Industrial visual inspection apparatus, inspection method and application in extra-high voltage porcelain insulator

Abstract

The application discloses an industrial visual detection device, a detection method and an application in extra-high voltage porcelain insulators, relates to the technical field of visual detection, and comprises a base, a lower support arranged on one side of the base, two same gantry frames fixedly connected to the two sides of the lower support, a detection auxiliary mechanism arranged on the gantry frame, two electric guide rails included in the detection auxiliary mechanism, and two fixing frames arranged on the two sides of the gantry frame. The industrial visual detection device has the advantages that the porcelain insulator is moved to the lower side of a visual detection module through a conveying belt, a hydraulic cylinder drives an industrial suction disc to contact and start a vacuum pump to rapidly clamp, then a rotating motor drives the porcelain insulator to rotate, detection is completed by the visual detection module and a laser detection module, then one side of the industrial suction disc is loosened, an electric guide rail drives an electric sliding block to move along the curved surface direction, the end of the porcelain insulator is inclined upward, end overall detection is realized, another end is replaced to repeat detection, and therefore, overall detection effect is achieved.

Description

Technical Field

[0001] This invention relates to the field of visual inspection technology, and more particularly to industrial visual inspection equipment and methods. Background Technology

[0002] Industrial visual inspection equipment and its supporting inspection methods are gradually replacing traditional manual visual inspection, becoming the core technology for high-precision and high-efficiency defect identification. The complex curved surface structure and reflective characteristics of porcelain insulators often lead to false detections or missed detections in conventional visual inspection systems. Introducing laser measuring instruments can obtain high-precision three-dimensional contour data, making up for the lack of depth information in two-dimensional images. Therefore, integrating advanced processing strategies from laser measuring instruments and non-graphic wafer defect detection methods with visual inspection algorithms for complex surfaces to develop new industrial visual inspection equipment and inspection methods suitable for ultra-high voltage porcelain insulators has become an important research direction for ensuring the reliability of power equipment.

[0003] In existing industrial vision inspection equipment, after the porcelain insulator is transported to the bottom of the vision inspection module, it needs to be clamped and rotated by clamping mechanisms at both ends. However, after clamping at both ends, there is a contact coverage area between the clamping mechanism and the porcelain insulator, which will prevent the vision inspection module from inspecting this area and affect the comprehensiveness of the visual inspection of the porcelain insulator. Summary of the Invention

[0004] This invention discloses an industrial visual inspection device, which aims to solve the technical problem in existing equipment where the contact surface between the clamping mechanism at both ends and the porcelain insulator obstructs visual inspection and affects the comprehensiveness of the inspection.

[0005] To achieve the above objectives, the present invention adopts the following technical solution: Industrial visual inspection equipment, including: Base; The lower support is set on one side of the base, and the same gantry frame is fixedly connected to both sides of the lower support; A detection auxiliary mechanism is mounted on a gantry frame, and the detection auxiliary mechanism includes two electrical guide rails; Two fixed frames are installed on both sides of the gantry frame; Mounting rods are installed on both sides of the gantry frame; Side baffles are provided on each mounting rod; A pre-cleaning mechanism is disposed on two of the side baffles. The pre-cleaning mechanism includes a mounting frame, which is fixedly connected to the opposite side of the two side baffles. An assembly box is located on the top of the gantry frame facing downwards, and a visual inspection module and a laser inspection module are provided at the bottom of the assembly box.

[0006] In a preferred embodiment, the detection auxiliary mechanism further includes: Both electric sliders are slidably connected inside the corresponding electric rails; The drive shaft is inserted into a pre-drilled hole on one of the electric sliders. An external ring frame is fixedly connected to the outer side wall of the electric slider near the drive shaft, and a rotary motor is fixedly connected in the external ring frame. The output shaft of the rotary motor is connected to one end of the drive shaft through a coupling. The follower shaft has its bearing connected to a shaft hole opened on another electric slider; Two rotating ring plates are fixedly connected to the ends of the driving shaft and the follower shaft, respectively.

[0007] In a preferred embodiment, the detection auxiliary mechanism further includes: The push plate has two hydraulic cylinders fixedly connected to the side of the rotating ring plate away from the push plate. The push plate is fixedly connected to the output end of the two hydraulic cylinders. Telescopic connecting rods are distributed in a ring on the opposite side of the push plate and the rotating ring plate. The pump ring frame is located on the side of the push plate facing the rotating ring plate; Vacuum pump, mounted on pump ring frame; An industrial suction cup is positioned on the side of the push plate away from the rotating ring plate, and the vacuum pump's vacuuming end is connected to the interior of the industrial suction cup via a pipe.

[0008] In a preferred embodiment, an adjusting guide rail is fixedly connected to the top of each of the two fixing frames, and an adjusting slider is symmetrically slidably connected inside each of the two adjusting guide rails. A connecting rod is fixedly connected to the top of each adjusting slider, and an electric guide rail is fixedly connected to the ends of two adjacent connecting rods. A push cylinder is fixedly connected to the side wall of each adjusting slider near the fixing frame, and the output end of the push cylinder is fixedly connected to one side of the adjacent adjusting slider.

[0009] In a preferred embodiment, it also includes: Two unfolding plates are located on the side of the push plate away from the rotating ring plate. An unfolding cylinder is fixedly connected to the same side of both unfolding plates, and an unfolding block is fixedly connected to the output end of both unfolding cylinders. Two hydraulic cylinders are respectively located on opposite sides of the two unfolding blocks, and the output ends of the two hydraulic cylinders are fixedly connected to an extension pressure plate; Two protective pads are respectively placed on opposite sides of the two extended pressure plates.

[0010] In a preferred embodiment, one end of the follower shaft is fixedly connected to a central connecting rod, and the end of the central connecting rod is fixedly connected to a separation ring plate. Two hydraulic cylinders are fixedly connected to one side of the separation ring plate, and the output ends of the two hydraulic cylinders are fixedly connected to the same positioning friction ring. Another electric slider has an adapter groove on the outer wall of the positioning friction ring, and the positioning friction ring is adapted to the adapter groove.

[0011] In a preferred embodiment, the pre-cleaning mechanism further includes: Two lifting slides are provided on both sides of the mounting frame, and a lifting slide is slidably connected in each of the two lifting slides; A drive motor is installed on one side of one of the lifting slides. The output shaft of the drive motor is fixedly connected to a rotating shaft through a coupling. The rotating shaft passes through a through hole in the lifting slide. A collection pump is located on one side of another lifting slide, and a hollow connecting shaft is fixedly connected to the collection end of the collection pump; A hollow rotating cylinder is set at one end of a rotating shaft. One end of the hollow connecting shaft is connected to a shaft hole opened at the end of the hollow rotating cylinder through a bearing. A dust suction hole is opened in the annular shape on the outer wall of the hollow rotating cylinder. A ring rod is fixedly connected to the outer wall of the hollow rotating cylinder near both ends. A flipping through rod is fixedly connected at equal distances on the opposite side of the two ring rods. The outer wall of the flipping through rod is provided with bristles. Two top blocks are set on the top of the mounting frame above the two lifting slides. The bottom of each of the two top blocks is fixedly connected to a lifting cylinder, and the output end of the lifting cylinder is fixedly connected to the top of the adjacent lifting slide. A connecting plate is disposed on the top of the mounting frame, and a vision sensor is fixedly connected to the bottom of the connecting plate; A dust collection box is located on the top of the base near the collecting pump. The conveying end of the collecting pump is fixedly connected to a dust conveying pipe, and one end of the dust conveying pipe is inserted into the inside of the dust collection box.

[0012] In a preferred embodiment, it also includes: The conveyor belt has two shaft plates fixedly connected to both the base and the lower support. Each pair of adjacent shaft plates is connected to a conveyor shaft via a bearing. Conveyor rollers are fixedly connected to the outer walls of the two conveyor shafts. The conveyor belt is sleeved on the outer walls of the two conveyor rollers. The gantry frame is located outside the conveyor belt. A motor base is located on one side of the base. A conveyor motor is fixedly connected to the motor base. The output shaft of the conveyor motor is fixedly connected to a drive shaft through a coupling. A driving tooth is fixedly connected to the outer side wall of the drive shaft. A driven tooth is fixedly connected to the outer side wall of one of the conveyor shafts. The driving tooth and the driven tooth mesh with each other. The same long plate is fixedly connected to the opposite side of two shaft plates located on one side of the conveyor belt. Support rollers are connected to the opposite side of the two long plates at equal distances through bearings. The support rollers are in contact with the conveyor belt. Two robotic arms are mounted on the top of the base at both ends of the conveyor belt, and each robotic arm has a clamping mechanism at its output port. Two collection boxes are installed in mounting holes on the base near the robotic arm, and partitions are fixedly connected to the bottom inner walls of both collection boxes.

[0013] An industrial vision inspection method, using the industrial vision inspection equipment as described above, includes the following steps: Step 1: Turn on the conveyor belt and place the porcelain insulators on the conveyor belt one by one. When they are conveyed to the bottom of the mounting frame, the vision sensor detects the porcelain insulators. The lifting cylinder drives the hollow drum to descend to the specified height and starts the drive motor. The rotating brush brushes off the dust on the surface. During the rotation of the hollow drum, the flipping through rod outside plays an auxiliary rolling effect on the porcelain insulators. Together with the brush, it can achieve all-round cleaning of the surface of the porcelain insulators. Step Two: After cleaning, the porcelain insulators continue to be transported to the bottom of the gantry. The vision inspection module detects the porcelain insulators, and the hydraulic cylinder drives the industrial suction cup to contact the porcelain insulators. The vacuum pump is started, and the vacuum pump quickly clamps the porcelain insulators through the industrial suction cups. After the porcelain insulators are quickly positioned and clamped, the rotary motor is started, which drives the porcelain insulators to rotate. The vision inspection module and the laser inspection module then inspect them. After the rotation inspection is completed, the industrial suction cup on one side releases its grip on the porcelain insulators. The electric guide rail on the other end drives the electric slider to move downwards along the curved path. The released end of the porcelain insulator moves upwards along the curved path. The vision inspection module and the laser inspection module can perform all-round inspection of the upper end. After one end is inspected, it is replaced with the other end. Step 3: After the porcelain insulator has been inspected, it is conveyed to the robotic arm by the conveyor belt. The robotic arm drives the clamping mechanism to clamp the porcelain insulator and move it into the collection box, thus ending the operation.

[0014] An industrial vision inspection device based on the above-described method is applied in ultra-high voltage porcelain insulators.

[0015] As can be seen from the above, the industrial vision inspection equipment provided by the present invention has the following technical effects: the porcelain insulator is moved to the bottom of the vision inspection module by a conveyor belt; a hydraulic cylinder drives an industrial suction cup to contact and start a vacuum pump to quickly clamp it; then a rotary motor drives the porcelain insulator to rotate; the vision inspection module and the laser inspection module complete the inspection; then one side of the industrial suction cup is released; the electric guide rail drives the electric slider to move along a curved path, so that the porcelain insulator tilts upward, realizing all-round inspection of the end; then the other end is inspected repeatedly, thereby achieving all-round inspection. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the overall structure of the industrial vision inspection equipment proposed in this invention.

[0017] Figure 2 This is a top view of the overall structure of the industrial vision inspection equipment proposed in this invention.

[0018] Figure 3This is a schematic diagram of the combined structure of the gantry, vision inspection module, laser inspection module and inspection auxiliary mechanism of the industrial vision inspection equipment proposed in this invention.

[0019] Figure 4 This is a schematic diagram of the detection auxiliary mechanism of the industrial vision inspection equipment proposed in this invention.

[0020] Figure 5 This is a schematic diagram of the combined structure of the electric guide rail, industrial suction cup, extension pressure plate and rotating ring plate of the industrial vision inspection equipment proposed in this invention.

[0021] Figure 6 for Figure 5 A schematic diagram of the planar structure.

[0022] Figure 7 This is an exploded view of the follower shaft, electric slider, and positioning friction ring structure of the industrial vision inspection equipment proposed in this invention.

[0023] Figure 8 This is a schematic diagram of the pre-cleaning mechanism of the industrial vision inspection equipment proposed in this invention.

[0024] Figure 9 for Figure 8 A schematic diagram of the planar structure.

[0025] Figure 10 This is a schematic diagram of the combined structure of the conveyor belt, conveyor motor, and lower support of the industrial vision inspection equipment proposed in this invention.

[0026] In the diagram: 1. Base; 2. Robotic arm; 3. Clamping mechanism; 4. Partition; 5. Collection box; 6. Side baffle; 7. Gantry frame; 8. Detection auxiliary mechanism; 801. Electric guide rail; 802. Industrial suction cup; 803. Rotary motor; 804. Electric slider; 805. External ring frame; 806. Rotating ring plate; 807. Push plate; 808. Hydraulic cylinder one; 809. Drive shaft; 810. Follower shaft; 811. Vacuum pump; 812. Telescopic connecting rod; 813. Pump ring frame; 9. Pre-cleaning mechanism; 901. Mounting bracket; 902. Drive motor; 903. Lifting slide; 904. Rotating shaft; 905. Lifting slide; 906. Vision sensor; 907. Hollow rotating drum; 908. Hollow connecting shaft; 909. Collection pump; 910. Lifting cylinder; 911. Top block; 912. Connecting plate; 91 3. Ring rod; 914. Dust suction hole; 915. Brush bristles; 916. Tilting through rod; 10. Conveyor belt; 11. Conveyor shaft; 12. Shaft plate; 13. Lower bracket; 14. Dust conveying pipe; 15. Dust collection box; 16. Conveyor motor; 17. Motor base; 18. Mounting rod; 19. Push cylinder; 20. Vision inspection module; 21. Laser inspection module; 22. Assembly box; 23. Connecting rod; 24. Fixing Frame; 25. Adjusting guide rail; 26. Adjusting slider; 27. Unfolding plate; 28. Extension pressure plate; 29. ​​Protective pad; 30. Unfolding block; 31. Unfolding cylinder; 32. Hydraulic cylinder two; 33. Adaptive ring groove; 34. Separating ring plate; 35. Central connecting rod; 36. Hydraulic cylinder three; 37. Positioning friction ring; 38. Driven rotating gear; 39. Active rotating gear; 40. Drive shaft; 41. Long plate; 42. Supporting slide roller. Detailed Implementation

[0027] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0028] The industrial vision inspection equipment disclosed in this invention is mainly used in existing equipment in scenarios where the contact surface between the clamping mechanism at both ends and the porcelain insulator will obstruct the vision inspection and affect the comprehensiveness of the inspection.

[0029] Reference Figures 1-10 Industrial visual inspection equipment, including: Base 1; The lower support 13 is located on one side of the base 1, and the same gantry frame 7 is fixedly connected to both sides of the lower support 13. The detection auxiliary mechanism 8 is mounted on the gantry 7 and includes two electric guide rails 801. Two fixing brackets 24 are set on both sides of the gantry frame 7; Mounting rods 18 are installed on both sides of the gantry frame 7; Side baffles 6 are provided on each mounting rod 18; The pre-cleaning mechanism 9 is disposed on two of the side baffles 6. The pre-cleaning mechanism 9 includes a mounting bracket 901, and the mounting bracket 901 is fixedly connected to the opposite side of the two side baffles 6. Assembly box 22 is located on the top of the gantry 7 facing downwards, and the bottom of assembly box 22 is provided with vision inspection module 20 and laser inspection module 21.

[0030] In a specific application scenario, when the porcelain insulator moves to below the vision inspection module 20 via the conveyor belt 10, the hydraulic cylinder 808 drives the industrial suction cup 802 to contact the porcelain insulator, activating the vacuum pump 811. The vacuum pump 811 quickly clamps the porcelain insulator via the industrial suction cup 802. After the porcelain insulator is quickly positioned and clamped, the rotary motor 803 is activated, causing the porcelain insulator to rotate. This allows the vision inspection module 20 and the laser inspection module 21 to inspect the porcelain insulator. After the rotation inspection is completed, the industrial suction cup 802 on one side releases its grip on the porcelain insulator. The electric guide rail 801 on the other end then drives the electric slider 804 to move downwards along a curved path. The released end of the porcelain insulator moves upwards along a curved path, allowing the vision inspection module 20 and the laser inspection module 21 to perform omnidirectional inspection of the upper end. After one end is inspected, the inspection is switched to the other end, thereby using the inspection auxiliary mechanism 8 to rotate and move the porcelain insulator along a curved path, achieving omnidirectional inspection of the porcelain insulator.

[0031] Specifically, after the industrial suction cup 802 at the porcelain insulator separates from the drive shaft 809, the hydraulic cylinder 36 is adjusted to drive the positioning friction ring 37 to be squeezed into the matching ring groove 33 of the electric slider 804. Through the relative engagement of the positioning friction ring 37 and the matching ring groove 33, it is ensured that the follower shaft 810 will not deflect due to gravity, and that the porcelain insulator remains in a stable state after moving along the curved path.

[0032] It should be noted that when performing end movement detection on the porcelain insulator, adjusting the unfolding cylinder 31 to drive the extension pressure plate 28 to move towards the porcelain insulator, the hydraulic cylinder 32 will drive the extension pressure plate 28 to further clamp the porcelain insulator, ensuring its stability after end movement. At the same time, the installation of the protective pad 29 reduces the extrusion and friction damage to the surface of the porcelain insulator.

[0033] Reference Figures 1-7 In a preferred embodiment, the detection auxiliary mechanism 8 further includes: Both electric sliders 804 are slidably connected inside the corresponding electric rails 801; The drive shaft 809 is inserted into a reserved hole on one of the electric sliders 804. An outer ring frame 805 is fixedly connected to the outer side wall of the electric slider 804 near the drive shaft 809, and a rotary motor 803 is fixedly connected in the outer ring frame 805. The output shaft of the rotary motor 803 is connected to one end of the drive shaft 809 through a coupling. The follower shaft 810 has its bearing connected to a shaft hole opened on another electric slider 804; Two rotating ring plates 806 are fixedly connected to the ends of the drive shaft 809 and the follower shaft 810, respectively.

[0034] Reference Figure 5 and Figure 6 In a preferred embodiment, the detection auxiliary mechanism 8 further includes: Two hydraulic cylinders 808 are fixedly connected to the side of the push plate 807 and the rotating ring plate 806 away from the push plate 807. The push plate 807 is fixedly connected to the output end of the two hydraulic cylinders 808. Telescopic connecting rods 812 are distributed in a ring on the opposite side of the push plate 807 and the rotating ring plate 806. Pump ring frame 813 is located on the side of push plate 807 facing rotating ring plate 806; Vacuum pump 811 is mounted on pump ring frame 813; The industrial suction cup 802 is located on the side of the push plate 807 away from the rotating ring plate 806, and the vacuum pump 811 is connected to the inside of the industrial suction cup 802 through a pipe.

[0035] Reference Figure 1 , Figure 3 and Figure 4 In a preferred embodiment, an adjusting guide rail 25 is fixedly connected to the top of each of the two fixed frames 24. An adjusting slider 26 is symmetrically slidably connected inside each of the two adjusting guide rails 25. A connecting rod 23 is fixedly connected to the top of each adjusting slider 26. An electric guide rail 801 is fixedly connected to the ends of two adjacent connecting rods 23. A push cylinder 19 is fixedly connected to the side wall of each adjusting slider 26 near the fixed frame 24. The output end of the push cylinder 19 is fixedly connected to one side of the adjacent adjusting slider 26.

[0036] Reference Figure 5 and Figure 6 In a preferred embodiment, it further includes: Two unfolding plates 27 are set on the side of the push plate 807 away from the rotating ring plate 806. An unfolding cylinder 31 is fixedly connected to the same side of the two unfolding plates 27, and an unfolding block 30 is fixedly connected to the output end of the two unfolding cylinders 31. Two hydraulic cylinders 32 are respectively set on opposite sides of the two unfolding blocks 30, and the output ends of the two hydraulic cylinders 32 are fixedly connected to the extension pressure plate 28. Two protective pads 29 are respectively disposed on opposite sides of the two extended pressure plates 28.

[0037] Reference Figure 7 In a preferred embodiment, a central connecting rod 35 is fixedly connected to one end of the follower shaft 810, and a separation ring plate 34 is fixedly connected to the end of the central connecting rod 35. Two hydraulic cylinders 36 are fixedly connected to one side of the separation ring plate 34, and the output ends of the two hydraulic cylinders 36 are fixedly connected to the same positioning friction ring 37. Another electric slider 804 has an adapter ring groove 33 facing the outer side wall of the positioning friction ring 37, and the positioning friction ring 37 is adapted to the adapter ring groove 33.

[0038] Reference Figure 1 , Figure 8 and Figure 9 In a preferred embodiment, the pre-cleaning mechanism 9 further includes: Two lifting slides 905 are provided on both sides of the mounting frame 901, and a lifting slide 903 is slidably connected in each of the two lifting slides 905. A drive motor 902 is located on one side of one of the lifting slides 903. The output shaft of the drive motor 902 is fixedly connected to a rotating shaft 904 via a coupling. The rotating shaft 904 passes through a through hole opened on the lifting slide 903. A collection pump 909 is located on one side of another lifting slide 903, and a hollow connecting shaft 908 is fixedly connected to the collection end of the collection pump 909. A hollow rotating drum 907 is located at one end of a rotating shaft 904. One end of a hollow connecting shaft 908 is connected to a shaft hole at the end of the hollow rotating drum 907 via a bearing. A dust suction hole 914 is annularly opened on the outer wall of the hollow rotating drum 907. A ring rod 913 is fixedly connected to the outer wall of the hollow rotating drum 907 near both ends. A flipping through rod 916 is fixedly connected at equal distances on opposite sides of the two ring rods 913. The outer wall of the flipping through rod 916 is provided with bristles 915. Two top blocks 911 are set on the top of the mounting bracket 901 above the two lifting slides 905. The bottom of each of the two top blocks 911 is fixedly connected to a lifting cylinder 910, and the output end of the lifting cylinder 910 is fixedly connected to the top of the adjacent lifting slide 903. A connecting plate 912 is disposed on the top of the mounting bracket 901, and a vision sensor 906 is fixedly connected to the bottom of the connecting plate 912; The dust collection box 15 is located on the top of the base 1 near the collecting pump 909. The conveying end of the collecting pump 909 is fixedly connected to the dust conveying pipe 14, and one end of the dust conveying pipe 14 is inserted into the interior of the dust collection box 15.

[0039] Specifically, during the conveying process of the porcelain insulator, when it is conveyed to the area below the mounting frame 901, the vision sensor 906 detects the porcelain insulator. The lifting cylinder 910 drives the hollow rotating drum 907 to descend to the designated height, and the drive motor 902 is started. The rotating bristles 915 then brush off the dust on its surface. During the rotation of the hollow rotating drum 907, the external flipping through rod 916 provides an auxiliary rolling effect for the porcelain insulator. Together with the bristles 915, this achieves all-round cleaning of the porcelain insulator surface. At the same time, the collection pump 909 is in an open state, collecting the brushed-off dust through various suction holes 914 to prevent secondary pollution of the porcelain insulators. By pre-cleaning the porcelain insulators, the dust adhering to their surface during the conveying process is prevented from affecting the visual inspection results, thereby improving the accuracy of the visual inspection results.

[0040] Reference Figure 1 , Figure 2 and Figure 10 In a preferred embodiment, it further includes: Two shaft plates 12 are fixedly connected to the conveyor belt 10, the base 1, and the lower support 13. Each pair of adjacent shaft plates 12 is connected to a conveyor shaft 11 through a bearing. Conveyor rollers are fixedly connected to the outer walls of the two conveyor shafts 11. The conveyor belt 10 is sleeved on the outer walls of the two conveyor rollers. The gantry 7 is located outside the conveyor belt 10. A motor base 17 is disposed on one side of the base 1. A conveyor motor 16 is fixedly connected in the motor base 17. The output shaft of the conveyor motor 16 is fixedly connected to a drive shaft 40 through a coupling. An active rotating tooth 39 is fixedly connected to the outer side wall of the drive shaft 40. A driven rotating tooth 38 is fixedly connected to the outer side wall of one of the conveyor shafts 11. The active rotating tooth 39 and the driven rotating tooth 38 mesh with each other. The same long plate 41 is fixedly connected to the opposite side of two shaft plates 12 located on one side of the conveyor belt 10. Support rollers 42 are connected at equal distances to the opposite side of the two long plates 41 through bearings. The support rollers 42 are in contact with the conveyor belt 10. Two robotic arms 2 are mounted on the top of the base 1 at both ends of the conveyor belt 10, and each robotic arm 2 has a clamping mechanism 3 at its output port; Two collection boxes 5 are installed in the mounting holes opened on the base 1 near the robotic arm 2, and the bottom inner walls of the two collection boxes 5 are fixedly connected with partitions 4.

[0041] An industrial vision inspection method, using the industrial vision inspection equipment as described above, includes the following steps: Step 1: Turn on the conveyor belt 10 and place the porcelain insulators on the conveyor belt 10 in sequence. When they are conveyed to the bottom of the mounting frame 901, the vision sensor 906 detects the porcelain insulators. The lifting cylinder 910 drives the hollow rotating drum 907 to descend to the specified height. The drive motor 902 is started, and the rotating brush 915 brushes off the dust on the surface. During the rotation of the hollow rotating drum 907, the flipping through rod 916 outside plays an auxiliary rolling effect on the porcelain insulators. Together with the brush 915, it can achieve all-round cleaning of the surface of the porcelain insulators. Step 2: After cleaning, the porcelain insulator continues to be transported to the bottom of the gantry 7. The vision inspection module 20 detects the porcelain insulator, and the hydraulic cylinder 808 drives the industrial suction cup 802 to contact the porcelain insulator. The vacuum pump 811 is started, and the vacuum pump 811 quickly clamps the porcelain insulator through the industrial suction cup 802. After the porcelain insulator is quickly positioned and clamped, the rotary motor 803 is started, and the rotary motor 803 drives the porcelain insulator to rotate, thereby inspecting it through the vision inspection module 20 and the laser inspection module 21. After the rotation inspection is completed, the industrial suction cup 802 on one side releases its grip on the porcelain insulator, and the electric guide rail 801 on the other end drives the electric slider 804 to move downward along the curved path. The loosened end of the porcelain insulator moves upward along the curved path, and the vision inspection module 20 and the laser inspection module 21 can perform all-round inspection of the upper end. After the inspection of one end is completed, it is replaced with the other end. Step 3: After the porcelain insulator has been inspected, it is conveyed to the robotic arm 2 by the conveyor belt 10. The robotic arm 2 drives the clamping mechanism 3 to clamp the porcelain insulator and move it into the collection box 5, thus ending the operation.

[0042] An industrial vision inspection device based on the above-described method is applied in ultra-high voltage porcelain insulators.

[0043] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. An industrial vision inspection device, characterized in that, include: Base (1); The lower support (13) is located on one side of the base (1), and the same gantry frame (7) is fixedly connected to both sides of the lower support (13). The detection auxiliary mechanism (8) is set on the gantry (7), and the detection auxiliary mechanism (8) includes two electric rails (801). Two fixed brackets (24) are set on both sides of the gantry (7); Mounting rods (18) are installed on both sides of the gantry frame (7); Side baffles (6) are provided on each mounting rod (18); A pre-cleaning mechanism (9) is provided on two of the side baffles (6). The pre-cleaning mechanism (9) includes a mounting bracket (901), and the mounting bracket (901) is fixedly connected to the opposite side of the two side baffles (6). The assembly box (22) is located on the top of the gantry (7) facing downwards, and the bottom of the assembly box (22) is provided with a visual inspection module (20) and a laser inspection module (21).

2. The industrial vision inspection equipment according to claim 1, characterized in that, The detection auxiliary mechanism (8) also includes: Both electric sliders (804) are slidably connected inside the corresponding electric rails (801); The drive shaft (809) is inserted into a reserved hole on one of the electric sliders (804). An outer ring frame (805) is fixedly connected to the outer side wall of the electric slider (804) near the drive shaft (809), and a rotary motor (803) is fixedly connected in the outer ring frame (805). The output shaft of the rotary motor (803) is connected to one end of the drive shaft (809) through a coupling. The follower shaft (810) has its bearing connected to a shaft hole opened on another electric slider (804); Two rotating ring plates (806) are fixedly connected to the ends of the drive shaft (809) and the follower shaft (810), respectively.

3. The industrial vision inspection equipment according to claim 2, characterized in that, The detection auxiliary mechanism (8) also includes: The push plate (807) and the rotating ring plate (806) are fixedly connected to two hydraulic cylinders (808) on the side away from the push plate (807). The push plate (807) is fixedly connected to the output end of the two hydraulic cylinders (808). Telescopic connecting rods (812) are distributed in a ring on the opposite side of the push plate (807) and the rotating ring plate (806). The pump ring frame (813) is located on the side of the push plate (807) facing the rotating ring plate (806); A vacuum pump (811) is mounted on a pump ring frame (813); An industrial suction cup (802) is located on the side of the push plate (807) away from the rotating ring plate (806), and the vacuum pump (811) is connected to the inside of the industrial suction cup (802) through a pipe.

4. The industrial vision inspection equipment according to claim 1, characterized in that, The top of each of the two fixed frames (24) is fixedly connected to an adjusting guide rail (25), and the interior of each of the two adjusting guide rails (25) is symmetrically connected to an adjusting slider (26). The top of each adjusting slider (26) is fixedly connected to a connecting rod (23). An electric guide rail (801) is fixedly connected to the ends of two adjacent connecting rods (23). The side wall of each fixed frame (24) near each adjusting slider (26) is fixedly connected to a push cylinder (19), and the output end of the push cylinder (19) is fixedly connected to one side of the adjacent adjusting slider (26).

5. The industrial vision inspection equipment according to claim 3, characterized in that, Also includes: Two unfolding plates (27) are set on the side of the push plate (807) away from the rotating ring plate (806). An unfolding cylinder (31) is fixedly connected to the same side of the two unfolding plates (27), and an unfolding block (30) is fixedly connected to the output end of the two unfolding cylinders (31). Two hydraulic cylinders (32) are respectively set on opposite sides of the two unfolding blocks (30), and the output ends of the two hydraulic cylinders (32) are fixedly connected to the extension pressure plate (28). Two protective pads (29) are respectively disposed on opposite sides of two extended pressure plates (28).

6. The industrial vision inspection equipment according to claim 2, characterized in that, One end of the follower shaft (810) is fixedly connected to a central connecting rod (35), and the end of the central connecting rod (35) is fixedly connected to a separation ring plate (34). Two hydraulic cylinders (36) are fixedly connected to one side of the separation ring plate (34). The output ends of the two hydraulic cylinders (36) are fixedly connected to the same positioning friction ring (37). Another electric slider (804) has a matching ring groove (33) facing the outer wall of the positioning friction ring (37). The positioning friction ring (37) is matched with the matching ring groove (33).

7. The industrial vision inspection equipment according to claim 5, characterized in that, The pre-cleaning mechanism (9) also includes: Two lifting slides (905) are provided on both sides of the mounting frame (901), and a lifting slide (903) is slidably connected in each of the two lifting slides (905). A drive motor (902) is installed on one side of one of the lifting slides (903). The output shaft of the drive motor (902) is fixedly connected to a rotating shaft (904) via a coupling. The rotating shaft (904) passes through a through hole opened on the lifting slide (903). A collection pump (909) is located on one side of another lifting slide (903), and a hollow connecting shaft (908) is fixedly connected to the collection end of the collection pump (909). A hollow rotating cylinder (907) is disposed at one end of a rotating shaft (904). One end of the hollow connecting shaft (908) is connected to the shaft hole opened at the end of the hollow rotating cylinder (907) through a bearing. A dust suction hole (914) is opened in the annular shape on the outer wall of the hollow rotating cylinder (907). A ring rod (913) is fixedly connected to the outer wall of the hollow rotating cylinder (907) near both ends. A flipping through rod (916) is fixedly connected at equal distances on the opposite side of the two ring rods (913). The outer wall of the flipping through rod (916) is provided with bristles (915). Two top blocks (911) are set on the top of the mounting bracket (901) above the two lifting slides (905). The bottom of each of the two top blocks (911) is fixedly connected to a lifting cylinder (910). The output end of the lifting cylinder (910) is fixedly connected to the top of the adjacent lifting slide (903). A connecting plate (912) is disposed on the top of the mounting bracket (901), and a vision sensor (906) is fixedly connected to the bottom of the connecting plate (912). The dust collection box (15) is located on the base (1) near the top of the collection pump (909). The conveying end of the collection pump (909) is fixedly connected to the dust conveying pipe (14), and one end of the dust conveying pipe (14) is inserted into the inside of the dust collection box (15).

8. The industrial vision inspection equipment according to claim 1, characterized in that, Also includes: The conveyor belt (10) has two shaft plates (12) fixedly connected to the base (1) and the lower support (13), and each pair of adjacent shaft plates (12) is connected to a conveyor shaft (11) by a bearing. The outer walls of the two conveyor shafts (11) are fixedly connected to conveyor rollers. The conveyor belt (10) is sleeved on the outer walls of the two conveyor rollers. The gantry frame (7) is located outside the conveyor belt (10). A motor base (17) is set on one side of the base (1). A conveyor motor (16) is fixedly connected in the motor base (17). The output shaft of the conveyor motor (16) is fixedly connected to a drive shaft (40) through a coupling. An active rotating tooth (39) is fixedly connected to the outer side wall of the drive shaft (40). A driven rotating tooth (38) is fixedly connected to the outer side wall of one of the conveyor shafts (11). The active rotating tooth (39) and the driven rotating tooth (38) mesh with each other. The same long plate (41) is fixedly connected to the opposite side of two shaft plates (12) located on one side of the conveyor belt (10). The opposite side of the two long plates (41) is connected to a support roller (42) at equal distances through bearings. The support roller (42) is in contact with the conveyor belt (10). Two robotic arms (2) are set on the top of the base (1) at both ends of the conveyor belt (10), and a clamping mechanism (3) is provided at the output port of each robotic arm (2). Two collection boxes (5) are installed in the mounting holes opened on the base (1) near the robotic arm (2), and the bottom inner walls of the two collection boxes (5) are fixedly connected with partitions (4).

9. An industrial vision inspection method, using the industrial vision inspection equipment as described in claim 7, characterized in that, Includes the following steps: Step 1: Turn on the conveyor belt (10) and place the porcelain insulators on the conveyor belt (10) in sequence. When they are conveyed to the bottom of the mounting frame (901), the vision sensor (906) detects the porcelain insulators. The lifting cylinder (910) drives the hollow drum (907) to descend to the specified height. Start the drive motor (902), and the rotating brush (915) brushes off the dust on its surface. During the rotation of the hollow drum (907), the flipping through rod (916) outside it plays an auxiliary rolling effect on the porcelain insulators. Together with the brush (915), it can achieve all-round cleaning of the surface of the porcelain insulators. Step 2: After cleaning, the porcelain insulator is transported to the bottom of the gantry (7). The vision inspection module (20) detects the porcelain insulator, and the hydraulic cylinder (808) drives the industrial suction cup (802) to contact the porcelain insulator. The vacuum pump (811) is started. The vacuum pump (811) quickly clamps the porcelain insulator through the industrial suction cup (802). After the porcelain insulator is quickly positioned and clamped, the rotary motor (803) is started. The rotary motor (803) drives the porcelain insulator to rotate, so that it can be inspected by the vision inspection module (20) and the laser inspection module (21). After the rotation inspection is completed, the industrial suction cup (802) on one side releases the clamp on the porcelain insulator. Then the electric guide rail (801) on the other end drives the electric slider (804) to move downward along the curved path. Then the loosened end of the porcelain insulator moves upward along the curved path. The vision inspection module (20) and the laser inspection module (21) can perform all-round inspection on the upper end. After the inspection of one end is completed, it is replaced to the other end. Step 3: After the porcelain insulator is inspected, it is transported to the robotic arm (2) by the conveyor belt (10). The robotic arm (2) drives the clamping mechanism (3) to clamp the porcelain insulator and move it into the collection box (5) to end the operation.

10. An industrial vision inspection device based on any one of claims 1-9 is used in ultra-high voltage porcelain insulators.

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