needed for testing agency can be moved to
Area to be tested, the final position of testing agency is then adjusted by the plastic deformation of control vector so that probe attach
On the surface of examined object, the surface of target object is detected.Since the adjustment for final position of popping one's head in is to pass through carrier
Plastic deformation realize, so mobile mechanism does not need accurately to position when moving, do not need accurate vehicle mould accordingly
Type positions the mobile route of mobile mechanism；Further, carrier has certain amplitude of deformation and deformation is flexible, meanwhile,
Carrier is in a deformed state by can occur elastic deformation when external force, so it is capable of the shape of adaptive targets body surface, it is fast
Test probe is fitted to measured surface by speed, and is able to maintain appropriate pressure force so that testing agency can be in contour of the vehicle
Curved surface is difficult to use in the case where positioning, and avoids the hair for the case where surface of vehicle hard contact causes measured surface to damage
It is raw.As it can be seen that detection device of the present invention is the detection for the surface of vehicle for having measured surface model being applicable on production line, may be used also
The automatic detection of surface of vehicle suitable for no measured surface model solves and is difficult except production line using at present automatic
Change the technical issues of equipment carries out Surface testing.
Detection execution method provided by the invention, be based on detection device provided by the invention, compared with prior art have with
The identical beneficial effect of detection device provided by the invention, in this not go into detail.
Detailed description of the invention
It, below will be to specific in order to illustrate more clearly of the specific embodiment of the invention or technical solution in the prior art
Embodiment or attached drawing needed to be used in the description of the prior art be briefly described, it should be apparent that, it is described below
Attached drawing is some embodiments of the present invention, for those of ordinary skill in the art, before not making the creative labor
It puts, is also possible to obtain other drawings based on these drawings.
Fig. 1 is the schematic diagram of one detection device of embodiment provided in an embodiment of the present invention；
Fig. 2 is the schematic diagram of the reset condition of the testing agency of one detection device of embodiment provided in an embodiment of the present invention
(display cavity inside structure)；
Fig. 3 is the schematic diagram of the deformation state of the testing agency of one detection device of embodiment provided in an embodiment of the present invention
(display cavity inside structure)；
Fig. 4 is the schematic diagram of two detection device of embodiment provided in an embodiment of the present invention；
Fig. 5 is the reset condition schematic diagram of the testing agency of two detection device of embodiment provided in an embodiment of the present invention；
Fig. 6 is the deformation state schematic diagram of the testing agency of two detection device of embodiment provided in an embodiment of the present invention；
Fig. 7 is the schematic diagram of the testing agency of three detection device of embodiment provided in an embodiment of the present invention；
Fig. 8 is the A-A cross-sectional view of Fig. 7.
Icon: 100- testing agency；110- carrier；111- chamber；112- undulation portion；The first side 113-；114- second side；
120- probe；121- signal wire；130- conducting matrix grain；140- memorial alloy skeleton；200- mounting base；210- connecting shaft；300-
Linkwork；310- spring；400- controller.
Specific embodiment
Technical solution of the present invention is clearly and completely described below in conjunction with embodiment, it is clear that described reality
Applying example is a part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, the common skill in this field
Art personnel every other embodiment obtained without making creative work belongs to the model that the present invention protects
It encloses.
Embodiment one
Referring to Fig.1 shown in-Fig. 8, the present embodiment provides a kind of detection devices, applied to the various property to target object surface
The detection of energy, such as the detection of car surface performance.
The present embodiment detection device includes mobile mechanism's (not shown) and testing agency 100, and testing agency 100 installs
In mobile mechanism.The effect of mobile mechanism is to drive testing agency 100 mobile, so that testing agency 100 can be moved to not
Same position, so that the surface of different location or different target object to target object surface is detected, it is specific mobile
Mechanism can be AGV trolley, and (AGV is the abbreviation of Automated Guided Vehicle, implies that " automated guided vehicle ".
AGV can travel along defined guide path equipped with electricity magnetically or optically equal homing guidances device, with safeguard protection and
The transport vehicle of various transfer functions) or multi-axis robot etc., corresponding testing agency 100 is mounted on AGV trolley or multi-axis machine
On the mechanical arm of people.Testing agency 100 includes carrier 110, detection means and deformation driving assembly.The first end of carrier 110
It is mounted in mobile mechanism, the probe 120 of detection means is mounted on the second end of carrier 110.The material of at least outer wall of carrier 110
For soft material, and plastic deformation can occur for carrier 110, and the maintenance deformation state being capable of fixing；Deform driving assembly (figure
In be not shown) for make carrier 110 occur plastic deformation, to drive the sound end of testing agency 100 close and be attached to target
Body surface.It is understood that carrier 110 is the fixed installation component as detection means, while carrier 110 is also with soft
Property deformability, can deformation when drive detection means move in a certain range so that the sound end of detection means passes through
Subsequent soft readjustment is attached to target object surface.The maintenance deformation state that carrier 110 is capable of fixing, refers to the change of carrier
Shape state has stability, which can be maintained by the effect of deformation driving assembly.
Wherein, mobile mechanism drives the movement of testing agency that can be achieved by the prior art, and repeats no more in the present embodiment.
The different location that mobile mechanism drives testing agency 100 mobile, the different location can be regarded as pre-set as needed
Area to be tested or working region for mobile mechanism, such as in car surface performance detection, pre-selected multiple inspections
The corresponding neighbouring position of measuring point is the area to be tested of target object.That is, mobile mechanism drives testing agency 100 to move
The area to be tested moved is the equal of the coarse localization to 100 position of testing agency, and the plastic deformation of carrier 110 is finally complete
It is adjusted at 120 position of probe of detection means, detection means is enable to complete detection work.
The material of at least outer wall of carrier 110 is that the purpose of soft material is, under the maintained deformation state of the carrier,
Elastic deformation can occur for the carrier under the effect of external force, so that contact of the sound end of testing agency with target object surface
For Elastic Contact.
The sound end of testing agency 100 be attached to the surface of target object it should be appreciated that testing agency 100 probe
120 abut the surface for being stably fixed to target object, and probe 120 should be in appropriate detection with the surface of target object
Distance and detection angles, those skilled in the art should need to reasonably select the structure of detection means according to detection.For example, it is desired to
Probe 120 is vertical and the detection modes of contact target body surfaces, at this point, the probe of detection means can be exposed in carrier 110
The detecting core component in outside, corresponding probe 120 directly can vertically be connected to the surface of target object；For another example needing to pop one's head in
120 are parallel to the detection of target object surface, and the detecting core component of probe 120 parallel need to be set with the surface of target object at this time
It sets, between this, detection means should also include the shell being arranged in outside probe 120, by the way that shell is arranged outside probe 120, and will
The side wall of shell is attached with the surface of target object and is abutted；For another example need to pop one's head in 120 detecting core component and target object
Surface alternate constant distance detected, 120 outer cladding shells of popping one's head in, and 120 core of outer relative probe of shell can be passed through
The edge of the end of probe of center portion part extends outwardly constant distance, is attached at this time by the outer of shell and the surface of target object,
To meet the testing conditions of probe 120.
It should be noted that the concrete type of detection means, different for the detection performance of required target object surface, this
Field technical staff can do the selection of adaptability, for example, detecting structure when the film thickness uniformity to car surface detects
Part should be the existing film-detector based on current vortex or magnetic eddy detection technology；For another example to car body external structure
Whether material internal structure is continuous not damaged when being detected, and detection means can be based on the existing of ultrasonic detection technology
Ultrasonic wave detector；For another example detection means can be base when whether meeting prescribed requirement to analysis measured surface material composition
In the existing spectrum detection instrument of Near Infrared Spectroscopy Detection Technology；Etc..
Flexibility described herein is the object properties for relative stiffness, refers to that the effect of object active force can become
Shape, and the deformation has different conditions under different force effect, and has invertibity and stability；At least outer wall of carrier 110
For soft material, it can be understood as the outer wall of carrier 110, which is covered with soft material layer or the outer wall of carrier, directly soft material
It is made.Wherein, soft material refers to that the material of carrier has certain elasticity, such as rubber, silica gel isogel, can be with
Target object surface carries out elasticity or flexible contact.
As the testing agency 100 of detection device of the embodiment of the present invention and a kind of specific installation form of mobile mechanism, such as
Shown in Fig. 1 or Fig. 4, the first end of carrier 110 is connected with mounting base 200 and linkwork 300.Specifically, mounting base 200 with
The mechanical arm of AGV trolley or multi-axis robot cooperates the fixing components such as flange to be fixedly connected by connecting shaft 210, and carrier 110 is logical
Linkwork 300 is crossed to be mounted in mounting base 200.The position that wherein effect of linkwork 300 is to maintain testing agency 100 is consolidated
It is fixed, and testing agency 100 can be limited in vertical direction and be rotated up and down in a certain range, angle rotatable is at 0 °~90 °.Tool
The linkwork 300 of body can be hinge, be also possible to the forms such as connecting rod, those skilled in the art are in reasonable range, energy
That enough expects is both able to achieve the hinged machine of testing agency 100 rotated upwardly and downwardly and can have certain stabilizing power after rotateing in place
Structure.Linkwork 300 can be fixedly connected with shape by the prior arts any one such as bolt with the type of attachment of mounting base 200
Formula realizes that the type of attachment of corresponding linkwork 300 and carrier 110, those skilled in the art can also be according to reasonable existing
Technology realizes that in this not go into detail.
Continue to participate in shown in Fig. 1 or Fig. 4, need it is prominent illustrate, the first end of linkwork 300 and carrier 110 it
Between preferably connected by spring 310 namely linkage and carrier 110 are provided with spring 310, the two is carried out bullet by spring 310
Property is fixed, and the quantity of spring 310 is not limited to one.It is understood that the setting of spring 310, on the one hand can provide certain
Buffering surplus plays buffer protection function when the sound end of testing agency 100 and the surface of target object contact；Meanwhile it is logical
It crosses spring 310 and drives testing agency 100, when testing agency 100 further presses with the surface of target object and abuts, spring
310 can centainly variation margin range in testing agency 100 apply pressure make testing agency 100 sound end maintains always and
The attaching of target object surface.
The plastic deformation of the carrier 110 of detection device of the embodiment of the present invention can realize that lower mask body is given by diversified forms
It is several out.
Embodiment one: as shown in Figure 1-Figure 3, the material of the carrier 110 of testing agency 100 is gel, and carrier 110 is set
It is equipped with chamber 111 namely carrier 110 is gel cavity structure；It deforms driving assembly and passes through the internal pressure for changing chamber 111,
So that carrier 110 generates plastic deformation by expansion or shrinkage.Wherein, deformation driving assembly can be hydraulic system or air pressure system
System, hydraulic system or baric systerm are connected to by pipeline with chamber 111.
It is understood that the colloidal particle or macromolecule in colloidal sol or solution are mutual under certain condition in common knowledge
It is connected, forms space net structure, is filled in structural void and (is also possible in xerogel as the liquid of decentralized medium
Gas), such a special dispersion is referred to as gel；Wherein colloidal solid or the high-polymer molecule are connected with each other, and are barricaded as frame
Son forms space net structure, and liquid or gas is filled in structural void, property between a solid and a liquid, from outer
Table sees, it is at solid-like or semi-solid, flexible.For popular, gel is soft and has deformability and recoverable force
Carrier is added by the gel material that can be processed into certain fixed form in the material namely the present embodiment of the ability embodiment
Work forms, such as silica gel etc..The material of carrier 110 is selected as gel in the embodiment of the present embodiment, and master is to be applied to be
The plastic deformation ability of gel, namely the cavity wall expand or shrink of gel can be made when change pressure in the cavity of gel.
In the present embodiment embodiment, the plastic deformation of carrier 110, inflation, contraction class of losing heart with balloon
Seemingly.Specifically it is illustrated for deforming driving assembly and being hydraulic system.Hydraulic system includes liquid reserve tank, inlet tube, outlet tube
And kinetic pump etc., control valve is respectively arranged on inlet tube and outlet tube, and inlet tube and outlet tube are respectively communicated with liquid reserve tank
With chamber 111.
110 plastic deformation process of specific carrier are as follows: driving the movement of testing agency 100 without using state or mobile mechanism
In the process, non-expansion state namely reset condition is generally presented in carrier 110, as shown in Figure 2；Mobile mechanism will test mechanism 100
When being moved to the position to be detected of target object, controling valve closing in the control valve opening, outlet tube on inlet tube is led to
It crosses kinetic pump, inlet tube to be filled with the liquid in liquid reserve tank into the chamber 111 of carrier 110, the pressure in chamber 111 is forced to increase
Greatly, corresponding carrier 110 is expanded due to chamber 111 and external pressure difference, and carrier 110 drives detection structure due to expansion at this time
The surface of the object-oriented object of part is mobile, until the probe 120 of detection means is attached to the surface of target object；Hydraulic system after
Continue and inject liquid into chamber 111, due to the first end of carrier 110 and the distance between the surface of target object it has been determined that
So when carrier 110 continues expansion at this time certain pressure can be applied to the probe 120 of testing agency 100, keep probe 120 steady
Fixed is attached on the surface of target object, and carrier 110 is in deformation state at this time, as shown in Figure 3.The spy of testing agency 100
After first 120 movement in place, the control valve on inlet tube, outlet tube can all be closed, to maintain deformation state；Corresponding inspection
It surveys component to start to execute detection operation, after the completion of detection, controling valve closing on inlet tube, the control valve on outlet tube is beaten
It opens, the liquid in chamber 111 is back to liquid reserve tank by outlet tube, at this time due to the pressure reduction in chamber 111, carrier 110
It reduces to restore reset condition, the probe 120 of final testing agency 100 is far from target object surface；Original is restored in carrier 110
It, can moving body detection 100 be next to next target object or same target object again by mobile mechanism after beginning state
Position to be detected continues to repeat the above steps.
It should be noted that baric systerm is similar with hydraulic system, only liquid is as pressure in change chamber 111
Power source is changed to gas, those skilled in the art be fully able to understand according to the description to hydraulic system the setting of baric systerm with
And working principle, in this not go into detail.
Typically, it for the carrier 110 of general gel cavity structure, can be deformed by pressure control, for high-strength
The carrier 110 for spending gel cavity structure, can be deformed by hydraulic control.
As a preferred form in the further optional embodiment of the carrier 110 of the present embodiment embodiment,
The spreading factor of the two relative side of carrier 110 extended along first end to the second extreme direction is different so that carrier 110 occur it is soft
Property deformation when, the deformation degree of stretch of two sides is different, with the direction of the probe 120 of adjusting detection mechanism 100.It needs to illustrate
It is that the selection of two sides spreading factor should be based on the angular adjustment to probe 120, typically, spreading factor lesser one
Side is that probe 120 is needed towards mobile side, such as Fig. 2 or shown in Fig. 3, the probe 120 of testing agency 100 to carrier 110
Second side 114 is tilted a certain angle when can just fit to target object surface, and the spreading factor of the first side 113 of carrier 110 is answered
When be greater than carrier 110 second side 114 spreading factor, when so that carrier 110 being deformed by the effect of pressure, the first side
113 Extendible Extent is greater than the Extendible Extent of second side 114, and corresponding carrier 110 is bent towards second side 114 on the whole, is in
Existing form shown in Fig. 3.
It is understood that the difference of the spreading factor of 110 two relative side of carrier, can be selected by 110 two sides of carrier
Select unlike material realization；Identical material can also be used, and the thickness by changing 110 two relative side of carrier is realized, wherein it is same
One material, the bigger spreading factor of thickness are smaller.Naturally also can be as shown in Figure 1-Figure 3, by carrier 110 along first end to second
One of side that extreme direction extends is recessed inwardly to form undulation portion 112, is realized with increasing the extension area of the side, wherein
The extension ability of side with undulation portion 112 is greater than the extension ability of opposite side.Wherein, the quantity of undulation portion 112 can be
One or more can be reasonably selected as needed in practical application.
It is achievable in various degree by wall thickness change and material variation etc. in the not ipsilateral of carrier in present embodiment
Deformation.When injecting high pressure gas or liquid into cavity, under pressure, cavity expansion, since each side elastic force (prolongs
Open up coefficient) it is different, cavity is different to all directions dilatating and deformable, and construction profile changes.By controlling pressure (hydraulic or gas
Pressure) it can control overall structure deformation, and expansion pressure can be applied outward in specific direction.
It should be noted that relationship between the deformation direction of carrier 110 and pressure etc. can by preparatory experiment into
Row measurement, so that the reset condition shape of carrier 110 and the shape of deformation state meet object-oriented body surface movement simultaneously
The requirement of attaching.
The hydraulic system of this kind of embodiment or the pipeline of baric systerm may be arranged at linkwork 300 and mounting base 200
Inside, it is not naked to be exposed on the external, to protect pipeline.Liquid reserve tank can carry out reasonable Arrangement as needed, may be generally mounted at moving machine
On structure.
Embodiment two: as shown in Figure 4-Figure 6, the material of the carrier 110 of testing agency 100 is electroactive polymer；It carries
Conducting matrix grain 130 is provided in body 110.
Wherein, the carrier 110 of electroactive polymer material bending degree under the action of different voltages is different, conducting matrix grain
130, which can be one, is also possible to more.Since the carrier 110 of electroactive polymer is to change to deform by voltage, so phase
The deformation driving assembly answered should be able to load different voltage to conducting matrix grain 130, so that conducting matrix grain 130 drives carrier
110 occur plastic deformation.Between the first end and second end for the extending direction that general conducting matrix grain 130 is applied in carrier 110,
So that the variation of conducting matrix grain 130 can be reacted to completely on carrier 110.Specific deformation driving assembly includes electric wire and transformation
Device etc., electric wire for connecting power supply unit, voltage devices and conducting matrix grain 130, transformation device can existing potential device, in fact
Now to the adjusting of the voltage of conducting matrix grain 130 and carrier 110.
In present embodiment, 110 plastic deformation process of carrier is similar to embodiment one, and difference is, present embodiment
Plastic deformation be by changing the voltage of conducting matrix grain 130 to change the state of carrier 110.As shown in figure 5, not using shape
During state or mobile mechanism drive testing agency 100 mobile, the conducting matrix grain 130 of carrier 110 can no power, be at this time to carry
The reset condition of body 110, the state can be linear state and be also possible to bending state, and what Fig. 5 was provided is bending state, mobile
When mechanism will test mechanism 100 and be moved to the position to be detected of target object, deformation driving assembly is powered to conducting matrix grain 130,
And give reasonable voltage, be coated at this time guiding skeleton carrier 110 due to voltage effect and occur bending and deformation, and should
Bending deformation is able to drive the probe 120 of detection means to the movement of the surface of target object and is attached to the surface of target object,
Carrier 110 is rendered as deformation state at this time, as shown in fig. 6, deformation state is different relative to the bending degree of reset condition.Detection
After the movement in place of probe 120 of mechanism 100, maintain the voltage of conducting matrix grain 130 constant, to maintain deformation state；Corresponding inspection
It surveys component to start to execute detection operation, after the completion of detection, conducting matrix grain 130 is no longer powered, due to the change of voltage, carrier 110
Be restored to reset condition again, at this time can by mobile mechanism again moving body detection 100 to next target object or same mesh
The next position to be detected for marking object, continues to repeat the above steps.
It should be noted that the relationship between the voltage and deformation of carrier 110 can be known by the prior art, or pass through
Preparatory experiment is measured, so that the reset condition shape of carrier 110 and the shape of deformation state meet object-oriented object
Requirement body surface face movement and attached.
Embodiment three: the material of the carrier 110 of testing agency 100 as shown in Figure 7 and Figure 8 is gel, is set in carrier 110
It is equipped with memorial alloy skeleton 140.
Wherein, memorial alloy skeleton 140 has differently curved state at different temperatures；Deformation driving assembly can change
The temperature of memorial alloy skeleton 140, so that memorial alloy skeleton 140 drives carrier 110 that plastic deformation occurs.Specifically, deformation
Driving assembly includes electric wire, heating wire etc., and electric wire is for connecting heating wire and power supply unit, heating wire and memorial alloy skeleton
140 connections, heating wire (showing in figure) are arranged with 140 side-by-side alignment of memorial alloy skeleton, and memorial alloy skeleton 140 is applied in
Between the first end and second end of carrier 110, change the temperature of memorial alloy skeleton 140 in a manner of through electrified regulation.
In present embodiment, 110 plastic deformation process of carrier is similar to embodiment two, and the variation etc. of this form can also
Referring to the attached drawing of embodiment two, difference is, the plastic deformation of present embodiment is to change memory by the heating of heating wire
The state of alloy skeleton 140 is realized.Specifically, in the mistake for driving testing agency 100 mobile without using state or mobile mechanism
Cheng Zhong, the heating wire of carrier 110 can no power, be at this time the reset condition of carrier 110, which can be linear state can also
To be bending state, when mobile mechanism will test mechanism 100 and be moved to the position to be detected of target object, deformation driving assembly to
Heating wire is powered, electric-heating-wire-heating memorial alloy skeleton 140, and corresponding memorial alloy skeleton 140 is curved due to the change of temperature
Song deformation, since memorial alloy skeleton 140 is connected on carrier 110, corresponding carrier 110 also can be in memorial alloy skeleton 140
Under the action of occur bending and deformation, and the bending deformation is able to drive the probes 120 of detection means and moves to the surface of target object
The surface of target object is moved and is attached to, carrier 110 is rendered as deformation state at this time, and deformation state is relative to the curved of reset condition
Qu Chengdu is different.After the movement in place of probe 120 of testing agency 100, the heated condition of heating wire is maintained, to maintain deformation shape
State；Corresponding detection means start to execute detection operation, and after the completion of detection, heating wire is no longer powered, and waits memorial alloys skeleton 140
After cooling, corresponding memorial alloy skeleton 140 is restored to reset condition again with carrier 110, at this time can be by mobile mechanism again
Moving body detection 100 continues to repeat the above steps to next position to be detected of next target object or same target object
?.
It should be noted that the relationship between the deformation state and temperature of memorial alloy can be known by the prior art, or
Person is measured by preparatory experiment so that the reset condition shape of carrier 110 and the shape of deformation state meet towards
Requirement target object surface movement and attached.
The carrier 110 of which kind of either above-mentioned form, the outer wall of the carrier 110 of the present embodiment detection device be all it is soft,
It is flexible, the surface of target object will not be scratched during plastic deformation；And carrier 110 is all with due to having certain soft modeling
Property, so capableing of the surface of adaptive targets object.Meanwhile the form of carrier 110 is also not necessarily limited to above-mentioned three kinds of embodiments,
Those skilled in the art be can be by the reasonable combination etc. of above-mentioned three kinds of embodiments, such as carrier 110 is divided to be connected with each other
Three sections, three sections of forms etc. for being respectively adopted one of above embodiment.
In the present embodiment detection device, no matter the carrier 110 of which kind of above-mentioned form, the deformation of carrier 110 can pass through
Controller 400 realizes that controller 400 is mountable in mounting base 200.Controller 400 has storage capacity, can store measurement
As a result, and controller 400 have remote communications capability, can receive remote control commands, and test result is uploaded.Detection machine
Test result data can be returned between the probe 120 and controller 400 of structure 100 by communication line, test probe can also lead to
Cross wireless communication technique, such as bluetooth/wifi/Zigbee/Lora/2G/3G/4G/5G cellular radio, return data.
Specific controller 400, which can be, is integrated with the standard PLC equipment of corresponding control program.Such as Siemens S7-
200/S7-300 series of PLC or identity function PLC；It is embedded that ARM Cortex-A and Linux also can be used in controller 400
Processor platform；Controller 400 can also use 400 platform of ARM Cortex-M and RTOS embedded controller etc..This reality
The controller of Shi Li testing agency can control the plastic deformation of testing agency's carrier by simple target: for embodiment one
110 form of carrier, controller 400 are responsible for opening and closing and aperture of adjusting control valve door etc., to pass through control pressure or hydraulic guarantor
It holds in setting range, forms control loop, so that 110 shape of carrier be driven to be adjusted to the form needed, and probe 120 can be made
Certain pressure is formed with target object surface, wherein the control mode of controller 400 can use and preset pressure threshold
Mode is provided with pressure detecting assembly in the chamber 111 of corresponding carrier 110.For 110 form of carrier of embodiment two,
Controller 400 is maintained at setting range by adjusting output voltage, 110 voltage of control vector, control loop is formed, to drive
110 shape of carrier is adjusted to the form needed, and probe 120 can be made to form certain pressure with target object surface；Accordingly
The control mode of controller 400 can be the mode for presetting voltage threshold, meanwhile, the conducting matrix grain that controller 400 obtains
130 voltage can be obtained by setting voltage sensor or directly by the feedback of potential device.For the load of embodiment three
110 form of body, controller 400 are maintained at setting by adjusting heating wire temperature, the memorial alloy skeleton 140 of control vector 110
Range forms control loop, so that 110 shape of carrier be driven to be adjusted to the form needed, and can make probe 120 and object
Body surface face forms certain pressure heating wire temperature；The control mode of corresponding controller 400, which can be, presets temperature threshold
Mode, the temperature (temperature for being also believed to memorial alloy skeleton 140) of heating wire can pass through setting temperature sensor and obtain.
It should be noted that as illustrated in figure 1 or 4, an AGV trolley or multi-spindle machining people can install multiple detections simultaneously
Independent control can be used in mechanism 100, different testing agencies 100, and multiple testing agencies 100 can be simultaneously to same target object
The different detection positions on surface or the surface of different target object carry out while detecting, to improve detection efficiency.
In conclusion the course of work of detection device of the embodiment of the present invention is that multi-axis robot (or AGV trolley) will test
Mechanism is sent to working region.High accuracy positioning is not needed at this time, as long as measured surface is allowed to enter the deformation area of coverage of testing agency
Domain.Then, control unit issues instruction, by adjusting pneumatic/hydraulic (or voltage/temperature), controls flexible end and executes
Deformation, close to target surface.The detection probe that testing agency carries front end attachment fits to target surface.Further adjust
Whole pneumatic/hydraulic (or voltage/temperature) control amount, can be such that carrier further deforms, adaptive targets shape, and probe is directed toward
Measured surface normal direction or required detection direction, and certain pressure force is provided.When meeting test condition and guarantee that pressure force will not damage
After hurting tested surface, probe starts measurement and return data.Meanwhile can be arranged by multiple testing agencies, it can be with one-time detection one
Multiple test points, greatly improve working efficiency in a regional scope.
Detection device of the embodiment of the present invention controls simple (single control amount pneumatic/hydraulic/voltage/temperature), is widely used
(paint film instrument/ultrasonic wave/spectral detection etc.), it is at low cost, it is high-efficient, it does not need high-precision and is tested model, contact action is soft not
Damage the surface of target object；And can intelligent operation, compare manual operation, high-efficient, error is small, testing result can be right
The indexs such as the appearances such as vehicle, structure and Facing material judge, and provide essence for quality inspection, maintenance and value assessment
True digitlization foundation.
Embodiment two
The present embodiment provides a kind of detection execution methods to detect execution method packet based on the detection device that embodiment provides
It includes:
Step 1: at moving body detection 100 to the area to be tested close to the target object of target object, and making to detect
120 side of probe of mechanism 100 is towards target object.
Step 2: plastic deformation occurs for driving carrier 110, so that the probe 120 of testing agency 100 is attached to target object
Surface.
Detail content being wherein specifically related in method etc. can be known by the record to one detection device of embodiment.
The present embodiment detection execution method with have compared with prior art with identical with detection device provided by the invention
Beneficial effect can be obtained intuitively, in this not go into detail by the description of the content of one detection device of embodiment.
Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention., rather than its limitations；To the greatest extent
Pipe present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: its according to
So be possible to modify the technical solutions described in the foregoing embodiments, or to some or all of the technical features into
Row equivalent replacement；And these are modified or replaceed, various embodiments of the present invention technology that it does not separate the essence of the corresponding technical solution
The range of scheme.
Claims (14)
1. a kind of detection device, which is characterized in that the detection device includes mobile mechanism and is mounted on the mobile mechanism
On testing agency；The mobile mechanism is for moving the testing agency to area to be tested；
The testing agency includes carrier, detection means and deformation driving assembly；The first end of the carrier is mounted on described
In mobile mechanism, the detection means are mounted on the second end of the carrier；The deformation driving assembly is for making carrier
Plastic deformation and the deformation state for maintaining carrier, to drive the sound end of detection means close and be attached to object body surface
Face；
Under the maintained deformation state of the carrier, elastic deformation can occur for the carrier under the effect of external force, so that inspection
Surveying contact of the sound end of mechanism with target object surface is Elastic Contact.
2. detection device according to claim 1, which is characterized in that the carrier is gel cavity structure；
The deformation driving assembly can change the internal pressure of the chamber of the carrier, so that the carrier is by expansion or receives
It contracts and generates plastic deformation.
3. detection device according to claim 2, which is characterized in that the deformation driving assembly includes hydraulic system or gas
Pressure system, the hydraulic system or baric systerm pass through pipeline and the chamber.
4. detection device according to claim 2 or 3, which is characterized in that the carrier along first end to second end side
Spreading factor to the opposite sides face of extension is different, and when so that plastic deformation occurring for the carrier, the deformation of two sides is extended
Degree is different, to adjust the direction of the probe of the testing agency.
5. detection device according to claim 2 or 3, which is characterized in that the carrier along first end to second end side
It is recessed inwardly to form undulation portion to one of side of extension, the undulation portion has one or more.
6. detection device according to claim 1, which is characterized in that the material of the carrier is electroactive polymer；Institute
It states and is provided with conducting matrix grain in carrier, carrier bending degree under the action of different voltages is different；
The deformation driving assembly can load different voltage to conducting matrix grain, so that plastic deformation occurs for the carrier.
7. detection device according to claim 6, which is characterized in that the conducting matrix grain is applied in the extension of the carrier
Between the first end and second end in direction.
8. detection device according to claim 1, which is characterized in that the material of the carrier is gel；
Memorial alloy skeleton is provided in the carrier；The memorial alloy skeleton has differently curved shape at different temperatures
State；
The deformation driving assembly can change the temperature of the memorial alloy skeleton, so that the memorial alloy skeleton drives institute
It states carrier and plastic deformation occurs.
9. detection device according to claim 8, which is characterized in that the deformation driving assembly includes heating wire, described
Heating wire is connect with the memorial alloy skeleton, changes the temperature of the memorial alloy skeleton in a manner of through electrified regulation.
10. detection device according to claim 9, which is characterized in that the memorial alloy skeleton is applied in the carrier
First end and second end between, the heating wire and the memorial alloy skeleton side-by-side alignment are arranged.
11. detection device according to claim 1, which is characterized in that the detection device further includes mounting base and hinge
Connection mechanism；
The mounting base is fixedly connected with the mobile mechanism, and the carrier is mounted in the mounting base by linkwork.
12. detection device according to claim 11, which is characterized in that be arranged between the linkwork and the carrier
There is spring, the spring is used to make probe be resisted against on target object always when the probe of the testing agency moves in place.
13. detection device according to claim 1, which is characterized in that the quantity of the testing agency is multiple, Duo Gesuo
Testing agency is stated to be separately mounted in the mobile mechanism.
14. a kind of detection execution method is based on the described in any item detection devices of claim 1-13, which is characterized in that described
Detecting execution method includes:
At moving body detection to the area to be tested of close target object, and make the probe side of testing agency towards object
Body；
Drive carrier that plastic deformation occurs, so that the probe of testing agency is attached to target object surface.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910411407.6A CN110006475A (en) | 2019-05-16 | 2019-05-16 | Detection device and detection execution method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910411407.6A CN110006475A (en) | 2019-05-16 | 2019-05-16 | Detection device and detection execution method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110006475A true CN110006475A (en) | 2019-07-12 |
Family
ID=67177215
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910411407.6A Pending CN110006475A (en) | 2019-05-16 | 2019-05-16 | Detection device and detection execution method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110006475A (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1230640A (en) * | 1998-04-01 | 1999-10-06 | 住友电装株式会社 | Mount construction of wear retection probe for brake lining member |
| CN102416971A (en) * | 2011-10-25 | 2012-04-18 | 南京邮电大学 | Movable rail train wheelset detection device |
| JP2015078873A (en) * | 2013-10-16 | 2015-04-23 | トヨタ自動車株式会社 | Test apparatus for object detection sensor and test vehicle for object detection sensor |
| CN106092174A (en) * | 2016-08-24 | 2016-11-09 | 北京主导时代科技有限公司 | A kind of carrier localization method based on sensor technology and positioner |
| CN108725331A (en) * | 2017-04-14 | 2018-11-02 | 德尔福技术有限责任公司 | Vehicle-mounted collision impact attenuator |
| CN109373885A (en) * | 2018-12-21 | 2019-02-22 | 河北工业大学 | A kind of nuclear fuel assembly multifunctional detecting device based on array-type flexible detection |
| CN209673128U (en) * | 2019-05-16 | 2019-11-22 | 金瓜子科技发展（北京）有限公司 | Detection device |
-
2019
- 2019-05-16 CN CN201910411407.6A patent/CN110006475A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1230640A (en) * | 1998-04-01 | 1999-10-06 | 住友电装株式会社 | Mount construction of wear retection probe for brake lining member |
| CN102416971A (en) * | 2011-10-25 | 2012-04-18 | 南京邮电大学 | Movable rail train wheelset detection device |
| JP2015078873A (en) * | 2013-10-16 | 2015-04-23 | トヨタ自動車株式会社 | Test apparatus for object detection sensor and test vehicle for object detection sensor |
| CN106092174A (en) * | 2016-08-24 | 2016-11-09 | 北京主导时代科技有限公司 | A kind of carrier localization method based on sensor technology and positioner |
| CN108725331A (en) * | 2017-04-14 | 2018-11-02 | 德尔福技术有限责任公司 | Vehicle-mounted collision impact attenuator |
| CN109373885A (en) * | 2018-12-21 | 2019-02-22 | 河北工业大学 | A kind of nuclear fuel assembly multifunctional detecting device based on array-type flexible detection |
| CN209673128U (en) * | 2019-05-16 | 2019-11-22 | 金瓜子科技发展（北京）有限公司 | Detection device |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102869973B (en) | For checking the checking system of turbo blade | |
| CN209673128U (en) | Detection device | |
| CN106291134B (en) | Robot-based antenna intelligent test system and test method | |
| CN110132528A (en) | It is a kind of temporarily to rush formula supersonic wind tunnel sonic boom measurement experimental rig and measuring method | |
| CN109060392B (en) | Temperature-controllable pneumatic load test system | |
| CN107737698B (en) | The automatic uniform painting installation and its method of laser transmission welding absorbed layer | |
| CN110018374A (en) | A kind of life test apparatus under simulated environment | |
| CN209640453U (en) | The test device of chip of laser | |
| CN109895094A (en) | A kind of industrial robot measurement track analysis of Positioning Error method and system | |
| CN104677624A (en) | Air pressure fatigue load test method and device for train window | |
| CN110006475A (en) | Detection device and detection execution method | |
| CN113138090A (en) | Method and system for testing performance of flight control surface system | |
| CN107884655A (en) | A kind of microwave camera bellows space attenuation calibrating installation and calibration method | |
| CN107234029A (en) | Controllable formula spray-painting plant | |
| CN110657966B (en) | Infrared seeker refrigeration test equipment | |
| CN205506295U (en) | Rotational inertia testing device | |
| CN107830802A (en) | A kind of auto parts machinery gluing quality dynamic on-line monitoring device and control method | |
| CN217033422U (en) | High-low temperature test device for steel strand mechanical property test | |
| CN208833248U (en) | A kind of fibre optic gyroscope of temperature-compensating | |
| CN204575293U (en) | The pneumatic exciting device of a kind of noncontact | |
| CN109632620A (en) | It is exposed to the sun chamber | |
| CN207570785U (en) | Car seat headrest endurance testing system | |
| CN205701287U (en) | A kind of intelligence gluing end effector | |
| CN208751889U (en) | A kind of gas pressure loads pilot system of controllable temperature | |
| CN214149794U (en) | Fatigue test equipment for handle of automobile inward opening door |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |