An automatic probe insertion device and its control method based on binocular vision

Abstract

This invention discloses an automatic probe insertion device based on binocular vision, comprising an aluminum alloy base and a column. The bottom of the aluminum alloy base is equipped with a fuma wheel mechanism. An XY plane movement system and a part detection area are mounted on the aluminum alloy base. The XY plane movement system is connected to the aluminum alloy base below via a lead screw guide mechanism. The part detection area is located above the XY plane movement system. An electrical box is located at the bottom of the column. A vision alignment platform is located in the middle of the column, connected to the aluminum alloy base via the column, and located above the part detection area. A probe insertion system is located at the top of the column, connected to the aluminum alloy base via the column, and located above the vision alignment platform. A computer bracket is mounted on the aluminum alloy base. A touch screen all-in-one machine is located on the top of the computer bracket. An electronic handwheel controller is mounted on the computer bracket and is magnetically suspended from the side of the computer bracket.

Description

Technical Field

[0001] This invention belongs to the field of detection device technology, specifically relating to an automatic probe insertion device based on binocular vision and its control method. Background Technology

[0002] Aerospace components are highly precise, with stringent requirements for processing and testing. For some small parts, during the machining and forming process, numerous factors such as material impurities, processing techniques, and external environmental interference inevitably lead to internal defects, such as porosity, cracks, and inclusions. If these defects are not detected in time, they will undoubtedly pose a significant threat to the safe and reliable operation of the subsequent cavity and have a substantial impact on the overall performance of the equipment.

[0003] Current inspection methods generally employ borehole inspection, which involves using a probe to inspect the interior of a part through a pre-drilled hole. However, borehole inspection typically involves manually inserting and controlling the probe's movement. When the pre-drilled hole diameter is small, manual probe insertion not only easily leads to collisions between the probe and the part during insertion, causing excessive force and potential probe damage, but also makes it difficult to control the probe's regular movement within the cavity, hindering comprehensive inspection. Furthermore, prolonged operation can result in operational errors, leading to reduced inspection accuracy and efficiency.

[0004] A search of existing technical literature revealed two patents: CN117849895A, which discloses a foreign object detection device for cavities, and CN117387959A, which discloses an aero-engine testing system and method. However, CN117849895A can only detect the presence of foreign objects within the cavity and cannot detect structural defects, thus limiting its application. CN117387959A only provides training and diagnostics for probe-collected data, without specifying the structure or probe control methods. Therefore, both patents have limited applicability. Summary of the Invention

[0005] The purpose of this invention is to solve the above-mentioned problems and provide an automatic probe insertion device and its control method based on binocular vision, which can replace the original manual inspection operation with automated electromechanical equipment, realize the safe insertion of probes and the all-round inspection of internal defects of cavity parts, and improve the accuracy and efficiency of inspection.

[0006] To solve the above-mentioned technical problems, the technical solution of the present invention is: an automatic probe insertion device based on binocular vision, comprising an aluminum alloy base frame and a column, the aluminum alloy base frame and the column being connected by bolts and nuts; the bottom of the aluminum alloy base frame is provided with a caster wheel mechanism to realize the functions of height adjustment, movement, and fixation; the aluminum alloy base frame is provided with an XY plane moving system and a part detection area; the XY plane moving system is connected to the lower aluminum alloy base frame through a lead screw guide mechanism and is fixed by bolts and nuts; the part detection area is located above the XY plane moving system and is fixed by set screws; an electrical box is provided at the bottom of the column. The electrical box is connected to the XY plane moving system, the vision alignment platform, and the probe insertion system. A vision alignment platform is located in the middle of the column, connected to the aluminum alloy base frame via the column, and positioned above the parts inspection area. A probe insertion system is located at the top of the column, connected to the aluminum alloy base frame via the column, and positioned above the vision alignment platform. A computer bracket is mounted on the aluminum alloy base frame, with a touch screen all-in-one machine at the top of the bracket. The touch screen all-in-one machine is connected to the aluminum alloy base frame via the computer bracket. An electronic handwheel controller is installed on the computer bracket, and the electronic handwheel controller is magnetically suspended from the side of the computer bracket.

[0007] Preferably, the XY plane moving system includes a Y-axis drive motor, an X-axis drive motor, a Y-axis motor mounting plate, a Y-axis coupling, a Y-axis lead screw guide mechanism, a Y-axis moving frame, an X-axis motor mounting plate, an X-axis coupling, an X-axis lead screw guide mechanism, and an X-axis moving frame. The Y-axis motor mounting plate and the Y-axis lead screw guide mechanism are both fixed to the aluminum alloy base frame with bolts and nuts. The Y-axis drive motor is connected to the Y-axis motor mounting plate with bolts and nuts. The shaft end of the Y-axis drive motor is connected to the Y-axis lead screw guide mechanism via the Y-axis coupling. The rotational transmission is transferred to the Y-axis lead screw guide mechanism, and the Y-axis moving frame is fitted with the aluminum alloy base frame; the X-axis motor mounting plate is fixed to the outside of the Y-axis moving frame with bolts and nuts; the X-axis drive motor is connected to the X-axis motor mounting plate with bolts and nuts, and the shaft end of the X-axis drive motor is fixed to the X-axis coupling with set screws. The X-axis coupling is fixed to the X-axis lead screw guide mechanism with set screws. The X-axis lead screw guide mechanism is connected to the X-axis moving frame, and the rotation of the X-axis drive motor is transmitted to the X-axis lead screw guide mechanism through the X-axis coupling, controlling the movement of the X-axis moving frame.

[0008] Preferably, the Y-axis lead screw guide mechanism includes a Y-axis lead screw fixed side mounting plate, a Y-axis lead screw, a Y-axis lead screw guide rail connecting plate, a Y-axis lead screw support side mounting plate, a Y-axis guide rail, and a Y-axis slider. The Y-axis lead screw fixed side mounting plate and the Y-axis lead screw support side mounting plate are mounted on an aluminum alloy base frame. The Y-axis lead screw is located between the Y-axis lead screw fixed side mounting plate and the Y-axis lead screw support side mounting plate. The Y-axis lead screw guide rail connecting plate is sleeved on the Y-axis lead screw and forms a lead screw and nut pair. The Y-axis lead screw guide rail connecting plate is connected to the Y-axis moving frame. The Y-axis slider is located at the bottom of the Y-axis moving frame. The Y-axis guide rail is located on the aluminum alloy base frame. The Y-axis slider and the Y-axis guide rail are slidably connected and engaged.

[0009] Preferably, the X-axis lead screw guide mechanism includes an X-axis lead screw fixed-side mounting plate, an X-axis lead screw, an X-axis lead screw protective sleeve, an X-axis lead screw guide connecting plate, an X-axis lead screw support-side mounting plate, an X-axis guide rail, and an X-axis slider. The X-axis lead screw fixed-side mounting plate and the X-axis lead screw support-side mounting plate are mounted on the Y-axis moving frame. The X-axis lead screw is installed between the X-axis lead screw fixed-side mounting plate and the X-axis lead screw support-side mounting plate. The X-axis lead screw protective sleeve and the X-axis lead screw guide connecting plate are respectively sleeved on the X-axis lead screw. The X-axis lead screw guide connecting plate and the X-axis lead screw form a lead screw and nut pair structure. The X-axis lead screw guide connecting plate is connected to the X-axis moving frame. The X-axis guide rail is mounted on the Y-axis moving frame. The X-axis slider is installed at the bottom of the X-axis moving frame and slides with the X-axis guide rail. The X-axis drive motor II is connected to the end of the X-axis lead screw through an X-axis coupling.

[0010] Preferably, the part inspection area includes a part placement platform, which is located inside the X-axis moving frame and is connected by bolts.

[0011] Preferably, the vision alignment platform includes a slide, a vision alignment platform mounting plate, a vision alignment platform base plate, a binocular camera, an LED light source assembly, and a guide sleeve; the slide is connected to the column by set screws, the vision alignment platform mounting plate is connected to the slide by set screws, the vision alignment platform base plate is connected to the vision alignment platform mounting plate by bolts and nuts, the binocular camera and the LED light source assembly are both connected to the vision alignment platform base plate by set screws, and the guide sleeve is connected to the vision alignment platform base plate by magnetic attraction.

[0012] Preferably, the guide sleeve has a funnel-shaped structure, and the guide sleeve includes a funnel-shaped hole, a smooth conical surface, and a bottom through hole connected in sequence.

[0013] Preferably, the probe insertion system includes a Z-axis drive motor, a Z-axis motor mounting plate, a Z-axis coupling, a Z-axis lead screw guide mechanism, a probe mounting platform connecting plate, a force sensor, and a probe mounting platform base plate. The Z-axis motor mounting plate is fixedly connected to the column. The Z-axis drive motor is connected to the Z-axis motor mounting plate via bolts and nuts. Simultaneously, the rotating shaft end of the Z-axis drive motor is connected to the Z-axis coupling via set screws. The Z-axis coupling is fixed to the Z-axis lead screw guide mechanism using set screws, converting the rotation of the Z-axis drive motor into translation. The probe mounting platform connecting plate is connected to the Z-axis lead screw guide mechanism via bolts and nuts, thereby controlling the movement of the probe mounting platform connecting plate. The force sensor is connected to the probe mounting platform connecting plate via set screws, and the probe mounting platform base plate is also connected to the force sensor via set screws. The probe is mounted on the probe mounting platform base plate.

[0014] Preferably, the Z-axis lead screw guide mechanism includes a Z-axis lead screw fixed-side mounting plate, a Z-axis lead screw, a Z-axis lead screw protective sleeve, a Z-axis lead screw guide rail connecting plate, a Z-axis lead screw support-side mounting plate, a Z-axis guide rail, and a Z-axis slider. The Z-axis lead screw fixed-side mounting plate and the Z-axis guide rail are mounted on a column. The Z-axis slider and the Z-axis guide rail are slidably connected. The Z-axis lead screw support-side mounting plate is mounted on the Z-axis lead screw fixed-side mounting plate. The Z-axis lead screw passes through the Z-axis lead screw support-side mounting plate. The Z-axis lead screw protective sleeve is fitted onto the Z-axis lead screw. The Z-axis lead screw guide rail connecting plate is fitted onto the Z-axis lead screw and constitutes the movement of the lead screw nut. The Z-axis lead screw guide rail connecting plate is connected to both the Z-axis slider and the probe mounting platform connecting plate.

[0015] This invention also discloses a control method for an automatic probe insertion device based on binocular vision, comprising the following steps:

[0016] S1. Place the part to be inspected in the part inspection area, ensuring that the pre-drilled hole of the part is located above the part;

[0017] S2. Install the pre-drilled hole guide tube on the pre-drilled hole, and control the XY plane moving system to move so that the pre-drilled hole guide tube enters the field of view of the binocular camera;

[0018] S3. The deviation between the pre-drilled hole guide tube and the guide sleeve is calculated by the visual recognition algorithm. The XY plane moving system moves the corresponding deviation to make the pre-drilled hole guide tube and the guide sleeve of the upper visual alignment platform on the same vertical line.

[0019] S4. After visual alignment, the probe insertion system controls the probe to move downward into the part to be inspected, while monitoring the force sensor value. If the force sensor value exceeds the threshold, the probe is controlled to move upward and visual alignment is re-performed.

[0020] S5. After the probe successfully enters the cavity of the part, the X / Y / Z motor control commands are programmed to automatically execute the all-around detection function.

[0021] The beneficial effects of this invention are:

[0022] 1. The present invention provides an automatic probe insertion device and control method based on binocular vision. The binocular vision recognition algorithm can identify the outline and end point of the pre-drilled hole guide tube, identify the center of the lower end of the guide sleeve, calculate the tilt angle of the pre-drilled hole guide tube with respect to the vertical direction, and calculate the deviation in the X / Y / Z directions between the end of the pre-drilled hole guide tube and the center of the lower end of the guide sleeve with an accuracy of 0.01mm. It is applicable to various small cavity parts.

[0023] 2. The motor control of the present invention realizes the automated execution of program steps. Through pre-written control instructions, it achieves consistent detection of the same type of parts, avoids errors during manual inspection, and improves detection accuracy and efficiency.

[0024] 3. This invention provides a lightweight, portable, and mobile cavity part inspection device that is adaptable to various complex working scenarios. It achieves all-round inspection of cavity parts through software control and electronic handwheel control of the motor. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the structure of an automatic probe insertion device based on binocular vision according to the present invention;

[0026] Figure 2 This is a structural diagram of the XY plane moving system of the present invention;

[0027] Figure 3 This is a structural diagram of the visual alignment platform of the present invention;

[0028] Figure 4 This is a structural diagram of the probe insertion system of the present invention;

[0029] Figure 5 This is a schematic diagram of the Y-axis lead screw guide mechanism of the present invention;

[0030] Figure 6 This is a schematic diagram of the X-axis lead screw guide mechanism of the present invention;

[0031] Figure 7 This is a schematic diagram of the Z-axis lead screw guide mechanism of the present invention;

[0032] Figure 8 This is a flowchart of the visual recognition algorithm of the present invention;

[0033] Figure 9 This is a flowchart of the alignment control method of the present invention.

[0034] Explanation of reference numerals in the attached drawings: Ⅰ, Y-axis drive motor; Ⅱ, axis drive motor; 101, Foma wheel-type mechanism; 102, aluminum alloy base frame; 103, XY plane movement system; 104, parts inspection area; 105, column; 106, vision alignment platform; 107, probe insertion system; 108, electrical box; 109, touch screen all-in-one machine; 110, electronic handwheel controller; 201, Y-axis motor mounting plate; 202, Y-axis coupling; 203, Y-axis lead screw guide rail. Mechanism; 204, Y-axis moving frame; 205, X-axis motor mounting plate; 206, X-axis coupling; 207, X-axis lead screw guide mechanism; 208, X-axis moving frame; 301, slide table; 302, vision alignment platform mounting plate; 303, vision alignment platform base plate; 304, binocular camera; 305, LED light source assembly; 306, guide sleeve; 401, Z-axis drive motor; 402, Z-axis motor mounting plate; 403, Z-axis coupling; 404, Z... Y-axis lead screw guide rail mechanism; 405, probe mounting platform connecting plate; 406, force sensor; 407, probe mounting platform base plate; 20301, Y-axis lead screw fixed side mounting plate; 20302, Y-axis lead screw; 20303, Y-axis lead screw guide rail connecting plate; 20304, Y-axis lead screw support side mounting plate; 20305, Y-axis guide rail; 20306, Y-axis slider; 20701, X-axis lead screw fixed side mounting plate; 20702, X-axis lead screw; 20703 1. X-axis lead screw protective sleeve; 20704. X-axis lead screw guide rail connecting plate; 20705. X-axis lead screw support side mounting plate; 20706. X-axis guide rail; 20707. X-axis slider; 40401. Z-axis lead screw fixed side mounting plate; 40402. Z-axis lead screw; 40403. Z-axis lead screw protective sleeve; 40404. Z-axis lead screw guide rail connecting plate; 40405. Z-axis lead screw support side mounting plate; 40406. Z-axis guide rail; 40407. Z-axis slider. Detailed Implementation

[0035] The present invention will be further described below with reference to the accompanying drawings and specific embodiments:

[0036] like Figures 1 to 9As shown, the present invention provides an automatic probe insertion device based on binocular vision, comprising an aluminum alloy base frame 102 and a column 105. The aluminum alloy base frame 102 and the column 105 are connected by bolts and nuts. The bottom of the aluminum alloy base frame 102 is provided with a fuma wheel foot mechanism 101, thereby realizing the functions of height adjustment, movement, and fixation. The aluminum alloy base frame 102 is provided with an XY plane movement system 103 and a part detection area 104. The XY plane movement system 103 is connected to the aluminum alloy base frame 102 below through a lead screw guide mechanism and is fixed by bolts and nuts. The part detection area 104 is located above the XY plane movement system 103 and is fixed by set screws. The bottom of the column 105 is provided with an electrical box 108, which is connected to the XY plane movement system 103, the vision alignment platform 106, and the probe insertion system 107 respectively. A visual alignment platform 106 is located in the middle of the column 105, and is connected to the aluminum alloy base frame 102 via the column 105, situated above the parts inspection area 104. A probe insertion system 107 is located at the top of the column 105, also connected to the aluminum alloy base frame 102 via the column 105, and situated above the visual alignment platform 106. A computer bracket is mounted on the aluminum alloy base frame 102, and a touch screen all-in-one machine 109 is mounted on top of the computer bracket. The touch screen all-in-one machine 109 is connected to the aluminum alloy base frame 102 via the computer bracket. An electronic handwheel controller 110 is mounted on the computer bracket and is magnetically suspended from the side of the computer bracket.

[0037] In this embodiment, the bottom of the column 105 is provided with a column support frame, which is a rod-shaped structure, and the electrical box 108 is fixed to the column support frame by bolts and nuts.

[0038] like Figure 2 As shown, the XY planar movement system 103 includes a Y-axis drive motor I, an X-axis drive motor II, a Y-axis motor mounting plate 201, a Y-axis coupling 202, a Y-axis lead screw guide mechanism 203, a Y-axis moving frame 204, an X-axis motor mounting plate 205, an X-axis coupling 206, an X-axis lead screw guide mechanism 207, and an X-axis moving frame 208. The Y-axis motor mounting plate 201 and the Y-axis lead screw guide mechanism 203 are both fixed to the aluminum alloy base frame 102 with bolts and nuts. The Y-axis drive motor I is connected to the Y-axis motor mounting plate 201 with bolts and nuts. The shaft end of the Y-axis drive motor I is connected to the Y-axis lead screw guide mechanism 203 through the Y-axis coupling 202. The Y-axis drive motor I transmits rotational power to the Y-axis lead screw guide mechanism 203 through the Y-axis coupling 202. The Y-axis moving frame 204 cooperates with the aluminum alloy base frame 102.

[0039] The X-axis motor mounting plate 205 is fixed to the outside of the Y-axis moving frame 204 by bolts and nuts.

[0040] The X-axis drive motor II is connected to the X-axis motor mounting plate 205 by bolts and nuts. The shaft end of the X-axis drive motor II is fixed to the X-axis coupling 206 by set screws. The X-axis coupling 206 is fixed to the X-axis lead screw guide mechanism 207 by set screws. The X-axis lead screw guide mechanism 207 is connected to the X-axis moving frame 208. The rotation of the X-axis drive motor II is transmitted to the X-axis lead screw guide mechanism 207 through the X-axis coupling 206, controlling the movement of the X-axis moving frame 208.

[0041] The Y-axis lead screw guide mechanism 203 includes a Y-axis lead screw fixed-side mounting plate 20301, a Y-axis lead screw 20302, a Y-axis lead screw guide connecting plate 20303, a Y-axis lead screw support-side mounting plate 20304, a Y-axis guide rail 20305, and a Y-axis slider 20306. The Y-axis lead screw fixed-side mounting plate 20301 and the Y-axis lead screw support-side mounting plate 20304 are mounted on the aluminum alloy base frame 102, and the Y-axis lead screw 20302 is located between the Y-axis lead screw fixed-side mounting plate 20301 and the Y-axis lead screw support-side mounting plate 20304. The Y-axis lead screw guide rail connecting plate 20303 is sleeved on the Y-axis lead screw 20302 and forms a lead screw nut pair. The Y-axis lead screw guide rail connecting plate 20303 is connected to the Y-axis moving frame 204. The Y-axis slider 20306 is located at the bottom of the Y-axis moving frame 204. The Y-axis guide rail 20305 is located on the aluminum alloy base frame 102. The Y-axis slider 20306 and the Y-axis guide rail 20305 are slidably connected.

[0042] Y-axis drive motor Ⅰ is connected to Y-axis lead screw 20302 via Y-axis coupling 202. When Y-axis drive motor Ⅰ is working, it drives Y-axis lead screw 20302 to rotate, which in turn causes Y-axis lead screw guide rail connecting plate 20303 to drive Y-axis moving frame 204 to reciprocate.

[0043] The X-axis lead screw guide mechanism 207 includes an X-axis lead screw fixed side mounting plate 20701, an X-axis lead screw 20702, an X-axis lead screw protective sleeve 20703, an X-axis lead screw guide connecting plate 20704, an X-axis lead screw support side mounting plate 20705, an X-axis guide rail 20706, and an X-axis slider 20707. The X-axis lead screw fixed side mounting plate 20701 and the X-axis lead screw support side mounting plate 20705 are mounted on the Y-axis moving frame 204. The X-axis lead screw 20702 is mounted between the X-axis lead screw fixed side mounting plate 20701 and the X-axis lead screw support side mounting plate 20705. The X-axis lead screw protective sleeve 20703 and the X-axis lead screw guide rail connecting plate 20704 are respectively sleeved on the X-axis lead screw 20702. The X-axis lead screw guide rail connecting plate 20704 and the X-axis lead screw 20702 constitute a lead screw and nut pair structure. The X-axis lead screw guide rail connecting plate 20704 is connected to the X-axis moving frame 208. The X-axis guide rail 20706 is mounted on the Y-axis moving frame 204, and the X-axis slider 20707 is mounted on the bottom of the X-axis moving frame 208. The X-axis slider 20707 and the X-axis guide rail 20706 are in sliding engagement. The X-axis drive motor II is connected to the end of the X-axis lead screw 20702 through the X-axis coupling 206. When the X-axis drive motor II is working, it causes the X-axis lead screw 20702 to rotate, which in turn drives the X-axis moving frame 208 to reciprocate through the X-axis lead screw guide rail connecting plate 20704.

[0044] In this embodiment, the Y-axis moving frame 204 and the X-axis moving frame 208 adopt a two-layer design, with the Y-axis moving frame 204 located below and the X-axis moving frame 208 above. When the Y-axis moving frame 204 moves, the X-axis moving frame 208, the X-axis drive motor II, the X-axis motor mounting plate 205, the X-axis lead screw guide mechanism 207, etc., are all mounted on the Y-axis moving frame 204. Therefore, the entire X-axis moving platform moves together with the Y-axis moving frame 204.

[0045] The part inspection area 104 includes a part placement platform, which is located inside the X-axis moving frame 208 and is connected by bolts. The part placement platform is provided with part mounting holes to facilitate the fixing and installation of the parts to be inspected.

[0046] like Figure 3As shown, the vision alignment platform 106 includes a slide 301, a vision alignment platform mounting plate 302, a vision alignment platform base plate 303, a binocular camera 304, an LED light source assembly 305, and a guide sleeve 306. The slide 301 is connected to the column 105 using set screws. The vision alignment platform mounting plate 302 is connected to the slide 301 using set screws. The vision alignment platform base plate 303 is connected to the vision alignment platform mounting plate 302 using bolts and nuts. The binocular camera 304 and the LED light source assembly 305 are both connected to the vision alignment platform base plate 303 using set screws. The guide sleeve 306 is magnetically connected to the vision alignment platform base plate 303.

[0047] In this embodiment, the slide 301 has a cylindrical structure. The guide sleeve 306 has a funnel-shaped structure, and includes a flared hole, a smooth conical surface, and a bottom through hole connected in sequence. The guide sleeve 306 can guide the probe, fix the probe, and prevent the probe from shaking.

[0048] like Figure 4 As shown, the probe insertion system 107 includes a Z-axis drive motor 401, a Z-axis motor mounting plate 402, a Z-axis coupling 403, a Z-axis lead screw guide mechanism 404, a probe mounting platform connecting plate 405, a force sensor 406, and a probe mounting platform base plate 407. The Z-axis motor mounting plate 402 is fixedly connected to the column 105. The Z-axis drive motor 101 is connected to the Z-axis motor mounting plate 402 by bolts and nuts. At the same time, the rotating shaft end of the Z-axis drive motor 101 is connected to the Z-axis coupling 403 by set screws. The Z-axis coupling 403 is connected to the Z-axis lead screw guide mechanism 404, converting the rotation of the Z-axis drive motor 101 into translation. The probe mounting platform connecting plate 405 is connected to the Z-axis lead screw guide mechanism 404 by bolts and nuts, thereby controlling the movement of the probe mounting platform connecting plate 405. Force sensor 406 is connected to probe mounting platform connecting plate 405 by set screw. Probe mounting platform base plate 407 is also connected to force sensor 406 by set screw. Probe is mounted on probe mounting platform base plate 407.

[0049] The Z-axis lead screw guide mechanism 404 includes a Z-axis lead screw fixed-side mounting plate 40401, a Z-axis lead screw 40402, a Z-axis lead screw protective sleeve 40403, a Z-axis lead screw guide connecting plate 40404, a Z-axis lead screw support-side mounting plate 40405, a Z-axis guide rail 40406, and a Z-axis slider 40407. The Z-axis lead screw fixed-side mounting plate 40401 and the Z-axis guide rail 40406 are mounted on the column 105. The Z-axis slider 40407 and the Z-axis guide rail 40406 are slidably connected. The lead screw support side mounting plate 40405 is mounted on the Z-axis lead screw fixed side mounting plate 40401. The Z-axis lead screw 40402 passes through the Z-axis lead screw support side mounting plate 40405. The Z-axis lead screw protective sleeve 40403 is sleeved on the Z-axis lead screw 40402. The Z-axis lead screw guide rail connecting plate 40404 is sleeved on the Z-axis lead screw 40402 and constitutes the movement of the lead screw nut. The Z-axis lead screw guide rail connecting plate 40404 is connected to the Z-axis slider 40407 and the probe mounting platform connecting plate 405 respectively.

[0050] Z-axis drive motor 101 is connected to Z-axis lead screw 40402 via Z-axis coupling 403. When Z-axis drive motor 101 is working, it drives Z-axis lead screw 40402 to rotate.

[0051] like Figure 8 and Figure 9 As shown, the present invention also discloses a control method for an automatic probe insertion device based on binocular vision, comprising the following steps:

[0052] S1. Place the part to be inspected in the part inspection area 104, ensuring that the pre-drilled hole of the part is located above the part;

[0053] S2. Install the pre-drilled hole guide tube on the pre-drilled hole, and control the XY plane moving system 103 to move so that the pre-drilled hole guide tube enters the field of view of the binocular camera 304.

[0054] S3. The deviation between the pre-drilled hole guide tube and the guide sleeve is calculated by the visual recognition algorithm. The XY plane moving system 103 moves the corresponding deviation to realize that the pre-drilled hole guide tube and the guide sleeve 306 of the upper visual alignment platform 106 are on the same vertical line.

[0055] S4. After visual alignment, the probe insertion system 107 controls the probe to move downward into the part to be inspected, while monitoring the value of the force sensor 406. If the value of the force sensor 406 exceeds the threshold, the probe is controlled to move upward and visual alignment is performed again.

[0056] S5. After the probe successfully enters the cavity of the part, the X / Y / Z motor control commands are programmed to automatically execute the all-around detection function.

[0057] Those skilled in the art will recognize that the embodiments described herein are intended to help the reader understand the principles of the invention, and should be understood that the scope of protection of the invention is not limited to such specific statements and embodiments. Those skilled in the art can make various other specific modifications and combinations based on the technical teachings disclosed in this invention without departing from the spirit of the invention, and these modifications and combinations are still within the scope of protection of this invention.

Claims

1. An automatic probe insertion device based on binocular vision, characterized in that: The system includes an aluminum alloy base frame (102) and a column (105), which are connected by bolts and nuts. The bottom of the aluminum alloy base frame (102) is equipped with a ferrule mechanism (101) to achieve height adjustment, movement, and fixation. The aluminum alloy base frame (102) is equipped with an XY plane moving system (103) and a parts inspection area (104). The XY plane moving system (103) is connected to the aluminum alloy base frame (102) below through a screw guide mechanism and is fixed with bolts and nuts. The parts inspection area (104) is located above the XY plane moving system (103) and is fixed with set screws. The bottom of the column (105) is equipped with an electrical box (108), which is connected to the XY plane moving system (103) and the vision alignment platform (106) respectively. The column (105) is connected to the probe insertion system (107); the middle of the column (105) is provided with a visual alignment platform (106), which is connected to the aluminum alloy base frame (102) through the column (105) and is located above the parts inspection area (104); the top of the column (105) is provided with a probe insertion system (107), which is connected to the aluminum alloy base frame (102) through the column (105) and is located above the visual alignment platform (106); the aluminum alloy base frame (102) is provided with a computer bracket, the top of the computer bracket is provided with a touch screen all-in-one machine (109), the touch screen all-in-one machine (109) is connected to the aluminum alloy base frame (102) through the computer bracket, and an electronic handwheel controller (110) is installed on the computer bracket, which is magnetically suspended on the side of the computer bracket; The vision alignment platform (106) includes a slide (301), a vision alignment platform mounting plate (302), a vision alignment platform base plate (303), a binocular camera (304), an LED light source assembly (305), and a guide sleeve (306). The slide (301) is connected to the column (105) by set screws, the vision alignment platform mounting plate (302) is connected to the slide (301) by set screws, the vision alignment platform base plate (303) is connected to the vision alignment platform mounting plate (302) by bolts and nuts, the binocular camera (304) and the LED light source assembly (305) are both connected to the vision alignment platform base plate (303) by set screws, and the guide sleeve (306) is connected to the vision alignment platform base plate (303) by magnetic attraction. The guide sleeve (306) has a funnel-shaped structure and includes a flared hole, a smooth conical surface and a bottom through hole connected in sequence. The probe insertion system (107) includes a Z-axis drive motor (401), a Z-axis motor mounting plate (402), a Z-axis coupling (403), a Z-axis lead screw guide mechanism (404), a probe mounting platform connecting plate (405), a force sensor (406), and a probe mounting platform base plate (407). The Z-axis motor mounting plate (402) is fixedly connected to the column (105). The Z-axis drive motor (101) is connected to the Z-axis motor mounting plate (402) by bolts and nuts. At the same time, the rotating shaft end of the Z-axis drive motor (101) is connected to the Z-axis coupling (403) by set screws. The Z-axis coupling (403) and the Z-axis lead screw guide mechanism (404) are fixed with set screws to convert the rotation of the Z-axis drive motor (101) into translation. The probe mounting platform connecting plate (405) is connected to the Z-axis lead screw guide mechanism (404) with bolts and nuts, thereby controlling the movement of the probe mounting platform connecting plate (405). The force sensor (406) is connected to the probe mounting platform connecting plate (405) with set screws. The probe mounting platform base plate (407) is also connected to the force sensor (406) with set screws. The probe is mounted on the probe mounting platform base plate (407).

2. The automatic probe insertion device based on binocular vision according to claim 1, characterized in that: The XY plane moving system (103) includes a Y-axis drive motor (Ⅰ), an X-axis drive motor (Ⅱ), a Y-axis motor mounting plate (201), a Y-axis coupling (202), a Y-axis lead screw guide mechanism (203), a Y-axis moving frame (204), an X-axis motor mounting plate (205), an X-axis coupling (206), an X-axis lead screw guide mechanism (207), and an X-axis moving frame (208). The Y-axis motor mounting plate (201) and the Y-axis lead screw guide mechanism (203) are both fixed to the aluminum alloy base frame (102) with bolts and nuts. The Y-axis drive motor (Ⅰ) is connected to the Y-axis motor mounting plate (201) with bolts and nuts. The shaft end of the Y-axis drive motor (Ⅰ) is connected to the Y-axis lead screw guide mechanism (203) via the Y-axis coupling (202). The Y-axis drive motor (Ⅰ) is connected to the Y-axis lead screw guide mechanism (203) via the Y-axis... The coupling (202) transmits rotation to the Y-axis lead screw guide mechanism (203), and the Y-axis moving frame (204) cooperates with the aluminum alloy base frame (102); the X-axis motor mounting plate (205) is fixed to the outside of the Y-axis moving frame 204 by bolts and nuts; the X-axis drive motor (II) is connected to the X-axis motor mounting plate (205) by bolts and nuts, and the shaft end of the X-axis drive motor (II) is fixed to the X-axis coupling (206) by set screws. The X-axis coupling (206) is fixed to the X-axis lead screw guide mechanism (207) by set screws. The X-axis lead screw guide mechanism (207) is connected to the X-axis moving frame (208). The rotation of the X-axis drive motor (II) is transmitted to the X-axis lead screw guide mechanism (207) through the X-axis coupling (206) to control the movement of the X-axis moving frame (208).

3. The automatic probe insertion device based on binocular vision according to claim 2, characterized in that: The Y-axis lead screw guide mechanism (203) includes a Y-axis lead screw fixed side mounting plate (20301), a Y-axis lead screw (20302), a Y-axis lead screw guide rail connecting plate (20303), a Y-axis lead screw support side mounting plate (20304), a Y-axis guide rail (20305), and a Y-axis slider (20306). The Y-axis lead screw fixed side mounting plate (20301) and the Y-axis lead screw support side mounting plate (20304) are mounted on an aluminum alloy base frame (102). The Y-axis lead screw (20302) is located on the Y-axis lead screw fixed side mounting plate (20306). Between the Y-axis lead screw support side mounting plate (20301) and the Y-axis lead screw support side mounting plate (20304), the Y-axis lead screw guide rail connecting plate (20303) is sleeved on the Y-axis lead screw (20302) and forms a lead screw nut pair. The Y-axis lead screw guide rail connecting plate (20303) is connected to the Y-axis moving frame (204). The Y-axis slider (20306) is located at the bottom of the Y-axis moving frame (204). The Y-axis guide rail (20305) is located on the aluminum alloy base frame (102). The Y-axis slider (20306) and the Y-axis guide rail (20305) are slidably connected.

4. The automatic probe insertion device based on binocular vision according to claim 2, characterized in that: The X-axis lead screw guide mechanism (207) includes an X-axis lead screw fixed side mounting plate (20701), an X-axis lead screw (20702), an X-axis lead screw protective sleeve (20703), an X-axis lead screw guide rail connecting plate (20704), an X-axis lead screw support side mounting plate (20705), an X-axis guide rail (20706), and an X-axis slider (20707). The X-axis lead screw fixed side mounting plate (20701) and the X-axis lead screw support side mounting plate (20705) are mounted on the Y-axis moving frame (204). The X-axis lead screw (20702) is mounted between the X-axis lead screw fixed side mounting plate (20701) and the X-axis lead screw support side mounting plate (20705). The X-axis lead screw protective sleeve (20706) is mounted on the Y-axis moving frame (20707). 703) and X-axis lead screw guide rail connecting plate (20704) are respectively sleeved on X-axis lead screw (20702). X-axis lead screw guide rail connecting plate (20704) and X-axis lead screw (20702) form a lead screw nut pair structure. X-axis lead screw guide rail connecting plate (20704) is connected to X-axis moving frame (208). X-axis guide rail (20706) is installed on Y-axis moving frame (204). X-axis slider (20707) is installed at the bottom of X-axis moving frame (208). X-axis slider (20707) and X-axis guide rail (20706) are in sliding fit. X-axis drive motor (II) is connected to the end of X-axis lead screw (20702) through X-axis coupling (206).

5. The automatic probe insertion device based on binocular vision according to claim 1, characterized in that: The part inspection area (104) includes a part placement platform, which is located inside the X-axis moving frame (208) and is connected by bolts.

6. The automatic probe insertion device based on binocular vision according to claim 1, characterized in that: The Z-axis lead screw guide mechanism (404) includes a Z-axis lead screw fixed side mounting plate (40401), a Z-axis lead screw (40402), a Z-axis lead screw protective sleeve (40403), a Z-axis lead screw guide connecting plate (40404), a Z-axis lead screw support side mounting plate (40405), a Z-axis guide rail (40406), and a Z-axis slider (40407). The Z-axis lead screw fixed side mounting plate (40401) and the Z-axis guide rail (40406) are mounted on the column (105), and the Z-axis slider (40407) and the Z-axis guide rail (40406) are slidably connected. The Z-axis lead screw support side mounting plate (40405) is mounted on the Z-axis lead screw fixed side mounting plate (40401). The Z-axis lead screw (40402) passes through the Z-axis lead screw support side mounting plate (40405). The Z-axis lead screw protective sleeve (40403) is sleeved on the Z-axis lead screw (40402). The Z-axis lead screw guide rail connecting plate (40404) is sleeved on the Z-axis lead screw (40402) and constitutes the movement of the lead screw nut. The Z-axis lead screw guide rail connecting plate (40404) is connected to the Z-axis slider (40407) and the probe mounting platform connecting plate 405 respectively.

7. The automatic probe insertion device based on binocular vision according to claim 1, characterized in that, The control method for the automatic probe insertion device includes the following steps: S1. Place the part to be inspected in the part inspection area (104), ensuring that the pre-drilled hole of the part is located above the part; S2. Install the pre-reserved hole guide tube on the pre-reserved hole, control the XY plane moving system (103) to move, so that the pre-reserved hole guide tube enters the field of view of the binocular camera (304); S3. The deviation between the pre-drilled hole guide tube and the guide sleeve is calculated by the visual recognition algorithm. The XY plane moving system (103) moves the corresponding deviation to realize that the pre-drilled hole guide tube and the guide sleeve (306) of the upper visual alignment platform (106) are on the same vertical line. S4. After visual alignment, the probe insertion system (107) controls the probe to move downward into the part to be inspected, while monitoring the value of the force sensor (406). If the value of the force sensor (406) exceeds the threshold, the probe is controlled to move upward and visual alignment is performed again. S5. After the probe successfully enters the cavity of the part, the X / Y / Z motor control commands are programmed to automatically execute the all-around detection function.

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