Intelligent detection device and detection method for defects of inner wall of complex porous shell

Abstract

The invention relates to the technical field of aerospace equipment detection, and discloses an intelligent detection device and method for defects of the inner wall of a complex porous shell. The double-shaft rotating platform is arranged on the base, a hydraulic shell clamping tool is arranged on the double-shaft rotating platform, and the double-shaft rotating platform can drive the hydraulic shell clamping tool to rotate in the horizontal direction and the vertical direction; a precise ball screw guide rail is arranged at the moving end of the six-degree-of-freedom mechanical arm; the detection assembly is slidably connected with the precision ball screw guide rail, and the end of the detection assembly is provided with a camera. Through the synergistic effect of the double-shaft rotating platform and the six-degree-of-freedom mechanical arm, the detection assembly can correspond to any hole channel of the to-be-detected hydraulic shell, and then comprehensive detection of the hole channel of the to-be-detected hydraulic shell is achieved; meanwhile, the precise ball screw guide rail is used for controlling the detection assembly to precisely feed along a straight line, so that precise image acquisition can be carried out on a complex pore channel, and the comprehensiveness and accuracy of pore channel defect identification are improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of aerospace equipment detection, in particular to a complex multi-porous shell inner wall defect intelligent detection device and method. BACKGROUND

[0002] The aircraft hydraulic shell is a core structural component of the aircraft actuator, which bears the functions of hydraulic oil flow, distribution, adjustment and support, etc., and its machining precision and surface integrity directly affect the sealing, stability and service life of the hydraulic system.

[0003] The hydraulic shell usually contains multiple staggered holes and complex three-dimensional cavity structures, which are difficult to process and are prone to form micro-defects such as cracks, pits, burrs, pinholes and scratches on the inner surface of the hole. In order to ensure the quality of the hydraulic shell, the inner surface of the hole needs to be comprehensively detected after forming.

[0004] The existing detection means mainly relies on manual visual inspection or auxiliary inspection with a magnifying glass. This method depends on the subjective judgment of the operator, which is not only low in efficiency and accuracy, but also difficult to quantitatively identify the defect type and severity, which is prone to cause missed detection or misjudgment, and is difficult to meet the quality control requirements of high consistency and high reliability in aviation manufacturing.

[0005] Therefore, how to provide a multi-porous inner wall defect intelligent detection device and method suitable for the hydraulic shell is a problem that needs to be solved by those skilled in the art. SUMMARY

[0006] The purpose of the present application is to provide a complex multi-porous shell inner wall defect intelligent detection device and method to solve the problems existing in the prior art.

[0007] To achieve the above purpose, the present application provides a complex multi-porous shell inner wall defect intelligent detection device, which comprises a base;

[0008] A double-axis rotating platform is arranged on the base, and a hydraulic shell clamping tool for clamping the hydraulic shell to be detected is arranged on the double-axis rotating platform. The double-axis rotating platform can drive the hydraulic shell clamping tool to rotate in the horizontal and vertical directions.

[0009] A six-degree-of-freedom mechanical arm is arranged on the base, and a precision ball screw guide rail is arranged at the moving end of the six-degree-of-freedom mechanical arm.

[0010] A detection assembly is in sliding connection with the precision ball screw guide rail, and a camera is arranged at the end of the detection assembly.

[0011] The six-degree-of-freedom mechanical arm is used to move a detection assembly to a position corresponding to a hole of a hydraulic shell to be detected, the detection assembly can be moved along a precision ball screw guide rail and has an end inserted into the hole, and an image of an inner wall of the hole is collected by a camera.

[0012] Further, the double-axis rotating platform comprises:

[0013] A rotating table is arranged on the base and has a rotating bottom plate arranged on the top thereof, and the rotating table is used to drive the rotating bottom plate to rotate in the horizontal direction;

[0014] Mounting seats are vertically arranged on the left and right sides of the rotating bottom plate;

[0015] A turnover table is rotatably arranged on the inner side of the mounting seat, and the two ends of the hydraulic shell clamping tool are respectively fixed on the turnover tables on the inner sides of the two mounting seats;

[0016] A turnover driving motor is arranged on the outer side of the mounting seat, an output end of the turnover driving motor penetrates the mounting seat and is connected with the turnover table, and the turnover driving motor is used to drive the turnover table to rotate in the vertical direction.

[0017] Further, the double-axis rotating platform further comprises:

[0018] Tool fixing tables are arranged on the inner sides of the turnover tables, and the two ends of the hydraulic shell clamping tool are respectively fixed on the two tool fixing tables.

[0019] Further, the precision ball screw guide rail comprises:

[0020] A linear slide rail is arranged on the moving end of the six-degree-of-freedom mechanical arm;

[0021] A screw rod is arranged along the length direction of the linear slide rail;

[0022] A screw rod driving motor is arranged on one end of the linear slide rail and is in transmission connection with the screw rod;

[0023] A sliding block is slidably arranged on the linear slide rail and is in threaded connection with the screw rod, and the detection assembly is arranged on the sliding block.

[0024] Further, it further comprises:

[0025] A laser ranging module is arranged on one end of the linear slide rail, and a measuring end of the laser ranging module faces the other end of the linear slide rail.

[0026] Further, the detection assembly comprises:

[0027] A main body is arranged on the sliding block;

[0028] A detection probe is connected to the main body and arranged along the length direction of the linear slide rail, and the camera is arranged at the end of the detection probe.

[0029] Further, the camera is arranged at the bottom surface of the end of the detection probe or the side surface of the end.

[0030] Further, the application further comprises:

[0031] A control module is electrically connected to the dual-axis rotating platform, the six-degree-of-freedom mechanical arm, the precision ball screw guide rail and the camera respectively; the control module has an image processing module, the camera sends the collected channel image to the image processing module, the image processing module has a deep neural network model, and the deep neural network model can identify the defect features in the channel image.

[0032] Further, the application further comprises:

[0033] An outer shell is arranged on the base and forms a containing cavity with the base.

[0034] The application further provides a complex multi-porous shell inner wall defect intelligent detection method, and the complex multi-porous shell inner wall defect intelligent detection device is applied, and the method comprises the following steps:

[0035] S1: the dual-axis rotating platform drives the hydraulic shell clamping tool to rotate, and the channel of the to-be-detected hydraulic shell is rotated to a position close to the detection assembly;

[0036] S2: the six-degree-of-freedom mechanical arm moves the detection assembly to a position corresponding to the channel;

[0037] S3: the detection assembly moves along the precision ball screw guide rail and inserts the end into the channel, and the camera collects the channel inner wall image.

[0038] The application discloses the following technical effects:

[0039] 1. The dual-axis rotating platform, the six-degree-of-freedom mechanical arm, the detection assembly and the to-be-detected hydraulic shell are corresponded, and then the comprehensive detection of the channel of the to-be-detected hydraulic shell is realized; at the same time, the detection assembly is controlled to move along the linear precision feed through the precision ball screw guide rail, the complex channel such as a deep hole, an inclined hole and a cross hole can be finely imaged, the comprehensiveness and the accuracy of channel defect identification are improved, and quantitative analysis of defect size and depth can be realized.

[0040] 2. The whole detection process is intelligently controlled by the control module, eliminating manual intervention and improving detection efficiency and data consistency. In the image recognition process, a deep neural network model is used to classify and recognize defect features, significantly reducing the misjudgment rate and missed detection rate caused by subjective judgment, thereby standardizing and intelligentizing the detection process, and having good application prospects and wide application range. BRIEF DESCRIPTION OF DRAWINGS

[0041] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application, and for those skilled in the art, other drawings can be obtained without creative labor on the basis of these drawings.

[0042] Figure 1 It is a structural schematic diagram of the present application;

[0043] Figure 2 It is a structural schematic diagram of the double-axis rotating platform;

[0044] Figure 3 It is a schematic diagram of the cooperation of the six-degree-of-freedom mechanical arm, the detection assembly and the precision ball screw guide rail (the camera is not shown);

[0045] Figure 4 It is a schematic diagram of the precision ball screw guide rail;

[0046] Figure 5 It is a schematic diagram of the shell;

[0047] Among them, 1, base; 2, double-axis rotating platform; 201, rotating table; 202, rotating bottom plate; 203, mounting seat; 204, overturning table; 205, overturning drive motor; 206, tool fixing table; 3, hydraulic shell to be measured; 4, hydraulic shell clamping tool; 5, six-degree-of-freedom mechanical arm; 6, detection assembly; 601, main body; 602, detection probe; 7, precision ball screw guide rail; 701, linear slide rail; 702, screw; 703, screw drive motor; 704, sliding block; 8, laser ranging module; 9, control module; 10, middle frame; 11, top protective cover; 12, operation door; 13, maintenance protection door; 14, indicator light. DETAILED DESCRIPTION

[0048] The technical solutions in the embodiments of the present application will be described clearly and completely below in combination with the drawings in the embodiments of the present application. Obviously, the described embodiments are only some embodiments of the present application, not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present application.

[0049] In order to make the above objectives, features and advantages of the present application more obvious and easy to understand, the present application will be further described in detail below with reference to the drawings and specific embodiments.

[0050] As shown in Figures 1 to 5 The embodiment of the present application provides a complex porous shell inner wall defect intelligent detection device, which comprises:

[0051] a base 1;

[0052] a double-axis rotating platform 2 arranged on the base 1, wherein a hydraulic shell clamping tool 4 for clamping a to-be-detected hydraulic shell 3 is arranged on the double-axis rotating platform 2, and the double-axis rotating platform 2 can drive the hydraulic shell clamping tool 4 to rotate in the horizontal direction and the vertical direction;

[0053] a six-degree-of-freedom mechanical arm 5 arranged on the base 1, wherein a precision ball screw guide rail 7 is arranged at a moving end of the six-degree-of-freedom mechanical arm 5;

[0054] a detection assembly 6 in sliding connection with the precision ball screw guide rail 7, wherein a camera is arranged at an end of the detection assembly 6;

[0055] The six-degree-of-freedom mechanical arm 5 is used to move the detection assembly 6 to a position corresponding to a hole of the to-be-detected hydraulic shell 3, the detection assembly 6 can move along the precision ball screw guide rail 7 and insert the end thereof into the hole, and the camera is used to collect an inner wall image of the hole.

[0056] In the embodiment, the double-axis rotating platform 2 comprises:

[0057] a rotating table 201 arranged on the base 1, wherein a rotating bottom plate 202 is arranged at the top of the rotating table 201, and the rotating table 201 is used to drive the rotating bottom plate 202 to rotate in the horizontal direction;

[0058] mounting seats 203 vertically arranged on the left and right sides of the rotating bottom plate 202;

[0059] turnover tables 204 rotatably arranged on the inner sides of the mounting seats 203, wherein two ends of the hydraulic shell clamping tool 4 are respectively fixed on the turnover tables 204 on the inner sides of the two mounting seats 203;

[0060] a turnover driving motor 205 arranged on the outer sides of the mounting seats 203, wherein an output end of the turnover driving motor 205 penetrates the mounting seats 203 and is connected with the turnover tables 204, and the turnover driving motor 205 is used to drive the turnover tables 204 to rotate in the vertical direction.

[0061] In the embodiment, the double-axis rotating platform 2 further comprises:

[0062] The tool fixing platform 206 is provided on the inner side of the turning platform 204 , and both ends of the hydraulic housing clamping tool 4 are fixed on the two tool fixing platforms 206 respectively.

[0063] In this embodiment, the precision ball screw guide 7 includes:

[0064] A linear slide rail 701 is provided at the moving end of the six-degree-of-freedom robotic arm 5;

[0065] The lead screw 702 is arranged along the length direction of the linear guide rail 701;

[0066] The screw drive motor 703 is provided at one end of the linear guide rail 701 and is in driving connection with the screw 702;

[0067] The slider 704 is slidably disposed on the linear guide rail 701 and is threadably connected to the lead screw 702 . The detection component 6 is disposed on the slider 704 .

[0068] In this embodiment, it also includes:

[0069] The laser ranging module 8 is arranged at one end of the linear slide rail 701 , with its measuring end facing the other end of the linear slide rail 701 . The laser ranging module 8 is used to record the distance the detection component 6 moves along the linear slide rail 701 .

[0070] In this embodiment, the detection component 6 includes:

[0071] The main body 601 is provided on the slider 704;

[0072] The detection probe 602 is connected to the main body 601 and arranged along the length direction of the linear slide rail 701 . The camera is set at the end of the detection probe 602 .

[0073] In this embodiment, the camera is located on the bottom or side of the tip of the detection probe 602. Whether the camera is located on the bottom or side depends on the size of the hole. When the hole size is small (less than 2 mm), the camera is located on the bottom of the tip of the detection probe 602. When the hole size is large, the camera is located on the side of the tip of the detection probe 602 to capture images of the inner wall of the hole.

[0074] In this embodiment, it also includes:

[0075] The control module 9 is electrically connected to the dual-axis rotating platform 2, the six-degree-of-freedom robotic arm 5, the precision ball screw guide 7 and the camera respectively; the control module 9 has an image processing module, and the camera sends the collected channel image to the image processing module. The image processing module has a deep neural network model and can identify defect features in the channel image based on the deep neural network model.

[0076] In this embodiment, it also includes:

[0077] The shell is arranged on the base 1 and forms a containing cavity with the base 1, and specifically comprises a middle frame 10 and a top protective cover 11, an operation door 12 and a maintenance protective door 13 are arranged on the middle frame 10, and an indicator lamp 14 is arranged on the protective cover. The indicator lamp 14 is used for displaying the running state of the device, and the maintenance protective door 13 is used for device maintenance operation.

[0078] The embodiment of the present application also provides a kind of complex porous shell inner wall defect intelligent detection method, application above-mentioned complex porous shell inner wall defect intelligent detection device, comprising the following steps:

[0079] S1: the hydraulic shell 3 to be measured is installed on the hydraulic shell clamping tool 4, the hydraulic shell clamping tool 4 is rotated by the double-shaft rotary platform 2, specifically, the rotating base plate 202 is rotated along the horizontal direction by the rotating table 201, the turnover driving motor 205 drives the turnover table 204 to rotate along the vertical direction, so as to adjust the posture of the hydraulic shell 3 to be measured, and the hole of the hydraulic shell 3 to be measured is rotated to the position close to the detection assembly 6;

[0080] S2: the detection assembly 6 is moved to the position corresponding to the hole by the six-degree-of-freedom mechanical arm 5;

[0081] S3: the detection assembly 6 is moved along the precision ball screw guide rail 7 and the end thereof is inserted into the hole, the hole inner wall image is collected by the camera, and during the image collection process, the camera position can be changed by the double-shaft rotary platform 2, the six-degree-of-freedom mechanical arm 5 and the precision ball screw 702, so as to collect the full-view image of the hole inner wall;

[0082] S4: after the hole inner wall image is collected, the camera sends the collected hole image to the image processing module, the image processing module has a deep neural network model and can identify the defect features in the hole image based on the deep neural network model, the defect features include the type, position and depth of the hole defect and the like, and the evaluation result is output after the defect features are identified, to judge the quality grade of the hydraulic shell 3 to be measured.

[0083] In the description of the present application, it should be understood that the orientation or positional relationship indicated by the terms "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present application, and does not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, therefore it cannot be understood as a limitation on the present application.

[0084] The above described embodiments are only to illustrate the preferred modes of the present application, and are not intended to limit the scope of the present application. Any modification and improvement made by those skilled in the art to the technical solutions of the present application without departing from the design spirit of the present application shall fall within the protection scope of the present application as defined by the claims.

Claims

1. A device for intelligent detection of defects in the inner wall of a complex porous shell, characterized by, The utility model relates to a kind of hydraulic shell detection device, including: Base (1); Biaxial rotating platform (2) is set on base (1), and the hydraulic shell clamping tool (4) for clamping to be measured hydraulic shell (3) is provided on the biaxial rotating platform (2), and the biaxial rotating platform (2) can drive hydraulic shell clamping tool (4) to rotate along horizontal direction and vertical direction; Six-degree-of-freedom mechanical arm (5) is set on base (1), and the moving end of six-degree-of-freedom mechanical arm (5) is provided with precision ball screw guide rail (7); Detection assembly (6) is slidably connected with the precision ball screw guide rail (7), and the end of detection assembly (6) is provided with camera; The six-degree-of-freedom mechanical arm (5) is used to move detection assembly (6) to the position corresponding to the hole of to be measured hydraulic shell (3), and detection assembly (6) can be moved along precision ball screw guide rail (7) and inserted into hole with its end, and the image of hole inner wall is collected by camera.

2. The device for intelligent detection of defects in the inner wall of a complex porous shell according to claim 1, characterized in that The biaxial rotating platform (2) includes: Rotary table (201) is set on base (1), and rotary bottom plate (202) is provided on the top of rotary table (201), and the rotary table (201) is used to drive rotary bottom plate (202) to rotate along horizontal direction; Mounting seat (203) is vertically arranged on the left and right sides of rotary bottom plate (202); Turnover table (204) is rotatably arranged on the inner side of mounting seat (203), and the two ends of hydraulic shell clamping tool (4) are respectively fixed on the turnover table (204) on the inner side of two mounting seats (203); Turnover drive motor (205) is arranged on the outer side of mounting seat (203), the output end of turnover drive motor (205) penetrates mounting seat (203) and is connected with turnover table (204), and turnover drive motor (205) is used to drive turnover table (204) to rotate along vertical direction.

3. The device for intelligent detection of defects in the inner wall of a complex porous shell according to claim 2, characterized in that The biaxial rotating platform (2) further includes: Tool fixing table (206) is arranged on the inner side of turnover table (204), and the two ends of hydraulic shell clamping tool (4) are respectively fixed on two tool fixing tables (206).

4. The device for intelligent detection of defects in the inner wall of a complex porous shell according to claim 1, characterized in that The precision ball screw guide rail (7) includes: Linear slide rail (701) is arranged on the moving end of six-degree-of-freedom mechanical arm (5); Lead screw (702) is arranged along the length direction of linear slide rail (701); Lead screw drive motor (703) is arranged on one end of linear slide rail (701) and is in transmission connection with lead screw (702); Slide block (704) is slidably arranged on linear slide rail (701) and is in screw connection with lead screw (702), and detection assembly (6) is arranged on slide block (704).

5. The device for intelligent detection of defects in the inner wall of a complex porous shell according to claim 4, characterized in that Further include: Laser ranging module (8) is arranged on one end of linear slide rail (701), and the measuring end thereof faces the other end of linear slide rail (701).

6. The device for intelligent detection of defects in the inner wall of a complex porous shell according to claim 4, characterized in that The detection assembly (6) includes: Main body (601) is arranged on slide block (704); A detection probe (602) is connected with the main body (601) and arranged along the length direction of the linear slide rail (701), and the camera is arranged at the end of the detection probe (602).

7. The device for intelligent detection of defects in the inner wall of a complex porous shell according to claim 6, characterized in that The camera is arranged at the bottom surface of the end of the detection probe (602) or the side surface of the end of the detection probe (602).

8. The device for intelligent detection of defects in the inner wall of a complex porous shell according to claim 1, characterized in that Further comprising: A control module (9) is electrically connected with the biaxial rotating platform (2), the six-degree-of-freedom mechanical arm (5), the precision ball screw guide rail (7) and the camera respectively; the control module (9) has an image processing module, the camera sends the collected channel image to the image processing module, the image processing module has a deep neural network model, and the deep neural network model can identify the defect features in the channel image.

9. The device for intelligent detection of defects in the inner wall of a complex porous shell according to claim 1, characterized in that Further comprising: An outer shell is arranged on the base (1) and forms a containing cavity with the base (1). 10.An intelligent detection method for defects in the inner wall of a complex porous shell, which applies the intelligent detection device for defects in the inner wall of a complex porous shell according to any one of claims 1-9, and comprises the following steps: S1: The biaxial rotating platform (2) drives the hydraulic shell clamping tool (4) to rotate, and the channel of the to-be-detected hydraulic shell (3) is rotated to a position close to the detection assembly (6); S2: The six-degree-of-freedom mechanical arm (5) moves the detection assembly (6) to a position corresponding to the channel; S3: The detection assembly (6) moves along the precision ball screw guide rail (7) and inserts the end thereof into the channel, and the camera collects the channel inner wall image.

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