CN110420882A - Based on intelligence manufacture mode crankshaft magnetic powder inspection transfer line system and method - Google Patents

Based on intelligence manufacture mode crankshaft magnetic powder inspection transfer line system and method Download PDF

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Publication number
CN110420882A
CN110420882A CN201910768004.7A CN201910768004A CN110420882A CN 110420882 A CN110420882 A CN 110420882A CN 201910768004 A CN201910768004 A CN 201910768004A CN 110420882 A CN110420882 A CN 110420882A
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crankshaft
detected
manipulator
camera
magnetic powder
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CN110420882B (en
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高兴宇
陆佳琪
王海舰
李煜
赵东升
张宇萌
邹翔
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Guilin University of Electronic Technology
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Guilin University of Electronic Technology
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
    • B07C5/02—Measures preceding sorting, e.g. arranging articles in a stream orientating
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
    • B07C5/34—Sorting according to other particular properties
    • B07C5/3416—Sorting according to other particular properties according to radiation transmissivity, e.g. for light, x-rays, particle radiation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
    • B07C5/34—Sorting according to other particular properties
    • B07C5/342—Sorting according to other particular properties according to optical properties, e.g. colour
    • B07C5/3422—Sorting according to other particular properties according to optical properties, e.g. colour using video scanning devices, e.g. TV-cameras
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
    • B07C5/36—Sorting apparatus characterised by the means used for distribution
    • B07C5/361—Processing or control devices therefor, e.g. escort memory
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
    • B07C5/36—Sorting apparatus characterised by the means used for distribution
    • B07C5/361—Processing or control devices therefor, e.g. escort memory
    • B07C5/362—Separating or distributor mechanisms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B27/00—Other grinding machines or devices
    • B24B27/033—Other grinding machines or devices for grinding a surface for cleaning purposes, e.g. for descaling or for grinding off flaws in the surface
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N27/00—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means
    • G01N27/72—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means by investigating magnetic variables
    • G01N27/82—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means by investigating magnetic variables for investigating the presence of flaws
    • G01N27/83—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means by investigating magnetic variables for investigating the presence of flaws by investigating stray magnetic fields
    • G01N27/84—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means by investigating magnetic variables for investigating the presence of flaws by investigating stray magnetic fields by applying magnetic powder or magnetic ink
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C2501/00—Sorting according to a characteristic or feature of the articles or material to be sorted
    • B07C2501/0063—Using robots
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

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  • Chemical Kinetics & Catalysis (AREA)
  • Electrochemistry (AREA)
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  • Mechanical Engineering (AREA)
  • Investigating Or Analyzing Materials By The Use Of Magnetic Means (AREA)

Abstract

The invention discloses one kind to be based on intelligence manufacture mode crankshaft magnetic powder inspection transfer line system and method.It include: that AGV conveying device, the crawl of visual identity manipulator and placement module, conveyer axle flowing water coil holder, magnetic powder are drenched with rain module, crankshaft coil magnetized module, vision guide degaussing trace module, visual identity manipulator cutting module based on intelligence manufacture mode crankshaft magnetic powder inspection transfer line system.The problems such as present invention solves crankshaft carrying out flaw detection personnel's manual handling crankshaft, visually observes magnetic trace, subjective judgement magnetic trace true and false defect, and crankshaft result of detection can not trace back, Production of Crankshaft information tomography.Realize unmanned detection flaw detection, accomplish that crankshaft flaw detection process link is traceable, improve the accuracy of identification of crankshaft flaw detection magnetic trace, it constructs crankshaft and detects a flaw digital " twins ", both can virtual information space simulation model individually debugged, again can the flaw detection of virtual environment and true crankshaft synchronize operated, be more advantageous to the running of assembly line.

Description

Based on intelligence manufacture mode crankshaft magnetic powder inspection transfer line system and method
Technical field
The invention belongs to intelligence manufacture mode detection technical fields, and in particular to one kind is based on intelligence manufacture mode crankshaft magnetic Powder flaw detection transfer line system and method.
Background technique
Magnetic powder inspection is the common technology for detecting the crack defect of magnetic material surface and near surface, which is to pass through magnetic Accumulation of the powder near the defect in magnetic flux leakage is to detect a kind of non-destructive testing side of defect at ferrimagnet surface or near surface Method.The workpiece that the magnetic materials such as steel make is magnetized, the feature of magnetic powder can be adsorbed using the leakage field of its rejected region, according to Magnetic powder distribution shows detected object surface defect and near surface flaw.The characteristics of magnetic powder inspection method is easy, intuitive display. Preparation by used magnetic powder of detecting a flaw is different, can be divided into dry method and wet method.
Wet type crankshaft magnetic powder inspection is to be sprayed by using the magnetic flaw detection ink of uniform concentration to the crankshaft by fully magnetising It applies, leakage field occurs in discontinuous place after magnetization and accumulates to form magnetic trace, under ultraviolet illumination appropriate, show defect Location and shape, flaw detection is consequently formed.
Traditional crankshaft flaw detection is to rely on naked eyes identification to differentiate the defect that fluorescent powder is shown with experience, it is difficult to be given More specific out, objectivity opinion.In actual production, traditional magnetic powder inspection way has following defects that
1. detection efficiency is low, long period single workflow brings serious visual fatigue to flaw detection personnel, to lead The problem of cause leakage is visited, misjudgement.
2. result of detection subjective consciousness is too strong, by the technical level and sense of responsibility of flaw detection work personnel, observation not comprehensively Not careful, existing defects or false defect magnetic trace, which are obscured, to be caused to misjudge.
3. flaw detection personnel work under ultraviolet light irradiation for a long time, the dry pain of skin of staff, epidermis shrinkage will lead to；In In the environment of closing, operating condition, which is disliked, to be omited, and drastically influences the physical and mental health of flaw detection personnel.
4. mill magnetic trace manually, subtle little particle is easily accessible in vivo by mouth, nose, and opposite grinding magnetic trace personnel cause on body Injury.
5. the magnetic trace result after flaw detection is without reserve, the image of crankshaft magnetic trace is not matched with the number of crankshaft, difficult To realize the purpose for producing components production process and tracing entirely.
Summary of the invention
To solve above-mentioned the deficiencies in the prior art, the present invention provides one kind to be based on the crankshaft magnetic powder inspection of intelligence manufacture mode Transfer line system and method, the device inspection speed is fast, and result of detection objectivity is strong and accuracy is high, and flaw detection link is traceable； Live flaw detection personnel are not needed, complete crankshaft flaw detection automation is realized substantially, solves existing wet type crankshaft magnetic powder inspection The problem of technology, and reached the standard of intelligence manufacture production detection, so that have can be according to for future flaws detection；
To achieve the goals above, present invention employs technical solutions below:
Based on intelligence manufacture mode crankshaft magnetic powder inspection transfer line system, including AGV conveying device, visual identity manipulator Crawl and placement module, conveyer axle flowing water coil holder, magnetic powder are drenched with rain module, crankshaft coil magnetized module, vision guide degaussing trace Module, visual identity manipulator cutting module；The crankshaft coil magnetized module includes coil and coil support platform, and coil is placed on On coil support platform；The conveyer axle flowing water coil holder is made of three short assembly lines, through entire flaw detection transfer matic；Conveying is bent Respectively there is an AGV conveying device at axis flowing water coil holder both ends；The AGV one side of conveying device at feeding end is equipped with visual identity manipulator and grabs It takes and placement module, the AGV one side of conveying device of discharging end is equipped with visual identity manipulator cutting module；Conveyer axle assembly line Magnetic powder is arranged successively on frame to drench with rain module, crankshaft coil magnetized module, vision guide degaussing trace module；
Wherein, the AGV conveying device includes: AGV shell, automatic deflecting wheel, WIFI receiver, crankshaft shelf；It is bent Pedestal is placed on AGV shell；4 automatic deflecting wheels are installed, wheel carries driving motor, and WIFI is received under AGV shell Device is mounted on AGV housing central section side；
Wherein, the visual identity manipulator crawl and placement module include: smart camera, smart camera support frame, machine Tool hand, crankshaft positioning camera fixed plate, CCD industrial camera 1, CCD industrial camera 2, crankshaft positioning camera bracket, crankshaft place inspection Survey sensor；Smart camera is fixed at the top of smart camera support frame, and smart camera support frame is located above AGV conveying device； Manipulator is placed in assembly line side, between crankshaft shelf and conveyer axle flowing water coil holder；CCD industrial camera 1 and CCD work Industry camera 2 is located in crankshaft positioning camera fixed plate；Crankshaft positioning camera fixed plate is fixed on crankshaft positioning camera bracket；Two Platform CCD industrial camera is respectively positioned on right above crankshaft to be measured, and CCD industrial camera 1 is located above crankshaft rear end axis；CCD industrial camera 2 Positioned at the inner top for surveying axle journal of crankshaft front end axis；Crankshaft place detection sensor be secured within crankshaft positioning camera bracket and with Crankshaft to be detected is concentric；Crankshaft positioning camera bracket is located at conveyer axle assembly line feeding end；
Wherein, the conveyer axle flowing water coil holder includes: conveyer belt, idler wheel, rack, Curved shaft support device；Upper rack It is equidistantly evenly distributed with idler wheel, respectively there is a conveyer belt at idler wheel both ends, and conveyer belt is made of the guide rail that one section of a section is engaged；Curved shaft support Two, device are one group, and every group of crankshaft support means centerline is on the same line, and every group of Curved shaft support on assembly line Spacing it is consistent；It is fixed on the conveyer belt on conveyer axle flowing water coil holder；The rack is spirally connected by aluminum profile, right angle fixed block Composition；
Wherein, the Curved shaft support device include: crankshaft bracket fixing plate, crankshaft bracket support plate, semicircle body supports, The support of auxiliary package, button；Crankshaft bracket fixing plate is fixed on the conveyor belt；Crankshaft bracket support plate one end and crankshaft bracket are solid Fixed board is connected, and the other end is fixed with auxiliary package support phase；Slot is arranged at semicircle body supports bottom, and auxiliary package is supported on semicircle master Sliding in the slot of body support；Button is mounted on the bottom of semicircle body supports；
Wherein, the magnetic powder drench with rain module include: motor straight line mould group, mobile camera fixed plate, CCD industrial camera 3, Drench with rain device, magnetic powder of CCD industrial camera 4, module bracket, magnetic powder is drenched with rain fixed frame, crankshaft rotating mechanism；Motor straight line mould group is solid It is scheduled in module bracket；Two CCD industrial cameras are sequentially separately mounted to the mobile camera fixed plate of former and later two module brackets On；Crankshaft rotating mechanism is mounted on magnetic powder and drenches with rain side in fixed frame, and magnetic powder is placed between two module brackets and is drenched with rain fixed frame； Magnetic powder device and magnetic powder fixed frame of drenching with rain of drenching with rain is connect；
Wherein, the crankshaft rotating mechanism includes: cylinder, rotating electric machine, rotation executive item, rotating motor support plate, gas Cylinder closure means；Cylinder one end is connect with rotating electric machine, and rotating electric machine is connected with module support frame, and the other end and rotation execute Part is connected；Rotating electric machine is fixed on rotating motor support plate；Cylinder closure means are fixed with cylinder baffle；Cylinder closure means There are 6 emptying apertures, rotation executive item is passed through by emptying aperture；Rotation executive item is connected with cylinder piston；
Wherein, the vision guide degaussing trace module includes: cabinet, ultraviolet radiator, CCD industrial camera 5, CCD industry phase Machine 6, camera fixed link, ultraviolet light illumination photometer, UR robot, UR robot base, crankshaft rotating mechanism, crankshaft rotation support are flat Platform；Cabinet is placed on conveyer axle flowing water coil holder, and ultraviolet radiator is suspended at the top of box inside wall, and camera fixed link one end is solid It is scheduled on the intracorporal top of case, the other end is fixed with two CCD industrial cameras respectively；Ultraviolet light illumination photometer is fixed on top in cabinet Portion；Liang Tai UR robot is located in the middle part of cabinet, above conveyer axle flowing water coil holder, the pedestal and UR robot base of UR robot It is fixed；UR robot base is located at conveyer axle flowing water coil holder two sides, and Liang Tai UR robot is staggered relatively；Crankshaft rotating mechanism is put The UR robot base in crankshaft front end side to be measured is set close to assembly line direction, is connect with crankshaft rotation support platform；
Wherein, UR robot includes UR robot body, L-type fixture, buffer spring, sliding rail baffle, sliding rail fixture, knife Tool, micromotor, cutter and micromotor shaft coupling；L-type fixture is fixed with screw and UR robot body end；Buffer spring It is mounted between sliding rail plate washer and sliding rail fixture；Sliding rail baffle is mounted on L-type fixture；Cutter holding is in sliding rail fixture；It is micro- Type motor is connected by cutter with micromotor shaft coupling；
Wherein, the visual identity manipulator cutting module includes smart camera bracket, smart camera, crankshaft shelf, AGV Conveying device, manipulator, blanking industrial camera, blanking industrial camera fixed plate；Blanking industrial camera passes through blanking industrial camera Fixed plate is fixed on smart camera bracket；Smart camera bracket be put in the crankshaft shelf of conveyer axle flowing water coil holder end just on Side；Crankshaft shelf is put in AGV conveying device；Smart camera is mounted on smart camera bracket；It is intelligence that crankshaft shelf, which is located at, Immediately below camera support；Manipulator is placed between two smart camera brackets；
A kind of application method based on intelligence manufacture mode crankshaft magnetic powder inspection transfer line system, this method include following step It is rapid:
Step 1:AGV conveying device conveys crankshaft to be detected
The WIFI receiver of AGV conveying device receives the crankshaft information to be detected that manufacturing execution system (MES) is sent, The automatic programme path of AGV conveying device, and go to connect according to route and specify crankshaft shelf to be detected, reach specified crankshaft shelf Afterwards, AGV conveying device holds up crankshaft shelf, the specific bit being transported to by specified feeding end smart camera support frame and manipulator It sets；
Step 2: crankshaft to be detected is placed in manipulator crawl；
After crankshaft to be detected is sent to designated position by AGV conveying device, the crawl of visual identity manipulator and placement module Smart camera carries out sudden strain of a muscle bat, using deep learning algorithm, identifies the intermediate journal of crankshaft to be detected, the crawl of visual identity manipulator And placement module manipulates manipulator, and manipulator is coordinately transformed, the crankshaft to be detected that visual identity goes out is clamped by fixture, and It is placed on one group of crank shaft supporter on conveyer axle flowing water coil holder；When placing crankshaft to be detected, by CCD industrial camera 1 and CCD industrial camera 2 carries out vision guide, and crankshaft places the synchronous induction of detection sensor, and manipulator is completed to place to be detected Crankshaft action；After placement, manipulator returns to initial position and waits the signal for grabbing crankshaft to be detected next time；Crankshaft to be detected When being placed on conveyer axle flowing water coil holder, every group of crankshaft support means centerline is on the same line, and every group on assembly line The spacing of Curved shaft support is consistent；Both ends middle line is parallel with bottom surface after crankshaft to be detected is placed；
Two, Curved shaft support device on conveyer belt are one group, support the front and back ends of crankshaft respectively；Curved shaft support device It is pressed via crankshaft gravity, starts the button of semicircle body supports, the auxiliary package support in semicircle body supports slot is stretched out, and is embraced The front and back ends of tight crankshaft to be detected；Protection crankshaft will not impact Curved shaft support device；As not there is crankshaft push button to be detected When, the support of auxiliary package makes button arch upward due to gravity factor, two 1/4 circle contacts；
When manipulator does not catch crankshaft intermediate journal to be detected, manipulator automatically returns to initial position, and smart camera is again It is secondary to carry out sudden strain of a muscle bat, continue identification and grab crankshaft intermediate journal to be detected, manipulator grabs again places crankshaft to be detected, until will Crankshaft to be detected is accurately placed；
The idler wheel on conveyer axle flowing water coil holder is driven by controller and is rotated at this time, the rotation of idler wheel driving conveying belt；Conveying Band drives entire conveyer axle assembly line movement；
Manipulator clamps crankshaft intermediate neck to be detected, when being placed on conveyer axle flowing water coil holder, controller control rotation Joint and linear joint are moved, and arm end utilizes Pneumatic clamping crankshaft intermediate journal to be detected；
Crankshaft, which places sensor, has data acquisition and information processing transfer function；Identify crankshaft number to be detected, it can be certainly Row, in the speed of service of conveyer axle flowing water coil holder, controls to adjust the time of manipulator feeding according to crankshaft to be detected；
Step 3: crankshaft to be detected sprays magnetcisuspension supernatant liquid
After manipulator correct placement crankshaft to be detected, controller controls letter to the roller motion of conveyer axle flowing water coil holder Number, the rotation of idler wheel driving conveying belt, crankshaft to be detected is with the movement of conveying pipeline frame；Magnetic flaw detection ink after mixing evenly, by pumping device It pumps stand-by to magnetic powder device of drenching with rain；When CCD industrial camera 3 and CCD industrial camera 4 have detected that crankshaft to be measured is drenched by magnetic powder When rain device, conveyer axle assembly line stop motion, magnetic powder drench with rain device unlatching, to crankshaft to be detected spray magnetcisuspension supernatant liquid；Together When crankshaft rotating mechanism cylinder stretch out, by the vision guide of CCD industrial camera 4, rotate executive item and start to rotate, make its 6 Root executive component is corresponding with the position in crankshaft front end hole to be detected, and 6 executive components are inserted into the circular hole of crankshaft front end to be detected； Crankshaft rotating mechanism rotates crankshaft to be detected with 36 degree of speed per second, and motor straight line mould group drives CCD industrial camera 3 It is mobile with CCD industrial camera 4, detect the magnetic powder adhesion condition of the crankshaft surface sprayed；Two CCD industrial cameras reach motor Continue back to rotate after the straight line mould group other end, until two CCD industrial cameras return to after crankshaft surface adheres to magnetic powder completely Initial position, while cylinder sets back；Crankshaft rotating mechanism resets；The restarting of conveyer axle flowing water coil holder, continues forward Operation；It is detected to next crankshaft to be detected by CCD industrial camera 3 and CCD industrial camera 4, continues to execute aforesaid operations；
Crankshaft rotating mechanism has ability of self-teaching, is taken pictures by vision and identifies the position in 6 holes of crankshaft front end to be detected It sets, adaptation crankshaft leading portion hole site can be turned to automatically through image recognition and be inserted into；When 6 rotation executive components touch When other positions of crankshaft to be detected, cylinder is shunk automatically；CCD industrial camera 4 carries out once photo taking automatically again, carries out identification hole location It sets, until accurate safety is inserted into corresponding aperture；
Step 4: the magnetization treatment of crankshaft to be detected；
Conveyer axle assembly line band dynamic crankshaft is run to crankshaft coil magnetized module, and assembly line is out of service, crankshaft to be measured It rests in coil, carries out circumferential magnetization and longitudinal magnetization, crankshaft to be detected using continuous magnetization method, while to crankshaft to be detected It is magnetized completely, the restarting of conveyer axle assembly line；
Step 5: the flaw detection of crankshaft to be detected and scar processing；
Crankshaft to be detected on conveyer axle assembly line continues to move to cabinet, temporarily ceases movement again；The cabinet is set It is enclosed environment above conveyer axle assembly line；It is ultraviolet in the intracorporal ultraviolet light illumination photometer moment detection ambient enviroment of case Line illumination converts the brightness of ultraviolet radiator according to ultraviolet light concentration；The intracorporal CCD industrial camera 5 of case and CCD industrial camera 6 exist Suitable ultraviolet light irradiation is lower to carry out Image Acquisition；
Crankshaft rotating mechanism on crankshaft rotary support table starts to rotate, rotation executive component be inserted into crankshaft, drive to Crankshaft, every 36 degree of rotation are detected, CCD industrial camera 5 shoots the image of primary crankshaft to be detected, and image reaches the meter of control system Calculation machine image processor is handled, meanwhile, the cutter rotation of UR robot end, tool contact magnetic trace, and ground away； Continuous 10 36 degree of the rotations of crankshaft to be detected, CCD industrial camera 5 acquire the process of image, circulation flaw detection and processing scar；Wait follow After ring, cylinder sets back；Crankshaft rotating mechanism resets；The rotation of controller driving conveying belt, conveyer axle assembly line open It is dynamic to travel forward；
Liang Ge UR robot, staggered relatively in conveyer axle assembly line two sides, one is located proximate to manipulator, a position Close to smart camera；CCD industrial camera 5 acquires crankshaft intermediate journal to be detected and the song to be detected close to CCD industrial camera 5 Axis image, the magnetic trace identified through image procossing execute removal magnetic trace by the UR robot close to one side of manipulator；CCD industry Camera 6 acquire crankshaft intermediate journal to be detected close to visual identity manipulator crawl and placement module in smart camera it is to be checked Survey crankshaft image, the magnetic trace identified through image procossing, by phase intelligent in the crawl of visual identity manipulator and placement module The UR robot of one side of machine support frame executes removal magnetic trace；
Manipulator and UR robot have self sensing capability, place and visit come automatically derived crawl by model and algorithm Hurt the result of magnetic trace；Two opposite UR robots mathematical coordinates operation can avoid two robots from bumping against automatically on transfer matic；
Step 6: removing the machined crankshaft finished
Flaw detection is except after trace, assembly line continues to move, Crankshaft motion wait detect a flaw except trace to blanking industrial camera Take pictures range, blanking industrial camera, which starts to dodge, to be clapped, the image of acquisition, be uploaded to image processor image procossing, controller according to Crankshaft image recognition effect obtains crankshaft intermediate journal position；Each joint coordinates of manipulator pass through homogeneous transformation, mobile each joint Air-actuated jaw clamps crankshaft intermediate journal；Smart camera, which dodges, to be clapped, and by image procossing, determines the crankshaft of manipulator clamping in song The crankshaft of clamping is put in the position of identification by the corresponding position on pedestal, manipulator；Manipulator resets, and continues to execute next figure As the instruction transmitted；
In above-mentioned steps, crankshaft overall process coding to be detected is unique, and crankshaft successively passes through each detection module；Song to be detected The coding of axis contains preamble production, and the information of technique overall process can be inquired from forging in manufacturing execution system, be adjusted Matter, the production process of hardened surface processing to flaw detection, and situation is specifically finally installed and used, realize that the whole process of manufacturing process chases after It traces back；Realize the objective and accurate positioning of manufacturing issue；
Transfer matic integrally establishes virtual information space simulation model, constitutes the Life cycle number of crankshaft flaw detection assembly line The method operation for changing archives, operation method and state aware and the flaw detection of entity crankshaft is consistent, and actual situation both sides can carry out data control Information exchange；The number " twins " of a crankshaft carrying out flaw detection is constructed, virtual information space simulation model can be carried out individually Debugging optimization, the line that can also detect a flaw with entity crankshaft work at the same time.
Advantages of the present invention:
The present invention solves crankshaft carrying out flaw detection personnel's manual handling crankshaft, visually observes magnetic trace, subjective judgement magnetic trace is true False defect, crankshaft result of detection not can be traced, and solve the problems such as Production of Crankshaft information tomography.
Compared with traditional magnetic powder inspection way, the present invention is had a characteristic that
1. realizing unmanned detection flaw detection, it is not required to very important person and removes subjective identification magnetic trace, avoid hand grinding magnetic trace to people It is injured caused by body；
2. the production technology information of pair each crankshaft is bound with the corresponding crankshaft, accomplish that crankshaft flaw detection process link can chase after It traces back；
3. realizing crankshaft automatic flaw detection using advanced vision detection technology and vision positioning technology, crankshaft flaw detection is improved The accuracy of identification of magnetic trace；
4. constructing crankshaft to detect a flaw digital " twins ", virtual information space simulation model can be debugged individually, can With the flaw detection of virtual environment and true crankshaft synchronize operated；Control optimization can be constantly carried out in this process, prevented not The mistake of necessary control and mechanical conceptual, is more advantageous to the running of assembly line.
Detailed description of the invention
Fig. 1 is that the present invention is based on the structural schematic diagrams of intelligence manufacture mode crankshaft magnetic powder inspection transfer line system；
Fig. 2 is that the present invention is based on the schematic perspective views of intelligence manufacture mode crankshaft magnetic powder inspection transfer line system；
Fig. 3 is that the present invention is based on the structures of AGV transport device in intelligence manufacture mode crankshaft magnetic powder inspection transfer line system Schematic diagram；
Fig. 4 is that the present invention is based on Curved shaft support devices in intelligence manufacture mode crankshaft magnetic powder inspection transfer line system to carry shape Structural schematic diagram under state；
Fig. 5 is that the present invention is based on Curved shaft support device zero load shapes in intelligence manufacture mode crankshaft magnetic powder inspection transfer line system Structural schematic diagram under state；
Fig. 6 is that the present invention is based on the structures of crankshaft rotating mechanism in intelligence manufacture mode crankshaft magnetic powder inspection transfer line system Schematic diagram；
Fig. 7 is the structural schematic diagram of crankshaft to be measured；
Fig. 8 is that the present invention is based on the structural representations of UR robot in intelligence manufacture mode crankshaft magnetic powder inspection transfer line system Figure；
Fig. 9 is that the present invention is based on box house structural representations in intelligence manufacture mode crankshaft magnetic powder inspection transfer line system Figure；
Figure 10 is that the present invention is based on the flow charts of intelligence manufacture mode crankshaft magnetic powder inspection transfer line system method；
1-AGV conveying device, the crawl of 2- visual identity manipulator and placement module, 3- conveyer axle flowing water coil holder, 4- magnetic Powder is drenched with rain module, 5- crankshaft coil magnetized module, 6- vision guide degaussing trace mould, 7- visual identity manipulator cutting module 11- Crankshaft shelf, 12-AGV shell, 13- driving motor, the automatic deflecting wheel of 14-, 15-WIFI receiver, 21- smart camera branch Frame, 22- smart camera, 23- manipulator, 24- crankshaft positioning camera fixed plate, 25-CCD industrial camera 1,26-CCD industrial camera 2,27- crankshaft positioning camera brackets, 28- crankshaft place detection sensor, 31- rack, 32- conveyer belt, 33- Curved shaft support dress It sets, 34- idler wheel, 35- crankshaft to be detected, 41- motor straight line mould group, 42- module bracket, 43-CCD industrial camera 3,44- is mobile Camera fixed plate, 45- magnetic powder are drenched with rain fixed frame, and 46- magnetic powder is drenched with rain device, 47-CCD industrial camera 4,48- crankshaft rotating mechanism, 51- coil, 52- coil support platform, 61- ultraviolet radiator, 62- cabinet, 63-UR robot, 64-UR robot base, 65- crankshaft Rotation support platform, 66- camera fixed link, 67-CCD industrial camera 5,68-CCD industrial camera 6,69- ultraviolet light illumination photometer, 71- blanking industrial camera, 72- blanking industrial camera fixed plate, 351- crankshaft intermediate journal, 352- balance weight, 353- rear axle, 354- rod journal, the front end 355-, 331- crankshaft bracket fixing plate, 332- crankshaft bracket support plate, 333- auxiliary package support, 334- button, 335- semicircle body supports, 631-UR robot body, 632-L type fixture, 633- sliding rail baffle, 634- buffering Spring, 635- sliding rail fixture, 636- cutter, 637- cutter and micromotor shaft coupling, 638- micromotor, 481- electric rotating Machine, 482- rotating motor support plate, 483- cylinder, 484- cylinder closure means, 485- rotate executive component.
Specific embodiment
By taking MR475 model crankshaft of detecting a flaw as an example, crankshaft is as shown in Figure 7.It is applied in the automatic line apparatus of crankshaft magnetic powder inspection WIFI receiver model and parameter: WIFI serial port networked server WIFICOM-10T, CCD industrial camera model and parameter: OPT- CC/M130-GM-04, ultraviolet radiator: the model and parameter of UVB313 quartz burner, ultraviolet light illumination photometer: UV-B binary channels is purple External irradiation meter, the model and parameter of smart camera: Mei Kamande Mech-Eye Broad smart camera.
One kind being based on intelligence manufacture mode crankshaft magnetic powder inspection transfer line system, as shown in Figs. 1-2, comprising: AGV conveying dress Set the crawl of 1, visual identity manipulator and placement module 2, conveyer axle flowing water coil holder 3, crankshaft coil magnetized module 5, magnetic powder leaching Rain module 4, vision guide degaussing trace module 6, visual identity manipulator cutting module 7.
Conveyer axle flowing water coil holder 3 is made of three short assembly lines, through entire flaw detection transfer matic；Conveyer axle assembly line Respectively there is an AGV conveying device 1 at 3 both ends of frame；The AGV one side of conveying device at feeding end is equipped with visual identity manipulator and grabs and put Module 2 is set, the AGV one side of conveying device of discharging end is equipped with visual identity manipulator cutting module 7；Conveyer axle flowing water coil holder 3 On be arranged successively magnetic powder and drench with rain module 4, crankshaft coil magnetized module 5, vision guide degaussing trace module 6.
As shown in figure 3, AGV conveying device 1 includes: crankshaft shelf 11, AGV shell 12, driving motor 13, automatic deflecting vehicle Take turns 14, WIFI receiver 15.Crankshaft shelf 11 is placed on AGV shell 12；AGV shell 12 is lower to install 4 automatic deflecting wheels 14, automatic deflecting wheel 14 carries driving motor 13.WIFI receiver 15 is mounted on 12 middle part side of AGV shell.
AGV conveying device 1 has the function of autonomous positioning navigation and vision guided navigation, easily realizes conveying device precise positioning； Camera+laser+automatic obstacle avoidance functions provide multiple safety protection to equipment；Intelligent electric power management, Low Power Mode automatic seeking Look for vacant charging pile most nearby；Wireless communication supports WIFI network communication, and network's coverage area is run without avoidance, branch Hold overlength distance detection；Contexture by self path.
The crawl of visual identity manipulator and placement module 2 include: smart camera support frame 21, smart camera 22, manipulator 23, crankshaft positioning camera bracket 23, crankshaft positioning camera fixed plate 24, CCD industrial camera 1 25, CCD industrial camera 2 26.Intelligence Energy camera 22 is fixed on 20 top of smart camera support frame by screw-nut, and smart camera support frame 21 is located at AGV conveying dress Set 1 top.Manipulator 23 is placed in assembly line side, be located at crankshaft shelf 11 and conveyer axle flowing water coil holder 3 it Between.CCD industrial camera 1 25 and CCD industrial camera 2 26 are screwed in crankshaft positioning camera fixed plate 24, crankshaft Positioning camera fixed plate 24 is fixed on crankshaft positioning camera bracket 23 with screw-nut；Two CCD industrial cameras are respectively positioned on to be checked The surface of crankshaft 35 is surveyed, wherein CCD industrial camera 1 25 is fixed on the top of crankshaft rear end axis 353；CCD industrial camera 2 26 It is fixed on the inner top for surveying axle journal of crankshaft front end axis 355.Crankshaft places detection sensor 28 and is secured within crankshaft positioning camera It is on bracket 23 and concentric with crankshaft 35 to be detected；Crankshaft positioning camera bracket 23 is located at conveyer axle assembly line feeding end.
Conveyer axle flowing water coil holder 3 includes: rack 31, conveyer belt 32, Curved shaft support device 33, crankshaft to be detected 35, rolling Wheel 34.31 top of rack is equidistantly evenly distributed with idler wheel 34, and respectively there is a conveyer belt 32 at 34 both ends of idler wheel.Driver drives 34 turns of idler wheel Dynamic, idler wheel 34 rotates driving conveying belt 32 and rotates；Conveyer belt 32 is made of the rail that one section of a section is engaged, and accessible can pass through conveying At the arc of band.33 two, Curved shaft support device are one group, and every group of crankshaft support means centerline flows on the same line The spacing of every group of Curved shaft support on waterline is consistent；The conveyer belt 32 on conveyer axle flowing water coil holder 3 is fixed on screw-nut. Rack 31 is spirally connected and is formed by aluminum profile, right angle fixed block.
As illustrated in figures 4-5, Curved shaft support device 33 include: crankshaft bracket fixing plate 331, it is crankshaft bracket support plate 332, auxiliary Help package support 333,334 semicircle body supports 335 of button.Crankshaft bracket fixing plate 331 is screwed in conveyer axle stream Conveyer belt 32 on waterline frame 3；The electric welding of 332 one end of crankshaft bracket support plate is connected with crankshaft bracket fixing plate 331, the other end 333 phases of support are wrapped up with auxiliary with electric welding to fix；Auxiliary package support 333 is slided in the slot that semicircle body supports 335 are equipped with； Button 334 is mounted on the bottom of semicircle body supports.
Magnetic powder module 4 of drenching with rain includes: motor straight line mould group 41, module bracket 42, CCD industrial camera 3 43, mobile camera Drench with rain fixed frame 45, magnetic powder of fixed plate 44, magnetic powder is drenched with rain device 46, CCD industrial camera 4 47, crankshaft rotating mechanism 48.Mould group Bracket 42 is fixed with motor straight line mould group 41 by screw；Motor straight line mould group 41 is moved by the rotational movement of lead screw Dynamic movement of the camera fixed plate 44 in mould group, magnetic powder device 46 and magnetic powder fixed frame 45 of drenching with rain of drenching with rain are connected by screw It connects；Two CCD industrial cameras are sequentially separately mounted in the mobile camera fixed plate 44 of former and later two module brackets 42, at two Magnetic powder is placed between module bracket 42 to drench with rain fixed frame 45.CCD industrial camera 3 43 and CCD industrial camera 4 47 with mobile camera Fixed plate 44 is fixed by screw.Crankshaft rotating mechanism 48 is mounted on magnetic powder and drenches with rain 45 interior side of fixed frame.
As shown in fig. 6, crankshaft rotating mechanism 48 includes: rotating electric machine 481, rotating motor support plate 482, cylinder 483, gas Cylinder closure means 484, rotation executive component 485.Crankshaft rotating mechanism 48 is attached with module bracket 42 by screw；Cylinder 483 one end are connect by shaft coupling with rotating electric machine 481, and motor 481 is connected with module bracket 42, the other end and 6 rotations Executive item 485 is connected, and cylinder 483 directly results in rotation 485 piston motion of executive component；Rotating electric machine 481 is fixed on electric rotating In machine support plate 482；Cylinder closure means 484 are fixed with cylinder baffle；Cylinder closure means 484 have 6 emptying apertures, and rotation executes Part is passed through by emptying aperture to be connected with cylinder piston.
Crankshaft coil magnetized module 5 includes coil 51 and coil support platform 52, and coil 51 is placed on coil support platform 52；It is right Each crankshaft to be detected 35 passed through carries out axial magnetized and longitudinal magnetization；It is set to magnetize completely.
Vision guide degaussing trace module 6 include: ultraviolet radiator 61, cabinet 62, UR robot 63, UR robot base 64, Crankshaft rotation support platform 65, crankshaft rotating mechanism 48, camera fixed link 66, CCD industrial camera 5 67, CCD industrial camera 6 68, ultraviolet light illumination photometer 69.Closed box 62 is placed on conveyer axle flowing water coil holder 3.As shown in figure 9, ultraviolet radiator 61 is outstanding It hanging at the top of 62 inner wall of cabinet, 66 one end of camera fixed link is fixed on the top of cabinet 62 with aluminium right angle frame and screw-nut, The other end is screwed with CCD industrial camera 5 67；6 68 fixed form of CCD industrial camera and 5 67 phase of CCD industrial camera Together；Ultraviolet light illumination photometer 69 is screwed in 61 inner top of cabinet；UR robot 63 and UR robot base 64 with screw into Row is fixed；UR robot base 64 is located at conveyer axle flowing water coil holder two sides, and Liang Tai UR robot 63 is staggered relatively；Crankshaft rotation Mechanism 48 is connect with crankshaft rotation support platform 65 with screw；Crankshaft rotating mechanism 48 is placed on the UR of crankshaft front end side to be measured Robot base is connect close to assembly line direction, and with crankshaft rotation support platform 65 with screw.
As shown in figure 8, UR robot 63 includes: UR robot body 631, L-type fixture 632, sliding rail baffle 633, buffering Spring 634, sliding rail fixture 635, cutter 636, cutter and micromotor shaft coupling 637, micromotor 638.L-type fixture 632 is used Screw is fixed with 631 end of UR robot body；Between the installation of buffer spring 634 and sliding rail plate washer 633 and sliding rail fixture 624； Cutter 636 is clamped in sliding rail fixture 635；Micromotor 638 is fixed by cutter 636 and micromotor shaft coupling 637, drives Cutter 636 rotates.When cutter 636 touches crankshaft magnetic trace, 634 forced contraction of buffer spring shrinks and stops receiving to a certain extent Contracting, micromotor 638 are rotated with cutter 636, remove crankshaft magnetic trace；After cutter 636 leave crankshaft magnetic trace buffering Spring 634 is extended by elastic force；Spring 634 is shunk causes sliding rail fixture 635 to reciprocatingly slide on guide rail with elongation.
The bottom of smart camera bracket 21,14 bottom surface section of automatic deflecting wheel, 23 bottom surface of manipulator, 31 bottom surface of rack, 27 bottom surface of crankshaft positioning camera bracket, magnetic powder are drenched with rain 45 bottom surface of fixed frame, 42 bottom surface of module bracket, 52 bottom surface of coil brace, case 62 bottom surface of body, 64 bottom surface of UR robot base, 65 bottom surface of crankshaft rotation support platform are approximately the same plane.
A kind of aforementioned application method based on intelligence manufacture mode crankshaft magnetic powder inspection transfer line system, this method include such as Lower step:
Step 1:AGV conveying device conveys crankshaft to be detected；
The WIFI receiver 15 of AGV conveying device 1, which receives the crankshaft to be detected 35 that manufacturing execution system (MES) is sent, to be believed Breath, the automatic programme path of AGV conveying device 1, and go to connect according to route and specify crankshaft shelf 11 to be detected.Reach specified song After pedestal 11, AGV conveying device 1 holds up crankshaft shelf 11, is transported to feeding end smart camera support frame 21 and manipulator 23 Side, and it is put in designated position.
Step 2: crankshaft to be detected is placed in manipulator crawl；
After crankshaft to be detected is sent to designated position by AGV conveying device 1, the crawl of visual identity manipulator and placement module 2 Smart camera 22 carry out sudden strain of a muscle photograph, using deep learning algorithm, identify crankshaft intermediate journal 351 to be detected, visual identity is mechanical Hand crawl and placement module 2 manipulate manipulator 23, and manipulator 23 is coordinately transformed, and clamp crankshaft intermediate journal by fixture 351, and be placed on conveyer axle flowing water coil holder 3 in one group of crankshaft support device 33, when placing crankshaft 35 to be detected, by CCD industrial camera 1 25 and CCD industrial camera 2 26 carry out vision guide, and crankshaft is placed detection sensor 28 and incuded simultaneously, machine Tool hand 23 is completed to place crankshaft 35；Placement finishes, and manipulator 23 returns to initial position and waits grab crankshaft 35 to be detected next time Signal.
When crankshaft 35 to be detected is placed on conveyer axle flowing water coil holder 3, the center line of every group of crankshaft support device 33 is same The spacing of every group of Curved shaft support on one line, and on assembly line is consistent；Both ends middle line is parallel with bottom surface after crankshaft 35 is placed.
Curved shaft support device 33 on conveyer belt 32, two are one group, support the front and back ends of crankshaft 35 respectively；Crankshaft Support device 33 is pressed via 35 gravity of crankshaft, and starting is mounted on the button 334 of 335 bottom of semicircle body supports, is operated similar Buckle principle.After push button 334, the auxiliary package support 333 in 335 slot of semicircle body supports is stretched out, and holds song to be detected tightly The front and back ends of axis.Protection crankshaft will not impact Curved shaft support device 33.It is auxiliary when such as not having crankshaft push button 334 to be detected Help package support 333 due to gravity factor, two 1/4 circle contacts make button 334 arch upward.
When manipulator 23 does not catch crankshaft intermediate journal 351, manipulator 23 automatically returns to initial position, smart camera 22 Sudden strain of a muscle bat is carried out again, after deep learning algorithm process, continues identification crawl crankshaft intermediate journal 351, manipulator 23 is again Crankshaft to be detected is placed in crawl, until crankshaft 35 to be detected is accurately placed.
The idler wheel 34 on conveyer axle flowing water coil holder 3 is driven by controller and is rotated at this time, 32 turns of 34 driving conveying belt of idler wheel It is dynamic；Conveyer belt 32 drives entire conveyer axle assembly line to move.
Manipulator 23 clamps crankshaft intermediate neck 351 to be detected, when being placed on conveyer axle flowing water coil holder 3, controller control 23 cradle head of manipulator processed and linear joint are moved, and 23 end of manipulator utilizes Pneumatic clamping crankshaft jackshaft to be detected Neck 351；
Crankshaft, which places sensor, has data acquisition and the information processing function；On the basis for identifying crankshaft number to be detected On, the time of 23 feeding of manipulator can be carried out voluntarily according to crankshaft to be detected in the speed of service of conveyer axle flowing water coil holder 3 It adjusts.
Step 3: crankshaft to be detected sprays magnetcisuspension supernatant liquid
After manipulator 23 places crankshaft 35 to be detected, controller controls letter to the idler wheel 34 in conveyer axle flowing water coil holder 3 Number, the rotation of 34 driving conveying belt 32 of idler wheel, crankshaft 35 to be detected is with the movement of conveyer axle flowing water coil holder 3.Magnetic flaw detection ink is by uniform Stirring after, magnetic powder is delivered to by pumping device and is drenched with rain device 46.When CCD industrial camera 3 43 and CCD industrial camera 4 47 detect To crankshaft 35 to be detected by magnetic powder drench with rain device 46 when, conveyer axle assembly line stop motion, magnetic powder drench with rain device 46 unlatching, Magnetcisuspension supernatant liquid is sprayed to crankshaft 35 to be detected.48 cylinder 483 of crankshaft rotating mechanism stretches out simultaneously, and passes through CCD industrial camera 4 47 vision guide, rotation executive item start to rotate, and make the hole of its 6 executive components 485 rotations and 35 front end of crankshaft to be detected 356 is corresponding, and 6 executive components 485 are inserted into the circular hole of 35 front end of crankshaft to be detected.By crankshaft 35 to be detected with 36 degree per second Speed is rotated, and motor straight line mould group 41 drives CCD industrial camera 3 43 and CCD industrial camera 4 47 mobile, detects magnetic powder The 35 surface magnetic powder adhesion condition of detection crankshaft that device 46 of drenching with rain is sprayed；CCD industrial camera 3 43 and CCD industrial camera 4 47 Continue back to rotate after reaching 41 other end of motor straight line mould group, until after detection crankshaft 35 adheres to upper magnetic powder completely, CCD industry Camera 3 43 and CCD industrial camera 4 47 return to initial position, while cylinder 483 sets back；Crankshaft rotating mechanism 48 resets； Conveyer axle flowing water coil holder 3 restarts, and continues to move forwards；To next crankshaft to be detected by 3 43 He of CCD industrial camera CCD industrial camera 4 47 detects, continues to execute aforesaid operations.
Crankshaft rotating mechanism 48 has ability of self-teaching, is taken pictures by vision and identifies the position in 6 holes of crankshaft front end 355 It sets, adaptation hole site can be turned to automatically through image recognition and carry out insertion driving；When 6 executive components are not inserted into song to be detected In 6 holes of axis front end 355, when touching other positions of crankshaft 35 to be detected, cylinder 742 is shunk automatically；CCD industrial camera 446 carry out once photo taking automatically again, again identify that hole, until accurate safety is inserted into corresponding aperture.
Step 4: coil magnetic field magnetizes crankshaft to be detected；
Conveyer axle assembly line band dynamic crankshaft 35 is run to crankshaft coil magnetized module 5, and assembly line is out of service, song to be measured Axis 35 rests in coil 51, carries out circumferential magnetization and longitudinal magnetization using continuous magnetization method, while to crankshaft 35, so as to Detection crankshaft is magnetized completely, the restarting of conveyer axle assembly line.
Step 5: the flaw detection of crankshaft to be detected and scar processing；
Crankshaft to be detected 35 on conveyer axle assembly line continues to move to cabinet 62, temporarily ceases movement again.Cabinet 62 are placed in above conveyer axle assembly line, and ultraviolet light identifies that magnetic trace needs in the environment of closing, and cabinet 62 is closed box.Case Illumination around the detection of intracorporal 69 moment of ultraviolet light illumination photometer, the concentration according to ultraviolet light are suitable for change ultraviolet radiator 61 bright Degree；The intracorporal CCD industrial camera 5 68 of case and CCD industrial camera 6 69 carry out Image Acquisition under the irradiation of 61 light of ultraviolet radiator； Suitable ultraviolet light helps to identify crankshaft magnetic trace.
Crankshaft rotating mechanism 48 on crankshaft rotary support table 65 starts to rotate, and rotation executive component is inserted into crankshaft 35, Band dynamic crankshaft 35, every turn of 36 degree of CCD industrial cameras 5 67 take the image of one-time detection crankshaft 35, image reach image processor into Row image procossing.Meanwhile the micromotor 638 of UR robot end connection starts, micromotor 638 is rotated with cutter 636, Cutter 636 contacts magnetic trace, and magnetic trace is ground away.36 degree of 35 continuous rotation of crankshaft, CCD industrial camera 5 67 and CCD work Industry camera 6 68 acquires image, recycles 10 times, after to be recycled, cylinder 483 sets back；Crankshaft rotating mechanism 48 resets； Controller drives the conveyer belt 32 in conveyer axle flowing water coil holder 3 to rotate, and the starting of conveyer axle assembly line travels forward.
Liang Ge UR robot, staggered relatively in conveyer axle assembly line two sides, one is located proximate to manipulator 23, a position Rest against nearly smart camera 22；CCD industrial camera 5 67 acquires crankshaft intermediate journal to be detected in vision guide degaussing trace module 6 351 and the crankshaft image to be detected near acquisition CCD industrial camera 5 nearby, magnetic trace is identified through image procossing, by close to mechanical The UR robot 63 of 23 1 side of hand executes removal magnetic trace.CCD industrial camera 6 68 acquires crankshaft intermediate journal 351 to be detected and leans on Nearly 22 direction of smart camera 35 image of crankshaft to be detected, identifies magnetic trace through image procossing, by grabbing close to visual identity manipulator Take and placement module 2 in 21 1 side of smart camera support frame UR robot 63 execute removal magnetic trace.
Manipulator 23 and UR robot 63 have self sensing capability, placed by model and the automatically derived crawl of algorithm and The result of flaw detection magnetic trace；Two aspectant UR robots 63 mathematical coordinates operation can avoid bumping against automatically on transfer matic.
Step 6: removing the machined crankshaft finished
After flaw detection is except trace, assembly line continues to move.Crankshaft 35 wait detect a flaw except trace arrives blanking industrial camera 71 It takes pictures range, blanking industrial camera 71 starts to dodge and clap at this time, obtains image, is uploaded to image processor and carries out image procossing.Control Device processed obtains 351 position of crankshaft intermediate journal according to crankshaft image recognition effect；Each joint coordinates of manipulator 23 pass through homogeneous change It changes, mobile each joint air-actuated jaw clamps 351 position of crankshaft intermediate journal；Smart camera 22 is after dodging and clapping, at image excessively Reason determines that corresponding position of the crankshaft of the clamping of manipulator 23 on crankshaft frame 11, manipulator 23 are put in the position of identification；Manipulator 23 reset, and continue to execute the instruction that lower image transmits.
It appeals in step, 35 overall process of crankshaft coding to be detected is unique, and crankshaft 35 to be detected successively passes through each detection module； The coding of crankshaft 35 to be detected contains preamble production, the information of technique overall process.(MES) can be looked into manufacturing execution system It askes from forging, quenched, the production process of hardened surface processing to flaw detection, and finally specifically installs and uses situation, realize system Make the whole retrospect of process；If which production link goes wrong, the production technology information to the last period can be traced, realize manufacture The objective and accurate positioning of problem.
All condition informations, as AGV conveying device conveys 1 course location, speed condition and reaches designated position, intelligent phase Machine 22 is taken pictures identification, and manipulator 23 grabs crankshaft intermediate journal 351, and all CCD industrial camera visions take pictures and have adopting for data Collection: the acquisition including image, the identification of crankshaft number, the information collection of each equipment operation condition in operation；Each machine of manipulator 23 The clamping of tool arm pose and the data information in placement process；Spray the exceeded automatic sensing of Particle content；Magnetic flaw detection ink height water The automatic sensing of position；Stir the information such as working time and the revolving speed of magnetic flaw detection ink stirring wheel.
Entirety establishes virtual information space simulation model, and the Life cycle for constituting crankshaft flaw detection assembly line digitizes shelves The method operation of case, operation method and state aware and the flaw detection of entity crankshaft is consistent, and actual situation both sides can carry out data control Information exchange；The number " twins " of a crankshaft is constructed, virtual information space simulation model can individually carry out debugging optimization, The line that can also detect a flaw with entity crankshaft works at the same time.

Claims (8)

1. one kind is based on intelligence manufacture mode crankshaft magnetic powder inspection transfer line system characterized by comprising AGV conveying device, Visual identity manipulator crawl and placement module, conveyer axle flowing water coil holder, magnetic powder drench with rain module, crankshaft coil magnetized module, Vision guide degaussing trace module, visual identity manipulator cutting module；The crankshaft coil magnetized module includes coil and coil Supporting table, coil are placed on coil support platform；The conveyer axle flowing water coil holder is made of three short assembly lines, is visited through entire Hurt transfer matic；Respectively there is an AGV conveying device at conveyer axle flowing water coil holder both ends；The AGV one side of conveying device at feeding end is equipped with The AGV one side of conveying device of the crawl of visual identity manipulator and placement module, discharging end is equipped with visual identity manipulator blanking die Block；Magnetic powder is arranged successively on conveyer axle flowing water coil holder to drench with rain module, crankshaft coil magnetized module, vision guide degaussing trace mould Block.
2. as described in claim 1 a kind of based on intelligence manufacture mode crankshaft magnetic powder inspection transfer line system, which is characterized in that The AGV conveying device includes: AGV shell, automatic deflecting wheel, WIFI receiver, crankshaft shelf；Crankshaft shelf is placed on On AGV shell；4 automatic deflecting wheels are installed, wheel carries driving motor, and WIFI receiver is mounted on AGV shell under AGV shell Side in the middle part of body.
3. as described in claim 1 a kind of based on intelligence manufacture mode crankshaft magnetic powder inspection transfer line system, which is characterized in that The visual identity manipulator crawl and placement module include: smart camera, smart camera support frame, manipulator, crankshaft positioning Camera fixed plate, CCD industrial camera 1, CCD industrial camera 2, crankshaft positioning camera bracket, crankshaft place detection sensor；Intelligence Camera is fixed at the top of smart camera support frame, and smart camera support frame is located above AGV conveying device；Manipulator is placed in stream Waterline side, between crankshaft shelf and conveyer axle flowing water coil holder；CCD industrial camera 1 and CCD industrial camera 2 are located at song In axis positioning camera fixed plate；Crankshaft positioning camera fixed plate is fixed on crankshaft positioning camera bracket；Two CCD industrial cameras It is respectively positioned on right above crankshaft to be detected, CCD industrial camera 1 is located above crankshaft rear end axis；Before CCD industrial camera 2 is located at crankshaft Hold the inner top for surveying axle journal of axis；Crankshaft place detection sensor be secured on crankshaft positioning camera bracket and with song to be detected Axis is concentric；Crankshaft positioning camera bracket is located at conveyer axle assembly line feeding end.
4. as described in claim 1 a kind of based on intelligence manufacture mode crankshaft magnetic powder inspection transfer line system, which is characterized in that The conveyer axle flowing water coil holder includes: conveyer belt, idler wheel, rack, Curved shaft support device；Upper rack equidistantly uniformly rolls Respectively there is a conveyer belt at wheel, idler wheel both ends, and conveyer belt is made of the guide rail that one section of a section is engaged；Two, Curved shaft support device are one Group, every group of crankshaft support means centerline is on the same line, and the spacing of every group of Curved shaft support on assembly line is consistent；Gu It is scheduled on the conveyer belt on conveyer axle flowing water coil holder, the rack is spirally connected and is formed by aluminum profile, right angle fixed block；
The Curved shaft support device includes: crankshaft bracket fixing plate, crankshaft bracket support plate, semicircle body supports, auxiliary package Support, button；Crankshaft bracket fixing plate is fixed on the conveyor belt；Crankshaft bracket support plate one end and crankshaft bracket fixing plate phase Even, the other end is fixed with auxiliary package support phase；Slot is arranged at semicircle body supports bottom, and auxiliary package is supported on semicircle body supports Slot in sliding；Button is mounted on the bottom of semicircle body supports.
5. as described in claim 1 a kind of based on intelligence manufacture mode crankshaft magnetic powder inspection transfer line system, which is characterized in that Magnetic powder module of drenching with rain includes: motor straight line mould group, mobile camera fixed plate, CCD industrial camera 3, CCD industrial camera 4, mould Drench with rain device, magnetic powder of pack support, magnetic powder is drenched with rain fixed frame, crankshaft rotating mechanism；Motor straight line mould group is fixed in module bracket； Two CCD industrial cameras are sequentially separately mounted in the mobile camera fixed plate of former and later two module brackets；Crankshaft rotating mechanism It is mounted on magnetic powder to drench with rain side in fixed frame, magnetic powder is placed between two module brackets and is drenched with rain fixed frame；Magnetic powder drench with rain device with Magnetic powder drench with rain fixed frame connection；
The crankshaft rotating mechanism includes: cylinder, rotating electric machine, rotation executive item, rotating motor support plate, cylinder sealer Part；Cylinder one end is connect with rotating electric machine, and rotating electric machine is connected with module support frame, and the other end is connected with rotation executive item； Rotating electric machine is fixed on rotating motor support plate；Cylinder closure means are fixed with cylinder baffle；Cylinder closure means have 6 skies Hole, rotation executive item are passed through by emptying aperture；Rotation executive item is connected with cylinder piston.
6. as described in claim 1 a kind of based on intelligence manufacture mode crankshaft magnetic powder inspection transfer line system, which is characterized in that The vision guide degaussing trace module includes: that cabinet, ultraviolet radiator, CCD industrial camera 5, CCD industrial camera 6, camera are fixed Bar, ultraviolet light illumination photometer, UR robot, UR robot base, crankshaft rotating mechanism, crankshaft rotation support platform；Cabinet is placed On conveyer axle flowing water coil holder, ultraviolet radiator is suspended at the top of box inside wall, and camera fixed link one end is fixed in cabinet Top, the other end fixes with two CCD industrial cameras respectively；Ultraviolet light illumination photometer is fixed on cabinet inner top；Two UR machines Device people is located in the middle part of cabinet, and above conveyer axle flowing water coil holder, pedestal and the UR robot base of UR robot are fixed；UR machine People's pedestal is located at conveyer axle flowing water coil holder two sides, and Liang Tai UR robot is staggered relatively；Crankshaft rotating mechanism is placed on song to be measured The UR robot base of axis front end side is connect close to the direction of assembly line with crankshaft rotation support platform；
The UR robot includes UR robot body, L-type fixture, buffer spring, sliding rail baffle, sliding rail fixture, cutter, miniature Motor, cutter and micromotor shaft coupling；L-type fixture is fixed with screw and UR robot body end；Buffer spring is mounted on Between sliding rail plate washer and sliding rail fixture；Sliding rail baffle is mounted on L-type fixture；Cutter holding is in sliding rail fixture；Micromotor It is connected by cutter with micromotor shaft coupling.
7. as described in claim 1 a kind of based on intelligence manufacture mode crankshaft magnetic powder inspection transfer line system, which is characterized in that The visual identity manipulator cutting module includes smart camera bracket, smart camera, crankshaft shelf, AGV conveying device, machinery Hand, blanking industrial camera, blanking industrial camera fixed plate；Blanking industrial camera is fixed on intelligence by blanking industrial camera fixed plate On energy camera support；Smart camera bracket is put in right above the crankshaft shelf of conveyer axle flowing water coil holder end；Crankshaft shelf is put In in AGV conveying device；Smart camera is mounted on smart camera bracket；Crankshaft shelf be located at be smart camera bracket just under Side；Manipulator is placed between two smart camera brackets.
8. a kind of application method based on intelligence manufacture mode crankshaft magnetic powder inspection transfer line system described in claim 1, It is characterized in that, the method steps are as follows:
Step 1:AGV conveying device conveys crankshaft to be detected；
The WIFI receiver of AGV conveying device receives the crankshaft information to be detected that manufacturing execution system (MES) is sent, and AGV is defeated It send device automatic programme path, and goes to connect according to route and specify crankshaft shelf to be detected, after reaching specified crankshaft shelf, AGV conveying device holds up crankshaft shelf, is transported to the designated position by feeding end smart camera support frame and manipulator；
Step 2: crankshaft to be detected is placed in manipulator crawl；
After crankshaft to be detected is sent to designated position by AGV conveying device, the intelligence of the crawl of visual identity manipulator and placement module Camera carries out sudden strain of a muscle bat, using deep learning algorithm, identifies that the intermediate journal of crankshaft to be detected, visual identity manipulator are grabbed and put Set module manipulation manipulator, manipulator is coordinately transformed, the crankshaft to be detected that visual identity goes out is clamped by fixture, and by its It is placed on one group of crank shaft supporter on conveyer axle flowing water coil holder；When placing crankshaft to be detected, by 1 He of CCD industrial camera CCD industrial camera 2 carries out vision guide, and crankshaft places the synchronous induction of detection sensor, and manipulator is completed to place song to be detected Axis movement；After placement, manipulator returns to initial position and waits the signal for grabbing crankshaft to be detected next time；Crankshaft to be detected is put In conveyer axle flowing water coil holder, every group of crankshaft support means centerline is on the same line, and every suite on assembly line The spacing of axis support is consistent；Both ends middle line is parallel with bottom surface after crankshaft to be detected is placed；
Two, Curved shaft support device on conveyer belt are one group, support the front and back ends of crankshaft respectively；Curved shaft support device via The pressing of crankshaft gravity, starts the button of semicircle body supports, and the auxiliary package support in semicircle body supports slot is stretched out, hold tightly to Detect the front and back ends of crankshaft；Protection crankshaft will not impact Curved shaft support device；When such as not having crankshaft push button to be detected, The support of auxiliary package makes button arch upward due to gravity factor, two 1/4 circle contacts；
When manipulator does not catch crankshaft intermediate journal to be detected, manipulator automatically returns to initial position, smart camera again into Row, which dodges, to be clapped, and is continued identification and is grabbed crankshaft intermediate journal to be detected, manipulator grabs again places crankshaft to be detected, until will be to be checked Crankshaft is surveyed accurately to place；
The idler wheel on conveyer axle flowing water coil holder is driven by controller and is rotated at this time, the rotation of idler wheel driving conveying belt；Conveyer belt band Move entire conveyer axle assembly line movement；
Manipulator clamps crankshaft intermediate neck to be detected, and when being placed on conveyer axle flowing water coil holder, controller controls cradle head It is moved with linear joint, arm end utilizes Pneumatic clamping crankshaft intermediate journal to be detected；
Crankshaft, which places sensor, has data acquisition and information processing transfer function；Identify crankshaft to be detected number, it can voluntarily root According to crankshaft to be detected in the speed of service of conveyer axle flowing water coil holder, the time of manipulator feeding is controlled to adjust；
Step 3: crankshaft to be detected sprays magnetcisuspension supernatant liquid
After manipulator correct placement crankshaft to be detected, controller controls signal, rolling to the roller motion of conveyer axle flowing water coil holder Driving conveying belt rotation is taken turns, crankshaft to be detected is mobile with conveying pipeline frame；Magnetic flaw detection ink after mixing evenly, by pumping device pump to Magnetic powder device of drenching with rain is stand-by；When CCD industrial camera 3 and CCD industrial camera 4 have detected that crankshaft to be measured is drenched with rain device by magnetic powder When, conveyer axle assembly line stop motion, magnetic powder drench with rain device unlatching, to crankshaft to be detected spray magnetcisuspension supernatant liquid；Crankshaft simultaneously The cylinder of rotating mechanism stretches out, and by the vision guide of CCD industrial camera 4, rotates executive item and starts to rotate, makes its 6 execution Element is corresponding with the position in crankshaft front end hole to be detected, and 6 executive components are inserted into the circular hole of crankshaft front end to be detected；Crankshaft rotation Rotation mechanism rotates crankshaft to be detected with 36 degree of speed per second, and motor straight line mould group drives CCD industrial camera 3 and CCD Industrial camera 4 is mobile, detects the magnetic powder adhesion condition of the crankshaft surface sprayed；Two CCD industrial cameras reach motor straight line Continue back to rotate after the mould group other end, until two CCD industrial cameras return to initially after crankshaft surface adheres to magnetic powder completely Position, while cylinder sets back；Crankshaft rotating mechanism resets；The restarting of conveyer axle flowing water coil holder, continues to move forwards； It is detected to next crankshaft to be detected by CCD industrial camera 3 and CCD industrial camera 4, continues to execute aforesaid operations；
Crankshaft rotating mechanism has ability of self-teaching, is taken pictures by vision and identifies the position in 6 holes of crankshaft front end to be detected, passes through Image recognition can turn to adaptation crankshaft leading portion hole site automatically and is inserted into；When 6 rotation executive components touch it is to be checked When surveying other positions of crankshaft, cylinder is shunk automatically；CCD industrial camera 4 carries out once photo taking automatically again, carries out identification hole site, Until accurate safety is inserted into corresponding aperture；
Step 4: the magnetization treatment of crankshaft to be detected；
Conveyer axle assembly line band dynamic crankshaft is run to crankshaft coil magnetized module, and assembly line is out of service, and crankshaft to be measured is stood In coil, using continuous magnetization method, and meanwhile it is complete to crankshaft to be detected progress circumferential magnetization and longitudinal magnetization, crankshaft to be detected It is magnetized, the restarting of conveyer axle assembly line；
Step 5: the flaw detection of crankshaft to be detected and scar processing；
Crankshaft to be detected on conveyer axle assembly line continues to move to cabinet, temporarily ceases movement again；The cabinet is placed in defeated It send above crankshaft assembly line, is enclosed environment；Ultraviolet light in the intracorporal ultraviolet light illumination photometer moment detection ambient enviroment of case shines Degree converts the brightness of ultraviolet radiator according to ultraviolet light concentration；The intracorporal CCD industrial camera 5 of case and CCD industrial camera 6 are being suitable for Ultraviolet light irradiation lower carry out Image Acquisition；
Crankshaft rotating mechanism on crankshaft rotary support table starts to rotate, and rotation executive component is inserted into crankshaft, drives song to be detected Axis, every 36 degree of rotation, CCD industrial camera 5 shoot the image of primary crankshaft to be detected, and image reaches the computer graphic of control system As processor is handled, meanwhile, the cutter rotation of UR robot end, tool contact magnetic trace, and ground away；It is to be detected Continuous 10 36 degree of the rotations of crankshaft, CCD industrial camera 5 acquire the process of image, circulation flaw detection and processing scar；It is to be recycled to finish Afterwards, controller driving conveying belt rotates, and the starting of conveyer axle assembly line travels forward；
Liang Ge UR robot, staggered relatively in conveyer axle assembly line two sides, one is located proximate to manipulator, and one is located proximate to Smart camera；CCD industrial camera 5 acquires crankshaft intermediate journal to be detected and the crankshaft figure to be detected close to CCD industrial camera 5 Picture, the magnetic trace identified through image procossing execute removal magnetic trace by the UR robot close to one side of manipulator；CCD industrial camera 6 Acquire the song to be detected of crankshaft intermediate journal to be detected smart camera in the crawl of visual identity manipulator and placement module Axis image, the magnetic trace identified through image procossing, by the smart camera branch in the crawl of visual identity manipulator and placement module The UR robot of one side of support executes removal magnetic trace；
Manipulator and UR robot have self sensing capability, are placed and magnetic of detecting a flaw by model and algorithm come automatically derived crawl The result of trace；Two opposite UR robots mathematical coordinates operation can avoid two robots from bumping against automatically on transfer matic；
Step 6: removing the machined crankshaft finished
After flaw detection is except trace, assembly line continues to move, Crankshaft motion the taking pictures to blanking industrial camera wait detect a flaw except trace Range, blanking industrial camera, which starts to dodge, to be clapped, and the image of acquisition is uploaded to image processor image procossing, and controller is according to crankshaft Image recognition effect obtains crankshaft intermediate journal position；Each joint coordinates of manipulator pass through homogeneous transformation, and mobile each joint is pneumatic Fixture clamps crankshaft intermediate journal；Smart camera, which dodges, to be clapped, and by image procossing, determines the crankshaft of manipulator clamping in crankshaft frame On corresponding position, the crankshaft of clamping is put in the position of identification by manipulator；Manipulator resets, and continues to execute next image and passes The instruction come；
In above-mentioned steps, crankshaft overall process coding to be detected is unique, and crankshaft successively passes through each detection module；Crankshaft to be detected Coding contains preamble production, and the information of technique overall process can be inquired in manufacturing execution system from forging, quenched, firmly Change surface treatment to the production process detected a flaw, and finally specifically install and use situation, realizes the whole retrospect of manufacturing process；It is real The existing objective and accurate positioning of manufacturing issue；
Transfer matic integrally establishes virtual information space simulation model, and the Life cycle for constituting crankshaft flaw detection assembly line digitizes shelves The method operation of case, operation method and state aware and the flaw detection of entity crankshaft is consistent, and actual situation both sides can carry out data control information Interaction；The number " twins " of a crankshaft carrying out flaw detection is constructed, virtual information space simulation model can be debugged individually Optimization, the line that can also detect a flaw with entity crankshaft work at the same time.
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