CN114029970B

CN114029970B - Steel coil end face detection robot and path planning method thereof

Info

Publication number: CN114029970B
Application number: CN202111193619.5A
Authority: CN
Inventors: 武智猛; 甦震; 单立东; 梁宝; 马元贵; 孔祥丽; 刘士超; 王磊; 李希友; 马强; 藏正超; 黄江晗
Original assignee: Hegang Industrial Technology Service Co ltd
Current assignee: Hegang Industrial Technology Service Co ltd
Priority date: 2021-10-13
Filing date: 2021-10-13
Publication date: 2023-08-22
Anticipated expiration: 2041-10-13
Also published as: CN114029970A

Abstract

The invention relates to a steel coil end face detection robot and a path planning method thereof, belonging to the technical field of metallurgical equipment and methods. The technical scheme of the invention is as follows: the shaft six (1) is a rotating shaft, and the tail end of the shaft six (1) is fixed with the field mechanical arm flange frame (16); the industrial camera (17) and the laser (20) are arranged on the flange frame (16) of the field manipulator. The beneficial effects of the invention are as follows: through writing the mutual cooperation motion of each axle of correlation algorithm control robot, can make coil of strip terminal surface detection robot be on a parallel with the coil of strip terminal surface all the time and rotate the detection, detection result precision is higher, detection efficiency is more efficient, replaces manual operation through the robot, has practiced thrift manpower and materials to a great extent, has protected artificial safety simultaneously.

Description

Steel coil end face detection robot and path planning method thereof

Technical Field

The invention relates to a steel coil end face detection robot and a path planning method thereof, belonging to the technical field of metallurgical equipment and methods.

Background

With the rapid development of computer network technology, sensing technology and measuring technology, the steel coil automatically detects important working contents in the metallurgical industry, and higher requirements are put forward on the detection result of the steel coil. If manual naked eye observation is adopted in the end face edge detection process of the steel coil, the hand-held measurement mode is indispensable, errors or even misjudgment of the detection result can be caused due to the influence of subjective factors, and meanwhile the traceability of the detection result is poor. In order to improve the automation level of the detection device and the accuracy of the detection result, a novel automatic detection device and a detection method are required to be provided.

Disclosure of Invention

The invention aims to provide a steel coil end face detection robot and a path planning method thereof, wherein the robot shafts are controlled to mutually cooperate to move by writing a related algorithm, so that the steel coil end face detection robot can always perform rotation detection parallel to the steel coil end face, the detection result has higher precision and higher detection efficiency, manual operation is replaced by the robot, manpower and material resources are saved to a great extent, meanwhile, the manual safety is protected, the use value is high, and the problems in the background technology are effectively solved.

The technical scheme of the invention is as follows: a steel coil end face detection robot and a path planning method thereof comprise

The robot comprises a robot main body, a field mechanical arm flange frame, an industrial camera and a laser, wherein the robot main body comprises a shaft six, a shaft five, a shaft four, a mechanical arm two, a motor one, a shaft three, a motor two, a motor three, a motor four, a motor five, a wire inlet cabinet, a robot mounting base, a shaft one, a shaft two and a mechanical arm one, the mounting base is fixed with the ground through bolts, and the wire inlet cabinet is arranged on the side surface of the mounting base; the lower part of the mechanical arm I is connected with a robot mounting base through a shaft I and a shaft II, and the motor five drives a shaft II; the upper part of the mechanical arm I is connected with the mechanical arm II through a shaft III, and the motor drives a shaft III; the fourth shaft, the fifth shaft and the sixth shaft are sequentially connected and arranged at the tail end of the second mechanical arm, and the second motor, the third motor and the fourth motor respectively drive the fourth shaft, the fifth shaft and the sixth shaft; the shaft six is a rotating shaft, and the tail end of the shaft six is fixed with the flange frame of the field manipulator through a flange; the industrial camera and the laser are arranged on the flange frame of the field manipulator.

The number of the industrial cameras is three, and the industrial cameras are fixed on three corners of the flange frame of the field mechanical arm through bolts.

The laser is fixed on one corner of the flange frame of the field mechanical arm through bolts.

A path planning method of a steel coil end face detection robot comprises the following steps: (1) The large coordinates are set through the mechanical arm I and the mechanical arm II; (2) determining the circle center of the steel coil through vision; (3) Planning paths of the first mechanical arm and the second mechanical arm to enable the second mechanical arm to do circular motion by taking the circle center of the steel coil as the center; (4) The shaft six connected with the mechanical arm II drives the flange frame of the field-shaped mechanical arm to rotate, so that the line of the laser is always parallel to the end face of the steel coil in the circular motion process; (5) The condition of the end face of the optical coil is recorded by an industrial camera and a laser, so that the defect of the end face of the steel coil is analyzed.

The beneficial effects of the invention are as follows: through writing the mutual cooperation motion of each axle of correlation algorithm control robot, can make coil of strip terminal surface detection robot be on a parallel with the coil of strip terminal surface all the time and rotate the detection, detection result precision is higher, detection efficiency is more efficient, replaces manual operation through the robot, has practiced thrift manpower and materials to a great extent, has protected artificial safety simultaneously, has very high use value.

Drawings

FIG. 1 is an overall block diagram of the present invention;

FIG. 2 is an enlarged view of a portion of FIG. 1;

in the figure: six 1, five 2, four 3, mechanical arm two 4, motor one 5, axle three 6, motor two 7, motor three 8, motor four 9, motor five 10, inlet wire cabinet 11, robot mounting base 12, axle one 13, axle two 14, mechanical arm one 15, field word mechanical arm flange frame 16, industry camera 17, coil of strip 18, flange 19, laser 20.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention more clear, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments, and it is apparent that the described embodiments are a small part of the embodiments of the present invention, but not all embodiments, and all other embodiments obtained by those skilled in the art without making creative efforts based on the embodiments of the present invention are included in the protection scope of the present invention.

The utility model provides a coil of strip terminal surface detection robot and route planning method thereof, includes KUKA robot main part, field word arm flange frame 16, industry camera 17 and laser instrument 20, KUKA robot main part includes axle six 1, axle five 2, axle four 3, arm two 4, motor one 5, axle three 6, motor two 7, motor three 8, motor four 9, motor five 10, inlet wire cabinet 11, robot installation base 12, axle one 13, axle two 14 and arm one 15, installation base 12 passes through the bolt fastening with the ground, inlet wire cabinet 11 sets up in the side of installation base 12; the lower part of the mechanical arm I15 is connected with the robot mounting base 12 through the shaft I13 and the shaft II 14, and the motor V10 drives the shaft II 14; the upper part of the mechanical arm I15 is connected with the mechanical arm II 4 through a shaft III 6, and the motor I5 drives a shaft III 6; the shaft IV 3, the shaft V2 and the shaft V1 are sequentially connected and arranged at the tail end of the mechanical arm II 4, and the motor II 7, the motor III 8 and the motor IV 9 respectively drive the shaft IV 3, the shaft V2 and the shaft V1; the shaft six 1 is a rotating shaft, and the tail end of the shaft six 1 is fixed with the flange frame 16 of the field manipulator through a flange 19; the industrial camera 17 and the laser 20 are mounted on the field manipulator flange mount 16.

The number of the industrial cameras 17 is three, and the industrial cameras are fixed on three corners of the flange frame 16 of the field manipulator through bolts.

The laser 20 has one and is bolted to one corner of the field arm flange mount 16.

Claims

1. A coil of strip terminal surface detection robot, its characterized in that: the robot comprises a robot main body, a field mechanical arm flange frame (16), an industrial camera (17) and a laser (20), wherein the robot main body comprises a shaft six (1), a shaft five (2), a shaft four (3), a mechanical arm two (4), a motor one (5), a shaft three (6), a motor two (7), a motor three (8), a motor four (9), a motor five (10), a wire inlet cabinet (11), a robot mounting base (12), a shaft one (13), a shaft two (14) and a mechanical arm one (15), the mounting base (12) is fixed with the ground through bolts, and the wire inlet cabinet (11) is arranged on the side surface of the mounting base (12); the lower part of the mechanical arm I (15) is connected with the robot mounting base (12) through the shaft I (13) and the shaft II (14), and the motor V (10) drives the shaft II (14); the upper part of the mechanical arm I (15) is connected with the mechanical arm II (4) through a shaft III (6), and the motor I (5) drives the shaft III (6); the fourth shaft (3), the fifth shaft (2) and the sixth shaft (1) are sequentially connected and arranged at the tail end of the second mechanical arm (4), and the second motor (7), the third motor (8) and the fourth motor (9) respectively drive the fourth shaft (3), the fifth shaft (2) and the sixth shaft (1); the shaft six (1) is a rotating shaft, and the tail end of the shaft six (1) is fixed with the flange frame (16) of the field mechanical arm through a flange (19); the industrial camera (17) and the laser (20) are arranged on the field mechanical arm flange frame (16); the number of the industrial cameras (17) is three, and the industrial cameras are fixed on three corners of the flange frame (16) of the field mechanical arm through bolts; the laser (20) is fixed on one corner of the flange frame (16) of the field mechanical arm through bolts;

the application method of the robot comprises the following steps: (1) The large coordinates are set through the mechanical arm I and the mechanical arm II; (2) determining the circle center of the steel coil through vision; (3) Planning paths of the first mechanical arm and the second mechanical arm to enable the second mechanical arm to do circular motion by taking the circle center of the steel coil as the center; (4) The shaft six connected with the mechanical arm II drives the flange frame of the field-shaped mechanical arm to rotate, so that the line of the laser is always parallel to the end face of the steel coil in the circular motion process; (5) The condition of the end face of the optical coil is recorded by an industrial camera and a laser, so that the defect of the end face of the steel coil is analyzed.