CN117665120A - Prefabricated component quality detection system with self-adaptation matches - Google Patents

Abstract

The utility model relates to a prefabricated component quality detecting system with self-adaptation matches, including moving platform, establish planer-type detection support on moving platform, establish the portable detection platform that is configured to reciprocating motion on planer-type detection support and establish laser radar module and the appearance of detecting a flaw on portable detection platform on planer-type detection support, planer-type detection support removes unit length, laser radar module models prefabricated component in the planer-type detection support coverage, the appearance of detecting a flaw selects the test point and accomplishes the detection in test point department according to modeling. According to the prefabricated part quality detection system with self-adaptive matching, automatic detection of large prefabricated parts is achieved through an automatic three-dimensional modeling mode and a test point deployment mode, and detection speed and automation degree of detection of the large prefabricated parts are improved.

Description

Prefabricated component quality detection system with self-adaptation matches

Technical Field

The application relates to the technical field of automatic detection, in particular to a prefabricated part quality detection system with self-adaptive matching.

Background

In the construction of roads and bridges, a prefabricated part factory is often provided near the construction site for producing prefabricated parts used in the construction process, and then transported to the site for installation. The prefabricated part produced by the production mode has large volume and high precision, but still needs further research on detection, and the related contents are as follows:

for the internal inspection of the prefabricated parts, flaw detectors are currently used, and the probe of the flaw detector determines the internal condition of the prefabricated parts by emitting inspection waves (acoustic waves, electromagnetic waves) and inspecting feedback waveforms. The large prefabricated part has complex modeling, a manual detection mode is low in speed, the coverage area is small, and the internal condition cannot be accurately fed back.

At present, there is a trend of developing automatic detection, the automatic detection is to realize the internal quality detection of large-scale prefabricated parts by means of detection equipment, but the number of the large-scale prefabricated parts is small, a standardized detection mode cannot be formed, if three-dimensional modeling and programming are performed on each factory-leaving large-scale prefabricated part, an extra large amount of work is caused, higher requirements are also put forward on the technical level of operators, and certain implementation difficulty is achieved.

Disclosure of Invention

The utility model provides a prefabricated component quality detecting system with self-adaptation matches realizes the automated inspection of large-scale prefabricated component through automatic three-dimensional modeling mode and test point deployment mode for improve the detection speed and the degree of automation that large-scale prefabricated component detected.

The above object of the present application is achieved by the following technical solutions:

the application provides a prefabricated component quality detection system with self-adaptation matches, includes:

a mobile platform;

the gantry type detection bracket is arranged on the mobile platform;

the movable detection table is arranged on the gantry type detection bracket and is configured to reciprocate on the gantry type detection bracket;

the laser radar module and the flaw detector are arranged on the movable detection table;

the laser radar module models the prefabricated components in the coverage area of the gantry detection support, and the flaw detector selects a test point according to the modeling and completes detection at the test point.

In one possible implementation of the present application, the gantry type detection support includes a plurality of linear support beams connected in sequence;

at least one movable detection table is arranged on each linear supporting beam.

In one possible implementation of the present application, the mobile detection station includes:

the mobile module is arranged on the gantry type detection bracket;

the telescopic mechanical arm is rotationally connected with the mobile module;

the driver is connected with the mobile module and the telescopic mechanical arm and is configured to drive the telescopic mechanical arm to swing;

the laser radar module and the flaw detector are arranged on the telescopic mechanical arm.

In one possible implementation of the present application, a flaw detector includes:

the rotating unit is arranged on the telescopic mechanical arm, and the axis of the rotating unit and the axis of the telescopic mechanical arm are positioned on the same straight line;

the test substrate is arranged on the rotating unit;

the ultrasonic probes are arranged on the test substrate in a matrix form of MxN, and M and N are natural numbers larger than zero; and

and the processing terminal is electrically connected with the ultrasonic probe.

In one possible implementation of the present application, the test substrate includes:

the first sub-test substrate is fixedly arranged on the rotating unit;

the two groups of second sub-test substrates are symmetrically arranged on two sides of the first sub-test substrate, a first sub-test substrate in one group is hinged with the first sub-test substrate, and the rest second sub-test substrates are sequentially hinged with the previous second sub-test substrate;

the electromagnets are arranged on the side surface of the first sub-test substrate and the side surface of the second sub-test substrate;

the control switch is electrically connected with the electromagnet and the processing terminal;

and the two ends of the gesture adjusting driver are respectively connected with the rotating unit and the second sub-test substrates positioned at the edge, and the gesture adjusting driver is configured to drive at least one second sub-test substrate to rotate towards a direction approaching to and away from the rotating unit.

In one possible implementation of the present application, a laser radar module includes:

the linear telescopic unit is arranged on the movable detection table;

and the laser radar is arranged on the linear telescopic unit.

In one possible implementation of the present application, a plurality of proximity sensors are provided on the linear expansion unit;

the proximity sensors are divided into two groups, the first group of proximity sensors have the same pointing direction as the laser radar, and the second group of proximity sensors have the same pointing direction as the laser radar and are perpendicular to the laser radar.

Drawings

Fig. 1 is a schematic structural diagram of a quality inspection system provided herein.

Fig. 2 is a schematic diagram of a gantry type detection rack moving process provided in the present application.

Fig. 3 is a schematic structural view of a gantry type detection support provided in the present application.

Fig. 4 is a schematic structural view of a mobile inspection bench provided in the present application.

Fig. 5 is a schematic diagram of connectivity between a telescopic mechanical arm and a driver provided in the present application.

Fig. 6 is a schematic structural view of a flaw detector provided in the present application.

Fig. 7 is a schematic distribution diagram of an ultrasonic probe on a test substrate provided in the present application.

Fig. 8 is a schematic view of connectivity between a test substrate and an ultrasonic probe provided herein.

Fig. 9 is a schematic structural diagram of a test substrate provided herein.

Fig. 10 is a schematic structural view of another test substrate provided herein.

Fig. 11 is a schematic diagram of connectivity between an attitude adjustment driver and a test board provided in the present application.

Fig. 12 is a schematic diagram of a flaw detector provided in the present application in operation.

Fig. 13 is a schematic diagram of another flaw detector provided in the present application in operation.

Fig. 14 is a schematic structural diagram of a lidar module provided in the present application.

In the figure, 1, a moving platform, 2, a gantry type detection support, 3, a moving type detection platform, 4, a laser radar module, 5, a flaw detector, 21, a linear support beam, 31, a moving module, 32, a telescopic mechanical arm, 33, a driver, 41, a linear telescopic unit, 42, a laser radar, 43, a proximity sensor, 51, a rotating unit, 52, a test substrate, 53, an ultrasonic probe, 54, a processing terminal, 521, a first sub-test substrate, 522, a second sub-test substrate, 523, an electromagnet, 524, a control switch, 525 and an attitude adjustment driver.

Detailed Description

The technical solutions in the present application are described in further detail below with reference to the accompanying drawings.

The application discloses prefabricated component quality detecting system with self-adaptation matches please refer to fig. 1, and prefabricated component quality detecting system with self-adaptation matches disclosed in the application includes moving platform 1, planer-type detection support 2, portable detection platform 3, laser radar module 4 and fault detector 5. The gantry type detection support 2 is fixedly installed on the mobile platform 1, in general, the number of the mobile platforms 1 is two, the gantry type detection support 2 comprises a cross beam and two longitudinal beams, the two longitudinal beams are respectively and vertically fixed on the two mobile platforms 1, and two ends of the cross beam are respectively and fixedly connected with the two longitudinal beams.

As for the lengths of the cross members and the side members, it is necessary to determine according to the size of the prefabricated members or according to the specifications for ensuring that the prefabricated members are located within the coverage area of the gantry type inspection rack 2.

The movable detection table 3 is arranged on the gantry type detection support 2, the movable detection table 3 can reciprocate on the gantry type detection support 2, the laser radar module 4 and the flaw detector 5 which are arranged on the movable detection table 3 are driven to detect prefabricated components within the coverage area range of the gantry type detection support 2, and the specific detection process is as follows:

the gantry type detection support 2 moves for a unit length (4 times in fig. 2, S1, S2, S3 and S4 respectively), the laser radar module 4 models the prefabricated components within the coverage area of the gantry type detection support 2, and the flaw detector 5 selects a test point according to the modeling and completes detection at the test point.

The modeling process of the lidar module 4 will result in a three-dimensional pattern consisting of multiple facets, and then the flaw detector 5 selects test points according to the modeling and completes the inspection at the test points. The rule of the mode selection test point is to set the distance between adjacent test points in advance, and generally includes two parameters of length and width, or can be interpreted as the density of the test points.

After the test point selection is completed, the detection is completed at each test point.

It should be understood that after the laser radar module 4 finishes the modeling process, the coordinates of the three-dimensional pattern and the position of the flaw detector 5 are both known parameters, and at this time, the movable detection table 3 can move the flaw detector 5 to a specified position, and then the laser radar module 4 completes the detection work.

In some examples, referring to fig. 3, the gantry type inspection support 2 includes a plurality of linear supporting beams 21, that is, the cross beams and the longitudinal beams mentioned above, which are sequentially connected, and at least one movable inspection stage 3 is disposed on each of the linear supporting beams 21 in order to increase the inspection speed.

The area allocation of the plurality of movable detecting stations 3 is solved by using an area division method in the present application, that is, three areas are respectively formed on the surface of the three-dimensional figure obtained when the gantry type detecting support 2 moves for a unit length, and each movable detecting station 3 is responsible for one area.

In some examples, referring to fig. 3 and 4, the mobile inspection bench 3 includes a mobile module 31, a telescopic mechanical arm 32 and a driver 33, where the mobile module 31 is mounted on the gantry inspection support 2 and can perform linear reciprocating motion along the gantry inspection support 2, and the telescopic mechanical arm 32 is rotationally connected with the mobile module 31 and can provide linear motion in the swinging and axial directions. The driver 33 is connected to the mobile module 31 and the telescopic mechanical arm 32, and configured to drive the telescopic mechanical arm 32 to swing, as shown in fig. 5.

In some examples, the mobile module 31 uses a linear module.

In some examples, the telescoping robotic arm 32 uses an electric cylinder.

The laser radar module 4 and the flaw detector 5 are arranged on the telescopic mechanical arm 32.

The position adjustment of the laser radar module 4 and the flaw detector 5 on the plane can be realized through the cooperation of the movable module 31, the telescopic mechanical arm 32 and the driver 33, so that the laser radar module 4 and the flaw detector 5 can perform three-dimensional modeling and acoustic wave detection on the prefabricated component below the gantry type detection support 2.

In some examples, referring to fig. 6, the flaw detector 5 includes a rotation unit 51, a test substrate 52, an ultrasonic probe 53, and a processing terminal 54, the rotation unit 51 is fixedly mounted on the telescopic mechanical arm 32, the axis of the rotation unit 51 and the axis of the telescopic mechanical arm 32 are on the same line, and here, with reference to the axis, the telescopic mechanical arm 32 can provide movement in the axial direction, and the rotation unit 51 can provide rotation in the axial direction.

The rotation unit 51 is mounted with a test board 52, the test board 52 is mounted with a plurality of ultrasonic probes 53, and the ultrasonic probes 53 are provided on the test board 52 in a matrix form of MxN (M and N are natural numbers greater than zero), as shown in fig. 7.

The purpose of providing a plurality of ultrasonic probes 53 is to increase the detection speed, and it is understood that the coverage area of the ultrasonic probes 53 is limited, and the actual detection range of the test substrate 52 can be increased by increasing the number of ultrasonic probes 53.

The processing terminal 54 is electrically connected to the ultrasonic probe 53 (shown by a broken line in fig. 6), and functions to drive the ultrasonic probe 53 to operate and to obtain an internal pattern of the preform based on a feedback signal of the ultrasonic probe 53.

In some possible implementations, referring to fig. 8, the ultrasonic probe 53 is connected to the test substrate 52 by a threaded connection, and the connection plug of the ultrasonic probe 53 extends from the back surface of the test substrate 52. The ultrasonic probe 53 and the processing terminal 54 are connected by a data line.

In some examples, referring to fig. 9 to 11, the test substrate 52 includes a first sub-test substrate 521, a second sub-test substrate 522, an electromagnet 523, a control switch 524, and an attitude adjustment driver 525, wherein the first sub-test substrate 521 is fixedly mounted on the rotating unit 51. The second sub-test substrates 522 are divided into two groups, and the two groups of second sub-test substrates 522 are symmetrically disposed at both sides of the first sub-test substrate 521.

In some possible implementations, the control switch 524 is mounted on the corresponding first and second sub-test substrates 521 and 522 while providing both automatic and manual control functions.

A first second sub-test substrate 522 of a group is hinged to a first sub-test substrate 521, and the remaining second sub-test substrates 522 are sequentially hinged to the previous second sub-test substrate 522.

The side of the first sub-test substrate 521 and the side of the second sub-test substrate 522 are provided with electromagnets 523, and the electromagnets 523 function to connect and disconnect between the first sub-test substrate 521 and the second sub-test substrate 522 and between the adjacent second sub-test substrates 522.

The control switch 524 is electrically connected to the electromagnet 523 and the processing terminal 54, and functions to control the electromagnet 523 by the control switch 524 to adjust the posture of the test substrate 52. Meanwhile, the posture adjustment of the test substrate 52 also requires a posture adjustment driver 525 to be cooperatively realized.

Referring to fig. 11, both ends of the posture adjustment driver 525 are respectively connected to the rotation unit 51 and the second sub-test substrate 522 at the edge. In a specific operation manner, the control switch 524 first controls some electromagnets 523 to be in an energized state, and another part of electromagnets 523 to be in a de-energized state, at this time, part of the second sub-test substrates 522 are in a non-free state, and part of the second sub-test substrates 522 are in a free state.

Then, the posture adjustment driver 525 is operated to pull the second sub-test substrate 522 in a free state to rotate, and the rotation can divide the test substrate 52 into at least two parts, at this time, the area of the detection area of the test substrate 52 can be reduced, or two or even three surfaces can be detected simultaneously.

In some possible implementations, the attitude adjustment driver 525 uses an electric cylinder, both ends of which are hinged to the rotation unit 51 and the outermost second sub-test base plate 522, respectively.

Through the structure, detection of different faces and simultaneous detection of multiple faces on the prefabricated component can be realized. Here, assuming that the size of the test substrate 52 is fixed, its application range is limited, and even only one ultrasonic probe 53 or a small number of ultrasonic probes 53 can be mounted on the test substrate 52, so as to ensure that the ultrasonic probes 53 can contact as many surfaces as possible on the prefabricated member. This can lead to a slow detection speed, for example in a detection area, requiring a gesture adjustment for each position detected.

After the test substrate 52 (area is adjustable) in the present application is used, the number of ultrasonic probes 53 can be dynamically adjusted according to the detection position, specifically as follows:

for large planes, all of the ultrasonic probes 53 participate in the detection process;

for the facet, part of the ultrasonic probe 53 participates in the detection process, as shown in fig. 12;

for a plurality of planes having a connection relationship, the ultrasonic probe 53 is divided into a plurality of groups and then all the groups participate in the detection process, as shown in fig. 13.

In some examples, referring to fig. 14, the laser radar module 4 includes a linear telescopic unit 41 and a laser radar 42, the linear telescopic unit 41 is fixedly mounted on the mobile detection table 3, and the laser radar 42 is mounted on the linear telescopic unit 41. The function of the linear telescopic unit 41 is to adjust the distance between the lidar 42 and the prefabricated part below the gantry type detection support 2.

Since in the present application, one fixed-specification gantry type inspection rack 2 can inspect prefabricated parts of a fixed specification or less, a distance between the laser radar 42 and the prefabricated parts is required at this time, which directly relates to modeling accuracy.

Further, a plurality of proximity sensors 43 are additionally installed on the linear expansion unit 41, and the proximity sensors 43 function to prevent the linear expansion unit 41 and the laser radar 42 from colliding with the prefabricated member.

In some possible implementations, the proximity sensors 43 are divided into two groups, a first group of proximity sensors 43 being oriented in the same direction as the lidar 42 of the lidar 42, and a second group of proximity sensors 43 being oriented perpendicular to the lidar 42.

The embodiments of the present invention are all preferred embodiments of the present application, and are not intended to limit the scope of the present application in this way, therefore: all equivalent changes in structure, shape and principle of this application should be covered in the protection scope of this application.

Claims (7)

1. A preform quality inspection system with adaptive matching, comprising:

a mobile platform (1);

the gantry type detection bracket (2) is arranged on the mobile platform (1);

the movable detection table (3) is arranged on the gantry type detection support (2), and the movable detection table (3) is configured to reciprocate on the gantry type detection support (2);

the laser radar module (4) and the flaw detector (5) are arranged on the movable detection table (3);

the gantry type detection support (2) moves for unit length, the laser radar module (4) models prefabricated components in the coverage range of the gantry type detection support (2), and the flaw detector (5) selects test points according to the modeling and completes detection at the test points.

2. The prefabricated component quality inspection system with adaptive matching according to claim 1, characterized in that the gantry type inspection rack (2) comprises a plurality of linear supporting beams (21) connected in sequence;

at least one movable detection table (3) is arranged on each linear supporting beam (21).

3. The preform quality inspection system with adaptive matching according to claim 1 or 2, characterized in that the mobile inspection station (3) comprises:

the mobile module (31) is arranged on the gantry type detection bracket (2);

the telescopic mechanical arm (32) is rotationally connected with the mobile module (31);

the driver (33) is connected with the mobile module (31) and the telescopic mechanical arm (32), and the driver (33) is configured to drive the telescopic mechanical arm (32) to swing;

the laser radar module (4) and the flaw detector (5) are arranged on the telescopic mechanical arm (32).

4. A prefabricated component quality inspection system with adaptive matching according to claim 3, characterized in that the flaw detector (5) comprises:

the rotating unit (51) is arranged on the telescopic mechanical arm (32), and the axis of the rotating unit (51) and the axis of the telescopic mechanical arm (32) are positioned on the same straight line;

a test board (52) provided on the rotation unit (51);

a plurality of ultrasonic probes (53) arranged on the test substrate (52) in a matrix form of MxN, M and N being natural numbers greater than zero; and

and a processing terminal (54) electrically connected to the ultrasonic probe (53).

5. The preform quality inspection system with adaptive matching of claim 4, wherein the test substrate (52) comprises:

a first sub-test substrate (521) fixedly mounted on the rotation unit (51);

two groups of second sub-test substrates (522) symmetrically arranged at two sides of the first sub-test substrate (521), wherein the first sub-test substrate (522) in one group is hinged with the first sub-test substrate (521), and the rest second sub-test substrates (522) are sequentially hinged with the previous second sub-test substrate (522);

an electromagnet (523) provided on the side surface of the first sub-test substrate (521) and the side surface of the second sub-test substrate (522);

a control switch (524) electrically connected to the electromagnet (523) and the processing terminal (54);

and an attitude adjustment driver (525) having both ends connected to the rotation unit (51) and the second sub-test substrates (522) located at the edges, respectively, the attitude adjustment driver (525) being configured to drive at least one of the second sub-test substrates (522) to rotate in a direction approaching and separating from the rotation unit (51).

6. The preform quality inspection system with adaptive matching according to claim 1, characterized in that the lidar module (4) comprises:

a linear expansion unit (41) provided on the movable detection table (3);

and a laser radar (42) provided on the linear telescopic unit (41).

7. The prefabricated component quality inspection system with adaptive matching according to claim 6, characterized in that a plurality of proximity sensors (43) are provided on the linear telescopic unit (41);

the proximity sensors (43) are divided into two groups, a first group of proximity sensors (43) are oriented in the same direction as the laser radar (42) of the laser radar (42), and a second group of proximity sensors (43) are oriented in a direction perpendicular to the laser radar (42) of the laser radar (42).