CN110421351A - Laser for complex milling machine tool heats automatic monitoring system and monitoring method - Google Patents
Laser for complex milling machine tool heats automatic monitoring system and monitoring method Download PDFInfo
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- CN110421351A CN110421351A CN201910796971.4A CN201910796971A CN110421351A CN 110421351 A CN110421351 A CN 110421351A CN 201910796971 A CN201910796971 A CN 201910796971A CN 110421351 A CN110421351 A CN 110421351A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P23/00—Machines or arrangements of machines for performing specified combinations of different metal-working operations not covered by a single other subclass
- B23P23/02—Machine tools for performing different machining operations
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P25/00—Auxiliary treatment of workpieces, before or during machining operations, to facilitate the action of the tool or the attainment of a desired final condition of the work, e.g. relief of internal stress
- B23P25/003—Auxiliary treatment of workpieces, before or during machining operations, to facilitate the action of the tool or the attainment of a desired final condition of the work, e.g. relief of internal stress immediately preceding a cutting tool
- B23P25/006—Heating the workpiece by laser during machining
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q17/00—Arrangements for observing, indicating or measuring on machine tools
- B23Q17/24—Arrangements for observing, indicating or measuring on machine tools using optics or electromagnetic waves
- B23Q17/248—Arrangements for observing, indicating or measuring on machine tools using optics or electromagnetic waves using special electromagnetic means or methods
- B23Q17/249—Arrangements for observing, indicating or measuring on machine tools using optics or electromagnetic waves using special electromagnetic means or methods using image analysis, e.g. for radar, infrared or array camera images
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Abstract
Laser for complex milling machine tool heats automatic monitoring system and monitoring method, is related to complex milling machine tool processing technique field.In order to solve in workpiece process, due to laser parameter or voltage instability etc., cause workpiece heating region temperature unstable, so that the uneven heating of material, becomes not meeting processing request so as to cause the workpiece performance being heated.The present invention includes complex milling machine tool, temperature control module, robot assemblies, gantry connection frame, pedestal and two machine vision modules, the side of pedestal is arranged in gantry connection frame, the other side of pedestal is arranged in robot assemblies, and robot assemblies are slidably connected with pedestal, the lower section of the upper surface of pedestal and the upper beam on the connection frame of gantry is arranged in complex milling machine tool, two machine vision modules are arranged side by side, and two machine vision modules are slidably connected with the upper beam on the connection frame of gantry respectively, temperature control module is arranged on robot assemblies.Present invention is mainly used for the processing of workpiece.
Description
Technical field
The present invention relates to complex milling machine tool processing technique fields, more particularly, to the laser heating of complex milling machine tool
Automatic monitoring system and monitoring method.
Background technique
It is that a branch of high energy laser beam is radiated to material removal area that laser, which heats secondary process technology, is improved in the short time
The local temperature of workpiece material changes the cutting ability of material, is processed later using cutter.By being heated to material,
The plasticity for improving material makes yield strength be reduced to breaking strength hereinafter, reducing cutting force, reduces tool wear, reduces cutting
Chatter reduces cost to reach raising processing efficiency, promotes the purpose of machined surface quality.
It, may be because when laser beam is irradiated to material removal area but in laser heating secondary process process
For a variety of causes such as laser parameter or voltage instabilities, cause the laser heating hot spot temperature in irradiated area excessively high or mistake
It is low, so that laser heats the uneven heating of material during secondary process, become not being inconsistent so as to cause the workpiece performance being heated
Processing request is closed, and also has requirement to chips sometimes.Therefore, the processing to workpiece is needed during secondary process
Temperature carries out automatic adjusument and is rationally monitored to work pieces process chip.
Summary of the invention
The technical problem to be solved in the invention is: in laser heating secondary process process, due to laser parameter
Or a variety of causes such as voltage instability, cause the laser in workpiece irradiated area to heat hot spot too high or too low for temperature, so that swashing
Light heats the uneven heating of material during secondary process, becomes not meet processing so as to cause the workpiece performance being heated and want
It asks；And then provide a kind of laser heating automatic monitoring system and monitoring method for complex milling machine tool.
The present invention to solve above-mentioned technical problem the technical solution adopted is that:
The laser heating automatic monitoring system for complex milling machine tool includes complex milling machine tool, temperature controlling machine
The one of pedestal 2 is arranged in structure, robot assemblies, gantry connection frame 1, pedestal 2 and Liang Ge machine vision mechanism, gantry connection frame 1
Side, the other side of pedestal 2 is arranged in robot assemblies, and robot assemblies are slidably connected with pedestal 2, complex milling machine tool setting
In the upper surface of pedestal 2 and the lower section of the upper beam on gantry connection frame 1, Liang Ge machine vision mechanism is arranged side by side, and
Liang Ge machine vision mechanism is slidably connected with the upper beam on gantry connection frame 1 respectively, and temperature control mechanism is arranged in robot assemblies
On, and face complex milling machine tool.
Further, the robot assemblies include mechanical arm mounting base 3, first mechanical arm 4 and second mechanical arm 5,
One end of first mechanical arm 4 and the top of mechanical arm mounting base 3 are hinged, the other end and second mechanical arm 5 of first mechanical arm 4
One end be hinged, the other end of second mechanical arm 5 and temperature control mechanism are connected.
Further, the temperature control mechanism includes infrared measurement of temperature camera 6, laser 7, focus regulating mechanism 8 and camera shooting
First 9, focus regulating mechanism 8 is arranged on the upper surface of 5 other end of second mechanical arm, and camera 9 is arranged described second
On the lower surface of 5 other end of mechanical arm, the end head of 5 other end of second mechanical arm, infrared measurement of temperature phase is arranged in laser 7
Machine 6 is fixedly mounted in focus regulating mechanism 8.
Further, the focus regulating mechanism 8 includes mounting base 8-1, housing 8-2, inner cylinder 8-3, eyeglass fixed frame
8-4, eyeglass and two fixed link 8-5, mounting base 8-1 are fixedly mounted on the upper surface of 5 other end of second mechanical arm, outside
Set 8-2 is inserted into the circular hole on mounting base 8-1, and inner cylinder 8-3 is arranged in housing 8-2, and two fixed link 8-5 are side by side up and down to be set
It sets, one end of fixed link 8-5 is connected on a side end face of housing 8-2, and the other end of fixed link 8-5 is hinged on eyeglass fixed frame
On 8-4, eyeglass is mounted in eyeglass fixed frame 8-4；Infrared measurement of temperature camera 6 is fixedly mounted in inner cylinder 8-3.
Further, the housing 8-2 is made of upper and lower two semi-arc plates 8-2-1, the arc above inner cylinder 8-3
A square protruding 8-2-2 is provided at the inner wall of shape plate 8-2-1；Along inner cylinder on the outer circle wall of the inner cylinder 8-3
Axis direction is provided with one sliding slot 8-3-1, and square protruding 8-2-2 matches with sliding slot 8-3-1.
Further, the length of the sliding slot 8-3-1 is the half of inner cylinder 8-3 length.
Further, each machine vision mechanism includes global camera 10 and position adjusting mechanism, position adjusting mechanism packet
First hydraulic cylinder 11, crossbeam sliding block 12 and second hydraulic cylinder 13 are included, global camera 10 is packed in 11 telescopic rod of first hydraulic cylinder
Top, the cylinder part of first hydraulic cylinder 11 are fixed on crossbeam sliding block 12, the upper cross on crossbeam sliding block 12 and gantry connection frame 1
Beam is slidably connected, and second hydraulic cylinder 13 is packed on the upper beam on gantry connection frame 1, and the top of 13 telescopic rod of second hydraulic cylinder
End is fixed on crossbeam sliding block 12.
Further, the complex milling machine tool includes lathe mechanism 18 and milling machine mechanism 15, is set in lathe mechanism 18
It is equipped with chuck 14 and lathe tool 16, milling cutter 17 is provided in milling machine mechanism 15.
The laser for complex milling machine tool heats monitoring method, and specific monitoring step is as follows:
Step 1, fixed workpiece: on chuck 14 by piece-holder；
The position of positioning laser heating hot spot: step 2 is opened laser 7 and camera 9, is acquired and swashed using camera 9
Light heats the location drawing picture of hot spot, and the characteristics of image that image recognition technology will acquire is converted to digital signal, and is transferred to machinery
Arm component, robot assemblies adjust its position on pedestal 2 after receiving digital signal, guarantee that laser heating hot spot is in work
On part；
Step 3 obtains the location drawing picture of infrared measurement of temperature hot spot: opening infrared measurement of temperature camera 6, is acquired using camera 9 red
The location drawing picture of outer thermometric hot spot, the characteristics of image that image recognition technology will acquire is converted to digital signal, and is transferred to focal length
Adjustment mechanism, focus regulating mechanism receive the tilt angle of adjustment eyeglass fixed frame 8-4 after digital signal, pass through and change eyeglass
Light path angle between infrared measurement of temperature camera 6 is focused, and guarantees that laser heating hot spot and infrared measurement of temperature hot spot are overlapped；
Step 4 acquires the location drawing of laser heating hot spot and infrared measurement of temperature hot spot using two global cameras 10 respectively
Picture, the characteristics of image that image recognition technology will acquire is converted to digital signal, and is transferred to position adjusting mechanism, and position adjusts machine
Structure receives the output parameter of adjustment first hydraulic cylinder 11 and second hydraulic cylinder 13 after digital signal, guarantees two global cameras 10
Focus is all fallen on workpiece, to realize the focusing of global camera 10；
Step 5 utilizes 16 turner of lathe tool；
Step 6 when turning, is acquired the chip image during turning using turning overall situation camera, is adopted using camera 9
The image of collection infrared light spot feeds back to robot assemblies, lathe mechanism 18 and laser by acquired image characteristic information
7, the movement of mechanical arm and the power parameter of laser are adjusted, lathe mechanism 18 adjusts cutting for lathe tool 16 after receiving digital signal
Parameter is cut, laser 7 adjusts its heating temperature after receiving digital signal, realizes that the real time monitoring of workpiece turning and temperature are surveyed
Amount；
Step 7 utilizes 17 milling workpiece of milling cutter；
Step 8 when milling, using the chip image in milling overall situation camera acquisition milling process, is adopted using camera 9
The image of collection infrared light spot feeds back to robot assemblies, milling machine mechanism 15 and laser by acquired image characteristic information
7, the movement of mechanical arm and the power parameter of laser are adjusted, milling machine mechanism 15 receives the cutting ginseng of adjustment milling cutter 17 after signal
Number, laser 7 adjust its heating temperature after receiving digital signal, realize the real time monitoring and temperature measurement of workpiece milling.
Further, in the step three, during obtaining infrared measurement of temperature facula position image, infrared survey is determined
Warm camera is focused successfully: the location drawing picture of infrared measurement of temperature hot spot is acquired by camera 9, by image recognition technology to acquisition
After the location drawing picture of infrared measurement of temperature hot spot is handled, the number of infrared measurement of temperature hot spot is judged, if of infrared measurement of temperature hot spot
Number is one, indicates that infrared measurement of temperature camera is focused successfully, if the number of infrared measurement of temperature hot spot is two, indicates infrared measurement of temperature phase
Machine focusing is failed, when the number of infrared measurement of temperature hot spot is two, is turned by the characteristics of image that image recognition technology will acquire
It is melted into digital signal, and is transferred to focus regulating mechanism 8, adjustment eyeglass is fixed after focus regulating mechanism 8 receives digital signal
The tilt angle of frame 8-4 makes infrared measurement of temperature camera again by changing the light path angle between eyeglass and infrared measurement of temperature camera 6
Focusing, camera 9 acquire the location drawing picture of the new infrared measurement of temperature hot spot of a frame, and image recognition technology is to freshly harvested infrared measurement of temperature
The location drawing picture of hot spot is handled, and the number of infrared measurement of temperature hot spot is rejudged, until the number of infrared measurement of temperature hot spot is one
It is a, indicate that infrared measurement of temperature camera is focused successfully, infrared measurement of temperature hot spot is overlapped with laser heating hot spot at this time.
The beneficial effect that the present invention generates compared with prior art is:
The present invention heats workpiece by the laser in temperature control mechanism, and acquires workpiece by the camera in temperature control mechanism
On laser heating hot spot and infrared measurement of temperature hot spot location drawing picture, chip is acquired by global camera in machine vision mechanism
Image handled, analyzed and understood using location drawing picture and chip image of the computer to acquisition by image recognition technology,
The location drawing picture feature that image recognition technology is obtained is converted to digital signal and feeds back to laser in temperature control mechanism, is used for
Heating temperature is adjusted, guarantees that during workpieces processing, heating temperature is remained unchanged；The cutting that image recognition technology is obtained
Characteristics of image (states such as size, continuity of chip) is converted to digital signal and feeds back to complex milling machine tool, cuts for adjusting
Parameter is cut, to achieve the purpose that temp autocontrolled and adjustment cutting state.
Detailed description of the invention
Fig. 1 is overall structure diagram of the invention；
Fig. 2 is the partial enlarged view in Fig. 1 at I；
Fig. 3 is the partial enlarged view in Fig. 1 at II；
Fig. 4 is the structural schematic diagram of focus regulating mechanism；
Fig. 5 is the structure disassembly diagram of focus regulating mechanism；
Fig. 6 is the side view of housing；
Fig. 7 is the structural schematic diagram of inner cylinder.
Specific embodiment
To further illustrate the technical scheme of the present invention below with reference to the accompanying drawings and specific embodiments:
Specific embodiment 1: as shown in Figure 1, being heated described in present embodiment for the laser of complex milling machine tool
Automatic monitoring system includes complex milling machine tool, temperature control mechanism, robot assemblies, gantry connection frame 1, pedestal 2, third hydraulic cylinder
19 and Liang Ge machine vision mechanism,
The side of pedestal 2 is arranged in gantry connection frame 1, and the other side of pedestal 2, and mechanical arm group is arranged in robot assemblies
Part is slidably connected with pedestal 2, and third hydraulic cylinder 19 is fixedly connected on pedestal 2, and robot assemblies and third hydraulic cylinder 19 are flexible
The end head of bar is fixedly connected, and robot assemblies are driven by third hydraulic cylinder 19, realizes the opposite sliding with pedestal 2,
The lower section of the upper surface of pedestal 2 and the upper beam on gantry connection frame 1, two machine vision are arranged in complex milling machine tool
Mechanism is arranged side by side, and Liang Ge machine vision mechanism is slidably connected with the upper beam on gantry connection frame 1 respectively, and temperature control mechanism is set
It sets on robot assemblies, and face complex milling machine tool, the temperature control mechanism is for heating workpiece, automatic monitoring and adjustment
Heating temperature；
The Liang Ge machine vision mechanism is respectively used to the machining state of monitoring car, milling, i.e., one of machine vision
For monitoring turning machining state, another machine vision mechanism is fed back to respectively for monitoring Milling Process state for mechanism
Robot assemblies and complex milling machine tool.
During workpieces processing, image recognition technology is obtained location drawing picture feature and is converted to digital signal feedback
To third hydraulic cylinder 19, third hydraulic cylinder 19 drives robot assemblies to move with the movement of workpiece.
The present invention heats workpiece by temperature control mechanism, and the laser heating hot spot and red on workpiece is acquired by temperature control mechanism
The location drawing picture of outer thermometric hot spot acquires chip image by machine vision mechanism,
It handled, analyzed and is managed using location drawing picture and chip image of the computer to acquisition by image recognition technology
Solution, the location drawing picture feature that image recognition technology is obtained are converted to digital signal and feed back to temperature control mechanism, add for adjusting
Hot temperature guarantees that during workpieces processing, heating temperature is remained unchanged；The cutting image that image recognition technology is obtained is special
Sign (states such as size, continuity of chip) is converted to digital signal and feeds back to complex milling machine tool, for adjusting cutting parameter,
To achieve the purpose that temp autocontrolled and adjustment cutting state.
Specific embodiment 2: as shown in Figure 1, the robot assemblies include mechanical arm installation in present embodiment
Seat 3, first mechanical arm 4 and second mechanical arm 5, one end of first mechanical arm 4 and the top of mechanical arm mounting base 3 are hinged, the
The other end of one mechanical arm 4 and one end of second mechanical arm 5 are hinged, and the other end and temperature control mechanism of second mechanical arm 5 are connected.
The lower end of mechanical arm mounting base 3 is fixedly connected with the end head of 19 telescopic rod of third hydraulic cylinder.
Other compositions and connection type are same as the specific embodiment one.
Specific embodiment 3: as depicted in figs. 1 and 2, in present embodiment, the temperature control mechanism includes infrared measurement of temperature
Camera 6, laser 7, focus regulating mechanism 8 and camera 9, focus regulating mechanism 8 are arranged in 5 other end of second mechanical arm
Upper surface on, camera 9 is arranged on the lower surface of 5 other end of second mechanical arm, laser 7 be arranged described second
The end head of 5 other end of mechanical arm, infrared measurement of temperature camera 6 are fixedly mounted in focus regulating mechanism 8.
Wherein laser is for heating workpiece；Infrared measurement of temperature camera is used to obtain workpiece during laser heating workpiece
The size of temperature and workpiece surface laser absorption rate；Camera is used to acquire laser heating hot spot and infrared measurement of temperature light on workpiece
The location drawing picture of spot.Other compositions and connection type are identical with embodiment two.
Specific embodiment 4: as shown in figure 4, the focus regulating mechanism 8 includes mounting base 8- in present embodiment
1, housing 8-2, inner cylinder 8-3, eyeglass fixed frame 8-4, eyeglass, the 4th hydraulic cylinder and two fixed link 8-5, mounting base 8-1 are fixed
It is mounted on the upper surface of 5 other end of second mechanical arm, housing 8-2 is inserted into the circular hole on mounting base 8-1, inner cylinder 8-
3 are arranged in housing 8-2, and two fixed link 8-5 settings side by side up and down, one end of every fixed link 8-5 is connected in housing 8-2's
On one side end face, the other end of every fixed link 8-5 is hinged on eyeglass fixed frame 8-4, and eyeglass is mounted on eyeglass fixed frame 8-4
Interior, the cylinder part of the 4th hydraulic cylinder is fixedly connected on mounting base 8-1, the end head and housing 8- of the 4th hydraulic cylinder extension bar
2 are fixedly connected, and the opposite of housing 8-2 and inner cylinder 8-3 slides through the 4th hydraulic cylinder to realize；
8 fixed card buckles are provided in eyeglass fixed frame 8-4, eyeglass is stuck in 8 fixed card buckles, and the eyeglass is recessed
Lens.
Other compositions and connection type are the same as the specific implementation mode 3.
Specific embodiment 5: as shown in Figure 5 and Figure 6, in present embodiment, the housing 8-2 is by upper and lower two halves
Arc panel 8-2-1 is formed, and is provided with a square protruding 8-2-2 at the inner wall of the arc panel 8-2-1 above inner cylinder 8-3；
As shown in fig. 7, being provided with a sliding slot 8- along the axis direction of inner cylinder on the outer circle wall of the inner cylinder 8-3
3-1, square protruding 8-2-2 match with sliding slot 8-3-1；
The eyeglass fixed frame 8-4 upper/lower terminal face has a gap, and the one of one of fixed link 8-5
End is fixed on the side end face of the arc panel 8-2-1 above inner cylinder 8-3, the other end of one of fixed link 8-5
In the gap for the upper end surface being hinged on eyeglass fixed frame 8-4 by shaft, one end of another fixed link 8-5 is fixed in place
On the side end face of arc panel 8-2-1 below inner cylinder 8-3, the other end of another fixed link 8-5 is hinged by shaft
In the gap at the lower end surface on eyeglass fixed frame 8-4；
Inner cylinder 8-3 is arranged between the two panels arc panel 8-2-1 being oppositely arranged up and down, inner cylinder 8-3 can under the inner cylinder
The arc panel 8-2-1 of side is fixedly connected, and square protruding 8-2-2 is in the slideway of sliding slot 8-3-1, therefore on inner cylinder 8-3
It opposite can be slided between the arc panel 8-2-1 and inner cylinder 8-3 of side,
Infrared measurement of temperature camera 6 is fixedly mounted in inner cylinder 8-3, when needing to adjust between infrared measurement of temperature camera 6 and concavees lens
Light path angle when, pass through the 4th hydraulic cylinder and drive arc panel 8-2-1 linear motion above the inner cylinder 8-3, arc panel 8-
Square protruding 8-2-2 on 2-1 is slided along the slideway of inner cylinder 8-3 upper hopper chute 8-3-1, the arc panel above inner cylinder 8-3
8-2-1 drives fixed link 8-5 linear motion connected to it, and then the fixed link 8-5 drives eyeglass fixed frame 8-4 to turn
Dynamic, eyeglass fixed frame 8-4 generates certain inclination, is carried out by the light path angle changed between eyeglass and infrared measurement of temperature camera 6
Focusing, until infrared measurement of temperature camera 6 is focused successfully.
Other compositions and connection type are identical as specific embodiment four.
Specific embodiment 6: the arc panel 8-2-1 in order to prevent above inner cylinder 8-3 is opposite in present embodiment
It is too long in the distance of inner cylinder 8-3 sliding, and cause eyeglass fixed frame 8-4 tilt angle excessive, the length of the sliding slot 8-3-1
For the half of inner cylinder 8-3 length.
Other compositions and connection type are identical as specific embodiment five.
Specific embodiment 7: as shown in Figure 1, each machine vision mechanism includes global camera 10 in present embodiment
And position adjusting mechanism, position adjusting mechanism include first hydraulic cylinder 11, crossbeam sliding block 12 and second hydraulic cylinder 13, global camera
10 are packed in the top of 11 telescopic rod of first hydraulic cylinder, and the cylinder part of first hydraulic cylinder 11 is fixed on crossbeam sliding block 12, horizontal
Beam sliding block 12 is slidably connected with the upper beam on gantry connection frame 1, and second hydraulic cylinder 13 is packed in the upper cross on gantry connection frame 1
Liang Shang, and the top of 13 telescopic rod of second hydraulic cylinder is fixed on crossbeam sliding block 12.
The first hydraulic cylinder 11 and second hydraulic cylinder 13 is used to adjust the position of global camera 10, one of global
Camera 10 is used for the turnery processing state of monitoring workpiece, another global camera 10 is used for the Milling Process state of monitoring workpiece；
The present invention obtains the chip status image of workpiece by two global cameras, and utilizes meter by image recognition technology
Calculation machine is handled and is analyzed to acquired image, monitors the chip state of workpiece, and by shapes such as the size of chip, continuitys
State feeds back to complex milling machine tool, and adjusts the cutting parameter of lathe tool or milling cutter.
Other compositions and connection type are identical as specific embodiment six.
Specific embodiment 8: as shown in figures 1 and 3, in present embodiment, the complex milling machine tool includes lathe
Mechanism 18 and milling machine mechanism 15 are provided with chuck 14 and lathe tool 16 in lathe mechanism 18, milling cutter 17 are provided in milling machine mechanism 15.
Chuck 14 is used for clamping workpiece, and lathe tool 16 carries out turnery processing to workpiece, and milling cutter 17 carries out Milling Process to workpiece.
Other compositions and connection type are identical as specific embodiment seven.
Specific embodiment 9: in present embodiment, the automatic monitoring of laser heating for complex milling machine tool
The laser of system heats monitoring method, and specific the step of monitoring and adjusting is as follows:
Step 1, fixed workpiece: on chuck 14 by piece-holder；
The position of positioning laser heating hot spot: step 2 is opened laser 7 and camera 9, is acquired and swashed using camera 9
Light heats the location drawing picture of hot spot, and the characteristics of image that image recognition technology will acquire is converted to digital signal, and is transferred to machinery
Arm component, robot assemblies adjust its position on pedestal 2 after receiving digital signal, guarantee that laser heating hot spot is in work
On part；
Step 3 obtains the location drawing picture of infrared measurement of temperature hot spot: opening infrared measurement of temperature camera 6, is acquired using camera 9 red
The location drawing picture of outer thermometric hot spot, the characteristics of image that image recognition technology will acquire is converted to digital signal, and is transferred to focal length
Adjustment mechanism, focus regulating mechanism receive the tilt angle of adjustment eyeglass fixed frame 8-4 after digital signal, pass through and change eyeglass
Light path angle between infrared measurement of temperature camera 6 is focused, and guarantees that laser heating hot spot and infrared measurement of temperature hot spot are overlapped；
Step 4 acquires the location drawing of laser heating hot spot and infrared measurement of temperature hot spot using two global cameras 10 respectively
Picture, the characteristics of image that image recognition technology will acquire is converted to digital signal, and is transferred to position adjusting mechanism, and position adjusts machine
Structure receives the output parameter of adjustment first hydraulic cylinder 11 and second hydraulic cylinder 13 after digital signal, guarantees two global cameras 10
Focus is all fallen on workpiece, to realize the focusing of global camera 10；
Step 5 utilizes 16 turner of lathe tool；
Step 6 when turning, is acquired the chip image during turning using turning overall situation camera, is adopted using camera 9
The image of collection infrared light spot feeds back to robot assemblies, lathe mechanism 18 and laser by acquired image characteristic information
7, the movement of mechanical arm and the power parameter of laser are adjusted, lathe mechanism 18 adjusts cutting for lathe tool 16 after receiving digital signal
Parameter is cut, laser 7 adjusts its heating temperature after receiving digital signal, realizes that the real time monitoring of workpiece turning and temperature are surveyed
Amount；
Step 7 utilizes 17 milling workpiece of milling cutter；
Step 8 when milling, using the chip image in milling overall situation camera acquisition milling process, is adopted using camera 9
The image of collection infrared light spot feeds back to robot assemblies, milling machine mechanism 15 and laser by acquired image characteristic information
7, the movement of mechanical arm and the power parameter of laser are adjusted, milling machine mechanism 15 receives the cutting ginseng of adjustment milling cutter 17 after signal
Number, laser 7 adjust its heating temperature after receiving digital signal, realize the real time monitoring and temperature measurement of workpiece milling.
Specific embodiment 10: in the step three, obtaining infrared measurement of temperature facula position image in present embodiment
During, it determines that infrared measurement of temperature camera is focused successfully: acquiring the location drawing picture of infrared measurement of temperature hot spot by camera 9, pass through
After image recognition technology handles the location drawing picture of the infrared measurement of temperature hot spot of acquisition, the number of infrared measurement of temperature hot spot is judged,
If the number of infrared measurement of temperature hot spot is one, indicate that infrared measurement of temperature camera is focused successfully, if the number of infrared measurement of temperature hot spot
It is two, indicates that the focusing of infrared measurement of temperature camera is failed, when the number of infrared measurement of temperature hot spot is two, pass through image recognition skill
The characteristics of image that art will acquire is converted to digital signal, and is transferred to focus regulating mechanism 8, and focus regulating mechanism 8 receives number
The tilt angle that eyeglass fixed frame 8-4 is adjusted after word signal, by changing the light path angle between eyeglass and infrared measurement of temperature camera 6
So that infrared measurement of temperature camera is focused again, camera 9 acquires the location drawing picture of the new infrared measurement of temperature hot spot of a frame, image recognition skill
Art handles the location drawing picture of freshly harvested infrared measurement of temperature hot spot, rejudges the number of infrared measurement of temperature hot spot, Zhi Daohong
The number of outer thermometric hot spot is one, indicates that infrared measurement of temperature camera is focused successfully, and infrared measurement of temperature hot spot and laser heat light at this time
Spot is overlapped.
Other compositions and connection type are identical as specific embodiment nine.
Claims (10)
1. the laser for complex milling machine tool heats automatic monitoring system, it is characterised in that: it includes complex milling machine tool, temperature
Mechanism, robot assemblies, gantry connection frame (1), pedestal (2) and Liang Ge machine vision mechanism are controlled,
Gantry connection frame (1) setting is arranged in the side of pedestal (2), robot assemblies in the other side of pedestal (2), and mechanical arm
Component is slidably connected with pedestal (2), and complex milling machine tool is arranged the upper surface in pedestal (2) and on gantry connection frame (1)
Upper beam lower section, Liang Ge machine vision mechanism be arranged side by side, and Liang Ge machine vision mechanism respectively with gantry connection frame (1)
On upper beam be slidably connected, temperature control mechanism is arranged on robot assemblies, and face complex milling machine tool.
2. the laser according to claim 1 for complex milling machine tool heats automatic monitoring system, it is characterised in that: institute
The robot assemblies stated include mechanical arm mounting base (3), first mechanical arm (4) and second mechanical arm (5), first mechanical arm (4)
One end and the top of mechanical arm mounting base (3) be hinged, the one of the other end of first mechanical arm (4) and second mechanical arm (5)
End is hinged, and the other end and temperature control mechanism of second mechanical arm (5) are connected.
3. the laser according to claim 2 for complex milling machine tool heats automatic monitoring system, it is characterised in that: institute
The temperature control mechanism stated includes infrared measurement of temperature camera (6), laser (7), focus regulating mechanism (8) and camera (9), Focussing
Mechanism (8) is arranged on the upper surface of the second mechanical arm (5) other end, and camera (9) is arranged in the second mechanical arm
(5) on the lower surface of the other end, the end head in the second mechanical arm (5) other end, infrared measurement of temperature phase is arranged in laser (7)
Machine (6) is fixedly mounted in focus regulating mechanism (8).
4. the laser according to claim 3 for complex milling machine tool heats automatic monitoring system, it is characterised in that: institute
The focus regulating mechanism (8) stated include mounting base (8-1), housing (8-2), inner cylinder (8-3), eyeglass fixed frame (8-4), eyeglass and
Two fixed links (8-5), mounting base (8-1) are fixedly mounted on the upper surface of the second mechanical arm (5) other end, housing
(8-2) is inserted into the circular hole on mounting base (8-1), and inner cylinder (8-3) is arranged in housing (8-2), on two fixed links (8-5)
Lower to be arranged side by side, one end of fixed link (8-5) is connected on a side end face of housing (8-2), the other end hinge of fixed link (8-5)
It connects on eyeglass fixed frame (8-4), eyeglass is mounted in eyeglass fixed frame (8-4)；
Infrared measurement of temperature camera (6) is fixedly mounted in inner cylinder (8-3).
5. the laser according to claim 4 for complex milling machine tool heats automatic monitoring system, it is characterised in that: institute
The housing (8-2) stated is made of upper and lower two semi-arc plate (8-2-1), the arc panel (8-2-1) above inner cylinder (8-3)
A square protruding (8-2-2) is provided at inner wall；
One sliding slot (8-3-1) is provided with along the axis direction of inner cylinder on the outer circle wall of the inner cylinder (8-3), it is rectangular
Raised (8-2-2) matches with sliding slot (8-3-1).
6. the laser according to claim 5 for complex milling machine tool heats automatic monitoring system, it is characterised in that: institute
The length for the sliding slot (8-3-1) stated is the half of inner cylinder (8-3) length.
7. the laser according to claim 6 for complex milling machine tool heats automatic monitoring system, it is characterised in that: every
A machine vision mechanism includes global camera (10) and position adjusting mechanism, position adjusting mechanism include first hydraulic cylinder (11),
Crossbeam sliding block (12) and second hydraulic cylinder (13), global camera (10) are packed in the top of first hydraulic cylinder (11) telescopic rod, the
The cylinder part of one hydraulic cylinder (11) is fixed on crossbeam sliding block (12), crossbeam sliding block (12) with it is upper on gantry connection frame (1)
Crossbeam is slidably connected, and second hydraulic cylinder (13) is packed on the upper beam on gantry connection frame (1), and second hydraulic cylinder (13) is stretched
The top of contracting bar is fixed on crossbeam sliding block (12).
8. the laser according to claim 7 for complex milling machine tool heats automatic monitoring system, it is characterised in that: institute
The complex milling machine tool stated includes lathe mechanism (18) and milling machine mechanism (15), be provided in lathe mechanism (18) chuck (14) and
Lathe tool (16) is provided with milling cutter (17) in milling machine mechanism (15).
9. utilizing the laser heating monitoring of the laser heating automatic monitoring system for complex milling machine tool according to any one of claims 8
Method, it is characterised in that:
Specific monitoring step is as follows:
Step 1, fixed workpiece: by piece-holder on chuck (14)；
The position of positioning laser heating hot spot: step 2 is opened laser (7) and camera (9), is acquired using camera (9)
Laser heats the location drawing picture of hot spot, and the characteristics of image that image recognition technology will acquire is converted to digital signal, and is transferred to machine
Tool arm component, robot assemblies adjust its position on pedestal (2) after receiving digital signal, guarantee at laser heating hot spot
In on workpiece；
Step 3 obtains the location drawing picture of infrared measurement of temperature hot spot: opening infrared measurement of temperature camera (6), is acquired using camera (9) red
The location drawing picture of outer thermometric hot spot, the characteristics of image that image recognition technology will acquire is converted to digital signal, and is transferred to focal length
Adjustment mechanism, focus regulating mechanism receive the tilt angle of adjustment eyeglass fixed frame (8-4) after digital signal, pass through and change mirror
Light path angle between piece and infrared measurement of temperature camera (6) is focused, and guarantees that laser heating hot spot and infrared measurement of temperature hot spot are overlapped；
Step 4 acquires the location drawing picture of laser heating hot spot and infrared measurement of temperature hot spot using two global cameras (10) respectively,
The characteristics of image that image recognition technology will acquire is converted to digital signal, and is transferred to position adjusting mechanism, position adjusting mechanism
The output parameter for adjusting first hydraulic cylinder (11) and second hydraulic cylinder (13) after digital signal is received, guarantees two overall situation cameras
(10) focus is all fallen on workpiece, to realize the focusing of global camera (10)；
Step 5 utilizes lathe tool (16) turner；
Step 6 when turning, acquires the chip image during turning using turning overall situation camera, utilizes camera (9) acquisition
The image of infrared light spot feeds back to robot assemblies, lathe mechanism (18) and laser by acquired image characteristic information
(7), the movement of mechanical arm and the power parameter of laser are adjusted, lathe mechanism (18) adjusts lathe tool after receiving digital signal
(16) cutting parameter, laser (7) adjust its heating temperature after receiving digital signal, realize the real time monitoring of workpiece turning
It is measured with temperature；
Step 7 utilizes milling cutter (17) milling workpiece；
Step 8 when milling, using the chip image in milling overall situation camera acquisition milling process, utilizes camera (9) acquisition
The image of infrared light spot feeds back to robot assemblies, milling machine mechanism (15) and laser by acquired image characteristic information
(7), the movement of mechanical arm and the power parameter of laser are adjusted, milling machine mechanism (15) adjusts milling cutter (17) after receiving signal
Cutting parameter, laser (7) adjust its heating temperature after receiving digital signal, realize the real time monitoring and temperature of workpiece milling
Measurement.
10. the laser according to claim 9 for complex milling machine tool heats monitoring method, it is characterised in that:
In the step three, during obtaining infrared measurement of temperature facula position image, determine infrared measurement of temperature camera focusing at
Function: the location drawing picture of infrared measurement of temperature hot spot is acquired by camera (9), by image recognition technology to the infrared measurement of temperature light of acquisition
After the location drawing picture of spot is handled, the number of infrared measurement of temperature hot spot is judged, if the number of infrared measurement of temperature hot spot is one, table
Show that infrared measurement of temperature camera is focused successfully, if the number of infrared measurement of temperature hot spot be two, indicate infrared measurement of temperature camera focusing not at
Function is converted to digital letter by the characteristics of image that image recognition technology will acquire when the number of infrared measurement of temperature hot spot is two
Number, and focus regulating mechanism (8) are transferred to, focus regulating mechanism (8) adjusts eyeglass fixed frame (8-4) after receiving digital signal
Tilt angle, make infrared measurement of temperature camera again right by changing the light path angle between eyeglass and infrared measurement of temperature camera (6)
Coke, camera (9) acquire the location drawing picture of the new infrared measurement of temperature hot spot of a frame, and image recognition technology is to freshly harvested infrared measurement of temperature
The location drawing picture of hot spot is handled, and the number of infrared measurement of temperature hot spot is rejudged, until the number of infrared measurement of temperature hot spot is one
It is a, indicate that infrared measurement of temperature camera is focused successfully, infrared measurement of temperature hot spot is overlapped with laser heating hot spot at this time.
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| CN110421351B (en) | 2021-06-29 |
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