CN112798387A - Metallographic phase sample preparation robot based on 3D scanning technology - Google Patents
Metallographic phase sample preparation robot based on 3D scanning technology Download PDFInfo
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- CN112798387A CN112798387A CN202110183496.0A CN202110183496A CN112798387A CN 112798387 A CN112798387 A CN 112798387A CN 202110183496 A CN202110183496 A CN 202110183496A CN 112798387 A CN112798387 A CN 112798387A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N1/00—Sampling; Preparing specimens for investigation
- G01N1/28—Preparing specimens for investigation including physical details of (bio-)chemical methods covered elsewhere, e.g. G01N33/50, C12Q
- G01N1/32—Polishing; Etching
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
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Abstract
The invention discloses a metallographic sample preparation robot based on a 3D scanning technology, and relates to the technical field of metallographic sample preparation. According to the automatic polishing and detecting device, automatic polishing and detection of the sample piece can be realized in a short time, automatic processing is realized, manual operation is omitted, and the efficiency is improved; secondly, the 3D working path can be automatically planned, multi-angle processing of the sample piece is achieved, and the device is simple in structure, high in flexibility and convenient to control.
Description
Technical Field
The invention relates to the technical field of metallographic sample preparation, in particular to a metallographic sample preparation robot based on a 3D scanning technology.
Background
The metallographic examination is mainly to determine the three-dimensional morphology of the alloy structure by adopting a quantitative metallographic principle and applying the measurement and calculation of the metallographic microstructure of a ground surface or a thin film of a metallographic specimen, so as to establish the quantitative relation among the components, the structure and the performance of the alloy. The method can be used for inspecting the looseness, air holes, impurities, uniformity of structures, cracks and the like of the material, and metallographic analysis can also provide a basis for adjusting working procedures and modifying process parameters to guide production, so that the preparation of an early-stage metallographic sample is particularly important.
At present, metallographic samples are mainly prepared according to experience by inspectors, and the preparation from grinding to polishing is manually carried out, so that the samples prepared by inspectors of different levels have uneven quality, large workload and long time.
Disclosure of Invention
The invention aims to provide a metallographic sample preparation robot based on a 3D scanning technology, which is used for solving the technical problem.
Since the surface of the workpiece to be measured is not necessarily a flat surface, if the robot is used to automatically polish the embroidery of the workpiece, the surface profile information of the workpiece to be measured must be obtained first.
The robot related by the invention utilizes a 3D scanning technology to scan the surface of an object to be detected and acquire the surface contour information of the object to be detected. And then feeding back the information to the robot, and the robot automatically generates a motion track to polish the metallographic phase of the measured object.
The technical scheme adopted by the invention is as follows:
the utility model provides a metallography system appearance robot based on 3D scanning technique, changes joint, arm, robot wrist upset joint and metallography appearance processing tool including robot base, robot waist, wherein, the upper end of robot base is equipped with the robot waist changes the joint, the one end of arm with the robot waist changes the upper end of joint and connects, just the arm can wind the robot waist changes the upper end of joint rotatory, robot wrist upset joint is located the other end of arm, be equipped with on the robot wrist upset joint metallography appearance processing tool.
Preferably, the metallographic sample processing tool is located on the lower side of one end, far away from the mechanical arm, of the robot wrist overturning joint.
As a further preferred option, still include the 3D scanning camera, robot wrist upset joint is kept away from the downside of the one end of arm is equipped with the 3D scanning camera, just the 3D scanning camera is located one side of metallography appearance processing tool.
Preferably, the mechanical arm comprises a robot large arm pitching joint mechanism and a robot small arm pitching joint mechanism, wherein one end of the robot large arm pitching joint mechanism is connected with the upper end of the robot waist turning joint, and the other end of the robot large arm pitching joint mechanism is connected with one end of the robot small arm pitching joint mechanism.
Preferably, the robot wrist overturning mechanism further comprises a robot forearm rotating joint, the other end of the robot forearm pitching joint mechanism is provided with the robot forearm rotating joint, and one end of the robot forearm rotating joint is connected with the robot wrist overturning joint.
As further preferred, still include robot wrist rotary joint, robot wrist upset joint is kept away from the downside of the one end of arm is equipped with robot wrist rotary joint, metallography appearance processing tool and the 3D scanning camera all locates on the robot wrist rotary joint.
Preferably, the robot boom pitch joint mechanism comprises a robot boom and a first pitch joint, wherein the first pitch joint is arranged at one end of the robot boom, and the robot boom is connected with the upper end of the robot waist joint through the first pitch joint.
Preferably, the robot forearm pitch joint mechanism includes a robot forearm and a second pitch joint, wherein the second pitch joint is provided at one end of the robot forearm, the robot forearm is connected to the other end of the robot forearm through the second pitch joint, and the other end of the robot forearm is connected to the robot forearm rotation joint.
The technical scheme has the following advantages or beneficial effects:
according to the automatic polishing and detecting device, automatic polishing and detection of the sample piece can be realized in a short time, automatic processing is realized, manual operation is omitted, and the efficiency is improved; secondly, the 3D working path can be automatically planned, multi-angle processing of the sample piece is achieved, and the device is simple in structure, high in flexibility and convenient to control.
Drawings
FIG. 1 is a front view of a metallographic specimen preparation robot based on a 3D scanning technique according to the present invention;
fig. 2 is a perspective view of a metallographic specimen preparation robot based on a 3D scanning technique according to the present invention.
In the figure: 1. a robot base; 2. the robot waist changes the joint; 3. a mechanical arm; 31. a robot large arm pitching joint mechanism; 32. a robot forearm pitch joint mechanism; 33. a robot boom; 34. a first pitch joint; 35. a robot forearm; 36. a second pitch joint; 4. the robot wrist turns over the joint; 5. a metallographic sample processing tool; 6. a 3D scanning camera; 7. a robot forearm swivel joint; 8. robot wrist revolute joint.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. 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.
In the description of the present invention, it should be noted that, as the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. appear, their indicated orientations or positional relationships are based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" as appearing herein are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless otherwise explicitly stated or limited, the terms "mounted," "connected," and "connected" should be interpreted broadly, e.g., as being fixed or detachable or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
FIG. 1 is a front view of a metallographic specimen preparation robot based on a 3D scanning technique according to the present invention; fig. 2 is a perspective view of a metallographic specimen preparation robot based on a 3D scanning technique according to the present invention, please refer to fig. 1 to 2, which illustrate a preferred embodiment, and the metallographic specimen preparation robot based on a 3D scanning technique includes a robot base 1, a robot waist turning joint 2, a robot arm 3, a robot wrist turning joint 4, and a metallographic specimen processing tool 5, wherein the robot waist turning joint 2 is disposed at an upper end of the robot base 1, one end of the robot arm 3 is connected to an upper end of the robot waist turning joint 2, the robot arm 3 is rotatable around the upper end of the robot waist turning joint 2, the robot wrist turning joint 4 is disposed at the other end of the robot arm 3, and the metallographic specimen processing tool 5 is disposed on the robot wrist turning joint 4. In this embodiment, the robot waist joint 2 is used to rotate the robot arm 3. As shown in fig. 1, the robot arm is connected to the upper surface of the robot waist joint 2, and the robot arm 3 can rotate 360 ° around the upper surface of the robot waist joint 2. Arm 3 can stretch the action, and 3 upsets of arm can be relative to robot wrist upset joint 4, as the direction shown in figure 1, and robot wrist upset joint 4 can drive metallography appearance processing tool 5 and upwards or overturn downwards, realizes that metallography appearance processing tool 5 handles the multi-angle of appearance. Wherein, metallography appearance processing tool 5 is connected with 4 detachably of robot wrist upset joint, and metallography appearance processing tool 5 can realize polishing, the polishing of appearance.
Further, as a preferred embodiment, the metallographic sample processing tool 5 is located on the lower side of the end of the robot wrist inverting joint 4 away from the robot arm 3.
Further, as a preferred implementation mode, the metallographic sample preparation robot based on the 3D scanning technology further includes a 3D scanning camera 6, the 3D scanning camera 6 is disposed on the lower side of the end, away from the mechanical arm 3, of the wrist overturning joint 4 of the robot, and the 3D scanning camera 6 is located on one side of the metallographic sample processing tool 5. In this embodiment, the 3D scanning camera 6 is used to obtain scanning information of the outer contour of the sample, and upload the scanning information to the upper computer to build the part model.
Further, as a preferred embodiment, the robot arm 3 includes a robot upper arm pitch joint mechanism 31 and a robot lower arm pitch joint mechanism 32, wherein one end of the robot upper arm pitch joint mechanism 31 is connected to the upper end of the robot waist joint 2, and the other end of the robot upper arm pitch joint mechanism 31 is connected to one end of the robot lower arm pitch joint mechanism 32. In this embodiment, the robot upper arm pitch joint mechanism 31 can perform a pitch motion in the vertical direction with respect to the robot waist joint 2, and the robot lower arm pitch joint mechanism 32 can perform a pitch motion in the vertical direction with respect to the robot upper arm pitch joint mechanism 31.
Further, as a preferred embodiment, the metallographic sample preparation robot based on the 3D scanning technology further includes a robot forearm rotating joint 7, the other end of the robot forearm pitching joint mechanism 32 is provided with the robot forearm rotating joint 7, and one end of the robot forearm rotating joint 7 is connected with the robot wrist overturning joint 4. The robot forearm rotary joint 7 in the embodiment is used for driving the robot wrist overturning joint 4 to rotate by 360 degrees, so that the metallographic sample processing tool 5 can process samples at multiple angles. In this embodiment, through the setting of robot waist commentaries on classics joint 2, arm 3, robot wrist upset joint 4 and robot forearm rotary joint 7, can be so that the metallography system appearance robot operation based on 3D scanning technique is more nimble.
Further, as a preferred embodiment, the metallographic sample preparation robot based on the 3D scanning technology further includes a robot wrist rotary joint 8, the robot wrist rotary joint 8 is disposed on a lower side of one end of the robot wrist overturning joint 4 away from the mechanical arm 3, and the metallographic sample processing tool 5 and the 3D scanning camera 6 are both disposed on the robot wrist rotary joint 8. Robot wrist rotary joint 8 is used for driving metallography appearance processing tool 5 and 3D scanning camera 6 rotatory, realizes the multi-angle processing and the scanning of multi-angle to the appearance, is convenient for establish the part model.
Further, as a preferred embodiment, the robot boom pitch joint mechanism 31 includes a robot boom 33 and a first pitch joint 34, wherein the first pitch joint 34 is provided at one end of the robot boom 33, and the robot boom 33 is connected to the upper end of the robot waist joint 2 through the first pitch joint 34.
Further, as a preferred embodiment, the robot small arm pitch joint mechanism 32 includes a robot small arm 35 and a second pitch joint 36, wherein the second pitch joint 36 is provided at one end of the robot small arm 35, the robot small arm 35 is connected to the other end of the robot large arm 33 through the second pitch joint 36, and the other end of the robot small arm 35 is connected to the robot small arm rotation joint 7.
The using method of the invention is as follows:
the metallography system appearance robot moves to the sample position of treating processing, then the metallography system appearance robot drives 3D scanning camera 6 and moves according to the zigzag route, the in-process of removal, 3D scanning camera 6 scans the outline of sample to send the outline information of the sample of scanning to the host computer, then the host computer builds the part model, establish the position relation of part coordinate system and metallography system appearance robot coordinate system, and plan the 3D work path of metallography system appearance robot, the metallography system appearance robot is handled the sample according to host computer planning orbit, after sample processing is accomplished, the metallography system appearance robot automatically carries out next cycle action.
While the invention has been described with reference to a preferred embodiment, it will be understood by those skilled in the art that various changes in form and detail may be made therein without departing from the spirit and scope of the invention.
Claims (8)
1. The utility model provides a metallography system appearance robot based on 3D scanning technique, a serial communication port, change joint, arm, robot wrist upset joint and metallography appearance processing tool including robot base, robot waist, wherein, the upper end of robot base is equipped with the robot waist changes the joint, the one end of arm with the robot waist changes the upper end of joint and connects, just the arm can wind the robot waist changes the upper end of joint rotatory, robot wrist upset joint is located the other end of arm, be equipped with on the robot wrist upset joint metallography appearance processing tool.
2. The metallographic specimen preparation robot based on the 3D scanning technique according to claim 1, wherein said metallographic specimen processing tool is located on a lower side of an end of said robot wrist flip joint remote from said robot arm.
3. The metallographic specimen preparation robot based on the 3D scanning technique according to claim 2, further comprising a 3D scanning camera, wherein the 3D scanning camera is provided on a lower side of an end of the robot wrist overturning joint away from the mechanical arm, and the 3D scanning camera is located on one side of the metallographic specimen processing tool.
4. The metallographic specimen preparation robot based on the 3D scanning technology according to claim 1, wherein the mechanical arm comprises a robot arm pitch joint mechanism and a robot forearm pitch joint mechanism, wherein one end of the robot arm pitch joint mechanism is connected with an upper end of the robot waist joint, and the other end of the robot arm pitch joint mechanism is connected with one end of the robot forearm pitch joint mechanism.
5. The metallographic specimen preparation robot based on the 3D scanning technology according to claim 4, further comprising a robot forearm rotating joint, wherein the other end of the robot forearm pitching joint mechanism is provided with the robot forearm rotating joint, and one end of the robot forearm rotating joint is connected with the robot wrist overturning joint.
6. The metallographic specimen preparation robot based on the 3D scanning technology according to claim 3, further comprising a robot wrist rotation joint, wherein the robot wrist rotation joint is arranged on a lower side of one end of the robot wrist overturning joint, which is far away from the mechanical arm, and the metallographic specimen processing tool and the 3D scanning camera are both arranged on the robot wrist rotation joint.
7. The metallographic specimen preparation robot based on the 3D scanning technology according to claim 4, wherein the robot arm pitch joint mechanism comprises a robot arm and a first pitch joint, wherein the first pitch joint is arranged at one end of the robot arm, and the robot arm is connected with the upper end of the robot waist rotation joint through the first pitch joint.
8. The metallographic specimen preparation robot based on the 3D scanning technique according to claim 7, wherein said robot arm pitch joint mechanism includes a robot arm and a second pitch joint, wherein said second pitch joint is provided at one end of said robot arm, and said robot arm is connected to the other end of said robot arm through said second pitch joint, and wherein said other end of said robot arm is connected to said robot arm rotation joint.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110183496.0A CN112798387A (en) | 2021-02-10 | 2021-02-10 | Metallographic phase sample preparation robot based on 3D scanning technology |
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| CN202110183496.0A CN112798387A (en) | 2021-02-10 | 2021-02-10 | Metallographic phase sample preparation robot based on 3D scanning technology |
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| CN112798387A true CN112798387A (en) | 2021-05-14 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116766204A (en) * | 2023-07-27 | 2023-09-19 | 上海模高信息科技有限公司 | Path planning method based on robot running track simulation |
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2021
- 2021-02-10 CN CN202110183496.0A patent/CN112798387A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116766204A (en) * | 2023-07-27 | 2023-09-19 | 上海模高信息科技有限公司 | Path planning method based on robot running track simulation |
| CN116766204B (en) * | 2023-07-27 | 2024-02-06 | 上海模高信息科技有限公司 | Path planning method based on robot running track simulation |
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