Shell part complex hole burr detection method

Abstract

The invention belongs to the field of shell part detection, and relates to a shell part complex hole burr detection method. According to the invention, a flexible multi-angle lens rotation shooting technology is adopted, and shooting of different detection position requirements in a shell hole is realized; through the in-hole multi-point pause shooting detection technology, shooting of different positions of the hole opening, the penetrating position, the annular groove and the hole bottom in the same hole is achieved; the picture comparison efficiency is improved through the image custom splicing technology; performing image comparison and recognition to realize automatic comparison of the detection image and the standard image; the mechanical arm is directly driven by an upper computer program to penetrate into each hole, that is, each hole can be finely adjusted in real time through the program in the penetrating process, and therefore the problem that future point positions cannot be controlled in real time in the movement process is solved; the upper computer master control system can monitor the load of the joints of the robot in real time, set a dynamic threshold value in cooperation with current coordinate information, moving postures and image information, and conduct effective real-time early warning and intervention on operation.

Description

Technical Field

[0001] This invention belongs to the field of shell-type parts inspection, and relates to a method for detecting burrs in complex hole systems of shell-type parts. Background Technology

[0002] Currently, the deburring effect of the complex hole system in the company's housing relies solely on extensive manual visual inspection or endoscopic equipment, which leads to issues of missed or incorrect inspections. If the inspection is incomplete or the burrs are not removed properly, the sealing ring can easily be cut during component installation, affecting the product's sealing and the lifespan of the sealing ring. Furthermore, excess material may remain, and the cut sealing ring may go unnoticed, potentially causing oil leaks during operation.

[0003] The following processing difficulties exist in the deburring effect inspection of the company's shell: 1. The inspection of burrs in the complex hole system of the shell is labor-intensive and can easily cause visual fatigue of inspectors, resulting in mis-inspection and missed inspection. 2. Inconsistent quality due to different manual inspections and inconsistent standards. Summary of the Invention

[0004] Objective of this invention: Based on automated endoscope equipment, this invention proposes a method for detecting burrs in complex hole systems of housing parts. This method allows for customized inspection of different complex hole intersecting structures, replacing manual inspection. It achieves automated detection and judgment of burrs within complex hole systems in housings.

[0005] The technical solution of this invention: a method for detecting burrs in complex hole systems of shell-type parts, comprising the following steps: Step 1: Use a multi-axis robotic arm to hold the high-magnification endoscope tube, insert the endoscope tube into the aperture system at any spatial angle for exploration and photography, and rotate the endoscope tube along the axis. Step 2: The high-magnification endoscope tube has both a forward-facing imaging lens and a 90-degree lateral imaging lens; Step 3: For the inspection of orifice walls of different diameters, the forward-facing imaging lens is used. Step 4 involves using a lens with a 90-degree lateral field of view to detect the annular groove on the hole wall. Step 5: For the single-hole intersecting structure on the hole wall, first calculate the position of the upper edge of the intersection from the hole opening and the diameter of the intersecting hole according to the model or drawing; 1) If the diameter of the hole to be measured is between 3-6mm, use a lens with a forward field of view to detect along the center of the hole; 2) If the diameter of the hole to be measured is between 6mm-10mm, use a lens with a forward field of view to detect along the center of the hole; 3) If the diameter of the hole to be measured is greater than 10mm, use a 90-degree side lens to detect along the center of the hole. Step 6: For the intersecting porous structure on the hole wall, a 90-degree lateral lens is preferred for inspection. If the diameter of the hole being measured is small, refer to steps 5-1 and 5-2. Step 7: For the threaded structure on the hole wall, it is necessary to first distinguish whether there is a relief groove at the end of the thread according to the model or drawing; 1) For threads without relief groove, calculate the effective inspection depth of the lens, the depth of the first thread from the hole opening, and the thread depth; 2) For threads with relief groove, calculate the effective inspection depth of the lens, the depth of the first thread from the hole opening, the thread depth, and the width of the relief groove. Step 8: For the T-slot oblique intersecting structure, first determine the distance between the T-slot and the opening and the orientation of the oblique intersecting hole in the T-slot according to the model and drawings, and then calculate the effective inspection range of the lens; use the side-view lens to take pictures starting 1cm below the T-slot at intervals of depth range-1mm, and distribute the 360 ​​degrees evenly according to this range, and repeat at least 10 degrees.

[0006] Step 9 involves taking photos of various structures in the complex pore system, comparing the photos with standard photos, and using big data and comparison detection algorithms to identify non-conforming items for manual judgment and processing.

[0007] The lens detection in step 2, which involves taking a forward photographic view, is based on the difference between the diameter of the aperture and the diameter of the endoscope tube. Within the lens's recognizable focal length, the range of inspectable aperture wall depth is calculated, and endoscopic photographic detection is performed from the outside in at intervals of -1mm for the depth range.

[0008] The lens detection in step 3, which involves a 90-degree lateral field of view, is as follows: 1) If the width of the annular groove is narrow and within the focal length range of the lens, the center of the lens is moved to the symmetrical center of the annular groove; 2) If the width of the annular groove is wide and the focal length of the lens cannot encompass all the edges, the center of the lens is moved to the two edges of the annular groove in two separate steps, and two detections are performed. Subsequently, the range of inspectable angles is calculated, and the 360 ​​degrees are allocated according to this range, with at least 5 degrees repeated to determine the detection angle and number of times the lens rotates, thus completing multiple rotational image detections.

[0009] In step 5-1), if the diameter of the hole to be measured is between 3-6mm, a lens with a forward field of view is used to detect along the center of the hole. Based on the difference between the diameter of the lens hole and the diameter of the lens tube, the intersecting depth range that can be checked is calculated within the focal length that the lens can recognize. Photos are taken from the outside to the inside at a spacing of -1mm at 2mm above the penetration point until the bottom of the penetration hole is reached. In step 5-2), if the diameter of the hole being measured is between 6mm and 10mm, a lens with a forward field of view is used to detect along the center of the hole. Based on the difference between the diameter of the lens tube and the diameter of the hole, within the focal length that the lens can recognize, the effective coverage depth and angle range that can be checked are calculated. At the top 5mm of the penetration point, the lens is rotated and photographed layer by layer from the outside to the inside at intervals of -1mm until the innermost part of the intersection is reached. The 360 ​​degrees are evenly distributed according to this range and repeated at least 5 degrees. If the diameter of the hole being measured is greater than 10mm, a 90-degree lateral lens is used to inspect along the center of the hole. The depth range that can be inspected is calculated based on the lens's visible range, the difference between the hole diameter and the lens tube diameter. At 1cm below the upper edge of the penetration, the distance between the direct and lateral lenses is 1cm. The lenses are rotated and photographed layer by layer from the outside to the inside at a distance of 1mm from the visible depth range until the lower edge of the penetration is 1cm below. The 360 ​​degrees are evenly distributed according to this range and repeated at least 5 times. Step 6 specifically involves first calculating the length of the multi-hole penetration and the distance between the uppermost edge and the hole opening based on the model or drawings, then calculating the effective depth and angle range that can be inspected based on the difference between the diameter of the scope tube and the hole, and taking layered rotating photos from the outside to the inside at a distance of 1 cm below the upper edge of the penetration along the center of the hole, with a visible depth range of -1 mm, until reaching 1 cm below the lower edge of the penetration. Distribute the 360 ​​degrees evenly according to this range, and repeat at least 5 degrees. Step 7-a) Threads without relief grooves: 1) Specifically, take a photo by rotating one full turn from 2mm above the first thread, distribute the 360 ​​degrees evenly within this range, and repeat at least 5 degrees. Then take multiple photos at intervals of -1mm in depth. 2) If the bottom hole diameter is greater than 20mm, first use a side-view lens to take a photo by rotating one full turn from 1cm below the first thread, distribute the 360 ​​degrees evenly within this range, and repeat at least 5 degrees. Then use a front-view lens to take multiple photos at intervals of -1mm in depth. Step 7-II) Threads with relief grooves: 1) For a bottom hole diameter less than 20mm, use a front-view lens to take a picture of the thread rotating 2mm above the first thread, evenly distribute the 360 ​​degrees within this range, and repeat at least 5 degrees. Then take multiple pictures at intervals of -1mm in depth. Next, use a side-view lens to take a picture of the thread rotating 1cm below the end thread, and then move to 1cm below the center of the relief groove and take a picture of the thread rotating 1cm below the end thread. Evenly distribute the 360 ​​degrees within this range, and repeat at least 5 degrees. 2) For a bottom hole diameter greater than 20mm, use a side-view lens to take a picture of the thread rotating 1cm below the first thread, 1cm below the end thread, and in the middle of the relief groove, evenly distribute the 360 ​​degrees within this range, and repeat at least 5 degrees. Then take multiple pictures of the thread rotating 1mm below the first thread, 1cm below the end thread, and in the middle of the relief groove. Evenly distribute the 360 ​​degrees within this range, and repeat at least 5 degrees. Then use a front-view lens to take multiple pictures at intervals of -1mm in depth.

[0010] The beneficial effects of this invention are: 1) Flexible multi-angle lens rotation shooting technology enables shooting at different detection positions within the housing hole; 2) Multi-point pause shooting detection technology inside the hole enables shooting at different positions inside the same hole, such as the hole opening, intersection, annular groove, and bottom of the hole; 3) Custom image stitching technology improves image comparison efficiency; 4) To address the imaging requirements at different detection positions within the housing bore (due to material reflectivity) and for multi-point pause imaging, enabling imaging at different locations within the same bore, including the bore opening, intersections, annular grooves, and bore bottom, a 0° / 90° dual-view wide dynamic range, low-light, and anti-reflective endoscopic probe was developed. The probe can enter bores with a diameter of 3mm and has an effective length of 200mm. It is constructed from a tough material to reduce the risk of damage. Simultaneously, each viewing angle incorporates a programmable independent light source, and algorithms enhance the clarity of the original image while suppressing reflections. 5) Image comparison and recognition, enabling automatic comparison between the detection image and the standard image; 6) Compared to the traditional robotic arm that requires a fixed path script for movement, the robotic arm of this device is directly driven by the host computer program to penetrate into each hole. That is, each hole can be finely adjusted in real time through the program during the penetration process, thus solving the problem that the future position cannot be controlled in real time during the movement. 7) The host computer control system can monitor the robot joint load in real time, and, in conjunction with the current coordinate information, motion posture and image information, set dynamic thresholds to provide effective real-time early warning and intervention for operation.

[0011] 8) Solve the problem that the inspection of burrs in complex hole systems of shells in actual production is labor-intensive, which can easily cause visual fatigue of inspectors and lead to mis-inspection and missed inspection; 9) A new automated burr detection method is proposed, which can realize the automated detection of burrs. Detailed Implementation

[0012] To better illustrate the present invention, a detailed description of the technical solution is provided below: A method for detecting burrs in complex hole systems of shell-type parts includes the following steps: Step 1 uses a multi-axis robotic arm to hold the high-magnification endoscope tube, which allows the endoscope tube to be inserted into the aperture system at any spatial angle for exploration and photography, and allows the endoscope tube to rotate along the axis.

[0013] Step 2: The high-magnification endoscope tube has both a frontal imaging lens and a 90-degree lateral imaging lens.

[0014] Step 3 involves using a forward-facing lens to inspect orifice walls of different diameters. Based on the difference between the orifice diameter and the endoscope tube diameter, the inspectable orifice wall depth range is calculated within the lens's recognizable focal length. The endoscopic imaging inspection process is designed from the outside in, with depth range intervals of -1mm, to ensure effective inspection of all orifice walls.

[0015] Step 4 involves inspecting the annular groove on the hole wall using a 90-degree lateral lens. 1) If the annular groove is narrow and within the lens's focal length range, the lens center is moved to the symmetrical center of the annular groove. 2) If the annular groove is wide and the lens's focal length cannot encompass all edges, the lens center is moved twice to the two edges of the annular groove, performing two inspections. Subsequently, the inspectable angle range is calculated, and the 360 ​​degrees are allocated according to this range, repeated at least 5 degrees, to determine the inspection angle and number of lens rotations, thus completing the process design for multiple-rotation photographic inspection.

[0016] Step 5: For single-hole intersecting structures on the hole wall, first calculate the distance from the upper edge of the intersection to the hole opening and the diameter of the intersecting hole based on the model or drawings. 1) If the diameter of the hole being measured is between 3-6mm, use a forward-facing lens to inspect along the center of the hole. Based on the difference between the diameter of the lens hole and the diameter of the lens tube, calculate the inspectable intersection depth range within the lens's recognizable focal length. Take photos from the outside in at intervals of -1mm at 2mm above the penetration point until the lower end of the penetration hole is reached. 2) If the diameter of the hole being measured is between 6mm-10mm, use a forward-facing lens to inspect along the center of the hole. Based on the difference between the diameter of the lens tube and the diameter of the hole, calculate the inspectable effective coverage depth and angle range within the lens's recognizable focal length. Take photos layer by layer from the outside in at intervals of -1mm at 5mm above the penetration point until the innermost end of the intersection is reached. Distribute the 360 ​​degrees evenly according to this range and repeat at least 5 degrees. 3) If the diameter of the hole being measured is greater than 10mm, use a 90-degree side-view lens to inspect along the center of the hole. Calculate the inspectable depth range based on the lens's field of view, the difference between the hole diameter and the lens tube diameter. At a point 1cm below the upper edge of the penetration (1cm between the direct and side-view lenses), take layered rotating photographs from the outside in at intervals of 1mm below the visible depth range until reaching 1cm below the lower edge of the penetration. Distribute this range evenly across 360 degrees and repeat at least 5 degrees.

[0017] Step 6: For multi-hole intersecting structures on the hole wall, a 90-degree lateral lens inspection is preferred. First, calculate the multi-hole length and the distance between the uppermost edge and the hole opening based on the model or drawing. Then, calculate the effective depth and angle range for inspection based on the difference between the lens tube and the hole diameter. Starting from the center of the hole, rotate and photograph in layers from the outside inwards at intervals of 1 cm below the upper edge of the penetration (1 cm between direct and lateral lenses), until reaching 1 cm below the lower edge of the penetration. Distribute this range evenly across 360 degrees and repeat at least 5 degrees. If the diameter of the hole being measured is small, refer to steps 5-1) and 5-2). Step 7: For the threaded structure on the hole wall, it is necessary to first distinguish whether there is a relief groove at the thread tail according to the model or drawing. I) Threads without relief grooves: Calculate the effective inspection depth of the lens, the depth of the first thread from the hole opening, and the thread depth. 1) For holes with a diameter less than 20mm, use a front-view lens for inspection. Rotate the lens 2mm above the first thread and take a picture. Distribute this range evenly across 360 degrees and repeat at least 5 degrees. Then take multiple pictures at depth intervals of -1mm. 2) For holes with a diameter greater than 20mm, first use a side-view lens to rotate the lens 1cm below the first thread and take a picture. Distribute this range evenly across 360 degrees and repeat at least 5 degrees. Then use a front-view lens at depth intervals of -1mm and take multiple pictures. II) For threads with relief grooves: Calculate the effective inspection depth of the lens, the depth of the first thread from the hole opening, the thread depth, and the width of the relief groove. 1) For a bottom hole diameter less than 20mm, use a front-view lens to inspect and take a full rotation photo starting 2mm above the first thread. Distribute this range evenly across 360 degrees and repeat at least 5 rotations. Then, take multiple photos at depth intervals of -1mm. Next, use a side-view lens to take a full rotation photo starting 1cm below the thread tail thread, then move to a position 1cm below the center of the relief groove and take another full rotation photo. Distribute this range evenly across 360 degrees and repeat at least 5 rotations. 2) For a bottom hole diameter greater than 20mm, use a side-view lens to take a full rotation photo starting 1cm below the first thread, 1cm below the thread tail thread, and at the center of the relief groove. Distribute this range evenly across 360 degrees and repeat at least 5 rotations. Then, use a front-view lens to take multiple photos at depth intervals of -1mm.

[0018] Step 8: For the T-slot oblique intersecting structure, first determine the distance between the T-slot and the orifice, and the orientation of the oblique intersecting hole within the T-slot, based on the model and drawings. Then calculate the effective inspection range of the lens. Using a side-view lens, start taking photos 1cm below the T-slot at intervals of -1mm depth. Distribute the 360 ​​degrees evenly within this range, repeating at least 10 degrees.

[0019] Step 9 involves taking photos of various structures in the complex pore system, comparing the photos with standard photos, and using big data and comparison detection algorithms to identify non-conforming items for manual judgment and processing.

[0020] Technical parameters of automated endoscopic equipment probes Product Description: The probe uses a custom-designed, direct-view, side-view integrated rigid endoscope, which can meet the observation needs of both 0° and 90° views. Detailed parameters: 1. Probe diameter: 2.4mm, effective working length: 200mm; 2. The 0° direct-view probe uses a 520,000-pixel CMOS module, with a depth-of-field observation range of 3-50mm and a field of view of 120°. The illumination uses rear-mounted LED fiber optic lighting, and the brightness can be adjusted according to the required lighting intensity. 3. The 90° side-view probe uses a 160,000-pixel CMOS module, with a depth-of-field observation range of 3-50mm and a field of view of 120°. It features front-mounted LED illumination with adjustable brightness to meet lighting requirements. 4. Probe sleeve housing material: SUS304 stainless steel; 5. Schematic diagram of the probe's outer tube: 6. Internal assembly diagram of the probe: 7. Flange base material: 17-4ph 8. Flange base dimension drawing.

Claims

1. A method for detecting burrs in complex hole systems of shell-type parts, characterized in that, Includes the following steps: Step 1: Use a multi-axis robotic arm to hold the high-magnification endoscope tube, insert the endoscope tube into the aperture system at any spatial angle for exploration and photography, and rotate the endoscope tube along the axis. Step 2: The high-magnification endoscope tube has both a forward-facing imaging lens and a 90-degree lateral imaging lens; Step 3: For the inspection of orifice walls of different diameters, the forward-facing imaging lens is used. Step 4 involves using a lens with a 90-degree lateral field of view to detect the annular groove on the hole wall. Step 5: For the single-hole intersecting structure on the hole wall, first calculate the position of the upper edge of the intersection from the hole opening and the diameter of the intersecting hole according to the model or drawing; 1) If the diameter of the hole to be measured is between 3-6mm, use a lens with a forward field of view to detect along the center of the hole; 2) If the diameter of the hole to be measured is between 6mm-10mm, use a lens with a forward field of view to detect along the center of the hole; 3) If the diameter of the hole to be measured is greater than 10mm, use a 90-degree side lens to detect along the center of the hole. Step 6: For the intersecting porous structure on the hole wall, a 90-degree lateral lens is preferred for inspection. If the diameter of the hole being measured is small, refer to steps 5-1 and 5-2. Step 7: For the threaded structure on the hole wall, it is necessary to first distinguish whether there is a relief groove at the end of the thread according to the model or drawing; 1) For threads without relief groove, calculate the effective inspection depth of the lens, the depth of the first thread from the hole opening, and the thread depth; 2) For threads with relief groove, calculate the effective inspection depth of the lens, the depth of the first thread from the hole opening, the thread depth, and the width of the relief groove. Step 8: For the T-slot oblique intersecting structure, first determine the distance between the T-slot and the opening and the orientation of the oblique intersecting hole in the T-slot according to the model and drawings, and then calculate the effective inspection range of the lens; use the side-view lens to take pictures starting 1cm below the T-slot at intervals of depth range-1mm, and distribute the 360 ​​degrees evenly according to this range, and repeat at least 10 degrees.

2. Step 9: After taking pictures of various structures in the complex pore system, compare the pictures with standard pictures for inspection. Use big data and comparison detection algorithms to find unqualified items and make human judgments.

3. The method for detecting burrs in complex hole systems of shell-type parts according to claim 1, characterized in that, The lens detection in step 2, which involves taking a forward photographic view, is based on the difference between the diameter of the aperture and the diameter of the endoscope tube. Within the lens's recognizable focal length, the range of inspectable aperture wall depth is calculated, and endoscopic photographic detection is performed from the outside in at intervals of -1mm for the depth range.

4. The method for detecting burrs in complex hole systems of shell-type parts according to claim 1, characterized in that, The lens detection in step 3, which involves a 90-degree lateral field of view, is as follows: 1) If the width of the annular groove is narrow and within the focal length range of the lens, the center of the lens is moved to the symmetrical center of the annular groove; 2) If the width of the annular groove is wide and the focal length of the lens cannot encompass all the edges, the center of the lens is moved to the two edges of the annular groove in two separate steps, and two detections are performed. Subsequently, the range of inspectable angles is calculated, and the 360 ​​degrees are allocated according to this range, with at least 5 degrees repeated to determine the detection angle and number of times the lens rotates, thus completing multiple rotational image detections.

5. The method for detecting burrs in complex hole systems of shell-type parts according to claim 1, characterized in that, In step 5-1), if the diameter of the hole to be measured is between 3-6 mm, a lens with a forward field of view is used to detect along the center of the hole. Based on the difference between the diameter of the lens hole and the diameter of the lens tube, the intersecting depth range that can be checked is calculated within the focal length that the lens can recognize. Photos are taken from the outside to the inside at intervals of -1 mm from 2 mm above the penetration point until the bottom of the penetration hole is reached.

6. The method for detecting burrs in complex hole systems of shell-type parts according to claim 1, characterized in that, In step 5-2), if the diameter of the hole being measured is between 6mm and 10mm, a lens with a forward field of view is used to detect along the center of the hole. Based on the difference between the diameter of the lens tube and the diameter of the hole, the effective coverage depth and angle range that can be checked are calculated within the focal length that the lens can recognize. Starting 5mm above the penetration point, take photos layer by layer from the outside to the inside at intervals of -1mm until the innermost part of the intersection is reached. Distribute the 360 ​​degrees evenly according to this range and repeat at least 5 degrees.

7. The method for detecting burrs in complex hole systems of shell-type parts according to claim 1, characterized in that, In step 5-3), if the diameter of the hole being measured is greater than 10mm, a 90-degree lateral lens is used to inspect along the center of the hole. The depth range that can be inspected is calculated based on the lens's visible range, the difference between the hole diameter and the diameter of the lens tube. At 1cm below the upper edge of the penetration, the distance between the direct and lateral lenses is 1cm. The lenses are rotated and photographed layer by layer from the outside to the inside at a distance of 1mm from the visible depth range until the lower edge of the penetration is 1cm below. The 360 ​​degrees are evenly distributed according to this range and repeated at least 5 times.

8. The method for detecting burrs in complex hole systems of shell-type parts according to claim 1, characterized in that, Step 6 specifically involves first calculating the length of the multi-hole penetration and the distance between the uppermost edge and the hole opening based on the model or drawings. Then, based on the difference between the diameter of the scope tube and the hole, the effective depth and angle range that can be inspected are calculated. The images are taken layer by layer from the outside to the inside, starting 1 cm below the upper edge of the penetration point along the center of the hole, with a spacing of -1 mm from the visible depth range, until 1 cm below the lower edge of the penetration point is reached. The 360 ​​degrees are evenly distributed according to this range, and this is repeated at least 5 times.

9. The method for detecting burrs in complex hole systems of shell-type parts according to claim 1, characterized in that, Step 7-a) Threads without relief grooves: 1) Specifically, take a photo by rotating one full turn from 2mm above the first thread, distribute the 360 ​​degrees evenly within this range, and repeat at least 5 degrees. Then take multiple photos at intervals of -1mm in depth. 2) If the diameter of the bottom hole is greater than 20mm, first use a side-view lens to take a photo by rotating one full turn from 1cm below the first thread, distribute the 360 ​​degrees evenly within this range, and repeat at least 5 degrees. Then use a front-view lens to take multiple photos at intervals of -1mm in depth.

10. The method for detecting burrs in complex hole systems of shell-type parts according to claim 1, characterized in that, Step 7-II) Threads with relief grooves: 1) For a bottom hole diameter less than 20mm, use a front-view lens to take a picture of the thread rotating 2mm above the first thread, evenly distribute the 360 ​​degrees within this range, and repeat at least 5 degrees. Then take multiple pictures at intervals of -1mm in depth. Next, use a side-view lens to take a picture of the thread rotating 1cm below the end thread, and then move to 1cm below the center of the relief groove and take a picture of the thread rotating 1cm below the end thread. Evenly distribute the 360 ​​degrees within this range, and repeat at least 5 degrees. 2) For a bottom hole diameter greater than 20mm, use a side-view lens to take a picture of the thread rotating 1cm below the first thread, 1cm below the end thread, and in the middle of the relief groove, evenly distribute the 360 ​​degrees within this range, and repeat at least 5 degrees. Then take multiple pictures of the thread rotating 1mm below the first thread, 1cm below the end thread, and in the middle of the relief groove. Evenly distribute the 360 ​​degrees within this range, and repeat at least 5 degrees. Then use a front-view lens to take multiple pictures at intervals of -1mm in depth.