On-line automatic detection device and method for surface defects of porcelain insulator by machine vision

Abstract

The application discloses a porcelain insulator surface defect on-line automatic detection device and method of machine vision, relates to the technical field of insulator vision detection, and comprises a supporting seat, and a synchronous distance adjusting piece connected with a guide rod is arranged on the inner side of the limiting groove. The synchronous distance adjusting piece is arranged, the rotation of the threaded screw rod is driven by the first servo motor, the center of the porcelain insulator is moved to the position coaxial with the center of the clamping hole, the second U-shaped frame pulls the first piston rod through the first U-shaped frame in the process that the sliding block moves to the center of the clamping hole, so that the positioning frame drives the guide rod to move downward, the horizontal height of the visual intelligent detection probe is changed through the downward movement of the guide rod, and therefore the distance from the visual intelligent detection probe to the top of the detection table can be adjusted according to the diameter of the porcelain insulator, machine position calibration is not needed repeatedly, multi-specification mixed flow automatic detection is adapted to the production line, equipment debugging time is reduced, and batch quality inspection efficiency is improved.

Description

Technical Field

[0001] This invention relates to the field of visual inspection technology for insulators, specifically to an online automatic inspection device and method for surface defects of porcelain insulators using machine vision. Background Technology

[0002] Porcelain insulators are the core insulating load-bearing components of overhead transmission lines and substation equipment. During the production stage, hidden defects such as dark cracks and glaze defects are prone to occur during the molding and firing processes. If these defects are not detected in time, they will gradually develop into zero-value insulators after being put into operation, causing partial discharge and line flashover tripping, which seriously threatens the overall operational safety of the power grid. Therefore, high-precision visual full-surface inspection of individual porcelain insulators is a key process for production quality inspection and power grid warehousing re-inspection.

[0003] Existing visual inspection equipment for porcelain insulators mostly uses fixed installation structures for its probes. The process of adjusting the shooting distance between the probe and the insulator is quite cumbersome. There are many models of porcelain insulators for transmission lines, and the diameter of the skirts varies greatly among different specifications. The skirts of large-diameter insulators exceed the field of view of the lens, resulting in blurred images in the edge areas. Small-diameter insulators occupy too small a portion of the image, and the pixel features of minor defects are weak, which greatly increases the probability of missed or false detections by the visual algorithm. If the inspection probe is adjusted individually according to the diameter of a single porcelain insulator, it is not only cumbersome to operate, but also reduces the inspection efficiency. At the same time, the lens optical path cannot adaptively adjust the tilt angle according to the workpiece specifications. Curved and concave areas such as the inner side of the skirt and the root of the porcelain column and steel cap connection form blind spots, making it difficult to collect complete image information across the entire area. Summary of the Invention

[0004] The purpose of this invention is to provide an online automatic detection device and method for surface defects of porcelain insulators using machine vision, in order to solve the problem that the detection range cannot be adaptively adjusted.

[0005] To achieve the above objectives, the present invention provides the following technical solution: an online automatic detection device for surface defects of porcelain insulators using machine vision, comprising a support base, a detection platform mounted on the top of the support base, a connecting frame mounted on one end of the detection platform, a limiting guide block located above the detection platform on the top of the connecting frame, a guide rod extending to the bottom of the limiting guide block inserted into the top of the limiting guide block, a movable tilting member on the limiting guide block, a visual intelligent detection probe connected to the limiting guide block through the movable tilting member, a locking hole penetrating the detection platform on the inner side of the detection platform, multiple limiting grooves extending to the bottom of the detection platform on the top of the detection platform, the multiple limiting grooves being equidistantly distributed along the center of the locking hole, and a synchronous adjustment member connected to the guide rod being provided on the inner side of the limiting groove.

[0006] As a further embodiment of the present invention: the synchronous adjustment component includes a first servo motor installed inside the support base, the output end of the first servo motor is connected to a threaded screw, a push frame is sleeved on the outside of the threaded screw, a plurality of transmission frames are rotatably connected to the outside of the push frame via a rotating shaft, a second U-shaped frame is rotatably connected to the top of the transmission frame via a rotating shaft, a slider is provided on the top of the second U-shaped frame and slidably connected to a limiting groove, a rotating roller located inside the limiting groove is provided between adjacent sliders, a clamping roller is rotatably connected to the top of the slider via a bearing, a second servo motor is installed at the bottom of any second U-shaped frame, and the output end of the second servo motor is connected to the clamping roller.

[0007] As a further embodiment of the present invention: the synchronous adjustment component further includes a first piston cylinder installed at the bottom of the detection platform, a first piston rod extending to the outside of the first piston cylinder is inserted inside the first piston cylinder, a first U-shaped frame connected to the second U-shaped frame is installed at the end of the first piston rod away from the first piston cylinder, a connecting pipe is connected at the end of the first piston cylinder away from the first U-shaped frame, a second piston cylinder connected to the connecting frame is provided at the top of the connecting pipe, a second piston rod extending to the top of the second piston cylinder is inserted inside the second piston cylinder, an extension rod is connected at the top of the second piston rod, and a positioning frame connected to the top of the guide rod is provided at the top of the extension rod.

[0008] As a further embodiment of the present invention: the number of the rotating rollers and the sliders are both half the number of the limiting grooves, and the rotating rollers and the sliders are arranged alternately.

[0009] As a further embodiment of the present invention: the second piston cylinder has the same diameter as the first piston cylinder, and the second piston cylinder and the first piston cylinder are connected by a connecting pipe.

[0010] As a further embodiment of the present invention: the movable tilting member includes a movable chamber installed at the bottom of the guide rod. Limiting grooves are formed on both sides of the movable chamber. A second connecting shaft passing through the movable chamber is slidably connected to the inner side of the limiting grooves. A mounting seat located outside the movable chamber is provided on the second connecting shaft. A visual intelligent detection probe is installed at the bottom of the mounting seat. Second sleeve rods are fixedly connected to both ends of the second connecting shaft. An insert rod extending below the second sleeve rod is inserted into the inner side of the second sleeve rod. A first sleeve rod is sleeved on the outer side of the insert rod. A first connecting shaft is installed on one side of the first sleeve rod. The end of the first connecting shaft away from the first sleeve rod is rotatably connected to the detection platform via a bearing. A locking block located inside the movable chamber is provided on the outer side of the second connecting shaft. A telescopic cylinder is installed at one end of the movable chamber, and the extended end of the telescopic cylinder is connected to the locking block.

[0011] As a further embodiment of the present invention: the second coupling shaft and the clamping block are rotatably connected by bearings.

[0012] As a further embodiment of the present invention: the first connecting shafts on both sides of the detection stage are symmetrically arranged along the vertical central axis of the positioning hole.

[0013] As a further aspect of the present invention: the extension distance of the second sleeve relative to the insert rod is equal to the movement distance of the second piston rod relative to the second piston cylinder.

[0014] This invention also discloses a machine vision-based online automatic detection method for surface defects in porcelain insulators, employing the aforementioned machine vision-based online automatic detection device for surface defects in porcelain insulators, comprising the following steps: S1: First, place the porcelain insulator on the top of the testing platform and support it with a rotating roller; S2: Start the first servo motor, which drives the rotation of the screw to move the push frame upward along the screw. At this time, the push frame will squeeze the bottom of the transmission frame, which will cause the top of the transmission frame to squeeze the slider. This will cause the slider to move the clamping roller towards the center of the positioning hole. The clamping roller will then move the porcelain insulator, thereby moving the center of the porcelain insulator to a position coaxial with the center of the positioning hole. S3: As the slider moves toward the center of the locking hole, the second U-shaped frame pulls the first piston rod through the first U-shaped frame, thereby causing the first piston rod to extract the aqueous solution inside the second piston cylinder. At this time, the aqueous solution inside the second piston cylinder flows into the first piston cylinder through the connecting pipe, thereby causing the second piston rod to move downward relative to the second piston cylinder, thereby causing the positioning frame to push the guide rod downward. The downward movement of the guide rod changes the horizontal height of the visual intelligent detection probe, and the operation of the visual intelligent detection probe is used to collect the image of the top of the porcelain insulator. S4: When the visual intelligent detection probe tilts relative to the guide rod, the second servo motor is started. The operation of the second servo motor causes the clamping roller to rotate the porcelain insulator, so that the visual intelligent detection probe can perform all-round imaging and detection of the top surface of the porcelain insulator. S5: This allows the top connecting post of the porcelain insulator to be snapped into the locking hole. Then, through the coordinated operation of the synchronous adjustment component and the movable tilt component, a comprehensive inspection of the bottom of the porcelain insulator can be achieved.

[0015] Compared with the prior art, the beneficial effects of the present invention are: 1. By setting a synchronous adjustment component, the first servo motor drives the rotation of the threaded screw to move the push frame upward along the threaded screw. The clamping roller moves the porcelain insulator, thereby moving the center of the porcelain insulator to a position coaxial with the center of the positioning hole. During the movement of the slider towards the center of the positioning hole, the second U-shaped frame pulls the first piston rod through the first U-shaped frame, thereby causing the second piston rod to move downward relative to the second piston cylinder. This causes the positioning frame to push the guide rod downward, and the downward movement of the guide rod changes the horizontal height of the visual intelligent inspection probe. In this way, the distance from the visual intelligent inspection probe to the top of the inspection table can be adjusted according to the diameter of the porcelain insulator. There is no need to repeatedly calibrate the machine position. It is suitable for multi-specification mixed-flow automated inspection of production lines, reduces equipment debugging time, and improves batch quality inspection efficiency. 2. By setting an adjustable tilting element, when the second set of rods is vertical and the first set of rods is vertical, the visual intelligent detection probe is located directly above the second set of rods. When the porcelain insulator is placed on the top of the testing platform, the visual intelligent detection probe will take a top-down view of the porcelain insulator. When detecting the angle of the porcelain insulator, the telescopic cylinder is activated first. The contraction of the telescopic cylinder causes the locking block to move axially along the movable chamber. At this time, the second connecting shaft will move synchronously with the locking block. Since the second set of rods is connected to the first set of rods through the insertion rod, when the second connecting shaft moves horizontally, the second set of rods will tilt relative to the testing platform. This causes the second connecting shaft to tilt the mounting base, thus forming an angle between the visual intelligent detection probe and the top of the testing platform. Because the second set of rods and the visual intelligent detection probe tilt synchronously, the optical axis is always aligned with the center of the insulator, and the lens optical path fits the curved surface of the umbrella skirt, solving the problem of blind spots in the fixed vertical position and achieving full-surface acquisition of the insulator without blind spots. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic diagram of the bottom structure of the detection stage of the present invention; Figure 3 This is a schematic diagram showing the connection between the first piston cylinder and the second piston cylinder of the present invention; Figure 4 This is a schematic diagram showing the connection between the slider and the transmission frame of the present invention; Figure 5 This is a schematic diagram showing the connection between the guide rod and the first piston cylinder of the present invention; Figure 6 This is a schematic diagram showing the connection between the connecting frame and the first sleeve rod of the present invention; Figure 7 This is a schematic diagram showing the connection between the second coupling and the telescopic cylinder of the present invention; Figure 8 This is a top view of the testing station of the present invention.

[0017] In the diagram: 1. Support base; 2. Detection table; 3. Connecting frame; 4. Limiting guide block; 5. Movable compartment; 6. Locking hole; 7. First sleeve rod; 8. Limiting groove; 9. Rotary roller; 10. Slider; 11. Push frame; 12. First servo motor; 13. Transmission frame; 14. First coupling shaft; 15. Insert rod; 16. Second sleeve rod; 17. Visual intelligent detection probe; 18. Guide rod; 19. Positioning frame; 20. Extension rod; 21. First piston cylinder; 22. First piston rod; 23. Connecting pipe; 24. First U-shaped frame; 25. Second U-shaped frame; 26. Clamping roller; 27. Second piston cylinder; 28. Second piston rod; 29. ​​Second servo motor; 30. Second coupling shaft; 31. Telescopic cylinder; 32. Mounting base; 33. Limiting slide groove; 34. Locking block; 35. Threaded screw. Detailed Implementation

[0018] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0019] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating orientation or positional relationships, are based on the orientation or positional relationships shown in the accompanying drawings and are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance. In the description of this invention, it should be noted that unless otherwise explicitly specified and limited, the terms "installed," "connected," "linked," and "set up" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal communication of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances. The following describes embodiments of the invention based on its overall structure.

[0020] Please see Figures 1 to 8In this embodiment of the invention, the online automatic detection device for surface defects of porcelain insulators using machine vision includes a support base 1, a detection platform 2 mounted on the top of the support base 1, a connecting frame 3 mounted on one end of the detection platform 2, a limiting guide block 4 located above the detection platform 2 on the top of the connecting frame 3, a guide rod 18 extending to the bottom of the limiting guide block 4 inserted into the top of the limiting guide block 4, a movable tilting member on the limiting guide block 4, and a visual intelligent detection probe 17 connected to the limiting guide block 4 through the movable tilting member. A locking hole 6 penetrating the detection platform 2 is opened on the inner side of the detection platform 2, and multiple limiting grooves 8 extending to the bottom of the detection platform 2 are opened on the top of the detection platform 2. The multiple limiting grooves 8 are evenly distributed along the center of the locking hole 6, and a synchronous adjustment member connected to the guide rod 18 is provided on the inner side of the limiting groove 8.

[0021] In this embodiment: the porcelain insulator to be tested is placed on top of the testing platform 2, and then the synchronous adjustment device is activated. The operation of the synchronous adjustment device makes the center of the porcelain insulator coaxial with the center of the locking hole 6, thus positioning the porcelain insulator directly below the visual intelligent detection probe 17. During this process, the synchronous adjustment device moves the guide rod 18 relative to the limiting guide block 4. If the diameter of the porcelain insulator is small, the distance from the visual intelligent detection probe 17 to the top of the testing platform 2 will be shortened; similarly, if the diameter of the porcelain insulator is large, the distance from the visual intelligent detection probe 17 to the top of the testing platform 2 will be increased. Thus, the distance can be determined based on the diameter of the porcelain insulator. The distance between the visual intelligent detection probe 17 and the top of the detection platform 2 is adaptively adjusted, allowing the visual intelligent detection probe 17 to completely capture the top of the porcelain insulator. Then, the visual intelligent detection probe 17 is tilted by the operation of the movable tilting component. At this time, the porcelain insulator is rotated by the operation of the synchronous distance adjustment component, so that the visual intelligent detection probe 17 can capture and detect the periphery and corners of the porcelain insulator. After the detection is completed, the porcelain insulator is placed upside down on the top of the detection platform 2, so that the top of the porcelain insulator is inserted into the locking hole 6. Then, the bottom of the porcelain insulator is detected from all directions by the coordinated operation of the synchronous distance adjustment component and the movable tilting component.

[0022] Please refer to this carefully. Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5The synchronous adjustment component includes a first servo motor 12 installed inside the support base 1. The output end of the first servo motor 12 is connected to a threaded screw 35. A push frame 11 is sleeved on the outside of the threaded screw 35. Multiple transmission frames 13 are rotatably connected to the outside of the push frame 11 via a rotating shaft. A second U-shaped frame 25 is rotatably connected to the top of the transmission frame 13 via a rotating shaft. A slider 10 that is slidably connected to the limiting groove 8 is provided on the top of the second U-shaped frame 25. A rotating roller 9 located inside the limiting groove 8 is provided between adjacent sliders 10. A clamping roller 26 is rotatably connected to the top of the slider 10 via a bearing. A second servo motor 29 is installed at the bottom of any second U-shaped frame 25. The output end of the second servo motor 29 is connected to the clamping roller 26. The synchronous adjustment component also includes a first piston cylinder 21 installed at the bottom of the detection table 2. A first piston rod 22 extending to the outside of the first piston cylinder 21 is inserted inside the first piston cylinder 21. A first U-shaped frame 24 connected to the second U-shaped frame 25 is installed at the end of the first piston rod 22 away from the first piston cylinder 21. A connecting pipe 23 is connected to the end of the first piston cylinder 21 away from the first U-shaped frame 24. A second piston cylinder 27 connected to the connecting frame 3 is provided at the top of the connecting pipe 23. A second piston rod 28 extending to the top of the second piston cylinder 27 is inserted inside the second piston cylinder 27. An extension rod 20 is connected to the top of the second piston rod 28. A positioning frame 19 connected to the top of the guide rod 18 is provided at the top of the extension rod 20.

[0023] The number of rotating rollers 9 and sliders 10 is half the number of limiting grooves 8. The rotating rollers 9 and sliders 10 are arranged alternately. The diameters of the second piston cylinder 27 and the first piston cylinder 21 are equal. The second piston cylinder 27 and the first piston cylinder 21 are connected by a connecting pipe 23.

[0024] In this embodiment: First, the porcelain insulator is placed on top of the testing platform 2 and supported by the rotating roller 9. Then, the first servo motor 12 is started, which drives the rotation of the threaded screw 35 to move the push frame 11 upward along the threaded screw 35. At this time, the push frame 11 will squeeze the bottom of the transmission frame 13, thereby causing the top of the transmission frame 13 to squeeze the slider 10, so that the slider 10 drives the clamping roller 26 to move towards the center of the positioning hole 6. The clamping roller 26 moves the porcelain insulator, so that the center of the porcelain insulator moves to a position coaxial with the center of the positioning hole 6. During the process of the slider 10 moving towards the center of the positioning hole 6, the second U-shaped frame 25 pulls the first piston rod 22 through the first U-shaped frame 24, so that the first piston rod 22 extracts the aqueous solution inside the second piston cylinder 27. The aqueous solution inside the second piston cylinder 27 flows into the first piston cylinder 21 through the connecting pipe 23, causing the second piston rod 28 to move downward relative to the second piston cylinder 27. This causes the positioning frame 19 to push the guide rod 18 downward, and the downward movement of the guide rod 18 changes the horizontal height of the visual intelligent inspection probe 17. Thus, the distance between the visual intelligent inspection probe 17 and the top of the inspection table 2 can be adjusted according to the diameter of the porcelain insulator, eliminating the need for repeated calibration of the machine position. This adapts to the multi-specification mixed-flow automated inspection of the production line, reduces equipment debugging time, and improves batch quality inspection efficiency. When the visual intelligent inspection probe 17 tilts relative to the guide rod 18, the second servo motor 29 is activated. The operation of the second servo motor 29 causes the clamping roller 26 to rotate the porcelain insulator, thereby enabling the visual intelligent inspection probe 17 to perform all-round imaging and inspection of the top surface of the porcelain insulator.

[0025] Please refer to this carefully. Figure 6 , Figure 7 , Figure 8 The movable tilting component includes a movable chamber 5 installed at the bottom of the guide rod 18. Limiting grooves 33 are provided on both sides of the movable chamber 5. A second connecting shaft 30 is slidably connected to the inner side of the limiting grooves 33, passing through the movable chamber 5. A mounting seat 32 located on the outer side of the movable chamber 5 is provided on the second connecting shaft 30. The visual intelligent detection probe 17 is installed at the bottom of the mounting seat 32. A second sleeve rod 16 is fixedly connected to both ends of the second connecting shaft 30. An insert rod 15 extending to the bottom of the second sleeve rod 16 is inserted into the inner side of the second sleeve rod 16. A first sleeve rod 7 is sleeved on the outer side of the insert rod 15. A first connecting shaft 14 is installed on one side of the first sleeve rod 7. The end of the first connecting shaft 14 away from the first sleeve rod 7 is rotatably connected to the detection table 2 through a bearing. A locking block 34 located inside the movable chamber 5 is provided on the outer side of the second connecting shaft 30. A telescopic cylinder 31 is installed at one end of the movable chamber 5. The extended end of the telescopic cylinder 31 is connected to the locking block 34.

[0026] The second connecting shaft 30 and the locking block 34 are rotatably connected by bearings. The first connecting shafts 14 on both sides of the detection table 2 are symmetrically arranged along the vertical central axis of the locking hole 6. The extension distance of the second sleeve rod 16 relative to the insertion rod 15 is equal to the movement distance of the second piston rod 28 relative to the second piston cylinder 27.

[0027] In this embodiment: when the second sleeve rod 16 and the first sleeve rod 7 are in a vertical state, the visual intelligent detection probe 17 is located directly above the second sleeve rod 16. When the porcelain insulator is placed on the top of the detection platform 2, the visual intelligent detection probe 17 will take a top-down view of the porcelain insulator. When detecting the angle of the porcelain insulator, the telescopic cylinder 31 is activated first. The retraction of the telescopic cylinder 31 causes the locking block 34 to move axially along the movable chamber 5. At this time, the second connecting shaft 30 will move synchronously with the locking block 34. At this time, due to the second sleeve rod 16 The second sleeve rod 16 is connected to the first sleeve rod 7 via the insertion rod 15. When the second connecting shaft 30 moves horizontally, the second sleeve rod 16 will tilt relative to the detection table 2, thereby causing the second connecting shaft 30 to drive the mounting base 32 to tilt, so that the visual intelligent detection probe 17 forms an angle with the top of the detection table 2. Since the second sleeve rod 16 and the visual intelligent detection probe 17 tilt synchronously, the optical axis is always aligned with the center of the insulator, and the lens optical path fits the curved surface of the umbrella skirt, solving the problem of dead angles in the fixed vertical position and realizing the collection of the entire outer surface of the insulator without dead angles.

[0028] The following describes an online automatic detection method for surface defects in porcelain insulators using machine vision, based on the aforementioned machine vision-based device. The method includes the following steps: S1: First, place the porcelain insulator on the top of the testing platform 2 and support it with the rotating roller 9; S2: Start the first servo motor 12, and drive the rotation of the threaded screw 35 to move the push frame 11 upward along the threaded screw 35. At this time, the push frame 11 will squeeze the bottom of the transmission frame 13, so that the top of the transmission frame 13 will squeeze the slider 10, thereby causing the slider 10 to drive the clamping roller 26 to move towards the center of the positioning hole 6. The clamping roller 26 will move the porcelain insulator, thereby moving the center of the porcelain insulator to a position coaxial with the center of the positioning hole 6. S3: As the slider 10 moves toward the center of the locking hole 6, the second U-shaped frame 25 pulls the first piston rod 22 through the first U-shaped frame 24, thereby causing the first piston rod 22 to extract the aqueous solution inside the second piston cylinder 27. At this time, the aqueous solution inside the second piston cylinder 27 flows into the first piston cylinder 21 through the connecting pipe 23, thereby causing the second piston rod 28 to move downward relative to the second piston cylinder 27, thereby causing the positioning frame 19 to push the guide rod 18 downward. The downward movement of the guide rod 18 changes the horizontal height of the visual intelligent detection probe 17, and the operation of the visual intelligent detection probe 17 is used to collect the image of the top of the porcelain insulator. S4: Activate the telescopic cylinder 31. The retraction of the telescopic cylinder 31 causes the locking block 34 to move axially along the movable chamber 5. At this time, the second connecting shaft 30 will move synchronously with the locking block 34. Since the second sleeve rod 16 is connected to the first sleeve rod 7 through the insertion rod 15, when the second connecting shaft 30 moves horizontally, the second sleeve rod 16 will tilt relative to the detection table 2. This causes the second connecting shaft 30 to drive the mounting base 32 to tilt, thereby making the visual intelligent detection probe 17 form an angle with the top of the detection table 2. Since the second sleeve rod 16 and the visual intelligent detection probe 17 tilt synchronously, the optical axis is always aligned with the center of the insulator, and the lens optical path fits the curved surface of the umbrella skirt, solving the problem of dead angles in the fixed vertical position and realizing the acquisition of the entire outer surface of the insulator without dead angles. S5: After the top of the porcelain insulator is inspected, the porcelain insulator is placed upside down on the top of the inspection platform 2, so that the top connecting column of the porcelain insulator is snapped into the locking hole 6. Then, the bottom of the porcelain insulator is inspected in all directions by the coordinated operation of the synchronous adjustment component and the movable tilt component.

[0029] The above description is merely 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. A machine vision-based online automatic detection device for surface defects in porcelain insulators, comprising a support base (1), characterized in that, The top of the support base (1) is equipped with a testing platform (2), and a connecting frame (3) is installed at one end of the testing platform (2). The top of the connecting frame (3) is provided with a limiting guide block (4) located above the testing platform (2). A guide rod (18) extending to the bottom of the limiting guide block (4) is inserted into the top of the limiting guide block (4). A movable tilting member is provided on the limiting guide block (4). The limiting guide block (4) is connected to a visual intelligent detection probe (17) through the movable tilting member. A locking hole (6) penetrating the testing platform (2) is opened on the inner side of the testing platform (2). Multiple limiting grooves (8) extending to the bottom of the testing platform (2) are opened on the top of the testing platform (2). The multiple limiting grooves (8) are evenly distributed along the center of the locking hole (6). A synchronous adjustment member connected to the guide rod (18) is provided on the inner side of the limiting groove (8).

2. The machine vision-based online automatic detection device for surface defects of porcelain insulators according to claim 1, characterized in that, The synchronous adjustment component includes a first servo motor (12) installed inside the support base (1). The output end of the first servo motor (12) is connected to a threaded screw (35). A push frame (11) is sleeved on the outside of the threaded screw (35). Multiple transmission frames (13) are rotatably connected to the outside of the push frame (11) via a rotating shaft. A second U-shaped frame (25) is rotatably connected to the top of the transmission frame (13) via a rotating shaft. A slider (10) is provided on the top of the second U-shaped frame (25) and is slidably connected to the limiting groove (8). A rotating roller (9) located inside the limiting groove (8) is provided between adjacent sliders (10). A clamping roller (26) is rotatably connected to the top of the slider (10) via a bearing. A second servo motor (29) is installed at the bottom of any second U-shaped frame (25). The output end of the second servo motor (29) is connected to the clamping roller (26).

3. The machine vision-based online automatic detection device for surface defects of porcelain insulators according to claim 2, characterized in that, The synchronous adjustment component also includes a first piston cylinder (21) installed at the bottom of the detection table (2). A first piston rod (22) extending to the outside of the first piston cylinder (21) is inserted inside the first piston cylinder (21). A first U-shaped frame (24) connected to the second U-shaped frame (25) is installed at the end of the first piston rod (22) away from the first piston cylinder (21). A connecting pipe (23) is connected at the end of the first piston cylinder (21) away from the first U-shaped frame (24). A second piston cylinder (27) connected to the connecting frame (3) is provided at the top of the connecting pipe (23). A second piston rod (28) extending to the top of the second piston cylinder (27) is inserted inside the second piston cylinder (27). An extension rod (20) is connected at the top of the second piston rod (28). A positioning frame (19) connected to the top of the guide rod (18) is provided at the top of the extension rod (20).

4. The machine vision-based online automatic detection device for surface defects of porcelain insulators according to claim 3, characterized in that, The number of the rotating rollers (9) and the sliders (10) is half the number of the limiting grooves (8), and the rotating rollers (9) and the sliders (10) are arranged alternately.

5. The machine vision-based online automatic detection device for surface defects of porcelain insulators according to claim 3, characterized in that, The second piston cylinder (27) has the same diameter as the first piston cylinder (21), and the second piston cylinder (27) and the first piston cylinder (21) are connected by a connecting pipe (23).

6. The machine vision-based online automatic detection device for surface defects of porcelain insulators according to claim 3, characterized in that, The movable tilting component includes a movable chamber (5) installed at the bottom of the guide rod (18). Limiting grooves (33) are provided on both sides of the movable chamber (5). A second connecting shaft (30) passing through the movable chamber (5) is slidably connected to the inner side of the limiting grooves (33). A mounting seat (32) located outside the movable chamber (5) is provided on the second connecting shaft (30). A visual intelligent detection probe (17) is installed at the bottom of the mounting seat (32). Second sleeve rods (16) are fixedly connected to both ends of the second connecting shaft (30). The inner side of the second sleeve rod (16) is inserted... A plug rod (15) extending below the second sleeve rod (16) is connected to the outside of the plug rod (15), and a first sleeve rod (7) is sleeved on the outside of the first sleeve rod (7). A first connecting shaft (14) is installed on one side of the first sleeve rod (7). The end of the first connecting shaft (14) away from the first sleeve rod (7) is rotatably connected to the testing table (2) through a bearing. A locking block (34) located inside the movable chamber (5) is provided on the outside of the second connecting shaft (30). A telescopic cylinder (31) is installed at one end of the movable chamber (5). The extended end of the telescopic cylinder (31) is connected to the locking block (34).

7. The machine vision-based online automatic detection device for surface defects of porcelain insulators according to claim 6, characterized in that, The second connecting shaft (30) and the locking block (34) are rotatably connected by bearings.

8. The machine vision-based online automatic detection device for surface defects of porcelain insulators according to claim 6, characterized in that, The first connecting shafts (14) on both sides of the testing platform (2) are symmetrically arranged along the vertical central axis of the positioning hole (6).

9. The machine vision-based online automatic detection device for surface defects of porcelain insulators according to claim 6, characterized in that, The extension distance of the second sleeve rod (16) relative to the insert rod (15) is equal to the movement distance of the second piston rod (28) relative to the second piston cylinder (27).

10. A machine vision-based online automatic detection method for surface defects in porcelain insulators, characterized in that, The online automatic inspection device for surface defects of porcelain insulators using machine vision as described in any one of claims 1-9 includes the following steps: S1: First, place the porcelain insulator on the top of the testing platform (2) and support it with the rotating roller (9); S2: Start the first servo motor (12), drive the screw (35) to rotate so that the push frame (11) moves upward along the screw (35). At this time, the push frame (11) will squeeze the bottom of the transmission frame (13), so that the top of the transmission frame (13) squeezes the slider (10), thereby causing the slider (10) to drive the clamping roller (26) to move towards the center of the positioning hole (6). The clamping roller (26) moves the porcelain insulator so that the center of the porcelain insulator moves to a position coaxial with the center of the positioning hole (6). S3: During the process of the slider (10) moving towards the center of the locking hole (6), the second U-shaped frame (25) pulls the first piston rod (22) through the first U-shaped frame (24), so that the first piston rod (22) extracts the aqueous solution inside the second piston cylinder (27). At this time, the aqueous solution inside the second piston cylinder (27) flows into the first piston cylinder (21) through the connecting pipe (23), so that the second piston rod (28) moves down relative to the second piston cylinder (27), so that the positioning frame (19) pushes the guide rod (18) down. The downward movement of the guide rod (18) changes the horizontal height of the visual intelligent detection probe (17), and the operation of the visual intelligent detection probe (17) collects the image on the top of the porcelain insulator. S4: The visual intelligent detection probe (17) is tilted by the operation of the movable tilting member. When the visual intelligent detection probe (17) tilts relative to the guide rod (18), the second servo motor (29) is started. The operation of the second servo motor (29) causes the clamping roller (26) to rotate the porcelain insulator, so that the visual intelligent detection probe (17) can perform all-round shooting detection on the top surface of the porcelain insulator. S5: After the top of the porcelain insulator is inspected, the porcelain insulator is placed upside down on the top of the inspection table (2) so that the top connecting column of the porcelain insulator is snapped into the locking hole (6). Then, the bottom of the porcelain insulator is inspected in all directions by the cooperation of the synchronous adjustment component and the movable tilt component.

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