Visual inspection device for cantilever pipe

Abstract

The invention relates to the technical field of visual inspection, in particular to a visual inspection device for a cantilever pipe, and aims to solve the problem that part of potential defects of the pipe are difficult to find due to the fact that the pipe is detected mainly through line scanning in the existing cantilever production process and the line scanning can only detect the appearance of the pipe. The equipment is suitable for detecting flaws and defects on the cantilever pipe. The device comprises a loading mechanism and a defect detection mechanism, the defect detection mechanism comprises at least one visual sensor; the loading mechanism is used for fixing two ends of the pipe. When the visual detection device for the cantilever pipe is used, the loading mechanism fixes the two ends of the pipe and applies axial stress and torsional stress to the pipe, so that defects on the surface of the pipe deform and are amplified under the action of the stress, and meanwhile, the visual sensor is inserted into the pipe and moves in the length direction of the pipe; the defects of the inner wall of the pipe can be detected in a loading state.

Description

Technical Field

[0001] This invention relates to the field of visual inspection technology, and in particular to a visual inspection device for carpenter arm tubing, which can be used to investigate defects or flaws on carpenter arm tubing. Background Technology

[0002] A cantilever arm is used to fix and support the overhead contact line to ensure its stability during train operation and prevent swaying or sagging. Because the cantilever arm needs to withstand the mechanical loads from the overhead contact line and the external environment to ensure the reliability of the system under various conditions, high requirements are placed on the mechanical performance of the cantilever arm.

[0003] However, since the current production process of the cantilever arm mainly uses line scanning to inspect the tubing, and line scanning can only inspect the appearance of the tubing, some potential defects of the tubing are difficult to detect, thus affecting the overall mechanical performance and safety of the cantilever arm. Summary of the Invention

[0004] This invention provides a visual inspection device for cantilever tubing to solve the problem that the existing cantilever production process mainly uses line scanning to inspect tubing, and line scanning can only inspect the appearance of the tubing, making it difficult to detect some potential defects in the tubing.

[0005] To solve the above-mentioned technical problems, the technical solution provided by the present invention is as follows: A visual inspection device for cantilever tubing: It includes a loading mechanism and a defect detection mechanism; the defect detection mechanism includes at least one vision sensor; the loading mechanism is used to fix both ends of the pipe and apply axial stress and torsional stress to the pipe so that defects on the surface of the pipe are deformed and magnified under stress; the vision sensor is configured to be inserted into the pipe and move along the length of the pipe to detect defects on the inner wall of the pipe under loading.

[0006] Furthermore, the loading mechanism has a static loading mode and a dynamic loading mode; When the static loading mode is performed, the loading mechanism applies rotational forces in opposite directions to both ends of the pipe to apply torsional stress to the pipe in a static state; when the dynamic loading mode is performed, the loading mechanism drives both ends of the pipe to rotate in the same direction but at different speeds to apply torsional stress to the pipe in a rotating state.

[0007] Furthermore, the loading mechanism includes two rotating structures; each rotating structure includes a torsion sensor, a clamping component, and a hollow shaft; one end of the torsion sensor is connected to the clamping component, and the other end is connected to the hollow shaft, for detecting the torsional stress applied to the pipe; the clamping component is configured to clamp and fix the pipe; in the static loading mode, the hollow shaft tends to rotate about its own axis to apply torsional stress to the pipe; in the dynamic loading mode, the hollow shaft rotates about its own axis to drive the pipe to rotate and apply torsional stress to it.

[0008] Furthermore, the loading mechanism also includes two tension-adjustment structures; each tension-adjustment structure includes a tension / compression sensor and a telescopic component; one end of the tension / compression sensor is connected to the rotating structure, and the other end is connected to the telescopic end of the telescopic component, for detecting the axial stress applied to the pipe; when different pipe lengths need to be adapted, the telescopic component can extend or retract to change the distance between the two rotating structures; when axial stress needs to be applied to the pipe, the telescopic end of the telescopic component has a tendency to move along the length of the pipe to apply axial stress to the pipe.

[0009] Furthermore, the defect detection mechanism also includes a probe structure and a drive structure; the probe structure includes the vision sensor and a propulsion tube; the propulsion tube is connected to the vision sensor; the drive structure is connected to the telescopic end of the telescopic component to move synchronously with the rotating structure; the drive structure can drive the propulsion tube to move along the length of the pipe so that the vision sensor enters the pipe through the hollow shaft and the clamping component in sequence and performs detection.

[0010] Furthermore, the drive structure includes multiple roller units; each roller unit includes a drive wheel; the drive wheel is rotatable about its own axis and abuts against the propulsion tube, thereby driving the propulsion tube to move along the length of the tube.

[0011] Furthermore, the roller unit also includes a lifting guide rail, a pressing spring, and an adjusting nut; the drive wheel is fitted onto the lifting guide rail and is slidably connected to the lifting guide rail. The pressure adjusting nut is fitted onto the lifting guide rail and is threadedly connected to the lifting guide rail; one end of the pressing spring abuts against the drive wheel and the other end abuts against the pressure adjusting nut, and is used to apply a thrust to the lifting support so that the drive wheel abuts against the propulsion tube; The pressure adjusting nut rotates along the lifting guide rail to change the distance between the pressure adjusting nut and the drive wheel, thereby adjusting the compression of the pressing spring.

[0012] Furthermore, the defect detection mechanism also includes a wire feeding structure; the wire feeding structure includes a wire feeding roller and a wire unit; one end of the wire unit is connected to the vision sensor, and the other end is connected to the wire feeding roller; the wire feeding roller is rotatable about its own axis so that the wire unit is wound around or released from the wire feeding roller.

[0013] Furthermore, the surface of the propulsion tube is provided with a strip-shaped wire hole; the wire unit passes through the strip-shaped wire hole; the strip-shaped wire hole is located on the side of the propulsion tube facing the drive wheel; the wire unit includes a communication wire and an elastic collar; the communication wire is inserted into the elastic collar; the wire unit is located between the drive wheel and the propulsion tube, so that the drive wheel drives the elastic collar through the strip-shaped wire hole into the propulsion tube.

[0014] Furthermore, the wire feeding structure also includes a guide cover; one end of the guide cover is connected to the wire feeding roller, and the other end is located below the push tube, for guiding the wire unit to wind around or release onto the wire feeding roller.

[0015] In summary, the technical effects achieved by this invention are as follows: 1. The visual inspection device for cantilever tubes provided by the present invention fixes both ends of the tube through a loading mechanism and applies axial stress and torsional stress to the tube, so that defects on the surface of the tube will deform and be amplified under stress. The axial stress and torsional stress will not cause destructive deformation to qualified tubes. At the same time, the visual sensor is inserted into the tube and moves along the length of the tube to detect defects on the inner wall of the tube under loading, thereby solving the problem that some potential defects of the tube are difficult to detect.

[0016] 2. The visual inspection device for cantilever tubes provided by the present invention sets the loading mechanism to a static loading mode and a dynamic loading mode. In the static loading mode, the visual sensor detects the inner wall of the tube in different areas, which can effectively improve the control capability and stability of torsional stress. In the dynamic loading mode, the visual sensor continuously and fully covers the inner wall of the tube, which can effectively speed up the inspection speed of the tube.

[0017] 3. The visual inspection device for the cantilever tube provided by the present invention uses two rotating structures to fix the two ends of the tube and apply torsional stress to the tube. At the same time, two tension adjustment structures can drive the two rotating structures to move along the length of the tube to change the distance between the two rotating structures, thereby adapting to tubes of different lengths.

[0018] 4. The visual inspection device for the cantilever tube provided by the present invention uses a pressing spring to keep the drive wheel in contact with the propulsion tube at all times, effectively preventing slippage between the drive wheel and the propulsion tube. At the same time, it is used in conjunction with a pressure adjusting nut to adjust the pre-compression of the pressing spring as needed, thereby ensuring the contact pressure between the drive wheel and the propulsion tube.

[0019] 5. The visual inspection device for the cantilever tube provided by the present invention uses a wire feeding structure to make the wire unit wrap around or unwrap with the wire feeding roller as the visual sensor moves, thereby avoiding the wire unit itself from getting tangled. At the same time, it works with a drive wheel to make the wire unit insert into or unwrap with the push tube as the visual sensor moves. Compared with the vibration generated during the operation of the drag chain commonly used in the prior art, the vibration generated by the wire feeding structure is not enough to affect the image acquisition of the visual sensor. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the specific embodiments or related technologies of the present invention, the drawings used in the description of the specific embodiments or related technologies will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0021] Figure 1 A schematic diagram of the structure of the visual inspection device for the carpal tube provided in the embodiments of the present invention; Figure 2 A schematic diagram of the assembly structure of the rotating structure and the tension adjustment structure provided in the embodiments of the present invention; Figure 3 A partial structural schematic diagram of the rotating structure provided in an embodiment of the present invention; Figure 4 A schematic diagram of the defect detection mechanism provided in the embodiments of the present invention; Figure 5 A schematic diagram of the probe structure provided in the embodiments of the present invention; Figure 6 A schematic diagram of the driving structure provided in the embodiments of the present invention; Figure 7 A front view of the driving structure provided in the embodiments of the present invention; Figure 8 A schematic diagram of the wire feeding structure in the visual inspection device for the cantilever tube provided in this embodiment of the invention.

[0022] icon: 10-Loading mechanism; 100-Rotating structure; 110-Torsion sensor; 120-Clamping component; 130-Hollow shaft; 140-Bearing frame; 150-Drive component; 160-Transmission component; 200-Tension adjustment structure; 210-Tension / compression sensor; 220-Telescopic component; 230-Tension frame; 240-Guide rail; 250-Offset support plate; 20-Defect detection mechanism; 300-Probe structure; 310-Vision sensor; 320-Propeller tube; 321-Strip Wire threading hole; 400-Drive structure; 410-Roller unit; 411-Drive wheel; 412-Lifting guide rail; 413-Pressing spring; 414-Adjusting nut; 415-Lifting support; 420-Drive frame; 430-Telescopic motor; 500-Wire feeding structure; 510-Wire feeding roller; 520-Wire unit; 521-Communication wire; 522-Elastic collar; 523-Traction line; 530-Guide cover; 531-Guide hole; 540-Wire feeding frame; 550-Wire feeding motor. Detailed Implementation

[0023] Because the current manufacturing process of the cantilever arm mainly uses line scanning to inspect the tubing, and line scanning can only inspect the appearance of the tubing, some potential defects in the tubing are difficult to detect.

[0024] In view of this, this solution provides a visual inspection device for cantilever tubes, including a loading mechanism 10 and a defect detection mechanism 20.

[0025] The following combination Figures 1-8 The structure and shape of the visual inspection device for the cantilever tube are described in detail: The defect detection mechanism 20 includes at least one vision sensor 310; the loading mechanism 10 is used to fix both ends of the pipe and apply axial stress and torsional stress to the pipe so that the defects on the surface of the pipe are deformed and magnified under stress; the vision sensor 310 is configured to be inserted into the pipe and move along the length of the pipe for detecting defects on the inner wall of the pipe under loading.

[0026] In this embodiment, the loading mechanism 10 fixes both ends of the pipe and applies axial stress and torsional stress to the pipe so that the defects on the surface of the pipe are deformed and amplified under stress. The axial stress and torsional stress will not cause destructive deformation to the qualified pipe. At the same time, the vision sensor 310 is inserted into the pipe and moves along the length of the pipe to detect defects on the inner wall of the pipe under loading.

[0027] To detect defects on the outer surface of pipes: It also includes a line scanning mechanism, which is located on one side of the loading mechanism 10 and is used to detect defects on the outer surface of the pipe under loading conditions.

[0028] Regarding how to detect defects on the surface of pipes using a vision sensor 310 and a line scanning mechanism: The vision sensor 310 and the line scanning mechanism capture images of the inner wall and outer surface of the pipe in real time, respectively. The captured image information is transmitted to the host computer through the communication interface. The host computer can be, but is not limited to, a personal computer, a server or an embedded system. The image processing algorithm built into the host computer is used to analyze the acquired images to determine whether there are defects or flaws on the surface of the pipe.

[0029] To enable the vision sensor 310 to perform comprehensive inspection of the pipe surface: like Figure 1 As shown, the loading mechanism 10 has a static loading mode and a dynamic loading mode. In the static loading mode, the loading mechanism 10 applies rotational forces in opposite directions to both ends of the pipe to apply torsional stress to the pipe in a static state. In the dynamic loading mode, the loading mechanism 10 drives both ends of the pipe to rotate in the same direction but at different speeds to apply torsional stress to the pipe in a rotating state.

[0030] In this embodiment, in the static loading mode, the loading mechanism 10 applies rotational forces in opposite directions to both ends of the pipe to apply torsional stress to the pipe in a static state. Then, the vision sensor 310 moves along the length of the pipe to detect a linear area of ​​the inner wall of the pipe in the loading state. Then, the loading mechanism 10 drives the pipe to rotate so that the undetected area on the pipe is aligned with the vision sensor 310. The above steps are repeated until the entire inner wall of the pipe is detected.

[0031] In dynamic loading mode, the loading mechanism 10 drives both ends of the pipe to rotate in the same direction but at different speeds to apply torsional stress to the pipe while rotating. At the same time, the vision sensor 310 moves along the length of the pipe so that the vision sensor 310 moves along a spiral path relative to the inner wall of the pipe, thereby continuously and fully covering the inner wall of the pipe for detection.

[0032] To achieve the desired torsional stress on the pipe while controlling its magnitude: like Figures 1-3 As shown, the loading mechanism 10 includes two rotating structures 100; each rotating structure 100 includes a torsion sensor 110, a clamping member 120, and a hollow shaft 130; one end of the torsion sensor 110 is connected to the clamping member 120, and the other end is connected to the hollow shaft 130, for detecting the torsional stress applied to the pipe; the clamping member 120 is configured to clamp and fix the pipe; in the static loading mode, the hollow shaft 130 tends to rotate about its own axis to apply torsional stress to the pipe; in the dynamic loading mode, the hollow shaft 130 rotates about its own axis to drive the pipe to rotate and apply torsional stress to it.

[0033] To drive the hollow shaft 130 to rotate about its own axis: like Figure 3 As shown, the rotating structure 100 also includes a support frame 140, a drive component 150, and a transmission component 160; the hollow shaft 130 is inserted into the support frame 140 and is rotatably connected to the support frame 140; the drive component 150 is mounted on the support frame 140, and its rotating shaft is connected to the hollow shaft 130 through the transmission component 160.

[0034] To improve the safety of the rotating structure 100 during operation: like Figure 2 As shown, the rotating structure 100 also includes a protective cover; the protective cover is installed on the support frame 140 and forms a protective space with the support frame 140; the transmission component 160 is located within the protective space.

[0035] In this embodiment, under static loading mode, two clamping components 120 clamp and fix the two ends of the pipe respectively. The type of clamping component 120 includes, but is not limited to, a three-jaw chuck. Then, the drive component 150 operates in a constant torque output mode. The type of drive component 150 includes, but is not limited to, a motor, to transmit torsional stress to the pipe through the transmission component 160, hollow shaft 130, torsion sensor 110 and clamping component 120. The type of transmission component 160 includes, but is not limited to, a gear set. During this process, the torsion sensor 110 monitors the torsional stress applied to the pipe in real time and adjusts the output torque of the drive component 150.

[0036] In dynamic recording mode, the two clamping components 120 clamp and fix the two ends of the tube respectively. Then, the drive component 150 drives the hollow shaft 130 to rotate through the transmission component 160. The hollow shaft 130 drives the tube to rotate through the torsion sensor 110 and the clamping components 120. At this time, the two clamping components 120 rotate in the same direction but at different speeds to create a speed difference at the two ends of the tube, thereby applying torsional stress to the tube. During this process, the torsion sensor 110 monitors the torsional stress applied to the tube in real time and adjusts the speed of the drive component 150.

[0037] To apply axial stress to the pipe: like Figures 1-2As shown, the loading mechanism 10 also includes two tension-adjustment structures 200; the tension-adjustment structure 200 includes a tension / compression sensor 210 and a telescopic component 220; one end of the tension / compression sensor 210 is connected to the rotating structure 100, and the other end is connected to the telescopic end of the telescopic component 220, for detecting the axial stress applied to the pipe; when different lengths of pipe need to be adapted, the telescopic component 220 can extend or retract to change the distance between the two rotating structures 100; when axial stress needs to be applied to the pipe, the telescopic end of the telescopic component 220 has a tendency to move along the length of the pipe to apply axial stress to the pipe.

[0038] In order to guide the rotating structure 100 to move along the length of the tube; like Figure 2 As shown, the tension adjustment structure 200 also includes a tension frame 230, a guide rail 240, and an offset plate 250; the guide rail 240 is connected inside the tension frame 230; the offset plate 250 is fitted onto the guide rail 240 and is slidably connected to the guide rail 240; the telescopic component 220 is installed on the tension frame 230; and the two rotating structures 100 are respectively connected to the two offset plates 250.

[0039] In this embodiment, when it is necessary to adapt to pipes of different lengths, the telescopic component 220 drives the offset plate 250 to move along the guide rail 240 through the tension and compression sensor 210. The type of telescopic component 220 includes, but is not limited to, an electric push rod. The offset plate 250 drives the rotating structure 100 to move, so as to change the distance between the two rotating structures 100, thereby adapting to pipes of different lengths.

[0040] When it is necessary to apply axial stress to the pipe, the telescopic component 220 applies axial stress to the pipe through the tension / compression sensor 210, the offset support plate 250 and the rotating structure 100. The types of axial stress include compression and tension.

[0041] To drive the vision sensor 310 to be inserted into the tube and moved along the length of the tube: like Figure 1 and Figure 5 As shown, the defect detection mechanism 20 also includes a probe structure 300 and a drive structure 400; the probe structure 300 includes a vision sensor 310 and a push tube 320; the push tube 320 is connected to the vision sensor 310; the drive structure 400 is connected to the telescopic end of the telescopic component 220 to move synchronously with the rotating structure 100; the drive structure 400 can drive the push tube 320 to move along the length of the pipe so that the vision sensor 310 enters the pipe and detects it in sequence through the hollow shaft 130 and the clamping component 120.

[0042] To drive the propulsion tube 320 to move along the length of the tube: like Figures 6-7As shown, the drive structure 400 includes multiple roller units 410; each roller unit 410 includes a drive wheel 411; the drive wheel 411 is rotatable around its own axis and abuts against the propulsion tube 320, for driving the propulsion tube 320 to move along the length of the tube.

[0043] To enable the drive wheel 411 to rotate around its own axis: like Figures 6-7 As shown, the drive structure 400 also includes a drive frame 420 and a telescopic motor 430; the roller unit 410 is installed inside the drive frame 420; the drive wheel 411 is connected to the rotation shaft of the telescopic motor 430 and abuts against the propulsion tube 320.

[0044] To ensure that the drive wheel 411 is in contact with the propulsion tube 320: like Figures 6-7 As shown, the roller unit 410 also includes a lifting guide rail 412, a pressing spring 413, and an adjusting nut 414; the drive wheel 411 is fitted onto the lifting guide rail 412 and is slidably connected to the lifting guide rail 412; the adjusting nut 414 is fitted onto the lifting guide rail 412 and is threadedly connected to the lifting guide rail 412; one end of the pressing spring 413 abuts against the drive wheel 411, and the other end abuts against the adjusting nut 414, for applying a thrust to the lifting support 415 so that the drive wheel 411 abuts against the push tube 320; the adjusting nut 414 rotates along the lifting guide rail 412 to change the distance between the adjusting nut 414 and the drive wheel 411, thereby adjusting the compression of the pressing spring 413.

[0045] To allow the drive wheel 411 to slide and rotate around its own axis while being mounted on the lifting guide rail 412: like Figures 6-7 As shown, the roller unit 410 also includes a lifting support 415; a drive wheel 411 is inserted into the lifting support 415 and is rotatably connected to the lifting support 415; the lifting support 415 is fitted onto the lifting guide rail 412 and is slidably connected to the lifting guide rail 412; and the end of the pressing spring 413 away from the adjusting nut 414 abuts against the lifting support 415.

[0046] In this embodiment, the pressing spring 413 drives the lifting support 415 to move toward the propulsion tube 320 through its own elastic deformation. The lifting support 415 drives the drive wheel 411 to contact and abut against the propulsion tube 320. At the same time, multiple roller units 410 are staggered on the upper and lower sides of the propulsion tube 320 so that multiple drive wheels 411 cooperate with each other to restrict the movement of the propulsion tube 320 except in its own length direction. The telescopic motor 430 drives the drive wheel 411 to rotate around its own axis. The drive wheel 411 drives the propulsion tube 320 to move along the length direction of the tube through friction.

[0047] When it is necessary to adjust the contact pressure between the drive wheel 411 and the propulsion tube 320, the pressure adjusting nut 414 is first rotated. The pressure adjusting nut 414 moves along the lifting guide rail 412 under the engagement of the thread to change the distance between the pressure adjusting nut 414 and the lifting support 415, thereby changing the pre-compression of the pressing spring 413, and thus adjusting the contact pressure between the drive wheel 411 and the propulsion tube 320.

[0048] In the prior art, the structure used to transmit the image of the inner wall of the pipe recorded by the vision sensor 310 includes a wire and a cable chain. The wire is located on the inner wall of the cable chain to avoid tangling. However, since the cable chain is prone to vibration during bending, and the vision sensor 310 is inserted into the pipe by the push tube 320, the vision sensor 310 is prone to follow and move synchronously, thereby affecting the clarity of the image acquired by the vision sensor 310.

[0049] To avoid the wire unit 520 from becoming tangled while minimizing the impact on the image clarity acquired by the vision sensor 310: like Figure 4 and Figure 8 As shown, the defect detection mechanism 20 also includes a wire feeding structure 500; the wire feeding structure 500 includes a wire feeding roller 510 and a wire unit 520; one end of the wire unit 520 is connected to the vision sensor 310, and the other end is connected to the wire feeding roller 510; the wire feeding roller 510 can rotate around its own axis so that the wire unit 520 is wound or released from the wire feeding roller 510.

[0050] To drive the wire feeding roller 510 to rotate around its own axis: like Figure 8 As shown, the wire feeding structure 500 also includes a wire feeding frame 540 and a wire feeding motor 550; the wire feeding frame 540 is connected to the drive frame 420; the wire feeding roller 510 is rotatably mounted on the wire feeding frame 540; the wire feeding motor 550 is mounted on the wire feeding frame 540, and its rotation shaft is connected to the wire feeding roller 510.

[0051] To insert the wire unit 520 into the propulsion tube 320 as the vision sensor 310 moves: like Figure 5 and Figure 8 As shown, a strip-shaped wire hole 321 is provided on the surface of the propulsion tube 320; the wire unit 520 passes through the strip-shaped wire hole 321; the strip-shaped wire hole 321 is located on the side of the propulsion tube 320 facing the drive wheel 411; the wire unit 520 includes a communication wire 521 and an elastic collar 522; the communication wire 521 is inserted into the elastic collar 522; the wire unit 520 is located between the drive wheel 411 and the propulsion tube 320, so that the drive wheel 411 drives the elastic collar 522 to enter the propulsion tube 320 through the strip-shaped wire hole 321.

[0052] To reduce the tensile stress on the communication wire 521: like Figure 8 As shown, the conductor unit 520 also includes a traction wire 523; the traction wire 523 is inserted into the elastic collar 522.

[0053] To guide the wire unit 520 to be wound onto or released from the wire feed roller 510: like Figure 4 and Figure 8 As shown, the wire feeding structure 500 also includes a guide cover 530; one end of the guide cover 530 is connected to the wire feeding roller 510, and the other end is located below the push tube 320, for guiding the wire unit 520 to wind around or release from the wire feeding roller 510.

[0054] In order to guide the wire unit 520 to detach from the guide cover 530: like Figure 8 As shown, the guide cover 530 has a guide hole 531 at one end near the push tube 320; the wire unit 520 is inserted into the guide hole 531 and is slidably connected to the guide hole 531.

[0055] In this embodiment, when the vision sensor 310 is inserted into the pipe, the wire feeding motor 550 drives the wire feeding roller 510 to rotate, so that the wire unit 520 wound on the wire feeding roller 510 is released. At the same time, the vision sensor 310 drives the wire unit 520 to move. At this time, the traction line 523 is in a taut state, while the communication wire 521 is in a slack state, thereby avoiding damage and failure of the communication wire 521 in the wire unit 520. The traction line 523 drives the communication wire 521 to move synchronously through the elastic collar 522.

[0056] The wire unit 520 released by the wire feeding roller 510 moves along the guide cover 530. The wire unit 520 disengages from the guide hole 531 on the guide cover 530. After disengagement, the wire unit 520 enters between the drive wheel 411 and the push tube 320. The drive wheel 411 drives the elastic collar 522 to deform elastically and enter the push tube 320 through the strip wire hole 321. The elastic collar 522 retains the wire unit 520 in the push tube 320 by restoring its deformation and moves with it.

[0057] When the vision sensor 310 detaches from the tube, the wire feeding motor 550 drives the wire feeding roller 510 to rotate. The wire feeding roller 510 drives the elastic collar 522 to deform elastically through the traction line 523 and detaches from the push tube 320 through the strip-shaped wire hole 321. The detached wire unit 520 is wound onto the wire feeding roller 510 to ensure that the wire unit 520 inside the push tube 320 is in a taut state, thereby avoiding the wire unit 520 from getting tangled.

[0058] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A visual inspection device for a cantilever tube, characterized in that: Includes a loading mechanism (10) and a defect detection mechanism (20); The defect detection mechanism (20) includes at least one vision sensor (310). The loading mechanism (10) is used to fix both ends of the pipe and apply axial stress and torsional stress to the pipe so that the defects on the surface of the pipe are deformed and magnified under stress. The vision sensor (310) is configured to be inserted into the pipe and move along the length of the pipe to detect defects in the inner wall of the pipe under load.

2. The visual inspection device for the carpal tube according to claim 1, characterized in that: The loading mechanism (10) has a static loading mode and a dynamic loading mode; When the static loading mode is performed, the loading mechanism (10) applies rotational forces in opposite directions to both ends of the pipe to apply torsional stress to the pipe in a static state; When the dynamic loading mode is performed, the loading mechanism (10) drives both ends of the pipe to rotate in the same direction but at different speeds in order to apply torsional stress to the pipe in the rotating state.

3. The visual inspection device for the carpal tube according to claim 2, characterized in that: The loading mechanism (10) includes two rotating structures (100); The rotating structure (100) includes a torsion sensor (110), a clamping component (120), and a hollow shaft (130). One end of the torsion sensor (110) is connected to the clamping component (120), and the other end is connected to the hollow shaft (130), for detecting the torsional stress applied to the pipe; The clamping component (120) is configured to clamp and fix the pipe; During the static loading mode, the hollow shaft (130) tends to rotate about its own axis to apply torsional stress to the tube. During the dynamic loading mode, the hollow shaft (130) rotates about its own axis to drive the pipe to rotate and apply torsional stress to it.

4. The visual inspection device for the carpal tube according to claim 3, characterized in that: The loading mechanism (10) also includes two tension adjustment structures (200). The tension adjustment structure (200) includes a tension / compression sensor (210) and a telescopic component (220). One end of the tension / compression sensor (210) is connected to the rotating structure (100), and the other end is connected to the telescopic end of the telescopic component (220), for detecting the axial stress applied to the pipe. When it is necessary to adapt to pipes of different lengths, the telescopic component (220) can extend or retract to change the distance between the two rotating structures (100); When it is necessary to apply axial stress to the pipe, the telescopic end of the telescopic member (220) tends to move along the length of the pipe to apply axial stress to the pipe.

5. The visual inspection device for the carpal tube according to claim 1, characterized in that: The defect detection mechanism (20) also includes a probe structure (300) and a drive structure (400). The probe structure (300) includes the vision sensor (310) and the propulsion tube (320). The propulsion tube (320) is connected to the vision sensor (310). The drive structure (400) is connected to the telescopic end of the telescopic component (220) to move synchronously with the rotating structure (100); The drive structure (400) can drive the propulsion tube (320) to move along the length of the tube so that the vision sensor (310) enters the tube and detects through the hollow shaft (130) and the clamping component (120) in sequence.

6. The visual inspection device for the carpal tube according to claim 5, characterized in that: The drive structure (400) includes multiple roller units (410). The roller unit (410) includes a drive wheel (411). The drive wheel (411) can rotate around its own axis and abut against the propulsion tube (320) to drive the propulsion tube (320) to move along the length of the tube.

7. The visual inspection device for the carpal tube according to claim 6, characterized in that: The roller unit (410) also includes a lifting guide rail (412), a pressing spring (413), and an adjusting nut (414). The drive wheel (411) is fitted onto the lifting guide rail (412) and is slidably connected to the lifting guide rail (412); The pressure adjusting nut (414) is fitted onto the lifting guide rail (412) and is threadedly connected to the lifting guide rail (412); One end of the pressing spring (413) abuts against the drive wheel (411), and the other end abuts against the adjusting nut (414), for applying a thrust to the lifting support (432) so that the drive wheel (411) abuts against the propulsion tube (320). The pressure adjusting nut (414) rotates along the lifting guide rail (412) to change the distance between the pressure adjusting nut (414) and the drive wheel (411), thereby adjusting the compression of the pressing spring (413).

8. The visual inspection device for the carpal tube according to claim 7, characterized in that: The defect detection mechanism (20) also includes a wire feeding structure (500); The wire feeding structure (500) includes a wire feeding roller (510) and a wire unit (520). One end of the wire unit (520) is connected to the vision sensor (310), and the other end is connected to the wire feeding roller (510); The wire feed roller (510) is rotatable about its own axis so that the wire unit (520) is wound or released from the wire feed roller (510).

9. The visual inspection device for the carpal tube according to claim 8, characterized in that: The surface of the propulsion tube (320) is provided with a strip-shaped wire hole (321); The conductor unit (520) passes through the strip-shaped wire hole (321); The strip-shaped threading hole (321) is located on the side of the propulsion tube (320) facing the drive wheel (411); The conductor unit (520) includes a communication conductor (521) and an elastic collar (522). The communication wire (521) is inserted into the elastic collar (522); The wire unit (520) is located between the drive wheel (411) and the propulsion tube (320) so that the drive wheel (411) drives the elastic collar (522) through the strip-shaped wire hole (321) into the propulsion tube (320).

10. The visual inspection device for the carpal tube according to claim 9, characterized in that: The wire feeding structure (500) also includes a guide cover (530); One end of the guide cover (530) is connected to the wire feeding roller (510), and the other end is located below the push tube (320), which is used to guide the wire unit (520) to wind around or release on the wire feeding roller (510).

Images