A systematic testing system and method for a gearbox housing

Abstract

This invention discloses a systematic inspection system and method for gearbox housings. The system includes a workpiece support device, a multi-degree-of-freedom robot, a composite inspection unit, and a controller. The composite inspection unit, installed at the robot's end effector, integrates a binocular stereo vision camera, a structured light 3D scanner, and an industrial endoscope camera, used to acquire two-dimensional images of the housing's exterior, three-dimensional point clouds, and internal cavity video streams, respectively. The controller comprehensively determines whether the housing is qualified based on the above data. The method includes steps such as material loading and positioning, coarse positioning and initial appearance inspection, precise three-dimensional dimension measurement, internal cavity defect detection, leakage testing, and data fusion judgment. This invention integrates appearance, three-dimensional dimensions, internal defects, and sealing inspection into a single workstation, achieving blind-spot-free inspection through flexible robot guidance, enabling rapid changeover, and significantly improving inspection efficiency and completeness. It is suitable for online full inspection of gearbox housings.

Description

Technical Field

[0001] This invention relates to the field of industrial quality inspection technology, and in particular to a systematic inspection system and method for gearbox housings. Background Technology

[0002] As a key component of the automotive powertrain, the transmission housing's manufacturing quality directly affects the transmission's assembly accuracy, sealing performance, and operational reliability. Currently, the industry primarily relies on the following methods for inspecting transmission housings:

[0003] 1. Offline Coordinate Measuring Machine (CMM) Inspection: This is the most accurate traditional method. The process involves removing the machined gearbox housing from the production line and transporting it to a temperature-controlled metrology chamber. Professional metrologists then use a CMM to measure key dimensions, geometric tolerances (such as position, parallelism, and perpendicularity), and form and position tolerances. The advantages of this method are high accuracy and traceability of measurement results. However, its disadvantages are also significant: the inspection process is disconnected from the production cycle, requiring additional handling, clamping, and temperature-controlled settling, resulting in low inspection efficiency and making online full inspection impossible. Furthermore, the equipment is expensive and requires highly skilled operators, typically limiting its use to first-piece inspection or sampling, and failing to meet the process control needs of large-scale production.

[0004] 2. Manual Inspection with Specialized Gauges and Go / No-Go Gauges: On the production floor, operators often use specialized gauges (such as positional tolerance gauges), plug gauges, and caliper gauges designed for specific housing models to quickly assess key hole diameters, hole spacing, and flatness. This method is fast and low-cost, and widely used on the production line. However, its inspection scope is extremely limited, failing to cover complex indicators such as geometric tolerances and profile accuracy; the gauges are all rigidly customized, with one specification corresponding to one housing model, requiring the replacement of the entire set of gauges when changing models, resulting in poor flexibility; furthermore, manual readings are prone to operational errors, and the inspection data cannot be automatically recorded and traced.

[0005] 3. Single Feature Detection Based on Machine Vision: In recent years, some production lines have introduced machine vision systems, mainly for identifying surface defects such as bumps, scratches, pinholes, and burrs on workpieces. This method is non-contact and fast, but it can usually only detect the visible area outside the shell. It is powerless for invisible or highly obscured areas such as the inner walls of deep holes, intersecting oil passages, and internal cavity grooves. Moreover, vision systems are generally set up independently, making it difficult to integrate data with dimensional measurement, leak testing, and other processes. The detection information is scattered and lacks systematicity.

[0006] In summary, existing detection technologies share the following common problems:

[0007] Fragmented inspection functions: Key items such as dimensional and position inspection, appearance defect inspection, and sealing test (leakage test) need to be completed separately at different workstations using different equipment. The workpieces are clamped and moved multiple times, resulting in low efficiency, mismatched cycle time, and difficulty in achieving full inspection.

[0008] Insufficient flexibility: The special inspection tools and some vision systems are customized for a certain model. When changing models, mechanical adjustments or even hardware replacements are required, which seriously affects the rapid response capability in small-batch, multi-variety production mode.

[0009] Complex internal cavities and invisible features make detection difficult: The inside of the gearbox housing contains a large number of deep holes, intersecting oil passages, blind hole bottoms and other structures. Existing contact probes or conventional vision sensors cannot effectively enter or image these areas, resulting in missing detection of these critical areas or the need to rely on destructive sampling inspection.

[0010] Therefore, there is an urgent need in this field for an integrated and flexible online systematic inspection solution that can integrate multiple inspection requirements such as dimensional and positional tolerance inspection, appearance defect inspection, leakage testing, and verification of key assembly relationships into a compact workstation for synchronous or continuous completion, achieving full inspection synchronized with the production line cycle; at the same time, it has the ability to quickly adapt to different housing models and can achieve high-precision, non-contact inspection of complex internal cavities and invisible features. Summary of the Invention

[0011] The purpose of this invention is to provide a systematic testing system and method for a gearbox housing.

[0012] The technical solution adopted in this invention is:

[0013] A transmission housing system for systematic testing, comprising:

[0014] Workpiece support device, used to support and rotate the gearbox housing;

[0015] Multi-degree-of-freedom robots;

[0016] A composite detection unit is installed at the end effector of a multi-degree-of-freedom robot. The composite detection unit includes a binocular stereo vision camera, a structured light 3D scanner, and an industrial endoscope camera. The binocular stereo vision camera is used to acquire two-dimensional images of the exterior of the gearbox housing. The structured light 3D scanner is used to acquire three-dimensional point clouds of the gearbox housing. The industrial endoscope camera is used to acquire video streams of the internal cavity of the gearbox housing.

[0017] The controller is electrically connected to the workpiece bearing device, the multi-degree-of-freedom robot, and the composite detection unit. The controller is used to control the rotation of the workpiece bearing device, control the multi-degree-of-freedom robot to drive the composite detection unit to move, and control the composite detection unit to perform detection work, and comprehensively determine whether the gearbox housing is qualified.

[0018] Furthermore, the present invention also includes a leakage testing device for performing a sealing test on the test orifice of the gearbox housing; the controller is also electrically connected to the leakage testing device, and the controller controls the leakage testing device to perform the leakage test.

[0019] Furthermore, the workpiece bearing device is a high-precision servo rotary table with angle positioning and locking functions.

[0020] Furthermore, the controller includes a data fusion processing unit, which is used to compare the two-dimensional image of the gearbox housing, the three-dimensional point cloud, the internal video stream, and the leakage test data collected by the leakage test device with the pre-stored standard digital model to comprehensively evaluate the dimensional deviation, geometric tolerance, internal cavity defects, and sealing performance of the gearbox housing.

[0021] Furthermore, the present invention also includes a data server electrically connected to the controller for storing detection data and supporting traceability.

[0022] Furthermore, the present invention also includes an operator interface electrically connected to the controller, wherein the operator interface is an industrial touch screen display, used for parameter setting, manual equipment debugging, real-time monitoring of the testing process, and real-time display of testing data.

[0023] This invention provides a systematic testing method for a gearbox housing, comprising the following steps:

[0024] S1. Loading and positioning steps: The gearbox housing is transported to the workpiece bearing device and clamped and positioned.

[0025] S2. Coarse positioning and initial appearance inspection steps: Control the composite detection unit at the end of the multi-degree-of-freedom robot to move to the preset position, and use the binocular stereo vision camera in the composite detection unit to acquire a two-dimensional image of the gearbox housing.

[0026] S3. Three-dimensional precise measurement steps: Control the multi-degree-of-freedom robot to guide the structured light 3D scanner in the composite detection unit to collect the 3D point cloud of the gearbox housing according to the preset path;

[0027] S4. Internal cavity defect detection steps: Control the multi-degree-of-freedom robot to guide the industrial endoscope camera in the composite detection unit to probe the oil passages, bolt holes and internal cavities of the housing to obtain internal cavity video streams;

[0028] S5. Leakage test procedure: Control the leakage test device to automatically seal, inflate, maintain pressure and depressurize each test port of the gearbox housing, and obtain leakage rate curve data;

[0029] S6. Data Fusion Judgment Step: Upload the two-dimensional appearance image, three-dimensional point cloud, endoscopic video stream and leakage rate curve data collected in steps S2-S5 to the controller, compare and analyze them with the standard digital model pre-stored in the controller, comprehensively evaluate the appearance defects, dimensional deviations, geometric tolerances, internal defects and sealing performance of the gearbox housing, and output a comprehensive judgment result on whether it is qualified.

[0030] Furthermore, the workpiece bearing device is a high-precision servo rotary table, which can perform indexing rotation to achieve precise stopping and attitude locking of the gearbox housing at any horizontal angle of 360°.

[0031] Furthermore, the present invention also includes a data traceability step: uploading the test data and comprehensive judgment results of each gearbox housing to a data server in real time for archiving and storage.

[0032] Furthermore, when it is necessary to switch to inspect different models of gearbox housings, it is only necessary to call the standard digital model and inspection program of the corresponding model in the controller, and the multi-degree-of-freedom robot and composite inspection unit will automatically load the new motion trajectory and inspection parameters without changing the physical tooling.

[0033] The present invention adopts the above technical solution and has the following beneficial technical effects:

[0034] 1. Significantly improved efficiency: By integrating inspection items that were scattered across multiple workstations into one workstation, the inspection time for a single piece is reduced from tens of minutes to 3-5 minutes, achieving 100% online full inspection that matches the production rhythm and completely eliminating quality feedback lag.

[0035] 2. High completeness and accuracy of testing: It integrates appearance, three-dimensional dimensions, internal cavity inspection and sealing test to form a comprehensive and systematic evaluation of the quality of the gearbox housing, making up for the blind spots of single testing methods.

[0036] 3. Solving the problem of complex internal cavity inspection: By using a multi-degree-of-freedom robot to skillfully guide the endoscope and structured light scanning head, it can penetrate into the invisible areas inside the shell (such as the bottom of deep holes and intersecting oil passages) to achieve non-contact measurement of features that cannot be reached by traditional methods.

[0037] 4. Highly flexible and quick to change over: When switching product models, only the corresponding standard digital model and testing program need to be called up. There is no need to change special inspection tools. The changeover time is shortened from several hours to less than 30 minutes, which meets the needs of multi-variety mixed production lines. Attached Figure Description

[0038] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments;

[0039] Figure 1 This is a schematic diagram of the overall structure of the detection system of the present invention;

[0040] Figure 2 This is a schematic diagram of the composite detection unit. Detailed Implementation

[0041] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings.

[0042] like Figure 1-2 As shown, the present invention discloses a systematic inspection system for a gearbox housing, including a workpiece bearing device 2, a multi-degree-of-freedom robot 3, a composite inspection unit 4, a controller 5, a leakage testing device 6, an operator interface 7, and a data server 8.

[0043] The workpiece bearing device 2 is used to support and rotate the gearbox housing 1. In this embodiment, the workpiece bearing device 2 adopts a high-precision servo rotary table with angle positioning and locking functions. The high-precision servo rotary table adopts a servo motor combined with a precision reducer and indexing plate structure, which has high-precision angle positioning, stepless speed regulation and multi-point indexing rotation functions. It can achieve precise stopping and attitude locking of the gearbox housing 1 at any angle of 360° horizontally, meeting the attitude requirements of full circumference of the outer surface, various mounting holes and multi-angle detection of the inner cavity. The high-precision servo rotary table comes with a pneumatic positioning fixture, which can quickly achieve centering and clamping of the gearbox housing 1, eliminating workpiece offset and shaking during the detection process, and providing stable reference conditions for subsequent visual acquisition, 3D scanning, endoscopic detection and leakage testing.

[0044] The multi-degree-of-freedom robot 3 is a six-axis articulated industrial robot, fixedly mounted on a high-rigidity frame base on the side of the high-precision servo rotary table 2. It has a large range of motion, high repeatability, and flexible attitude adjustment capabilities. This multi-degree-of-freedom robot 3 can drive the composite detection unit 4 mounted on the end effector to achieve flexible movement at any position and angle in three-dimensional space. It can reach all complex positions that conventional fixed tooling cannot reach, such as all outer surfaces of the gearbox housing 1, mounting end faces, bearing hole systems, oil passage holes, and deep bolt holes, achieving full-coverage data acquisition without blind spots.

[0045] The composite detection unit 4 is installed at the end effector of the multi-degree-of-freedom robot 3. The composite detection unit 4 specifically includes: a mounting base 41, a binocular stereo vision camera 42, a structured light 3D scanner 43, and an industrial endoscope camera 44.

[0046] The flange connection plate at the end of the multi-degree-of-freedom robot 3 serves as the mounting base 41.

[0047] The binocular stereo vision camera 42 is located on the left side of the mounting base 41. It consists of two high-resolution CMOS cameras arranged at a fixed baseline distance and has an integrated ring LED light source at the bottom. It can output uniform, shadow-free supplementary lighting and is used to acquire two-dimensional images of the gearbox housing. It meets the high-definition imaging requirements for housing appearance defects, edge bumps, surface sand holes, and cracks, and can also achieve global coarse positioning.

[0048] A structured light 3D scanner 43 is located on the right side of the mounting base 41. Specifically, it is a high-precision blue light structured light 3D scanner 43 used to acquire the 3D point cloud of the gearbox housing. The structured light 3D scanner 43 integrates a digital grating projection module and a high-precision CCD acquisition camera. By projecting coded blue light grating stripes, it acquires the deformation stripe image of the housing surface, and generates high-density 3D point cloud data through algorithm calculation.

[0049] The industrial endoscope camera 44 is vertically mounted in the middle of the mounting base 41 via an electric rotating mechanism (hollow rotating platform) to acquire the internal video stream of the gearbox housing. The electric rotating mechanism can drive the industrial endoscope camera 44 to achieve 360° continuous rotation. The probe can be inserted into narrow spaces such as oil passages, deep bolt holes and closed cavities in the housing 1 to collect internal video streams of hidden defects such as internal cleanliness, machining burrs, thread damage, and hole wall scratches at close range.

[0050] The controller 5 uses a central control cabinet as the core for overall line control and data fusion. The central control cabinet is electrically connected to the high-precision servo rotary table 2, the multi-degree-of-freedom robot 3, the composite detection unit 4, and the leakage testing device 6.

[0051] The central control cabinet receives in real time the external two-dimensional image, three-dimensional point cloud, and endoscopic video stream collected by the composite detection unit 4, and simultaneously acquires the leakage rate curve data of the leakage testing device 6. The central control cabinet has a pre-stored standard digital model of the gearbox housing 1.

[0052] The central control cabinet 5 is used to control the rotation of the high-precision servo rotary table 2, control the movement of the multi-degree-of-freedom robot 3 driving the composite detection unit 4, and control the composite detection unit 4 to perform detection work, so that the binocular stereo vision camera 42 can acquire two-dimensional images of the exterior of the gearbox housing 1, the structured light 3D scanner can acquire three-dimensional point clouds of the gearbox housing 1, and the industrial endoscope camera can acquire video streams of the internal cavity of the gearbox housing 1. The central control cabinet 5 is also used to comprehensively determine whether the gearbox housing 1 is qualified.

[0053] The data fusion processing unit of the central control cabinet 5 is used to compare the two-dimensional image of the gearbox housing 1, the three-dimensional point cloud, the internal video stream, and the leakage test data collected by the leakage test device with the pre-stored standard digital model to comprehensively evaluate the dimensional deviation, form and position tolerance, internal cavity defects and sealing performance of the gearbox housing 1.

[0054] Leakage testing device 6 is electrically connected to the central control cabinet. It is used to perform sealing tests on the test ports of the gearbox housing 1. The central control cabinet controls the leakage testing device to perform the leak test. Leakage testing device 6 is equipped with multiple sets of adaptive standard plug assemblies, which can automatically and accurately seal various oil passage holes, mounting holes, and vent holes of the gearbox housing 1. This leakage testing device 6 adopts a pressure-holding detection principle, filling the sealed chamber inside the housing with compressed air at a set pressure. After holding the pressure for a certain period, it collects pressure decay data in real time and generates a leakage rate curve. The central control cabinet coordinates the entire process of sealing, inflation, pressure holding, and depressurization. It can operate in parallel or sequentially with visual, 3D, and endoscopic inspection procedures, significantly shortening the cycle time for single-piece inspection.

[0055] Operator Interface 7 uses an industrial touch screen and is electrically connected to the central control cabinet. Operator Interface 7 is used for parameter setting, manual equipment debugging, real-time monitoring of the testing process, and real-time display of test data. Operators can use the interface to set process parameters such as robot motion trajectory, rotary table indexing angle, leakage detection pressure threshold, pressure holding time, and defect judgment criteria. They can also view the progress of individual piece testing and details of non-conforming items in real time, facilitating on-site production management and equipment maintenance.

[0056] Data server 8 is electrically connected (network communication) to operator interface 7 and central control cabinet to store test data and support backtracking. Data server 8 can upload, store and archive test data, analysis results, test reports and pass / fail judgment results, and supports data traceability by production batch, workpiece number and production time. It also supports subsequent big data analysis of quality, process optimization and product quality traceability to meet the digital management and control needs of intelligent manufacturing in the industry.

[0057] This embodiment provides a systematic testing method for a gearbox housing, including the following steps:

[0058] S1. Loading and positioning steps: The gearbox housing is transported to the workpiece bearing device and clamped and positioned.

[0059] The gearbox housing 1 is continuously fed by the upstream conveyor line, and is conveyed and smoothly transferred to a high-precision servo rotary table, where it is pneumatically clamped and positioned by the pneumatic positioning fixture on the rotary table.

[0060] S2. Coarse Positioning and Initial Visual Inspection Steps: Control the composite detection unit at the end effector of the multi-degree-of-freedom robot to move to a preset position, and use the binocular stereo vision camera in the composite detection unit to acquire a two-dimensional image of the gearbox housing's exterior; the specific process is as follows:

[0061] The central control cabinet controls the multi-degree-of-freedom robot 3 to move to a preset pose, and uses the binocular stereo vision camera in the composite detection unit 4 to acquire a two-dimensional image of the gearbox housing 1. This step performs rapid global coarse localization of the gearbox housing 1 to determine the precise pose of the housing in space; on the other hand, it performs preliminary defect screening on the outer surface to identify appearance defects such as bumps, scratches, and pinholes.

[0062] S3. Three-dimensional precise measurement steps: The multi-degree-of-freedom robot guides the structured light 3D scanner in the composite inspection unit to collect the 3D point cloud of the gearbox housing according to a preset path; the specific process is as follows:

[0063] The central control cabinet controls the multi-degree-of-freedom robot 3 to guide the structured light 3D scanner in the composite inspection unit 4 to perform high-density 3D point cloud acquisition on the key mounting surfaces and bearing hole system of the gearbox housing 1 according to a preset path. During the acquisition process, the high-precision servo rotary table rotates in increments according to the scanning requirements to cooperate with the multi-degree-of-freedom robot 3 to complete the full-circumferential feature coverage scan of the gearbox housing 1. The acquired 3D point cloud data is uploaded to the central control cabinet in real time.

[0064] S4. Internal cavity defect detection steps: Control the multi-degree-of-freedom robot to guide the industrial endoscope camera in the composite detection unit to probe the oil passages, bolt holes, and internal cavities of the housing, and acquire the internal cavity video stream; the specific process is as follows:

[0065] The central control cabinet controls the multi-degree-of-freedom robot 3 to guide the industrial endoscope camera in the composite inspection unit 4, probing into the oil passages, bolt holes, and sealed cavities of the housing 1 to collect video streams of the internal cleanliness, burrs, and thread quality. The industrial endoscope camera can achieve 360° continuous rotation driven by an electric rotating mechanism, ensuring no blind spots in confined spaces.

[0066] S5. Leakage Test Procedure: The leakage test device is controlled to automatically seal, inflate, maintain pressure, and depressurize each test port on the gearbox housing to obtain leakage rate curve data; the specific process is as follows:

[0067] The central control cabinet controls the leakage testing device 6 to automatically seal, inflate, pressurize, and depressurize each test orifice of the housing 1, acquiring leakage rate curve data. Specifically, the leakage tester 6 automatically seals each orifice of the housing through an adaptive plug assembly, inflates the housing with compressed air, and detects the pressure decay after a predetermined pressurization time to obtain the leakage rate. This step can be executed at least partially in parallel with steps S2 to S4 to shorten the overall testing cycle.

[0068] S6. Data Fusion Judgment Step: Upload the two-dimensional appearance image, three-dimensional point cloud, endoscopic video stream and leakage rate curve data collected in steps S2-S5 to controller 5, compare and analyze them with the standard digital model pre-stored in controller 4, comprehensively evaluate the appearance defects, dimensional deviations, geometric tolerances, internal defects and sealing performance of the gearbox housing, and output a comprehensive judgment result on whether it is qualified.

[0069] In addition to the above-described inspection process, the method in this embodiment also includes a data traceability step: the central control cabinet uploads the inspection data and comprehensive judgment results of each gearbox housing 1 to the data server 8 in real time for archiving and storage. The data server 8 records the inspection data of each gearbox housing, which can be correlated with the process parameters of the machining center for analyzing the root causes of quality fluctuations, predicting tool wear, optimizing machining parameters, and achieving preventive quality control.

[0070] The method in this embodiment also features highly flexible changeover capabilities. When it is necessary to switch to inspect different models of gearbox housings, it is only necessary to call the corresponding model's standard digital model and inspection program in the central control cabinet, and the multi-degree-of-freedom robot 3 and the composite inspection unit 4 will automatically load the new motion trajectory and inspection parameters without changing the physical tooling. Actual verification has shown that changeover time can be reduced from several hours in the traditional method to less than 30 minutes.

[0071] Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Without conflict, the embodiments and features described and illustrated herein can be combined with each other. The components of the embodiments of the present invention generally described and illustrated in the accompanying drawings can be arranged and designed in various different configurations. Therefore, the detailed description of the embodiments of the present invention is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

Claims

1. A systematic testing system for a gearbox housing, characterized in that: include: Workpiece support device, used to support and rotate the gearbox housing; Multi-degree-of-freedom robots; A composite detection unit is installed at the end effector of a multi-degree-of-freedom robot. The composite detection unit includes a binocular stereo vision camera, a structured light 3D scanner, and an industrial endoscope camera. The binocular stereo vision camera is used to acquire two-dimensional images of the exterior of the gearbox housing. The structured light 3D scanner is used to acquire three-dimensional point clouds of the gearbox housing. The industrial endoscope camera is used to acquire video streams of the internal cavity of the gearbox housing. The controller is electrically connected to the workpiece bearing device, the multi-degree-of-freedom robot, and the composite detection unit. The controller is used to control the rotation of the workpiece bearing device, control the multi-degree-of-freedom robot to drive the composite detection unit to move, and control the composite detection unit to perform detection work, and comprehensively determine whether the gearbox housing is qualified.

2. The transmission housing system systematic testing system according to claim 1, characterized in that: It also includes a leakage testing device for performing a sealing test on the test opening of the gearbox housing; the controller is also electrically connected to the leakage testing device, and the controller controls the leakage testing device to perform the leakage test.

3. The transmission housing system systematic testing system according to claim 1, characterized in that: The workpiece bearing device is a high-precision servo rotary table with angle positioning and locking functions.

4. The transmission housing system systematic testing system according to claim 2, characterized in that: The controller includes a data fusion processing unit, which compares the two-dimensional image of the gearbox housing, the three-dimensional point cloud, the internal video stream, and the leakage test data collected by the leakage test device with the pre-stored standard digital model to comprehensively evaluate the dimensional deviation, geometric tolerance, internal cavity defects, and sealing performance of the gearbox housing.

5. A transmission housing system for systematic testing according to claim 1, characterized in that: It also includes a data server electrically connected to the controller, used to store detection data and support traceability.

6. The transmission housing system systematic testing system according to claim 1, characterized in that: It also includes an operator interface electrically connected to the controller, which is an industrial touch screen for parameter setting, manual equipment debugging, real-time monitoring of the testing process, and real-time display of testing data.

7. A systematic testing method for a gearbox housing, characterized in that: Includes the following steps: S1. Loading and positioning steps: The gearbox housing is transported to the workpiece bearing device and clamped and positioned. S2. Coarse positioning and initial appearance inspection steps: Control the composite detection unit at the end of the multi-degree-of-freedom robot to move to the preset position, and use the binocular stereo vision camera in the composite detection unit to acquire a two-dimensional image of the gearbox housing. S3, Three-dimensional precise measurement steps: Control the multi-degree-of-freedom robot to guide the structured light 3D scanner in the composite detection unit to collect the 3D point cloud of the gearbox housing according to the preset path; S4. Internal cavity defect detection steps: Control the multi-degree-of-freedom robot to guide the industrial endoscope camera in the composite detection unit to probe the oil passage, bolt hole and internal cavity of the housing to obtain the internal cavity video stream; S5. Leakage test procedure: Control the leakage test device to automatically seal, inflate, maintain pressure and depressurize each test port of the gearbox housing, and obtain leakage rate curve data; S6. Data Fusion Judgment Step: Upload the two-dimensional appearance image, three-dimensional point cloud, endoscopic video stream and leakage rate curve data collected in steps S2-S5 to the controller, compare and analyze them with the standard digital model pre-stored in the controller, comprehensively evaluate the appearance defects, dimensional deviations, geometric tolerances, internal defects and sealing performance of the gearbox housing, and output a comprehensive judgment result on whether it is qualified.

8. A systematic testing method for a gearbox housing according to claim 7, characterized in that: The workpiece bearing device is a high-precision servo rotary table, which can perform indexing rotation to achieve precise stopping and attitude locking of the gearbox housing at any horizontal angle of 360°.

9. A systematic testing method for a gearbox housing according to claim 7, characterized in that: It also includes a data traceability step: the inspection data and comprehensive judgment results of each gearbox housing are uploaded to the data server in real time for archiving and storage.

10. A systematic testing method for a gearbox housing according to claim 7, characterized in that: When it is necessary to switch to inspect different models of gearbox housings, simply call the corresponding standard digital model and inspection program in the controller, and the multi-degree-of-freedom robot and composite inspection unit will automatically load the new motion trajectory and inspection parameters without changing the physical tooling.

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