Transformer pressure-resistant shell appearance detection device based on machine vision

Abstract

The invention discloses a transformer pressure-resistant shell appearance detection device based on machine vision, and relates to the field of pressure-resistant shell quality detection.The transformer pressure-resistant shell appearance detection device comprises a shell tool mechanism, a detection shaping mechanism and a visual detection mechanism; the detecting and shaping mechanism comprises a transverse horizontal beam, a longitudinal horizontal beam and a plate-type shaping assembly, the transverse horizontal beam and the longitudinal horizontal beam are connected in a staggered mode in the axial direction of the tool disc, two longitudinal sliding plates are arranged on the transverse horizontal beam in parallel, and two transverse sliding plates are arranged on the longitudinal horizontal beam in parallel; plate-type shaping assemblies are arranged on the transverse sliding plates and the longitudinal sliding plates correspondingly, each plate-type shaping assembly comprises a middle base plate and an outer side pressure plate, the multiple middle base plates are arranged in a linear array, the outer side pressure plates are connected to the two sides of the middle base plates correspondingly, and pressure sensors are embedded in the two side faces of the middle base plates correspondingly; the outer pressure plate is in contact with the pressure shaft of the pressure sensor, so that a detection blind area formed by mutual shielding of the heat dissipation plates is eliminated, and the problem of missing detection is effectively avoided.

Description

Technical Field

[0001] This invention relates to the field of transformer withstand shell quality inspection, specifically a transformer withstand shell shape inspection device based on machine vision. Background Technology

[0002] Transformers are the core hubs for power transmission and distribution in power systems, and their long-term stable operation is directly related to power grid security and power supply reliability. The pressure-resistant casing, as the core protection and heat dissipation carrier of the transformer, must simultaneously meet three core requirements: first, the pressure resistance to withstand internal insulating oil pressure and external mechanical impact; second, the heat dissipation performance to ensure efficient heat dissipation during transformer operation; and third, structural stability and sealing performance during long-term use. To balance withstand voltage and heat dissipation efficiency, existing transformer withstand voltage casings generally adopt a "casing body + linear array heat sink" structural design. Several thin heat sinks are evenly arranged along the circumferential and axial directions on the four side walls of the casing to increase the heat exchange efficiency by increasing the heat dissipation area. However, due to heat dissipation requirements, the thickness of the heat sinks is relatively thin, much thinner than the casing body. This makes the heat sink area a natural weak point in the withstand voltage casing. Therefore, the transformer withstand voltage casing needs to undergo shape quality inspection after production. During production (such as stamping and welding), warehousing, transportation, or assembly, the heat sinks are highly susceptible to deformation such as bending, twisting, and localized dents due to external forces. If such deformations are not detected and corrected in time, it will not only lead to uneven spacing between heat sinks and reduced heat dissipation efficiency, but also cause stress concentration, which in severe cases can cause heat sink breakage, casing seal failure, and ultimately major safety accidents such as insulating oil leakage and transformer short circuits. Therefore, deformation detection in the heat sink area has become a core and critical link in the quality control of withstand voltage casing production. With the rapid popularization of machine vision technology in the field of industrial shape inspection, its advantages of non-contact, high efficiency, and high precision are highly anticipated, leading to its widespread application in shape quality inspection. However, in actual inspection, the following two problems exist: First, the problem of blind spots: The linear array of heat sinks blocks each other, forming a large continuous blind spot. The machine vision camera can only capture a local area on the outer side of the heat sink, and cannot effectively image the side walls of the heat sink where deformation is frequent. Second, the problem of limited space: In order to ensure heat dissipation efficiency, the spacing between heat sinks in large transformers is 50-100mm. The narrow gap space cannot accommodate the imaging equipment (lens + camera), resulting in the deformation of weak positions such as the side walls of the heat sink and the connection between the side walls and the main body of the shell not being accurately captured. The accuracy of the inspection data is poor, resulting in a large number of missed inspections and causing poor quality of the finished transformers. Summary of the Invention

[0003] The purpose of this invention is to overcome the shortcomings of the prior art and provide a transformer withstand shell shape inspection device based on machine vision to solve the shortcomings of the prior art.

[0004] The objective of this invention is achieved through the following technical solution: a transformer withstand voltage shell shape inspection device based on machine vision, comprising a shell tooling mechanism, an inspection and shaping mechanism, and a vision inspection mechanism. The shell tooling mechanism includes a rotatably mounted tooling plate with its rotation axis vertically arranged. The inspection and shaping mechanism is located above the tooling plate and includes a transverse horizontal beam, a longitudinal horizontal beam, and a plate-type shaping assembly. The transverse horizontal beam and the longitudinal horizontal beam are staggered along the axial direction of the tooling plate to form a cross-shaped beam. Two sets of longitudinal sliding plates are arranged parallel to each other on the transverse horizontal beam, and the longitudinal sliding plates have the freedom to move along the length direction of the transverse horizontal beam. The longitudinal horizontal beam has two sets of transverse sliding plates arranged in parallel. The transverse sliding plates have the freedom to move along the length of the longitudinal horizontal beam. Both the transverse and longitudinal sliding plates are provided with plate-type shaping components. The plate-type shaping components include a central base plate and outer pressure plates. Multiple central base plates are arranged in a linear array. The spacing between two adjacent central base plates is adjustable. Both sides of the central base plate are connected to outer pressure plates. Pressure sensors are embedded on both sides of the central base plate. The outer pressure plates contact the pressure shaft of the pressure sensors. The vision inspection mechanism includes a six-axis robotic arm and an industrial camera installed in the execution part of the six-axis robotic arm.

[0005] Furthermore, a pad is installed between the central substrate and the outer pressure plate. The central substrate, the pad, and the outer pressure plate form a shaping plate. The thickness of the shaping plate is adjusted by assembling pads of different thicknesses. The thickness of the shaping plate is less than the distance between two adjacent heat dissipation plates of the pressure-resistant shell.

[0006] Furthermore, a telescopic rod is provided between the middle base plate and the outer pressure plate. The telescopic rod includes a base rod, a sliding rod, and a spring. A base rod hole is provided on the middle base plate, and a mounting hole is provided on the end face of the outer pressure plate near the middle base plate. One end of the base rod is fitted into the base rod hole, and the other end is provided with a guide hole. One end of the sliding rod is slidably fitted into the guide hole, and the other end is fitted into the mounting hole. Steps are formed on both the base rod and the sliding rod. The spring is sleeved on the telescopic rod, and the two ends of the spring are respectively connected to the two steps.

[0007] Furthermore, electromagnets are embedded on both sides of the central substrate, and permanent magnets are fixed on the outer pressure plate corresponding to the positions of the electromagnets. When the electromagnets are energized, they generate magnetic poles with the same magnetism as the permanent magnets. A first stepped countersunk hole is opened on the central substrate, connecting to the base rod hole, and a second stepped countersunk hole is opened on the outer pressure plate, connecting to the mounting hole. A first screw and a second screw are respectively installed in the first and second stepped countersunk holes. The first screw and the second screw are threaded to connect the base rod and the sliding rod, respectively. The connection positions of the telescopic rods on the two outer pressure plates are different.

[0008] Furthermore, multiple electric heating wires are installed inside the outer pressure plate, and a guide slope is provided at the bottom of the outer pressure plate away from the central substrate. The thickness of the outer pressure plate at the guide slope gradually increases from bottom to top.

[0009] Furthermore, the guide hole is a threaded hole, and a push shaft is internally threaded into the guide hole. The push shaft is used to push the sliding rod away from the base rod. A cross groove is provided at the end of the push shaft away from the sliding rod. A circular hole communicating with the guide hole is provided at the end of the base rod away from the sliding rod. A first through hole communicating with the base rod hole is provided on the middle base plate. A second through hole is provided on the outer pressure plate. The second through hole, the first through hole and the circular hole are coaxially arranged.

[0010] Furthermore, the plate-type shaping assembly also includes a scissor-type telescopic mechanism, a slider, and a shaping mounting base plate. A scissor-type telescopic mechanism is installed on both the transverse and longitudinal sliding plates. One end of the scissor-type telescopic mechanism is a hinged end, and the other end is hinged to a slider. The slider is slidably mounted. A shaping mounting base plate is installed on the hinge point of each scissor-type telescopic mechanism. A slide rail is fixed on both the transverse and longitudinal sliding plates. The shaping mounting base plate is slidably adapted to the slide rail. The top of the central base plate is connected to the shaping mounting base plate by screws. Each shaping mounting base plate can be configured with a maximum of one central base plate.

[0011] Furthermore, a first screw groove is formed at the bottom of the transverse horizontal beam along its length, and a first bidirectional threaded screw is rotatably installed in the first screw groove. Two first screw sliders are threadedly fitted on the first bidirectional threaded screw, and the threads of the two first screw sliders have opposite directions. Two longitudinal sliding plates are respectively installed on the two first screw sliders. A second screw groove is formed at the bottom of the longitudinal horizontal beam along its length, and a second bidirectional threaded screw is rotatably installed in the second screw groove. Two second screw sliders are threadedly fitted on the second bidirectional threaded screw, and the threads of the two second screw sliders have opposite directions. Two transverse sliding plates are respectively installed on the two second screw sliders. A first motor and a second motor are respectively installed on the transverse horizontal beam and the longitudinal horizontal beam. The output shaft of the first motor is driven and connected to the first bidirectional threaded screw, and the output shaft of the second motor is driven and connected to the second bidirectional threaded screw.

[0012] Furthermore, the housing tooling mechanism also includes a tooling base, a tooling spindle is coaxially fixed to the bottom of the tooling plate, the tooling spindle is rotatably connected to the tooling base, a third motor is installed inside the tooling base, the output shaft of the third motor is driven and connected to the tooling spindle, a number of tooling threaded holes are opened on the top surface of the tooling plate, and the pressure shell is equipped with multiple tooling threaded rods. The tooling threaded rods pass through the flange holes on the top of the pressure shell and are threaded into the tooling threaded holes.

[0013] Furthermore, the detection and shaping mechanism also includes a multi-degree-of-freedom conveying mechanism, which is used to drive the cross-shaped beam to move along the X, Y, and Z axes in the spatial coordinate system.

[0014] The beneficial effects of this invention are: 1. A plate-type shaping component is configured between each pair of adjacent heat sinks. When the heat sink deforms, the gap between the two heat sinks will decrease. The heat sink will then press the pressure sensor through the outer pressure plate. The pressure reading fed back by the pressure sensor can determine whether the heat sink has deformed and can also accurately determine the deformation location. This eliminates the detection blind spots caused by the mutual obstruction of the linear array heat sinks, greatly improves the coverage and data accuracy of deformation detection, and effectively avoids the problem of missed detection.

[0015] 2. When the deformation position of the heat sink is detected, the corresponding plate-type shaping component of the heat sink performs a shaping action. The electromagnet is energized to repel the permanent magnet, causing the outer pressure plate to press the heat sink back to its original position. The outer pressure plate is heated by the electric heating wire, and the outer pressure plate performs thermal extrusion shaping on the heat sink. After the shaping is completed, the electromagnet is de-energized, causing the outer pressure plate to return to its original position. If the heat sink is successfully shaped, it will not press the outer pressure plate, thus preventing the pressure sensor reading from increasing. If the pressure sensor reading increases, it indicates that the shaping has failed, and the pressure-resistant shell is judged to be a defective product. This achieves the combination of detection and shaping, which can greatly reduce the defect rate. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the structure of a transformer withstand voltage shell shape detection device based on machine vision according to the present invention. Figure 2 This is a schematic diagram of the cross-shaped beam in a transformer withstand shell shape detection device based on machine vision according to the present invention. Figure 3 This is a schematic diagram of the plate-type shaping component in a machine vision-based transformer withstand shell shape inspection device of the present invention. Figure 4 for Figure 3 Enlarged view of point A in the middle; Figure 5 This is a schematic diagram of the outer pressure plate in a transformer withstand shell shape detection device based on machine vision according to the present invention. Figure 6 This is a schematic diagram of the detection and shaping mechanism in a machine vision-based transformer withstand shell shape detection device of the present invention. Figure 7 for Figure 6 Enlarged view at point B in the middle; Figure 8 This is a schematic diagram of the housing tooling mechanism in a machine vision-based transformer withstand housing shape inspection device of the present invention. In the diagram, 1-tooling tray, 2-horizontal beam, 3-vertical beam, 4-vertical slide plate, 5-horizontal slide plate, 6-central base plate, 7-outer pressure plate, 8-pressure sensor, 9-six-axis robotic arm, 10-industrial camera, 11-pad, 12-telescopic rod, 13-base rod, 14-sliding rod, 15-spring, 16-base rod hole, 17-mounting hole, 18-guide hole, 19-electromagnet, 20-permanent magnet, 21-first stepped countersunk hole, 22-second stepped countersunk hole, 23-first screw, 24-second screw, 25-heating wire, 26-guide ramp, 27-push Shaft, 28-round hole, 29-first through hole, 30-second through hole, 31-scissor-type telescopic mechanism, 32-slider, 33-shaping mounting base, 34-slide rail, 35-first lead screw groove, 36-first bidirectional threaded lead screw, 37-second lead screw groove, 38-second bidirectional threaded lead screw, 39-first motor, 40-second motor, 41-tooling base, 42-tooling spindle, 43-tooling threaded hole, 44-tooling threaded rod, 45-lifting cylinder, 46-lifting hole, 47-conveying base, 48-telescopic support column, 49-conveying crossbeam, 50-first cylinder, 51-second cylinder. Detailed Implementation

[0017] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings, but the scope of protection of the present invention is not limited to the following description.

[0018] Example 1 like Figures 1 to 8As shown, a machine vision-based transformer withstand voltage shell shape inspection device includes a shell tooling mechanism, an inspection and shaping mechanism, and a vision inspection mechanism. The shell tooling mechanism includes a rotatably mounted tooling plate 1 with its rotation axis vertically arranged. The inspection and shaping mechanism is located above the tooling plate 1 and includes a transverse horizontal beam 2, a longitudinal horizontal beam 3, and a plate-type shaping assembly. The transverse horizontal beam 2 and the longitudinal horizontal beam 3 are staggered along the axial direction of the tooling plate 1 to form a cross-shaped beam. Two sets of longitudinal sliding plates 4 are arranged parallel to each other on the transverse horizontal beam 2, and the longitudinal sliding plates 4 have a degree of freedom to move along the length direction of the transverse horizontal beam 2. Two sets of transverse sliding plates 5 are arranged parallel to each other on the longitudinal horizontal beam 3, and the transverse sliding plates 5 have a degree of freedom to move along the length direction of the longitudinal horizontal beam 3. Both the horizontal sliding plate 5 and the vertical sliding plate 4 are equipped with plate-type shaping components. Each plate-type shaping component includes a central substrate 6 and outer pressure plates 7. Multiple central substrates 6 are arranged in a linear array, and the spacing between adjacent central substrates 6 is adjustable. Outer pressure plates 7 are connected to both sides of each central substrate 6, and pressure sensors 8 are embedded on both sides of each central substrate 6. The outer pressure plates 7 contact the pressure shafts of the pressure sensors 8. The vision inspection mechanism includes a six-axis robotic arm 9 and an industrial camera 10 mounted on the execution unit of the six-axis robotic arm 9. A corresponding number of plate-type shaping components are pre-installed according to the spacing formed by the heat sinks on the pressure-resistant shell. Then, the spacing between adjacent plate-type shaping components is adjusted according to the spacing between adjacent heat sinks to ensure that each pair of adjacent heat sinks is shaped... Each spacing corresponds to a plate-type shaping component. The transformer withstand casing to be inspected is then placed on fixture plate 1. First, a vision inspection mechanism visually inspects the shape of the transformer withstand casing to check for quality issues such as deformation and cracks. A six-axis robotic arm 9, carrying an industrial camera 10, images the withstand casing. The position of the industrial camera 10 is adjusted by the six-axis robotic arm 9 to achieve comprehensive inspection of the sides of the withstand casing. Then, by rotating fixture plate 1, the other sides of the withstand casing are brought within the inspection range of the industrial camera 10, achieving preliminary shape inspection. If a quality problem is detected, it is judged as a defective product, and the next withstand casing is inspected. If the inspection is normal, the shape of the heat sink is inspected, and the inspection and shaping mechanism moves downwards. The plate-type shaping component is inserted between two adjacent heat sinks. If a heat sink undergoes local deformation, such as a depression or bulge, the distance between the deformed bulge and the adjacent heat sink will decrease. This requires the outer pressure plate 7 to squeeze the deformed bulge of the heat sink to pass through. At this time, the heat sink will apply pressure to the corresponding pressure sensor 8 through the outer pressure plate 7. The pressure reading of the pressure sensor 8 increases, and the increased pressure reading indicates that the heat sink at the corresponding position has deformed. Thus, the shape detection of the heat sink is completed by pressure. Compared with traditional visual inspection, the deformation detection of the heat sink can be achieved in a narrow range, avoiding the problem of blind spots in visual inspection, greatly improving the detection accuracy, and avoiding the problem of missed detection.

[0019] Example 2 Based on Example 1, such as Figures 1 to 7 As shown, the plate-type shaping assembly also includes a scissor-type telescopic mechanism 31, a slider 32, and a shaping mounting base 33. Scissor-type telescopic mechanisms 31 are mounted on both the transverse slide plate 5 and the longitudinal slide plate 4. One end of the scissor-type telescopic mechanism 31 is a hinged end, and the other end is hinged to a slider 32. The slider 32 is slidably mounted. A shaping mounting base 33 is mounted on each hinge point of the scissor-type telescopic mechanism 31. A slide rail 34 is fixed on both the transverse slide plate 5 and the longitudinal slide plate 4. The shaping mounting base 33 is slidably adapted to the slide rail 34. The top of the middle base plate 6 is connected to the shaping mounting base 33 by screws. Each shaping mounting base 33 can be configured with a maximum of one middle base plate. Scissor-type drive cylinders are installed on the substrate 6, the transverse slide 5, and the longitudinal slide 4. The telescopic shaft of the scissor-type drive cylinder is connected to the slider 32. The scissor-type drive cylinder drives the slider 32 to move, and the slider 32 drives the scissor-type telescopic mechanism 31 to extend or retract, thereby adjusting the spacing of the shaping and mounting substrate 33 at equal intervals. This allows for equal adjustment between two adjacent plate shaping components to accommodate the thickness of the heat sink. Since the thickness of the heat sink on different pressure-resistant shells is different, the thickness of two adjacent plate shaping components is adjusted to accommodate the thickness of the heat sink, ensuring that each pair of adjacent heat sinks corresponds accurately to one plate shaping component.

[0020] Example 3 Based on Example 2, such as Figures 1 to 4 As shown, a pad 11 is installed between the middle substrate 6 and the outer pressure plate 7. The middle substrate 6, the pad 11, and the outer pressure plate 7 form a shaping plate. The thickness of the shaping plate is adjusted by assembling pads 11 of different thicknesses. The thickness of the shaping plate is less than the distance between two adjacent heat sinks on the pressure-resistant shell. The distance between heat sinks on pressure-resistant shells of different sizes is different. By installing pads 11 of different thicknesses, the thickness of the plate-type shaping assembly can be adjusted so that the thickness of the shaping plate is less than the distance between the two heat sinks, and the thickness of the shaping plate meets the deformation tolerance of the heat sink. That is, the heat sink will not contact the shaping plate within the deformation tolerance, and the reading of the pressure sensor 8 will not increase. This ensures that the heat sink is within the deformation tolerance range and is judged to be of acceptable shape. When the deformation exceeds the tolerance range, the heat sink will squeeze the outer pressure plate 7, causing the outer pressure plate 7 to squeeze the pressure sensor 8, thus increasing the reading of the pressure sensor 8 in response to the deformation signal. In specific implementation, the pad 11 can be connected to the outer pressure plate 7 by screws.

[0021] Example 4 Based on Example 3, such as Figures 1 to 4As shown, a telescopic rod 12 is provided between the middle base plate 6 and the outer pressure plate 7. The telescopic rod 12 includes a base rod 13, a sliding rod 14, and a spring 15. A base rod hole 16 is provided on the middle base plate 6, and a mounting hole 17 is provided on the end face of the outer pressure plate 7 near the middle base plate 6. One end of the base rod 13 is fitted into the base rod hole 16, and the other end is provided with a guide hole 18. One end of the sliding rod 14 is slidably fitted into the guide hole 18, and the other end is fitted into the mounting hole 17. Thus, the two ends of the telescopic rod 12 are respectively embedded in the middle base plate 6 and the outer pressure plate 7, which can reduce the installation length of the telescopic rod 12. Steps are formed on all 4. Spring 15 is sleeved on telescopic rod 12, and the two ends of spring 15 are respectively connected to the two steps. The outer pressure plate 7 is connected to the middle base plate 6 through telescopic rod 12, so that the outer pressure plate 7 can move by telescopic rod 12. On the one hand, the deformed heat sink can squeeze the outer pressure plate 7, and the outer pressure plate 7 squeezes the pressure sensor 8 to judge the deformation of the heat sink. On the other hand, the outer pressure plate 7 can move closer to the heat sink, and the outer pressure plate 7 squeezes the deformed heat sink, so that the heat sink can reset its deformation, thereby achieving the shaping effect of the deformed heat sink and reducing the defect rate.Electromagnets 19 are embedded on both sides of the central substrate 6. Permanent magnets 20 are fixed on the outer pressure plate 7 corresponding to the positions of the electromagnets 19. When the electromagnets 19 are energized, they generate magnetic poles with the same magnetism as the permanent magnets 20. A first stepped countersunk hole 21 is opened on the central substrate 6, which connects to the base rod hole 16. A second stepped countersunk hole 22 is opened on the outer pressure plate 7, which connects to the mounting hole 17. A first screw 23 and a second screw 24 are respectively installed in the first stepped countersunk hole 21 and the second stepped countersunk hole 22. The first screw 23 and the second screw 24 are threaded to connect the base rod 13 and the sliding rod 14, respectively. The telescopic rods 12 on the two outer pressure plates 7 are connected at different positions. The telescopic rods 12 are detachable, making it easy to remove the outer pressure plates 7 and replace them with pads 11 of different thicknesses. To remove the outer pressure plates 7, unscrew the second screw 24 and remove the screws between the pads 11 and the outer pressure plates 7. Then install the pads 11 of the required thickness. Finally, connect the outer pressure plates 7 to the telescopic rods 12 using the second screw 24. Since outer pressure plates 7 are installed on both sides of the central base plate 6, to avoid insufficient installation space for the telescopic rods 12, the two outer pressure plates 7... The corresponding telescopic rods 12 are staggered to ensure that their installation positions do not overlap, providing sufficient space for installation. When a pressure sensor 8 provides feedback on the deformation signal of the heat sink, the electromagnet 19 corresponding to the pressure sensor 8 is energized, repelling the permanent magnet 20. This causes the permanent magnet 20 to drive the outer pressure plate 7 to compress the deformed heat sink, which in turn causes the outer pressure plate 7 to stretch the spring 15 and compress the heat sink, causing it to deform back to its original state. Since another outer pressure plate 7 is inserted on the other side of the heat sink, the moving outer pressure plate 7 pushes the heat sink towards the other side. The side pressure plates 7, under the combined action of the two outer pressure plates 7, shape the heat sink and ensure that the heat sink does not deform excessively to the other side, effectively mitigating the deformation of the heat sink and preventing the problem of aggravated deformation. After shaping, the electromagnet 19 is de-energized, causing the outer pressure plates 7 to reset. If the heat sink is successfully shaped, it will not compress the outer pressure plates 7, thus preventing an increase in the reading of the pressure sensor 8. If the reading of the pressure sensor 8 increases, it indicates that the shaping has failed, and the pressure-resistant shell is judged to be a defective product. This combination of detection and shaping can greatly reduce the defect rate.

[0022] Example 5 Based on Example 4, such as Figures 1 to 5 As shown, multiple electric heating wires 25 are installed inside the outer pressure plate 7. A guide slope 26 is provided at the bottom of the outer pressure plate 7 away from the middle substrate 6. The thickness of the outer pressure plate 7 at the guide slope 26 gradually increases from bottom to top. The outer pressure plate 7 is heated by the electric heating wires 25, and the outer pressure plate 7 performs hot extrusion shaping on the heat sink, which improves the shaping effect. The setting of the guide slope 26 allows the shaping plate to be inserted between the two heat sinks even if the heat sink deforms on the top surface.

[0023] Example 6 Based on Example 5, such as Figures 1 to 4 As shown, the guide hole 18 is a threaded hole, and a push shaft 27 is internally threaded into the guide hole 18. The push shaft 27 is used to push the sliding rod 14 away from the base rod 13. A cross groove is opened at the end of the push shaft 27 away from the sliding rod 14. A circular hole 28 communicating with the guide hole 18 is opened at the end of the base rod 13 away from the sliding rod 14. A first through hole 29 communicating with the base rod hole 16 is opened on the middle base plate 6. A second through hole 30 is opened on the outer pressure plate 7. The second through hole 30, the first through hole 29 and the circular hole 28 are coaxially arranged. Since the outer pressure plate 7 needs to contact the detection shaft of the pressure sensor 8 for installation, when the spring 15 is in the normal state, the length of the telescopic rod 12 extending out of the middle base plate 6 is less than the distance between the middle base plate 6 and the outer pressure plate 7. When the outer pressure plate 7 is installed, the spring 15 is in a stretched state, and the force of the spring 15 causes the outer pressure plate 12 to move away from the base rod 13. The pressure plate 7 stably contacts the detection shaft of the pressure sensor 8. To facilitate the connection of the telescopic rod 12 to the outer pressure plate 7, a screwdriver is used to adjust the position of the push shaft 27. The screwdriver is inserted through the second through hole 30, the first through hole 29, and the round hole 28 into the cross groove, thereby rotating the push shaft 27. This causes the push shaft 27 to push the sliding rod 14 outward, which in turn causes the sliding rod 14 to stretch the spring 15, thus extending the telescopic rod 12 and allowing the sliding rod 14 to be smoothly inserted into the mounting hole 17. Finally, the outer pressure plate 7 is connected to the telescopic rod 12 by the second screw 24, so that the outer pressure plate 7 contacts the detection shaft of the pressure sensor 8 under the action of the spring 15. This allows the heat sink to smoothly compress the outer pressure plate 7 after exceeding the allowable deformation range, and the outer pressure plate 7 directly acts on the pressure sensor 8, increasing the pressure reading of the pressure sensor 8 and providing a feedback deformation signal.

[0024] Example 7 Based on Example 6, such as Figures 1 to 7As shown, a first screw groove 35 is formed at the bottom of the transverse horizontal beam 2 along its length. A first bidirectional threaded screw 36 is rotatably installed in the first screw groove 35. Two first screw sliders are threaded onto the first bidirectional threaded screw 36, and the threads of the two first screw sliders have opposite directions. Two longitudinal slide plates 4 are respectively installed on the two first screw sliders. A second screw groove 37 is formed at the bottom of the longitudinal horizontal beam 3 along its length. A second bidirectional threaded screw 38 is rotatably installed in the second screw groove 37. Two second screw sliders are threaded onto the second bidirectional threaded screw 38, and the threads of the two second screw sliders have opposite directions. Two transverse slide plates 5 are respectively installed on the two second screw sliders. A first motor 39 and a second motor 40 are respectively installed on the transverse horizontal beam 2 and the longitudinal horizontal beam 3. The output shaft of the first motor 39 is connected to the first bidirectional threaded screw 36, and the output shaft of the second motor 40 is connected to the second bidirectional threaded screw 38. Different pressure-resistant shells are used. The width of the heat sink varies. When the width of the heat sink is greater than the width of the outer pressure plate 7, the first motor 39 drives the first bidirectional threaded screw 36 to rotate. Since the threads of the two first screw sliders rotate in opposite directions, the two longitudinal slide plates 4 move in opposite directions, causing the plate-type shaping components on the longitudinal slide plates 4 to move along the width direction of the heat sink. The height of the outer pressure plate 7 is greater than the height of the heat sink, which can meet the needs of heat sinks of different heights, thereby achieving full-coverage detection and shaping of the heat sink. Similarly, the second motor 40 drives the second bidirectional threaded screw 38 to rotate. Since the threads of the two second screw sliders rotate in opposite directions, the two transverse slide plates 5 move in opposite directions, causing the plate-type shaping components on the two transverse slide plates 5 to move along the width direction of the heat sink. There are four sets of plate-type shaping components, which correspond to the heat sinks on the four sides of the pressure shell, respectively. They can simultaneously complete the detection and shaping of all heat sinks on the pressure shell, greatly improving the detection and shaping efficiency.

[0025] Example 8 Based on Example 7, such as Figures 1 to 8As shown, the housing tooling mechanism also includes a tooling base 41. A tooling spindle 42 is coaxially fixed to the bottom of the tooling plate 1. The tooling spindle 42 is rotatably connected to the tooling base 41. A third motor is installed inside the tooling base 41. The output shaft of the third motor is connected to the tooling spindle 42. The tooling spindle 42 is driven to rotate by the third motor, and the tooling spindle 42 drives the tooling plate 1 to rotate, thereby rotating different sides of the pressure-resistant housing into the detection range of the industrial camera 10. Several tooling threaded holes 43 are opened on the top surface of the tooling plate 1. The pressure-resistant housing is equipped with multiple tooling threaded rods 44. The tooling threaded rods 44 pass through the flange holes on the top of the pressure-resistant housing and are threaded into the tooling threaded holes 43. The pressure-resistant housing to be tested is placed on the tooling plate 1. The tooling threaded rods 44 are configured in the flange holes at the four ends of the pressure-resistant housing for tooling. The tooling threaded rods 44 pass through the flange holes and are connected to the tooling threaded holes 43, thereby restricting the horizontal movement freedom of the pressure-resistant housing and maintaining the stability of the pressure-resistant housing during testing.

[0026] Example 9 Since the bottom of the pressure-resistant shell contacts the tooling tray 1, this is a blind spot for detection. Therefore, based on Example 8, as follows... Figures 1 to 8 As shown, four sets of lifting cylinders 45 are evenly distributed around the circumference of the tooling base 41. The tooling plate 1 has lifting holes 46 through the corresponding positions of the lifting cylinders 45. Each pair of opposite lifting cylinders 45 forms a group. First, one set of lifting cylinders 45 lifts the pressure shell upward. Since the tooling threaded rod 44 does not restrict the vertical movement freedom of the pressure shell, the pressure shell can move upward and detach from the tooling plate 1. The six-axis robotic arm 9 drives the industrial camera 10 to move to the bottom of the pressure shell for shape inspection. Then, the previous set of lifting cylinders 45 drives the pressure shell to reset, and the other set of lifting cylinders 45 lifts the pressure shell. The industrial camera 10 performs imaging inspection again, which can detect the obstruction position of the previous set of lifting cylinders 45, achieving full coverage inspection of the bottom of the pressure shell.

[0027] Example 10 Based on Example 9, such as Figure 1As shown, the inspection and shaping mechanism also includes a multi-degree-of-freedom conveying mechanism. This mechanism drives the crossbeam to move along the X, Y, and Z axes in a spatial coordinate system. The multi-degree-of-freedom conveying mechanism includes a conveying base 47, telescopic support columns 48, a conveying crossbeam 49, a first cylinder 50, and a second cylinder 51. Conveying bases 47 are installed on both sides of the tooling base 41. Telescopic support columns 48 are slidably mounted on the tooling base 41. The two ends of the conveying crossbeam 49 are respectively connected to the tops of the two telescopic support columns 48. A screw drive pair is installed on the conveying crossbeam 49, and the crossbeam is mounted on the slide of the screw drive pair. The first cylinder 50 is horizontally mounted on the conveying base 47, and its telescopic shaft is connected to the sliding joint of the telescopic support column 48. The second cylinder 51 is vertically installed, and its cylinder body is installed on the sliding part of the telescopic support column 48. The telescopic shaft of the second cylinder 51 is connected to the telescopic part of the telescopic support column 48. The moving direction of the telescopic support column 48 is perpendicular to the moving direction of the cross-shaped beam. The telescopic support column 48 moves horizontally through the telescopic movement of the first cylinder 50, causing the telescopic support column 48 to move the cross-shaped beam on the conveying beam 49 along the X-axis. The cross-shaped beam moves along the Y-axis through the screw drive pair. The position of the cross-shaped beam is adjusted so that the four sets of plate-type shaping components correspond to the heat dissipation plates on the four sides of the pressure-resistant shell. The cross-shaped beam moves downward through the second cylinder 51, so that the shaping plate is inserted into the two adjacent heat dissipation plates, completing the detection and shaping of the heat dissipation plates.

Claims

1. A machine vision-based transformer tank shell profile detection device, characterized in that, The application relates to a shell tooling mechanism, a detection and shaping mechanism and a visual detection mechanism, wherein the shell tooling mechanism comprises a rotatingly-installed tooling disc, the rotating axis of the tooling disc is vertically arranged, the detection and shaping mechanism is arranged above the tooling disc, the detection and shaping mechanism comprises a transverse horizontal beam, a longitudinal horizontal beam and a plate-shaped shaping component, the transverse horizontal beam and the longitudinal horizontal beam are cross-shaped beams staggered along the axial direction of the tooling disc, two groups of longitudinal sliding plates are arranged in parallel on the transverse horizontal beam, the longitudinal sliding plates have the freedom of moving along the length direction of the transverse horizontal beam, two groups of transverse sliding plates are arranged in parallel on the longitudinal horizontal beam, the transverse sliding plates have the freedom of moving along the length direction of the longitudinal horizontal beam, the plate-shaped shaping components are arranged on the transverse sliding plates and the longitudinal sliding plates, the plate-shaped shaping component comprises a middle base plate and an outer side pressure plate, a plurality of the middle base plates are arranged in a linear array, the spacing between two adjacent middle base plates is adjustable, the two sides of the middle base plate are connected with the outer side pressure plates, the two side surfaces of the middle base plate are embedded with pressure sensors, the outer side pressure plates contact the pressure axes of the pressure sensors, and the visual detection mechanism comprises a six-axis robot arm and an industrial camera installed on the execution part of the six-axis robot arm.

2. The machine vision-based transformer tank shape detection device according to claim 1, wherein A pad plate is arranged between the middle base plate and the outer side pressure plate, the middle base plate, the pad plate and the outer side pressure plate form a shaping plate piece, the thickness of the shaping plate piece is adjusted by assembling pad plates with different thicknesses, and the thickness of the shaping plate piece is smaller than the spacing between two adjacent heat dissipation plates of the pressure-resistant shell.

3. The machine vision-based transformer tank profile detection device according to claim 2, wherein, A telescopic rod is arranged between the middle base plate and the outer side pressure plate, the telescopic rod comprises a base rod, a sliding rod and a spring, a base rod hole is formed in the middle base plate, an installation hole is formed in the end surface of the outer side pressure plate close to the middle base plate, one end of the base rod is adapted in the base rod hole, the other end of the base rod is provided with a guide hole, one end of the sliding rod is slidably adapted in the guide hole, the other end of the sliding rod is adapted in the installation hole, steps are formed in the base rod and the sliding rod, and the spring is sleeved on the telescopic rod and connected to the two steps.

4. The machine vision-based transformer tank profile detection device according to claim 3, wherein, An electromagnet is embedded in each side surface of the middle base plate, a permanent magnet is fixed on the outer side pressure plate corresponding to the position of the electromagnet, the electromagnet generates the same magnetic pole as the permanent magnet when electrified, a first stepped counterbore is formed in the middle base plate and communicated with the base rod hole, a second stepped counterbore is formed in the outer side pressure plate and communicated with the installation hole, a first screw and a second screw are arranged in the first stepped counterbore and the second stepped counterbore respectively, the first screw and the second screw are threadedly connected with the base rod and the sliding rod respectively, and the connection positions of the telescopic rods on the two outer side pressure plates are different.

5. The machine vision-based transformer tank profile detection device according to claim 4, wherein, A plurality of electric heating wires are arranged in the inner part of the outer side pressure plate, a guide inclined surface is arranged at the bottom of the end of the outer side pressure plate away from the middle base plate, and the thickness of the outer side pressure plate gradually increases from bottom to top at the guide inclined surface.

6. The machine vision-based transformer tank contour detection device according to claim 4, characterized in that, The guide hole is a threaded hole, a push shaft is threadedly connected in the guide hole, the push shaft is used for pushing the sliding rod to move away from the base rod, a cross slot is formed at one end of the push shaft away from the sliding rod, a circular hole is formed at one end of the base rod away from the sliding rod, the circular hole is communicated with the guide hole, a first through hole is formed in the middle base plate and communicated with the hole of the base rod, and a second through hole is formed in the outer side pressure plate.

7. The machine vision-based transformer tank profile detection device according to claim 1, wherein, The plate type shaping assembly further comprises scissor type telescopic mechanisms, sliding blocks and shaping mounting base plates, the scissor type telescopic mechanisms are installed at one end of the transverse sliding plate and the longitudinal sliding plate, one end of the scissor type telescopic mechanism is a hinged end, and the other end is hinged with a sliding block, the sliding block is slidingly installed, the hinged points of the scissor type telescopic mechanisms are all provided with the shaping mounting base plates, the transverse sliding plate and the longitudinal sliding plate are both fixed with sliding rails, the shaping mounting base plates are slidingly matched on the sliding rails, and the top of the middle base plate is connected on the shaping mounting base plate through screws.

8. The machine vision-based transformer tank profile detection device according to claim 1, wherein, The bottom of the transverse horizontal beam is provided with a first screw rod groove along the length direction of the transverse horizontal beam, a first bidirectional screw rod is rotatably installed in the first screw rod groove, two first screw rod sliding blocks are threadedly sleeved on the first bidirectional screw rod, the thread rotation directions of the two first screw rod sliding blocks are opposite, and the two longitudinal sliding plates are installed on the two first screw rod sliding blocks respectively. The bottom of the longitudinal horizontal beam is provided with a second screw rod groove along the length direction of the longitudinal horizontal beam, a second bidirectional screw rod is rotatably installed in the second screw rod groove, two second screw rod sliding blocks are threadedly sleeved on the second bidirectional screw rod, the thread rotation directions of the two second screw rod sliding blocks are opposite, and the two transverse sliding plates are installed on the two second screw rod sliding blocks respectively. The transverse horizontal beam and the longitudinal horizontal beam are respectively provided with a first motor and a second motor, the output shaft of the first motor is in transmission connection with the first bidirectional screw rod, and the output shaft of the second motor is in transmission connection with the second bidirectional screw rod.

9. The machine vision-based transformer tank contour detection device according to claim 1, characterized in that, The shell tooling mechanism further comprises a tooling base, a tooling main shaft is coaxially fixed at the bottom of the tooling disc, the tooling main shaft is rotatably connected with the tooling base, a third motor is installed in the tooling base, the output shaft of the third motor is in transmission connection with the tooling main shaft, a plurality of tooling threaded holes are formed in the top surface of the tooling disc, a plurality of tooling threaded rods are arranged on the pressure-resistant shell, and the tooling threaded rods are threadedly connected in the tooling threaded holes after penetrating through the flange holes in the top of the pressure-resistant shell.

10. The machine vision-based transformer tank profile detection device according to claim 1, wherein, The detection shaping mechanism further comprises a multi-degree-of-freedom conveying mechanism, and the multi-degree-of-freedom conveying mechanism is used for driving the cross-shaped beam to move in three directions of X, Y and Z axes in a space coordinate system.

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