CN114113163A - Automatic digital ray detection device and method based on intelligent robot - Google Patents
Automatic digital ray detection device and method based on intelligent robot Download PDFInfo
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Abstract
The invention relates to an automatic digital ray detection device and method based on an intelligent robot, belongs to the technical field of ray nondestructive detection, and solves the problems of complexity of a mechanical motion mechanism and difficulty in motion control of the conventional detection system. An automatic digital ray detection device based on an intelligent robot is characterized by comprising a digital ray imaging system, a robot grabbing system, a 3D vision system and a feeding and discharging transmission mechanism; and the 3D vision system identifies the information of the workpiece on the feeding and discharging transmission mechanism and transmits the information to the robot grabbing system, and the robot grabbing system grabs the workpiece to the digital ray imaging system for scanning to complete the detection of the workpiece. The automatic digital ray detection device and method based on the intelligent robot, disclosed by the invention, plan scanning paths for workpieces with different shapes and sizes, and ensure that full coverage scanning can be completed by using an optimal scanning process layout.
Description
Technical Field
The invention belongs to the technical field of ray nondestructive testing, and particularly relates to an automatic digital ray detection device and method based on an intelligent robot.
Background
Nondestructive testing is an indispensable tool in industrial development, and reflects the national industrial development level to a certain extent. X-ray detection has been used in industry for nearly a hundred years as a conventional non-destructive detection method. In the early and some current industrial fields (such as military manufacturing field), the X-ray detection usually uses film photography as the main detection method, and the detection method has the problems of long detection period, low detection efficiency, high detection cost, environmental pollution caused by darkroom waste liquid treatment and the like, and is not suitable for the non-destructive detection development trend of the information age.
At present, the digital ray nondestructive testing technology is widely applied in the industrial field. On the premise of ensuring the detection quality of products, the digital ray nondestructive detection technology has the characteristics of high detection speed, low detection cost, easiness in image storage, easiness in realization of remote analysis and diagnosis and the like, and is the development direction of ray detection. By adopting the digital ray nondestructive testing technology, the image contrast can be improved and the identification power of the defects can be improved through the digital image processing methods such as gray level adjustment, enhancement, sharpening and the like, and the automatic screening, positioning and classification of the defects are further realized by adopting a defect identification algorithm, so that the intelligent film evaluation is realized, and the accuracy of defect identification and the film evaluation efficiency are greatly improved.
At present, in a digital ray detection scheme, a workpiece is usually placed on an object stage, and the object stage is located between a ray tube and a detector, so that transillumination imaging of the workpiece by X-rays is realized. In order to meet the transillumination requirements of different workpiece sizes, different workpiece positions and different transillumination angles, a plurality of motion degrees of freedom need to be added on a ray tube, a detector and a workpiece stage. Because the imaging field of view of digital ray detection is limited by the factors such as the plane size of the detector, the radiation angle of the ray, the imaging magnification ratio and the like, in order to meet the requirement of full-coverage detection of a large-size workpiece, a plurality of degrees of freedom of linear motion are usually added to a ray tube and the detector (or a workpiece stage), so that the detection range is expanded. In order to meet the requirement of detecting different angles of the workpiece, the scheme of rotating a workpiece stage or rotating a ray tube detector (such as a C-shaped arm) is generally adopted.
In order to meet the detection requirements for various shapes and sizes of workpieces, the universal workpiece detection system needs to add a plurality of degrees of freedom of motion to the X-ray tube, the detector and the workpiece stage, and usually needs about 10 degrees of freedom of motion. For the detection of different angles, especially when multi-angle detection is required to be carried out on a plurality of rotating shaft directions or the detection is required to be carried out along the normal direction of the surface of a workpiece, the mechanical motion mechanism of the system is very complex in design, and the motion control, the scanning angle planning and the radiation source detector are very difficult to control.
Disclosure of Invention
In view of the above analysis, the present invention aims to provide an automatic digital ray detection apparatus and method based on an intelligent robot, so as to solve the problems of complex mechanical motion mechanism and difficult motion control of the existing detection system.
The purpose of the invention is mainly realized by the following technical scheme:
an automatic digital ray detection device based on an intelligent robot comprises a digital ray imaging system, a robot grabbing system, a 3D vision system and a feeding and discharging transmission mechanism;
and the 3D vision system identifies the information of the workpiece on the feeding and discharging transmission mechanism and transmits the information to the robot grabbing system, and the robot grabbing system grabs the workpiece to the digital ray imaging system for scanning to complete the detection of the workpiece.
Further, the digital ray imaging system comprises a ray source and a detector, and rays emitted by the ray source are received by the detector.
Further, go up unloading transport mechanism includes conveyer belt and work piece tray, reciprocating motion is made to the conveyer belt, transports between last unloading region and 3D visual identification region the work piece tray.
Further, the robot grabbing system includes robot, clamping jaw quick change device and a plurality of clamping jaw, the robot is in clamping jaw quick change device changes the clamping jaw.
An automatic digital ray detection method based on an intelligent robot uses the technical scheme to realize the automatic digital ray detection device based on the intelligent robot, and comprises the following steps:
step 1: creating a scanning process of the workpiece;
step 2: and (4) carrying out batch automatic detection on workpieces.
Further, step 1 includes the following steps:
step 1.1: creating a scanning process for each type of workpiece;
step 1.2: the 3D vision system extracts feature points of the grabbing position of the workpiece and stores the feature points in a robot grabbing system;
step 1.3: designating a clamping jaw suitable for grabbing the workpiece;
step 1.4: the robot grabs the workpiece and teaches scanning path points according to a scanning process;
step 1.5: determining the scanning parameters of each scanning path point in a pre-scanning experiment mode;
step 1.6: and saving the scanning process into a scanning process library.
Further, in step 1.1, a scanning process is created for each type of workpiece in a process file manner, and is used for storing workpiece grabbing position feature points, robot clamping jaw types, scanning paths and scanning parameters.
Further, in step 1.4, a scanning path is planned according to the number of the workpiece scanning surfaces, the angle of the workpiece scanning surfaces and the size of the workpiece scanning surfaces.
Further, step 2 includes the following steps:
step 2.1: an operator places one or more workpieces on a workpiece tray;
step 2.2: the feeding and discharging transmission mechanism moves the workpiece tray to a 3D visual identification area;
step 2.3: identifying the number of workpieces on the workpiece pallet and the type of each workpiece:
step 2.4: the 3D vision system extracts the coordinates of the grabbing position of each workpiece;
step 2.5: and the robot gripping system replaces the designated clamping jaw from the clamping jaw quick-change device.
Further, step 2 includes the following steps:
step 2.6: the robot moves to the designated position of the first workpiece to grab;
step 2.7: the robot grabbing system moves the workpiece to a 1 st scanning path point and scans according to the specified scanning parameters;
step 2.8: scanning of all scanning path points of the workpiece is completed in sequence;
step 2.9: the robot puts the workpiece back to the workpiece tray and starts scanning the next workpiece until all workpieces are scanned;
step 2.10: the feeding and discharging transmission mechanism moves the workpiece tray to a feeding and discharging area.
The invention can realize at least one of the following beneficial effects:
(1) the automatic digital ray detection device and method based on the intelligent robot, which are disclosed by the invention, plan scanning paths for workpieces with different shapes and sizes, and ensure that full coverage scanning can be completed by an optimal scanning process layout; the detection of different angles of the detected workpiece is realized, and the complexity of a moving mechanism of the system is reduced.
(2) The automatic digital ray detection device and method based on the intelligent robot can realize full-coverage automatic scanning of workpieces according to the planned scanning path.
In the invention, the technical schemes can be combined with each other to realize more preferable combination schemes. Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and drawings.
Drawings
The drawings are only for purposes of illustrating particular embodiments and are not to be construed as limiting the invention, wherein like reference numerals are used to designate like parts throughout.
FIG. 1 is a schematic structural diagram of an automated digital ray detection device based on an intelligent robot according to an embodiment of the present invention;
FIG. 2 is a schematic view of a four-sided box-shaped workpiece according to an embodiment of the invention;
FIG. 3 is a schematic view of a curved surface element according to an embodiment of the present invention;
FIG. 4 is a flow chart of a create scan process according to an embodiment of the present invention;
FIG. 5 is a flow chart of automated inspection of batch workpieces according to an embodiment of the present invention;
fig. 6 is a schematic diagram of converting a 3D vision coordinate system to a robot coordinate system according to an embodiment of the present invention.
Reference numerals:
the system comprises a 1-ray source moving mechanism, a 2-ray source, a 3-detector moving mechanism, a 4-detector, a 5-workpiece, a 6-3D vision system, a 7-clamping jaw quick-change device, an 8-robot, a 9-conveyor belt and a 10-workpiece tray.
Detailed Description
The preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings, which form a part hereof, and which together with the embodiments of the invention serve to explain the principles of the invention and not to limit its scope.
In the description of the embodiments of the present invention, it should be noted that, unless otherwise explicitly stated or limited, the term "connected" should be interpreted broadly, and may be, for example, a fixed connection, a detachable connection, an integrated connection, a mechanical connection, an electrical connection, a direct connection, or an indirect connection via an intermediate medium. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
The terms "top," "bottom," "above … …," "below," and "on … …" as used throughout the description are relative positions with respect to components of the device, such as the relative positions of the top and bottom substrates inside the device. It will be appreciated that the devices are multifunctional, regardless of their orientation in space.
Example 1
One embodiment of the invention, as shown in fig. 1, discloses an automatic digital ray detection device based on an intelligent robot, which comprises a digital ray imaging system, a robot gripping system, a 3D vision system 6 and a feeding and discharging transmission mechanism. The 3D vision system 6 identifies information of the detected workpiece on the feeding and discharging transmission mechanism and transmits the information to the robot grabbing system, and the robot grabbing system grabs the detected workpiece to the digital camera imaging system for scanning to complete detection of the detected workpiece.
In the embodiment, the scanning path is planned for the workpieces with different shapes and sizes, so that the full-coverage scanning of the detected workpiece is completed by the optimal scanning process layout, the detection of the detected workpiece at different angles is realized, the complexity of a moving mechanism of a system is reduced, and the full-coverage automatic scanning of the detected workpiece is realized.
Specifically, the digital radiography system includes a radiation source 2, a detector 4, a radiation source moving mechanism 1, and a detector moving mechanism 3. The ray that ray source 2 sent is received by detector 4, and ray source moving mechanism 1 is used for removing ray source 2, and detector moving mechanism 3 is used for removing detector 4 to change the distance between ray source 2 and the detector 4, reach the purpose of adjusting formation of image focus.
In the embodiment, the radiation source moving mechanism 1 realizes the vertical movement of the radiation source 2 through a lead screw guide rail and a vertical sliding table; the detector moving mechanism 3 realizes vertical movement of the detector 4 through a lead screw guide rail and a vertical sliding table, and realizes horizontal movement of the detector 4 through the lead screw guide rail and a horizontal sliding table.
In this embodiment, in order to avoid the damage of the ray to the human body, the digital ray imaging system, the robot grasping system and the 3D vision system 6 are located in the shielding chamber, and the feeding and discharging transmission mechanism crosses the shielding chamber and is used for transporting the detected workpiece.
Further, the feeding and discharging transmission mechanism comprises a conveyor belt 9 and a workpiece tray 10, the conveyor belt 9 crosses the shielding chamber, the part of the conveyor belt 9 outside the shielding chamber is a feeding and discharging area, and the part of the conveyor belt 9 within the identification range of the 3D vision system 6 is a 3D vision identification area. The conveying belt 9 reciprocates to convey the workpieces to be detected into the shielding chamber, after the workpieces to be detected are detected, the workpieces 5 after the detection are conveyed out of the shielding chamber, an operator takes the workpieces 5 after the detection out of the workpiece tray 10, and then puts the next batch of workpieces to be detected on the workpiece tray 10.
Optionally, the feeding and discharging transmission mechanism is not provided with a workpiece tray 10, the conveyor belt 9 moves in a single direction, the conveyor belt 9 transmits one workpiece 5 to the shielding chamber from the first shielding door at each time, after the detection is completed, the workpiece is transmitted out of the shielding chamber from the second shielding door, and meanwhile, the next workpiece to be detected is transmitted into the shielding chamber from the first shielding door.
Further, the 3D vision system 6 is composed of a line laser binocular stereo camera and a vision controller, and is used to identify the type of the workpiece and the coordinates of the grasping points on the workpiece tray 10, and transmit the coordinates of the grasping points to the robot grasping system, thereby achieving grasping of the designated position of the workpiece.
Further, the robot grabbing system comprises a robot 8, a clamping jaw quick-change device 7 and a plurality of clamping jaws, and according to the shapes, sizes and weights of different workpieces identified by the 3D vision system 6, the robot 8 installs a proper clamping jaw in the clamping jaw quick-change device 7 to grab the workpieces; after the robot 8 grabs the workpiece, the workpiece is moved to a scanning imaging area according to the detection position and the detection angle required by the detection process by utilizing the characteristic of the flexibility of multiple degrees of freedom of the robot 8, and the scanning of the designated position and the designated angle is realized.
Example 2
The invention discloses an automatic digital ray detection method based on an intelligent robot, which uses the automatic digital ray detection device based on the intelligent robot of the embodiment 1 and comprises the following steps:
step 1: a scanning process for creating a detected workpiece:
each type of workpiece to be detected corresponds to a specific robot gripping part, a clamping jaw type, a scanning path and scanning parameters, and is generally called as a scanning process. Before the automatic scanning of the batch workpieces is realized, the scanning process of each type of workpieces is determined. As shown in fig. 4, the method specifically includes the following steps:
step 1.1: one scanning process is created for each type of workpiece:
and creating a scanning process for each type of workpieces in a process file mode, wherein the scanning process is used for storing workpiece grabbing position characteristic points, robot clamping jaw types, scanning paths and scanning parameters.
Step 1.2: the 3D vision system 6 extracts feature points of the grabbing position of the workpiece and stores the feature points in a robot grabbing system:
the position of the robot jaw gripper must be fixed for each type of workpiece, in order to ensure the consistency of the scanning path of the same type of workpiece. A three-dimensional model of the workpiece can be obtained through the 3D vision system 6, the coordinates of the characteristic points of the grabbing position are marked on the three-dimensional model of the workpiece and sent to the robot grabbing system, and grabbing of the fixed position of the workpiece by the robot clamping jaw is achieved.
Step 1.3: appointing a clamping jaw suitable for grabbing the workpiece:
the type of the adopted clamping jaw is different for workpieces with different shapes, sizes and weights.
In this embodiment, flexible jaws are used for workpieces that are relatively light in weight (e.g., less than 10 kg). The part of the clamp end of the flexible clamping jaw, which is in contact with the clamped workpiece, is made of flexible material, so that the workpiece can be gripped without damage. On the other hand, the flexible clamping jaw has extremely high adaptability, the same clamp can grab workpieces with different sizes, shapes and weights, and the flexible clamping jaw is particularly suitable for grabbing products which are easy to damage and have indefinite forms. Furthermore, the finger module of the flexible clamping jaw is made of light rubber, the fingers are driven to open and close by air pressure in the hollow cavity, the finger module does not contain any high-density material, and the influence on a ray imaging result is small.
Further, in order to meet the grabbing of workpieces with greatly different shapes and sizes, the quick-change device is adopted in the embodiment to realize the switching of different clamping jaws. The quick-change device comprises a male end arranged on the robot, a plurality of female ends are arranged on the flexible clamping jaw or other mechanical clamping jaws, and the clamping jaws can be replaced within seconds by controlling the robot. The female end of the clamping jaw quick-change device 7 is normally stored on the clamping jaw switching table, and the robot can be automatically replaced according to the type of the designated workpiece.
Step 1.4: the robot grabs the workpiece, and the scanning path points are taught according to the scanning process:
in order to meet the requirement of multi-angle full-coverage scanning of a workpiece, the posture and the position of the workpiece need to be changed for carrying out scanning for multiple times, and the position of each moving axis (comprising a digital ray imaging system and a robot grabbing system) of a system corresponding to each scanning is called as a scanning path.
When the workpiece to be detected is scanned and detected, the workpiece to be detected needs to be moved between a ray source and a detector for perspective imaging. In order to achieve the best imaging effect, the detected plane needs to be directly opposite to the ray bundle; and a single-wall transillumination mode is adopted as far as possible, because the double-wall transillumination can cause the situation of image overlapping, the plane of the defect cannot be determined. Because the workpieces to be detected are various in shapes and sizes, and the range of single imaging detection is limited, corresponding scanning paths of the workpieces with different sizes and shapes need to be planned, and the workpieces are scanned in the paths to complete full-coverage detection. The scanning path is planned according to the number of the workpiece scanning surfaces, the angle of the workpiece scanning surfaces and the size of the workpiece scanning surfaces.
The number of workpiece scan surfaces determines the number of times the robot changes attitude during the scan process. Generally, one surface of a workpiece corresponds to a scanning surface, and a robot adjusts the posture of the workpiece to enable the designated scanning surface to face the beam, and then the robot translates the workpiece to complete full-coverage scanning of the scanning surface.
Further, for the angle of the workpiece scanning surface, in order to achieve the best imaging effect, the robot should make the workpiece scanning surface face the ray bundle as much as possible when adjusting the workpiece posture, so as to achieve the best imaging effect.
Further, for the size of the workpiece scanning surface, because the single scanning field of view of the imaging system is limited, when the plane of the workpiece to be detected exceeds the scanning field of view, full coverage scanning needs to be realized by translating the workpiece scanning surface.
Exemplarily, as shown in fig. 1, the detected workpiece is a flat plate member, and the number of scanning surfaces is 1; the scanning surface angle adjusts the posture of the flat piece by controlling a robot so as to enable the flat piece to face the ray bundle; and according to the size of the scanning surface and the size of an imaging field of view, completing full-coverage scanning of the plane of the flat plate piece in a mode of translating the scanning surface.
As shown in fig. 2, for a four-sided box-type workpiece, the number of scanning surfaces is 4, and it is necessary to scan 4 surfaces of the workpiece. The scanning surface angle adjusts the posture of the four-side box type workpiece by controlling the robot, so that the current scanning surface is opposite to the ray bundle; and according to the size of the scanning surface and the size of the imaging field of view, completing the full-coverage scanning of the current scanning surface of the four-side box type workpiece in a mode of translating the current scanning surface. And repeating the steps to finish the scanning of other surfaces of the workpiece.
As shown in fig. 3, for the curved surface piece, the curved surface piece can be divided into a plurality of scanning surfaces according to the size of the imaging field of view, the workpiece posture of each scanning surface is changed to enable the workpiece posture to be opposite to the ray bundle, and then the full coverage scanning of a single scanning surface is completed through translation.
The scan path varies from one type of workpiece to another. In the stage of creating the scanning process, the positions of the motion axes of the scanning path points are recorded in a teaching mode, and the scanning mode uniform batch scanning is realized by reproducing the path points during automatic scanning.
In the teaching process, each moving axis of the moving mechanism is manually controlled to reach a first target position, and the position of each moving axis is recorded in a file; manually controlling each moving shaft of the moving mechanism to reach a second target position, and recording the position of each moving shaft in a file; and according to the operation, sequentially recording the positions of all the motion axes corresponding to all the target path points, and finishing the teaching process. And in the reproduction process, loading a file for teaching and recording the target path points, sequentially reading the positions of all axes corresponding to all the target points, and controlling the movement of the movement mechanism to sequentially reach all the path points to be taught.
Step 1.5: determining the scanning parameters of each scanning path point by means of a pre-scanning experiment:
in step 1.4, each time a target path point is taught, an imaging experiment is carried out at the position, scanning parameters are adjusted to achieve a proper imaging result, and the scanning parameters of each target path point are recorded. The content of the finally obtained scanning process file is as follows: the scanning parameters and the positions of the axes corresponding to the first scanning path point, the scanning parameters and the positions of the axes corresponding to the second scanning path point, and the scanning parameters and the positions of the axes corresponding to the nth scanning path point.
The scanning parameters include tube voltage, tube current, frame frequency, and frame overlap, and for each path point scan, the scanning parameters will also differ according to the material and thickness of the scanned workpiece. In the stage of creating the scanning process, each scanning path point needs to be pre-scanned to obtain the scanning parameters corresponding to the optimal imaging effect, and the scanning parameters are recorded in the scanning process.
Step 1.6: saving the scanning process to a scanning process library:
and recording and storing information such as the robot grabbing position, the clamping jaw type, the scanning path, the scanning parameters and the like in a scanning process library to complete the creation of the scanning process. And during automatic scanning, indexing is carried out according to the type of the workpiece to obtain corresponding scanning process data.
Step 2: automatic batch detection of workpieces:
after the scanning process of each type of workpiece is created, the batch automatic detection can be performed on the type of workpiece, as shown in fig. 5, specifically including the following steps:
step 2.1: the operator places one or more workpieces on the workpiece tray 10:
in the loading and unloading area, an operator places one or more workpieces on the workpiece tray 10. When the workpiece is placed, the placing posture of the workpiece is kept consistent with the placing posture of the workpiece when the scanning process is established as much as possible, so that the success rate and the accuracy rate of automatically grabbing the workpiece by the robot are increased.
Step 2.2: the feeding and discharging transmission mechanism moves the workpiece tray 10 to the 3D visual recognition area:
the loading and unloading transfer mechanism moves the workpiece tray 10 to the 3D vision recognition area. The 3D visual recognition area is also the grasping area of the robot.
Step 2.3: identifying the number of workpieces on the workpiece pallet and the type of each workpiece:
the number of workpieces on the workpiece tray 10 is identified, and then each workpiece is sequentially inspected. Subsequently, the type of each workpiece on the workpiece tray 10 is identified, and then the corresponding scanning process is acquired from the scanning process library. The present embodiment realizes the determination of each workpiece type by establishing a workpiece type feature recognition library in advance.
Step 2.4: the 3D vision system 6 extracts the gripping position coordinates of each workpiece:
and (4) converting the coordinates of the feature points of the grabbing position recorded by the scanning process through a coordinate system, and then sending the coordinates to a robot grabbing system to guide the robot to grab the fixed position of the workpiece. A specific coordinate system conversion diagram is shown in fig. 6. The 3D vision system 6 defines a 3D vision coordinate system with respect to which the position coordinates of the target point within the identified area can be derived. The robotic grasping system defines a robot coordinate system to which the robotic end effector can be moved by the robot kinematics control system given position coordinates relative to the coordinate system. In the stage of the creation scanning process, the position coordinates of the position of the grasped workpiece relative to the workpiece coordinate system (workpiece reference point) are obtained. If the workpiece grabbing position is a geometric feature point, the 3D vision system 6 can accurately identify and extract, directly extracting the coordinates of the grabbing position relative to the 3D vision coordinate system, and converting the coordinates into the robot coordinate system according to the calibration relation between the 3D vision coordinate system and the robot coordinate system. And if the grabbing position is not the geometric characteristic point, recognizing and extracting the coordinates of the reference point of the workpiece, obtaining the coordinates of the grabbing position according to the position relation between the grabbing position recorded in the process of establishing the scanning process and the reference point of the workpiece, and finally converting the coordinates of the grabbing position into a robot coordinate system.
Step 2.5: the robot gripping system replaces the designated gripping jaw from the gripping jaw quick-change device 7:
and the robot gripping system replaces the designated clamping jaw of the scanning process from the clamping jaw quick-change device 7. The position of each clamping jaw in the clamping jaw quick-change device 7 is taught and recorded in advance and corresponds to the type of the clamping jaw. When in replacement, the clamping jaw of the current robot end effector is placed at the position of the corresponding clamping jaw quick-change device 7, and then the mounting and the replacement are carried out according to the appointed clamping jaw type.
Step 2.6: the robot moves to the designated position of the first workpiece to grab:
and moving the robot grabbing system to the workpiece position for grabbing according to the workpiece grabbing position coordinates transmitted by the 3D vision system 6.
Step 2.7: the robot grasping system moves the workpiece to the 1 st scanning path point, and scans according to the specified scanning parameters:
and the robot gripping system moves the workpiece to the 1 st scanning path point and scans according to the specified scanning parameters. The specific scanning process for the scanning path point is as follows: each motion axis moves to a scanning path point; setting parameters of a ray source 2 and a detector 4; and controlling the ray source 2 to emit beams, starting to acquire data by the detector 4, and storing the data after the acquisition is finished.
Step 2.8: scanning of all scanning path points of the workpiece is completed in sequence;
step 2.9: the robot puts the workpiece back to the workpiece tray and starts scanning the next workpiece until all workpieces are scanned;
step 2.10: the loading and unloading transfer mechanism moves the workpiece tray 10 to the loading and unloading area.
The feeding and discharging transmission mechanism moves the workpiece tray 10 to a feeding and discharging area to complete one-time automatic detection.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention.
Claims (10)
1. An automatic digital ray detection device based on an intelligent robot is characterized by comprising a digital ray imaging system, a robot grabbing system, a 3D vision system (6) and a feeding and discharging transmission mechanism;
and the 3D vision system (6) identifies information of the workpiece (5) positioned on the feeding and discharging transmission mechanism and transmits the information to the robot grabbing system, and the robot grabbing system grabs the workpiece to the digital ray imaging system for scanning to complete the detection of the workpiece.
2. The automated digital radiation detection apparatus based on intelligent robot according to claim 1, characterized in that the digital radiation imaging system comprises a radiation source (2) and a detector (4), and the radiation emitted by the radiation source (2) is received by the detector (4).
3. The automated digital radiographic inspection device based on the intelligent robot of claim 1, wherein the feeding and discharging transmission mechanism comprises a conveyor belt (9) and a workpiece tray (10), the conveyor belt (9) reciprocates, and the workpiece tray (10) is conveyed between a feeding and discharging area and a 3D visual recognition area.
4. The automated digital radiographic inspection device based on a smart robot according to claim 1, wherein the robotic grasping system includes a robot (8), a jaw quick-change device (7) and a plurality of jaws, the robot (8) replacing a jaw at the jaw quick-change device (7).
5. An automatic digital ray detection method based on an intelligent robot, which is characterized in that the automatic digital ray detection device based on the intelligent robot of claims 1-4 is used, and comprises the following steps:
step 1: creating a scanning process of the workpiece (5);
step 2: and carrying out batch automatic detection on the workpieces (5).
6. The automated digital ray detection method based on the intelligent robot as claimed in claim 5, wherein the step 1 comprises the following steps:
step 1.1: creating a scanning process for each type of workpiece (5);
step 1.2: the 3D vision system (6) extracts feature points of the grabbing position of the workpiece (5) and stores the feature points in the robot grabbing system;
step 1.3: specifying a gripping jaw suitable for gripping such a workpiece (5);
step 1.4: the robot (8) grabs the workpiece (5) and teaches scanning path points according to a scanning process;
step 1.5: determining the scanning parameters of each scanning path point in a pre-scanning experiment mode;
step 1.6: and saving the scanning process into a scanning process library.
7. A method for automated digital ray inspection based on smart robot according to claim 6 characterized in that in step 1.1, one scanning process is created for each type of workpiece (5) in the form of a process file for saving workpiece grabbing location feature points, robot jaw type, scanning path and scanning parameters.
8. An automated digital radiography method based on intelligent robots according to claim 6 wherein in step 1.4 the scan paths are planned according to the number of workpiece scan planes, the workpiece scan plane angles and the workpiece scan plane dimensions.
9. The automated digital ray detection method based on intelligent robot of claim 5, wherein step 2 comprises the following steps:
step 2.1: an operator places one or more workpieces (5) on a workpiece tray (10);
step 2.2: the feeding and discharging transmission mechanism moves the workpiece tray (10) to a 3D visual identification area;
step 2.3: identifying the number of workpieces (5) on the workpiece pallet (10) and the type of each workpiece (5):
step 2.4: the 3D vision system (6) extracts the grabbing position coordinates of each workpiece (5);
step 2.5: and the robot gripping system replaces the designated clamping jaw from the clamping jaw quick-change device (7).
10. The automated digital ray inspection method based on intelligent robot of claim 9, wherein step 2 further comprises the following steps:
step 2.6: the robot (8) moves to the appointed position of the first workpiece to grab;
step 2.7: the robot grabbing system moves the workpiece to a 1 st scanning path point and scans according to the specified scanning parameters;
step 2.8: scanning of all scanning path points of the workpiece (5) is completed in sequence;
step 2.9: the robot puts the workpiece (5) back to the workpiece tray (10) and starts scanning of the next workpiece (5) until scanning of all workpieces (5) is completed;
step 2.10: the loading and unloading transmission mechanism moves the workpiece tray (10) to the loading and unloading area.
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