CN112518132B - Hub burr removing method and electronic device - Google Patents
Hub burr removing method and electronic device Download PDFInfo
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- CN112518132B CN112518132B CN202011113048.5A CN202011113048A CN112518132B CN 112518132 B CN112518132 B CN 112518132B CN 202011113048 A CN202011113048 A CN 202011113048A CN 112518132 B CN112518132 B CN 112518132B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/36—Removing material
- B23K26/361—Removing material for deburring or mechanical trimming
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/02—Positioning or observing the workpiece, e.g. with respect to the point of impact; Aligning, aiming or focusing the laser beam
- B23K26/03—Observing, e.g. monitoring, the workpiece
- B23K26/032—Observing, e.g. monitoring, the workpiece using optical means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/08—Devices involving relative movement between laser beam and workpiece
- B23K26/0869—Devices involving movement of the laser head in at least one axial direction
- B23K26/0876—Devices involving movement of the laser head in at least one axial direction in at least two axial directions
- B23K26/0884—Devices involving movement of the laser head in at least one axial direction in at least two axial directions in at least in three axial directions, e.g. manipulators, robots
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/70—Auxiliary operations or equipment
- B23K26/702—Auxiliary equipment
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/10—Segmentation; Edge detection
- G06T7/12—Edge-based segmentation
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- Length Measuring Devices By Optical Means (AREA)
- Processing And Handling Of Plastics And Other Materials For Molding In General (AREA)
Abstract
The invention provides a hub burr removing method, which comprises the following steps: shooting an image of the surface of the hub, analyzing the image, extracting an edge path profile of the hub, and dividing the extracted edge path profile into a plurality of single-section profiles; moving the 2D line laser to scan each single-section profile in sequence, and calculating the edge point coordinates of the single-section profile in real time by analyzing the catastrophe points of the line laser scanning signals; fitting a laser cutting path of the 3D laser device to the single-section contour according to the edge point coordinates on the single-section contour scanned and calculated by the 2D line laser; and controlling the laser emitted by the 3D laser device to move along the fitted laser cutting path so as to sequentially finish removing burrs existing on the single-section profiles of all the sections. The invention also provides an electronic device. According to the invention, the burrs of the hub are removed by the 2D line laser and the 3D laser device, manual operation is not needed, and the burr removal efficiency is improved.
Description
Technical Field
The invention relates to the technical field of flaw removal, in particular to a hub burr removal method and an electronic device.
Background
In the process of machining a vehicle hub, burrs are easily generated on the surface of the hub after finish turning, which affects the hub accuracy, and thus it is necessary to remove the burrs on the surface of the hub. At present usually carry out the getting rid of burr through the manual work, however because the operation of deburring can't be unified, appear leaking easily and scrape, scrape not enough wait the burr and remain the problem, wheel hub product molding is complicated simultaneously, and the manual work deburring leads to the fact the scratch to wheel hub easily. And because the operator is mobile frequently, the training of the deburring operation needs to be repeated for the newly entered staff.
Chinese patent application No. 201521019866.3 discloses a wheel hub intelligence deburring robot, reads the database in order to confirm preset burr intelligence cutting scheme according to the wheel hub model, and positioning mechanism fixes a position wheel hub, and processing agency removes the burr according to preset burr intelligence cutting scheme. Because the types of hub products are various, a large amount of time is needed for establishing a database containing burr cutting schemes of all types of hub products, and the burr position is not fixed, so that the problem of burr residue can occur even if a preset burr cutting scheme is adopted.
Chinese patent application No. 201510895816.X discloses an intelligent hub deburring method, in which the position of a hub workpiece is adjusted by a visual reading mechanism and a positioning mechanism, and a machining mechanism removes burrs according to an intelligent burr cutting scheme read from a database. This patent application also has a problem that it takes a lot of time to build a database containing burr cutting schemes for all models of hub products.
Disclosure of Invention
In view of the above, there is a need to provide a method and an electronic device for removing burrs from a hub, where edge points of an edge path of the hub are located in real time by using a 2D line laser, and a 3D laser device precisely cuts or burns the burrs existing on a scanning path determined by the edge points of the edge path obtained by using the 2D line laser to remove the burrs.
A first aspect of the invention provides a hub flash removing method, the method comprising:
shooting an image of the surface of the hub, analyzing the image, extracting an edge path profile of the hub, and dividing the extracted edge path profile into a plurality of single-section profiles;
moving the 2D line laser to scan each section of single-section contour in sequence, and calculating the edge point coordinates of each section of single-section contour in real time by analyzing the mutation points of the line laser scanning signals;
fitting a laser cutting path of the 3D laser device to the single-section contour according to the edge point coordinates on the single-section contour scanned and calculated by the 2D line laser; and
and controlling the laser emitted by the 3D laser device to move along the fitted laser cutting path so as to sequentially finish removing burrs existing on the single-section profiles of all the sections.
Preferably, the method further comprises:
when the 2D line laser is moved to scan each section of single-section contour in sequence, calculating the height of the edge point of the section of single-section contour;
the step of controlling the laser emitted by the 3D laser device to move along the fitted laser cutting path to sequentially complete the removal of the burr existing on each single-segment profile further comprises:
and controlling the laser emitted by the 3D laser device to move along the fitted laser cutting path and sequentially move to the positions of the edge points according to the coordinates of the edge points and the heights of the edge points so as to sequentially finish removing burrs existing on the single-section profiles.
Preferably, the (X, Y) coordinates of each point in the laser cutting path of the single-segment profile are obtained based on the edge point coordinates calculated by the 2D line laser scanning, and the edge point height Z is converted based on the height variation value of the edge point of the single-segment profile and the position of the edge point relative to the moving platform or the relative position of the edge point to the 2D line laser.
Preferably, the step of capturing an image of the hub surface further comprises:
controlling the visual field center of the camera device to be coaxial with the hub center;
adjusting the position of the hub relative to the camera device according to the wheel height of the hub so as to accord with the working distance of the camera device; and
the image of the surface of the hub is captured by the camera.
Preferably, the 2D line laser device emitting the 2D line laser is rotatable with respect to the rotation axis and is fixedly connected with the 3D laser device at a relative distance.
Preferably, the 2D line laser device and the 3D laser device are movably mounted on a motion platform, the motion platform defines a motion platform coordinate system, and the edge point coordinates are coordinates of the edge point on the motion platform coordinate system.
Preferably, the method further comprises:
and determining the position of each single-section contour in the motion platform coordinate system according to the mapping relation between the image coordinate system of the hub surface and the motion platform coordinate system, so that the 2D line laser scans each single-section contour according to the position of each single-section contour in the motion platform coordinate system.
Preferably, the mapping relationship between the image coordinate system of the hub surface and the motion platform coordinate system is obtained by the following steps:
setting a plane entity on the focal plane of the camera device;
controlling the 3D laser device to move to different coordinate position points respectively, and recording the coordinates of each position point on the motion platform;
emitting laser by the 3D laser device with each position point as a circle center according to a preset radius to form a plurality of circular laser identification points arranged in an array;
shooting the circular laser identification points arranged in the array through the camera device, and calculating the image coordinate of the circle center of each circular laser identification point;
and determining an affine transformation matrix according to the image coordinates of each circle center and the motion platform coordinates of the position points, so as to obtain the mapping relation between the image coordinate system where the contour surface image is located and the motion platform coordinate system.
Preferably, the method further comprises:
determining an included angle between the single-section contour and a motion platform coordinate system according to the position of the single-section contour in the motion platform coordinate system; and
and adjusting the included angle between the 2D line laser and the scanned single-section profile according to the included angle between the single-section profile and the coordinate system of the motion platform and the included angle between the 2D line laser and the coordinate system of the motion platform, so that the included angle between the 2D line laser and the normal of the single-section profile is smaller than a preset angle.
Preferably, the preset angle is 5 °.
Preferably, the included angle between the 2D line laser and the coordinate system of the motion platform is obtained by:
controlling the 2D line laser to move once along the X-axis or Y-axis direction of the motion platform coordinate system;
shooting images before and after the 2D line laser moves respectively through the camera device; and
and calculating an included angle between a connecting line of a first end point and a second end point before the 2D line laser moves and a connecting line of a first end point before the 2D line laser moves and a first end point after the 2D line laser moves according to the 2D line laser image shot by the camera device, and taking the included angle as an included angle between the 2D line laser and a coordinate system of a motion platform.
Preferably, the edge point coordinates (x _ p, y _ p) on the scanned single-segment contour are: x _ p is X _ s ± c1 is cos θ, y _ p is y _ s ± c1 is sin θ, where (X _ s, y _ s) is the coordinate of an end point of the 2D line laser, θ is the angle between the 2D line laser and the X axis of the motion platform coordinate system, and c1 is the distance from the current edge point to the first end point of the 2D line laser.
Preferably, the coordinates (x _ s, y _ s) of the first end point of the 2D line laser are: x _ s ═ X _ r ± a × cos (θ -r), y _ s ═ y _ r ± a × sin (θ -r), where (X _ r, y _ r) are coordinates of a rotation center of the 2D line laser at present, r is an angle between a first end point of the 2D line laser and a connection line of the rotation center, a is a distance between the rotation center and the first end point of the 2D line laser, and θ is an angle between the 2D line laser and an X axis of a motion platform coordinate system;
the current rotation center coordinates (x _ r, y _ r) of the 2D line laser are: x _ r ═ x0+ x d ，y_r＝y0+y d Wherein (x0, y0) is the coordinates of the 3D laser device, (x) d ，y d ) The offset of the rotation center of the 2D line laser and the 3D laser device is obtained;
an included angle between the 2D line laser and the first end point of the 2D line laser and the connecting line of the rotation center
Wherein c is the 2D line laserAnd the length, a is the distance between the rotation center and the first end point of the 2D line laser, and b is the distance between the rotation center and the second end point of the 2D line laser.
Preferably, the offset (x) of the rotation center of the 2D line laser and the 3D laser device d ，y d ) Obtained by the following steps:
setting a plane entity on the focal plane of the camera device;
controlling the 2D line laser emission to the planar entity;
controlling the 2D line laser to rotate by an angle every time, and shooting an image of the line laser on the plane entity through the camera device;
calculating the pixel value range of single line laser in any line laser image;
calculating a conversion relation between a pixel value in the 2D line laser and the unit length of the line laser according to the length of the 2D line laser and the pixel value range;
calculating first endpoint coordinates and second endpoint coordinates of the 2D line lasers in all the line laser images, and fusing the first endpoint coordinates and the second endpoint coordinates into one image;
respectively fitting a plurality of first endpoint coordinates and a plurality of second endpoint coordinates of the 2D line laser in the fused image into a circle, and taking the centers of the two circles as the rotation center of the 2D line laser;
converting the pixel coordinate of the rotation center into a motion platform coordinate according to the mapping relation between the image coordinate system of the hub surface image and the motion platform coordinate system; and
determining the offset (X) of the rotation center and the 3D laser device according to the motion platform coordinates (X1, Y1) of the rotation center and the current coordinates (X2, Y2) of the 3D laser device d ，y d ) Wherein x is d ＝X1-X2，y d ＝Y1-Y2。
Preferably, the step of fitting the laser cutting path of the 3D laser device to the single-segment profile according to the edge point coordinates on the single-segment profile scanned and calculated by the 2D line laser further includes:
and fitting the edge point coordinates on the single-section contour into a straight line or a circle to form a laser cutting path of the 3D laser device for the single-section contour.
Preferably, the method further comprises:
when the laser emitted by the 3D laser device moves along the fitted laser cutting path, calculating the residual length of the section of the single-section contour which is not scanned by the laser emitted by the 3D laser device in real time;
judging whether the residual length of the single-section profile is smaller than the fixed distance between the 3D laser device and the 2D line laser device or not; and
and when the residual length of the section of the single-section profile is judged to be smaller than the fixed distance between the 3D laser device and the 2D line laser device, controlling the 2D line laser to scan a normal section curve along the next single-section profile.
Preferably, the method further comprises:
and when the residual length of the single-section profile is judged to be greater than or equal to the fixed distance between the 3D laser device and the 2D line laser device, controlling the 2D line laser to stop working.
Preferably, the method further comprises:
after the burrs on the hub are removed, storing the complete cutting paths of the 3D laser device on all single-section contours of the hub and historical scanning parameters of the 2D line laser device and the 3D laser device in a memory;
and carrying out statistical fitting analysis on the complete cutting path of the hubs of the same model and the burr removal result corresponding to the historical scanning parameters so as to optimize the burr removal effect.
A second aspect of the present invention provides an electronic apparatus comprising:
a processor; and
and the memory is used for storing a plurality of program modules, and the program modules are loaded by the processor and used for executing the hub burr removing method.
According to the wheel hub burr removing method and the electronic device, the edge points of the single-section profile can be positioned in real time through the 2D line laser, and the 3D laser device can accurately cut burrs existing on a path according to a laser cutting path formed by the positioning information of the edge points acquired by the 2D line laser, so that the burrs are removed, manual operation is not needed, the burr removing efficiency is effectively improved, and the production efficiency of the wheel hub is improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
Fig. 1 is a schematic view of an electronic device according to a preferred embodiment of the invention.
Fig. 2 is a flow chart of a hub deburring method according to a preferred embodiment of the present invention.
FIG. 3 is a hub surface image provided by the preferred embodiment of the present invention.
Fig. 4 is a schematic diagram of a circular laser identification point formed by a 3D laser device according to a preferred embodiment of the present invention.
Fig. 5 is a schematic diagram of a position relationship between a 2D line laser and a coordinate system of a motion platform according to a preferred embodiment of the invention.
FIG. 6 is a schematic diagram of the relative positions of the line laser and the single-segment profile according to the preferred embodiment of the present invention.
FIG. 7 is a schematic diagram of the position relationship of the edge points on the single-segment profile according to the preferred embodiment of the present invention.
FIG. 8 is a schematic diagram of the use of a 2D line laser to scan a single segment of a profile to identify the location of edge points in accordance with a preferred embodiment of the present invention.
Fig. 9 is a schematic diagram of two circles to which a plurality of first endpoints and a plurality of second endpoints of a 2D line laser are fitted according to a preferred embodiment of the invention.
Fig. 10 is a schematic structural diagram of an electronic device according to a preferred embodiment of the invention.
Description of the main elements
Lifting device 51
2D line laser device 70
The following detailed description will further illustrate the invention in conjunction with the above-described figures.
Detailed Description
In order that the above objects, features and advantages of the present invention can be more clearly understood, a detailed description of the present invention will be given below with reference to the accompanying drawings and specific embodiments. It should be noted that the embodiments and features of the embodiments of the present application may be combined with each other without conflict.
In the following description, numerous specific details are set forth to provide a thorough understanding of the present invention, and the described embodiments are merely a subset of the embodiments of the present invention, rather than a complete embodiment. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.
Fig. 1 is a schematic view of an electronic device according to a preferred embodiment of the invention.
The hub burr removing method of the present invention is applied to the electronic device 1. The electronic device 1 may be an electronic apparatus such as a personal computer or the like mounted with the hub burr removed.
The electronic device 1 includes, but is not limited to, an image capturing device 40, a light source 41, a lifting device 51, a linear motor 52, a laser emitter 53, a laser receiver 54, a motion platform 60, a 2D line laser device 70, and a 3D laser device 80.
The camera device 40 and the light source 41 are mounted on a bracket 42.
The 2D line laser device 70 can rotate relative to a rotation axis and is fixedly connected with the 3D laser device 80 at a relative distance. Wherein, the relative distance is a fixed distance.
The 2D line laser apparatus 70 and the 3D laser apparatus 80 are movably mounted to the moving platform 60. The motion stage 60 defines a motion stage coordinate system, and the 2D line laser device 70 and the 3D laser device 80 are movable along the X-axis, Y-axis and Z-axis of the motion stage coordinate system.
The lifting device 51 is used for carrying a hub 2 and adjusting the position of the hub 2.
Example one
Fig. 2 is a flowchart illustrating a hub deburring method according to a preferred embodiment of the present invention. The order of the steps in the flow chart may be changed and some steps may be omitted according to different needs.
S1, shooting the image of the surface of the hub 2, analyzing the image, extracting the edge path contour of the hub 2, and dividing the extracted edge path contour into a plurality of single-segment contours.
In this embodiment, S1 further includes: the lifting device 51 is controlled to adjust the horizontal position of the hub 2, so that the center of the hub and the center of the field of view of the camera device 40 are coaxial, and the position of the hub 2 relative to the camera device 40 is adjusted according to the wheel height of the hub 2 to meet the working distance of the camera device 40, so that the camera device 40 can clearly shoot the hub 2.
Specifically, the laser transmitter 53 and the laser receiver 54 are respectively installed on a linear motor 52, and the installation height is equal to and greater than the maximum height of the hub 2. The laser transmitter 53 is used for emitting laser, and the laser receiver 54 is used for receiving the laser emitted by the laser transmitter 53. When the hub 2 is placed on the lifting device 51, the linear motor 52 controls the laser emitter 53 and the laser receiver 54 to synchronously move downwards at a constant speed until the laser emitted by the laser emitter 53 contacts the surface of the hub 2. Wherein, when the laser receiver 54 does not receive the laser light emitted from the laser emitter 53, it is determined that the laser light emitted from the laser emitter 53 contacts the surface of the hub 2. The distance between the laser transmitter 53 and the laser receiver 54 is equal to the product of the speed of uniform motion and the motion time. The height of the hub 2 is the difference between the mounting height and the moving distance of the laser transmitter 53 and the laser receiver 54.
In the present embodiment, if the working distance of the image capturing device 40 is known and the initial distance between the image capturing device 40 and the lifting device 51 is known, the lifting device 51 is controlled to adjust the position of the hub 2 according to the wheel height of the hub 2 and the initial distance between the image capturing device 40 and the lifting device 51, so that the distance between the hub 2 and the image capturing device 40 is the working distance of the image capturing device 40. Wherein, the height of the lifting device 51 for lifting or lowering the hub 2 is controlled to be the difference between the initial distance between the camera device 40 and the lifting device 51 and the wheel height of the hub 2, and then the working distance of the camera device 40 is subtracted. If the obtained value is positive, the lifting device 51 is controlled to lift the hub 2 by a height corresponding to the value. If the obtained value is negative, the lifting device 51 is controlled to lower the hub 2 by a height corresponding to the value. If the obtained value is zero, there is no need to adjust the position of the hub 2.
For example, if the working distance of the camera device 40 is 60cm, the initial distance between the camera device 40 and the lifting device 51 is 100cm, and the measured height of the hub 2 is 20cm, the lifting device 51 is controlled to move upwards by 20cm, so that the distance between the hub 2 and the camera device 40 is 60cm, and the position of the hub 2 relative to the camera device 40 corresponds to the working distance of the camera device 40.
Then, the light source 41 is turned on, the image of the surface of the hub 2 is captured by the imaging device 40 (as shown in fig. 3), the image is identified and analyzed by the hub contour feature, the edge path contour of the hub 2 is extracted, and the contour of the hub 2 is divided into a plurality of single-segment contours according to the extracted edge path contour.
And S2, determining the position of each single-segment contour in the motion platform coordinate system according to the mapping relation between the image coordinate system of the hub surface and the motion platform coordinate system.
In this embodiment, the 2D line laser emitted by the 2D line laser device 70 may scan each single-segment profile on the hub 2 according to the position of each single-segment profile in the coordinate system of the moving platform, specifically, scan the normal profile curve along each single-segment profile.
Referring to fig. 4, in the present embodiment, the mapping relationship between the image coordinate system of the hub surface image and the motion platform coordinate system is obtained through the following steps: a plane entity 400 is arranged on the focal plane of the camera device 40, for example, the plane entity 400 may be white paper, and the size of the plane entity is greater than 650mm by 650 mm; controlling the laser emitted by the 3D laser device 80 to move to different coordinate position points on the planar entity 400, and recording the motion platform coordinates of each position point; emitting laser by the 3D laser device 80 with each position point as a circle center according to a preset radius R to form a plurality of circular laser identification points arranged in an array; shooting the circular laser identification points arranged in the array through the camera device 40, and calculating the image coordinate of the circle center of each circular laser identification point; and determining an affine transformation matrix according to the image coordinates of each circle center and the motion platform coordinates of the position points, so as to obtain the mapping relation between the image coordinate system where the contour surface image is located and the motion platform coordinate system.
For example, if the affine transformation matrix is T, the pixel of any point of the hub surface image is locatedIs marked as
The coordinates of the point on the surface of the hub in the coordinate system of the motion platform are
Then the
And S3, determining the included angle between the single-segment contour and the coordinate system of the motion platform according to the position of the single-segment contour in the coordinate system of the motion platform.
In this embodiment, each single-segment contour is preferably set short enough so that each single-segment contour is a small segment of a curve that can be considered as an approximate straight line. For example, the single-segment profile is shown in the enlarged region of FIG. 3. The position of the single-section contour on the motion platform coordinate system is represented by coordinates of a plurality of points on the single-section contour on the motion platform coordinate system, and the coordinates of the plurality of points on the single-section contour on the motion platform coordinate system can be obtained according to pixel coordinates of the plurality of points in the hub surface image and the affine transformation matrix.
In the present embodiment, S3 specifically includes: and determining the normal of the single-section contour according to the coordinates of a plurality of points on the single-section contour in the coordinate system of the motion platform, and determining the included angle between the normal of the single-section contour and the X axis of the coordinate system of the motion platform as the included angle between the single-section contour and the coordinate system of the motion platform. In this embodiment, the normal of the single-segment profile is perpendicular to a straight line accurately fitted by the least square method according to the coordinates of a plurality of points on the single-segment profile in the coordinate system of the motion platform.
And S4, adjusting the included angle between the 2D line laser and the scanned single-section profile according to the included angle between the single-section profile and the coordinate system of the motion platform and the included angle between the 2D line laser and the coordinate system of the motion platform, so that the included angle between the 2D line laser and the normal of the single-section profile is smaller than a preset angle.
Referring to fig. 5, in the present embodiment, the included angle between the 2D line laser and the coordinate system of the motion platform is obtained by the following steps: controlling the 2D line laser device 70 to move once along the X-axis direction of the motion platform coordinate system, so as to control the 2D line laser emitted by the 2D line laser device 70 to move once along the X-axis direction of the motion platform coordinate system; shooting images before and after the 2D line laser moves respectively through the camera device 40; according to the 2D line laser image shot by the camera device 40, an included angle between a connection line of the first endpoint a and the second endpoint B before the 2D line laser moves and a connection line of the first endpoint a before the 2D line laser moves and the first endpoint a after the 2D line laser moves is calculated as an included angle between the 2D line laser and an X axis of a coordinate system of a motion platform, that is, an included angle between the 2D line laser and the coordinate system of the motion platform.
It is understood that in other embodiments, the angle between the 2D line laser and the coordinate system of the motion platform is obtained by: controlling the 2D line laser device 70 to move once along the Y-axis direction of the motion platform coordinate system, so as to control the 2D line laser emitted by the 2D line laser device 70 to move once along the Y-axis direction of the motion platform coordinate system; shooting images before and after the 2D line laser moves respectively through the camera device 40; according to the 2D line laser image shot by the camera device 40, an included angle between a connection line between the first endpoint a and the second endpoint B before the 2D line laser moves and a connection line between the first endpoint a before the 2D line laser moves and the first endpoint a after the 2D line laser moves is calculated as an included angle between the 2D line laser and the Y axis of the motion platform coordinate system, that is, an included angle between the 2D line laser and the motion platform coordinate system.
In this embodiment, the 2D line laser device 70 is rotated according to the included angle between the single-segment profile and the motion platform coordinate system and the included angle between the 2D line laser and the motion platform coordinate system to adjust the included angle between the 2D line laser and the scanned single-segment profile, so that the included angle between the 2D line laser and the normal of the single-segment profile is smaller than the preset angle. In this embodiment, the 2D line laser device 70 is installed on the Z axis of the motion platform through the linear motor 90, and the linear motor 90 controls the 2D line laser device 70 to rotate along the rotation axis, so as to adjust the included angle between the 2D line laser and the scanned single-segment profile.
In the present embodiment, the preset angle is 5 degrees. In other words, to realize that the included angle between the 2D line laser and the normal of the single-segment profile is less than 5 degrees, the 2D line laser should be adjusted to be as close to perpendicular as possible to the scanned single-segment profile. This is because, according to the principle of trigonometric geometry, if the 2D line laser is adjusted to be too non-perpendicular to the scanned single-segment profile, it will result in a slight shift of the processing point of the subsequent 3D laser device in the tangential direction of the single-segment profile. In other embodiments, the preset angle may be any angle less than or equal to 5 degrees and greater than or equal to 0 degrees.
Referring to fig. 6, the 2D line laser is L1, the single-segment profile is L2, the normal line of the single-segment profile is L3, and the included angle between the single-segment profile and the X-axis of the coordinate system of the motion platform is θ 1 The included angle between the 2D line laser and the normal of the single-section profile is theta 2 The included angle theta between the 2D line laser and the X axis of the coordinate system of the motion platform 3 Knowing that the sum of the internal angles of the triangles is 180 deg., theta 1 +θ 2 +180°-θ 3 ＝180°，θ 3 ＝θ 1 +θ 2 According to theta obtained in S4 1 By rotating the 2D line laser so that theta 3 And theta 1 Is smaller than the preset angle.
And S5, moving the 2D line laser to scan each single-section contour in sequence, and calculating the edge point coordinates of the single-section contour in real time by analyzing the mutation points of the line laser scanning signals.
In this embodiment, the 2D line laser device 70 is controlled to move the 2D line laser to the start point of the single-segment profile according to the position of the single-segment profile in the coordinate system of the motion platform, and to move and scan from the start point to the end point of the single-segment profile, wherein the scanning process is to scan the normal profile curve along the single-segment profile.
In this embodiment, since the 2D line laser is a line segment, the line laser scanning signal does not change at the portion (or each point) of the 2D line laser line segment that does not intersect with the single-segment profile. At the intersection of the 2D line laser and the single-segment profile, i.e., the intersection of the 2D line laser and the edge path of the hub 2, the scanning signal of the line laser has a sudden change. Therefore, the edge point position of the edge path of the hub 2 scanned by the 2D line laser can be determined according to the abrupt change point scanned by the 2D line laser, that is, the edge point coordinates of the single-segment profile can be calculated by analyzing the abrupt change point of the line laser scanning signal. The edge point is a point where the 2D line laser scanning signal changes when the 2D line laser scans the single-segment profile, that is, a discontinuity point scanned by the 2D line laser, for example, a point P in fig. 6. When the 2D line laser moves to scan the single-segment profile, the 2D line laser can scan a plurality of abrupt points, i.e. a plurality of edge points. The edge point coordinates are coordinates of the edge point in a motion platform coordinate system.
In the present embodiment, the edge point coordinates are (X _ p, y _ p, z), and X _ p is X a +ΔX，y_p＝Y a + Δ Y. Wherein (X) a ，Y a ) The (Δ X, Δ Y) is the projection difference between the image coordinates of the edge point in the image of the hub 2 captured by the imaging device 40 and the edge point coordinates scanned by the 2D line laser.
Referring to fig. 7, the edge point coordinates (x _ p, y _ p) on the scanned single-segment contour are: x _ p is X _ s ± c1 × cos θ, y _ p is y _ s ± c1 × sin θ, where (X _ s, y _ s) is the coordinate of the first end point a of the 2D line laser, θ is the angle between the 2D line laser and the X axis of the motion platform coordinate system, and c1 is the distance between the current edge point and the first end point a of the 2D line laser.
In the present embodiment, the coordinates (x _ s, y _ s) of the first end point a of the 2D line laser are: x _ s ═ X _ r ± a × cos (θ -r), y _ s ═ y _ r ± a × sin (θ -r), where (X _ r, y _ r) are coordinates of a rotation center of the 2D line laser, r is an angle between the first end point a of the 2D line laser and the connection line of the rotation center and the 2D line laser, a is a distance between the rotation center and the first end point a of the 2D line laser, and θ is an angle between the 2D line laser and an X axis of a motion stage coordinate system. The center of rotation is located on the axis of rotation.
In the present embodiment, the current rotation center coordinates (x _ r, y _ r) of the 2D line laser are: x _ r ═ x0+ x d ，y_r＝y0+y d Wherein (x0, y0) is the coordinates of the 3D laser device 80 and (x) d ，y d ) Is the offset of the 3D laser device 80 from the center of rotation of the 2D line laser.
In this embodiment, the included angle between the first end point a of the 2D line laser and the rotation center connecting line
Wherein c is the length of the 2D line laser, a is the distance between the rotation center and the first end point a of the 2D line laser, and B is the distance between the rotation center and the second end point B of the 2D line laser.
In this embodiment, when the 2D line laser moves to scan the single-segment profile, a plurality of edge point coordinates can be calculated, and the position of the edge point is the position of the abrupt change of the 2D line laser signal in the rectangular frame shown in fig. 8.
Referring to fig. 9, in the present embodiment, the offset (x) between the rotation center of the 2D line laser and the 3D laser device 80 d ，y d ) Obtained by the following steps: a plane entity is arranged on the focal plane of the camera device 40, for example, the plane entity may be white paper, and the size of the plane entity is greater than 650mm by 650 mm; controlling the 2D line laser emission to the planar entity; controlling the 2D line laser to rotate an angle in sequence, and shooting an image of the 2D line laser on the planar entity through the camera device 40 every time the 2D line laser rotates an angle; calculating the pixel value range of the single 2D line laser in any line laser image; calculating a conversion relation between a pixel value in the 2D line laser and a unit length of the 2D line laser according to the length of the 2D line laser and the pixel value range, wherein the unit length is one millimeter; calculating the image coordinates of the first end point A and the second end point B of the 2D line laser in all the line laser images according to the conversion relation between the pixel value of the 2D line laser and the unit length of the line laser, and calculating the image coordinates of the first end point A and the second end point B according to the image of all the first end points AFusing all the first end points A and all the second end points B into an image according to the image coordinates and the image coordinates of all the second end points B; fitting the image coordinates of a plurality of first endpoints A and the image coordinates of a plurality of second endpoints B of the 2D line laser in the fused image into a circle respectively, wherein the centers of the two circles formed by fitting are the same, and then taking the centers of the two circles as the rotation center of the 2D line laser; converting the pixel coordinate of the rotation center into a motion platform coordinate according to the mapping relation between the image coordinate system of the hub surface image and the motion platform coordinate system; determining the offset (X) of the rotation center and the 3D laser device 80 according to the motion platform coordinates (X1, Y1) of the rotation center and the current coordinates (X2, Y2) of the 3D laser device 80 d ，y d ) Wherein x is d ＝X1-X2，y d ＝Y1-Y2。
In the present embodiment, S5 further includes: and when the 2D line laser is moved to scan each section of single-section contour in sequence, calculating the height z of the edge point on the section of single-section contour in real time. Wherein, the height z of the edge point is obtained by converting the height variation value of the edge point of the single-segment profile with the position of the edge point relative to the moving platform 60 or the relative position of the edge point with the 2D line laser.
Specifically, the vertical variation of the abrupt change point of the 2D line laser in the normal direction of the single-segment profile is calculated as the physical height of the edge point, and then the physical height of the edge point is converted into the height of the edge point on the motion platform, i.e. the coordinate on the Z axis of the motion platform coordinate system, based on the position of the 2D line laser.
And S6, fitting the laser cutting path of the 3D laser device 80 to the single-segment contour according to the edge point coordinates on the single-segment contour scanned and calculated by the 2D line laser.
In the present embodiment, S6 specifically includes: and fitting the coordinates of the edge points on the single-section contour into a straight line or a circle to form a laser cutting path of the 3D laser device 80 for the single-section contour, and finding out a real intersection point of the normal direction and the tangential direction of the single-section contour in an algorithm so as to find out the projection of the edge points in the normal direction of the single-section contour. Wherein each edge point coordinate (x _ p, y _ p, z) is fitted to (x ' _ p, y ' _ p, z ').
In the present embodiment, the edge point coordinates on the single-segment profile are fitted to a straight line or a circle by the least square method. And when the connecting line of the coordinates of the edge points on the single-section contour is closer to a straight line, fitting the coordinates of the edge points on the single-section contour into the straight line. When the connecting line of the coordinates of the edge points on the single-section contour is closer to the circular arc, the coordinates of the edge points on the single-section contour are fitted into a circle.
And S7, controlling the laser emitted by the 3D laser device 80 to move along the fitted laser cutting path so as to sequentially finish removing burrs existing on each single-section contour.
In this embodiment, S7 specifically includes: and controlling the laser emitted by the 3D laser device 80 to move along the fitted laser cutting path, and moving to the position of the edge point according to each edge point coordinate (X, Y axis coordinate) and the edge point height z so as to finish removing burrs existing on the single-section profile and finish removing burrs existing on each single-section profile in sequence.
In the present embodiment, the 3D laser device 80 is controlled to emit laser light with preset scanning parameters, and the emitted laser light is controlled to move along the fitted laser cutting path. The scanning parameters of the 3D laser device 80 include, but are not limited to, scanning speed, step size, power, depth of focus, laser spot radius, scanning time, and scanning times. That is, the 3D laser device 80 is controlled to emit a laser spot having a spot with a preset radius at a preset power, and the emitted laser spot is controlled to move along the fitted laser cutting path, where the time of moving along the laser cutting path is a preset scanning time, and the number of times of moving along the laser cutting path is a preset scanning number. The scanning parameters of the 2D line laser apparatus 70 include, but are not limited to, scanning speed, step size, power, depth of focus, scanning time, and scanning times.
When normal residual burrs are encountered, the laser emitted from the 3D laser device 80 can cut or burn the edge points to remove the burrs. When the 2D line laser scanning signal has a large variation, the single-section profile scanned by the 2D line laser may be burr-accumulated, edge-collapsed or have other impurities, and when the laser emitted by the 3D laser device 80 scans an edge point causing a large variation of the 2D line laser scanning signal, the scanning parameters of the 3D laser device 80 are adjusted, for example, the power of emitting the laser is increased, the spot radius of emitting the laser is increased, the scanning time is prolonged, or the scanning times is increased.
And S8, calculating the residual length of the single-segment contour not scanned by the laser emitted by the 3D laser device 80 in real time when the laser emitted by the 3D laser device 80 moves along the fitted laser cutting path.
In this embodiment, when the 2D line laser scans the single-segment profile, the laser emitted by the 3D laser device 80 moves along the fitted laser cutting path. The remaining length of the section of the single-section profile which is not scanned by the laser emitted by the 3D laser device 80 is the distance from the current position of the laser emitted by the 3D laser device 80 to the end point of the section of the single-section profile.
And S9, judging whether the residual length of the single-section contour is smaller than the fixed distance between the 3D laser device and the 2D line laser device. Wherein the fixed distance is a relative distance between the 3D laser device 80 and the 2D line laser device 70. When it is determined that the remaining length of the single-segment profile is less than the fixed distance between the 3D laser device and the 2D line laser device, the process proceeds to step S10. When it is determined that the remaining length of the single-segment profile is greater than or equal to the fixed distance between the 3D laser device and the 2D line laser device, the process proceeds to step S11.
And S10, controlling the 2D line laser to scan the next section of single-section profile. Then, S3 to S9 are repeated.
And S11, controlling the 2D line laser to stop working.
Further, the method further comprises: after the burrs on the hub 2 are removed, the complete cutting paths of the 3D laser device 80 on all the single-section outlines of the hub 2 and the historical scanning parameters of the 2D line laser device and the 3D laser device are stored in the memory of the electronic device 1, and statistical fitting analysis is performed on the complete cutting paths of the hubs of the same model and the burr removal results corresponding to the historical scanning parameters, so that the burr removal effect is optimized.
The method for removing the burrs of the hub can be used for positioning the edge points of the single-section profile in real time through the 2D line laser, and the 3D laser device can be used for accurately cutting the burrs on the path according to the laser cutting path formed by the positioning information of the edge points acquired by the 2D line laser, so that the burrs are removed, manual operation is not needed, the burr removal efficiency is improved, and the production efficiency of the hub is improved.
Example two
Fig. 10 is a schematic structural diagram of an electronic device according to a preferred embodiment of the invention.
The electronic device 1 further comprises a processor 10, a memory 20, a computer program 30 stored in the memory 20 and executable on the processor 10, the computer program 30 being, for example, a hub deburring program. The processor 10, when executing the computer program 30, implements the steps of the hub flash removal method, such as steps S1-S11 shown in fig. 2.
It will be appreciated by a person skilled in the art that the schematic diagram is only an example of the electronic apparatus 1 and does not constitute a limitation of the electronic apparatus 1, and may comprise more or less components than those shown, or combine some components, or different components, for example, the electronic apparatus 1 may further comprise an input output device, a network access device, a bus, etc.
The Processor 10 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components, etc. The general purpose processor may be a microprocessor or the processor 10 may be any conventional processor or the like, the processor 10 being the control center of the electronic device 1, and various interfaces and lines connecting the various parts of the whole electronic device 1.
The memory 20 may be used for storing the computer program 30 and/or the modules/units, and the processor 10 implements various functions of the electronic device 1 by running or executing the computer program and/or the modules/units stored in the memory 20 and calling data stored in the memory 20. The memory 20 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application program required by at least one function (such as a sound playing function, an image playing function, etc.), and the like; the storage data area may store data (such as audio data, a phonebook, etc.) created according to the use of the electronic apparatus 1, and the like. In addition, the memory 20 may include volatile and non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), at least one magnetic disk storage device, a Flash memory device, or other storage devices.
The hub burr removing method and the electronic device provided by the invention can be used for positioning the edge point of the single-section profile in real time through the 2D line laser, and the 3D laser device can be used for accurately cutting burrs existing on a path according to a laser cutting path formed by the positioning information of the edge point acquired by the 2D line laser so as to remove the burrs, so that the manual operation is not needed, the burr removing efficiency is improved, and the production efficiency of the hub is improved.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned. Furthermore, it is obvious that the word "comprising" does not exclude other elements or steps, and the singular does not exclude the plural. Several units or means recited in the apparatus claims may also be embodied by one and the same item or means in software or hardware. The terms first, second, etc. are used to denote names, but not to denote any particular order.
Although the present invention has been described in detail with reference to the preferred embodiments, it will be understood by those skilled in the art that various changes may be made and equivalents may be substituted for elements thereof without departing from the spirit and scope of the present invention.
Claims (18)
1. A hub flash removal method, comprising:
shooting an image of the surface of the hub, analyzing the image, extracting an edge path profile of the hub, and dividing the extracted edge path profile into a plurality of single-section profiles;
moving the 2D line laser to scan each section of single-section contour in sequence, calculating the edge point coordinates of the section of single-section contour in real time by analyzing the mutation points of the line laser scanning signals, and calculating the edge point height of the section of single-section contour;
fitting a laser cutting path of the 3D laser device to the single-section contour according to the edge point coordinates on the single-section contour scanned and calculated by the 2D line laser; and
and controlling the laser emitted by the 3D laser device to move along the fitted laser cutting path, and sequentially moving to the positions of all edge points according to all edge point coordinates and the edge point heights so as to sequentially finish removing burrs existing on all single-section contours.
2. The hub flash removal method of claim 1, wherein: the (X, Y) coordinates of each point in the laser cutting path of the single-segment profile are obtained based on the edge point coordinates calculated by the 2D line laser scanning, and the edge point height Z is obtained by converting the height change value of the edge point of the single-segment profile and the position of the edge point relative to the motion platform or the relative position of the edge point and the 2D line laser.
3. The hub flash removal method of claim 2, wherein:
controlling the visual field center of the camera device to be coaxial with the hub center;
adjusting the position of the hub relative to the camera device according to the wheel height of the hub so as to accord with the working distance of the camera device; and
the image of the hub surface is captured by the camera device.
4. The hub flash removal method of claim 1, wherein: the 2D line laser device for emitting the 2D line laser can rotate relative to the rotating shaft and is fixedly connected with the 3D laser device at a relative distance.
5. The hub flash removal method of claim 4, wherein: the 2D line laser device and the 3D laser device are movably arranged on a motion platform, the motion platform is defined with a motion platform coordinate system, and the edge point coordinate is the coordinate of the edge point on the motion platform coordinate system.
6. The hub flash removal method of claim 5, further comprising:
and determining the position of each single-section contour in the motion platform coordinate system according to the mapping relation between the image coordinate system of the hub surface and the motion platform coordinate system, so that the 2D line laser scans each single-section contour according to the position of each single-section contour in the motion platform coordinate system.
7. The hub deburring method of claim 6 wherein the mapping relationship between the image coordinate system of the hub surface image and the motion platform coordinate system is obtained by:
setting a plane entity on a focal plane of a camera device;
controlling the 3D laser device to move to different coordinate position points respectively, and recording the coordinates of each position point on the motion platform;
emitting laser by the 3D laser device with each position point as a circle center according to a preset radius to form a plurality of circular laser identification points arranged in an array;
shooting the circular laser identification points arranged in the array through the camera device, and calculating the image coordinate of the circle center of each circular laser identification point;
and determining an affine transformation matrix according to the image coordinates of each circle center and the motion platform coordinates of the position points, so as to obtain the mapping relation between the image coordinate system where the contour surface image is located and the motion platform coordinate system.
8. The hub flash removal method of claim 7, further comprising:
determining an included angle between the single-section contour and a motion platform coordinate system according to the position of the single-section contour in the motion platform coordinate system; and
and adjusting the included angle between the 2D line laser and the scanned single-section profile according to the included angle between the single-section profile and the coordinate system of the motion platform and the included angle between the 2D line laser and the coordinate system of the motion platform, so that the included angle between the 2D line laser and the normal of the single-section profile is smaller than a preset angle.
9. The hub flash removal method of claim 8 wherein the predetermined angle is 5 °.
10. The hub deburring method of claim 8 wherein the angle between the 2D line laser and the motion platform coordinate system is obtained by:
controlling the 2D line laser to move once along the X-axis or Y-axis direction of the motion platform coordinate system;
shooting images before and after the 2D line laser moves respectively through the camera device; and
and calculating an included angle between a connecting line of a first end point and a second end point before the 2D line laser moves and a connecting line of the first end point before the 2D line laser moves and the first end point after the 2D line laser moves according to the 2D line laser image shot by the camera device, and taking the included angle as an included angle between the 2D line laser and a coordinate system of the motion platform.
11. The hub flash removal method of claim 10, wherein the edge point coordinates (x _ p, y _ p) on the scanned single segment profile are: x _ p = X _ s ± c1 × cos θ, y _ p = y _ s ± c1 × sin θ, where (X _ s, y _ s) are coordinates of an end point of the 2D line laser, θ is an angle between the 2D line laser and an X axis of a coordinate system of a motion platform, and c1 is a distance from a current edge point to a first end point of the 2D line laser.
12. The hub flash removal method of claim 11, wherein the coordinates (x _ s, y _ s) of the first end point of the 2D line laser are: x _ s = X _ r ± a × cos (θ -r), y _ s = y _ r ± a × sin (θ -r), where (X _ r, y _ r) are coordinates of a rotation center of the 2D line laser, r is an included angle between a first end point of the 2D line laser and the connection line of the rotation center, a is a distance between the rotation center and the first end point of the 2D line laser, and θ is an included angle between the 2D line laser and an X axis of a coordinate system of a motion platform;
the current rotation center coordinates (x _ r, y _ r) of the 2D line laser are: x _ r = x0+ x d ，y_r=y0+y d Wherein (x0, y0) is the coordinates of the 3D laser device, (x) d ，y d ) The offset of the rotation center of the 2D line laser and the 3D laser device is obtained;
an included angle between the 2D line laser and the first end point of the 2D line laser and the connecting line of the rotation center
Wherein c is the length of the 2D line laser, a is the distance between the rotation center and the first end point of the 2D line laser, and b is the distance between the rotation center and the second end point of the 2D line laser.
13. The hub flash removal method of claim 12, wherein the 2D line laser has a center of rotation offset (x) from the 3D laser device d ，y d ) Obtained by the following steps:
setting a plane entity on the focal plane of the camera device;
controlling the 2D line laser emission to the planar entity;
controlling the 2D line laser to rotate by an angle every time, and shooting an image of the line laser on the plane entity through the camera device;
calculating the pixel value range of single line laser in any line laser image;
calculating the conversion relation between the pixel value in the 2D line laser and the unit length of the line laser according to the length of the 2D line laser and the pixel value range;
calculating first endpoint coordinates and second endpoint coordinates of the 2D line lasers in all the line laser images, and fusing the first endpoint coordinates and the second endpoint coordinates into one image;
fitting a plurality of first endpoint coordinates and a plurality of second endpoint coordinates of the 2D line laser in the fused image into a circle respectively, and taking the centers of the two circles as the rotation center of the 2D line laser;
converting the pixel coordinate of the rotation center into a motion platform coordinate according to the mapping relation between the image coordinate system of the hub surface image and the motion platform coordinate system; and
determining the offset (X) of the rotation center and the 3D laser device according to the motion platform coordinates (X1, Y1) of the rotation center and the current coordinates (X2, Y2) of the 3D laser device d ，y d ) Wherein x is d =X1-X2，y d =Y1-Y2。
14. The hub deburring method of claim 1 wherein the step of fitting the 3D laser device to the laser cut path of the single-segment profile based on the edge point coordinates on the single-segment profile scanned and calculated by the 2D line laser further comprises:
and fitting the edge point coordinates on the single-section contour into a straight line or a circle to form a laser cutting path of the 3D laser device on the single-section contour.
15. The hub flash removal method of claim 1, further comprising:
when the laser emitted by the 3D laser device moves along the fitted laser cutting path, calculating the residual length of the section of the single-section contour which is not scanned by the laser emitted by the 3D laser device in real time;
judging whether the residual length of the single-section profile is smaller than the fixed distance between the 3D laser device and the 2D line laser device; and
and when the residual length of the section of the single-section profile is judged to be smaller than the fixed distance between the 3D laser device and the 2D line laser device, controlling the 2D line laser to scan a normal section curve along the next single-section profile.
16. The hub flash removal method of claim 15, further comprising:
and when the residual length of the single-section profile is judged to be greater than or equal to the fixed distance between the 3D laser device and the 2D line laser device, controlling the 2D line laser to stop working.
17. The hub flash removal method of claim 1, further comprising:
after the burrs on the hub are removed, storing the complete cutting paths of the 3D laser device on all single-section contours of the hub and historical scanning parameters of the 2D line laser device and the 3D laser device in a memory;
and carrying out statistical fitting analysis on the complete cutting path of the wheel hubs of the same model and the burr removal result corresponding to the historical scanning parameters so as to optimize the burr removal effect.
18. An electronic device, comprising:
a processor; and
a memory having stored therein a plurality of program modules that are loaded by the processor and execute the hub flash removal method of any one of claims 1-17.
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| CN113570834A (en) * | 2021-06-29 | 2021-10-29 | 北京兔子梦科技发展有限公司 | Sitting posture reminding method and device |
| CN113953685B (en) * | 2021-11-22 | 2023-09-01 | 重庆工商大学 | Planning method for laser cutting path of planar plate |
| CN115635070B (en) * | 2022-10-19 | 2023-09-05 | 江苏中科云控智能工业装备有限公司 | Burr removing machine control transmission system based on force/position mixing technology |
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| CN205271634U (en) * | 2015-12-09 | 2016-06-01 | 陈益民 | Wheel hub intelligence deburring robot |
| CN106862775B (en) * | 2017-02-24 | 2019-03-05 | 苏州贝亚敏光电科技有限公司 | A kind of laser deburring method and apparatus |
| CN109166098A (en) * | 2018-07-18 | 2019-01-08 | 上海理工大学 | Work-piece burr detection method based on image procossing |
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