CN114113163B - 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 complex mechanical movement mechanism and difficult movement control of the existing 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 an feeding and discharging transmission mechanism; the 3D vision system recognizes 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 until the digital ray imaging system scans, so that the detection of the workpiece is completed. The automatic digital ray detection device and method based on the intelligent robot provided by the invention aim at workpieces with different shapes and sizes, and the scanning path is planned, so that the full coverage scanning can be completed by the optimal scanning process layout.
Description
Technical Field
The invention belongs to the technical field of ray nondestructive detection, 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, reflecting to some extent the state of industrial development. The X-ray detection technology is used as a conventional nondestructive detection method, and is applied to the industry field for hundreds of years. In early and present industrial fields (such as the field of military manufacturing), X-ray detection generally uses film photography as a main detection method, and the detection method has the problems of long detection period, low detection efficiency, high detection cost, environmental pollution caused by waste liquid treatment in darkroom and the like, and is not suitable for the development trend of nondestructive detection in the informatization age.
Currently, digital ray nondestructive testing technology has been widely used in the industry. On the premise of ensuring the detection quality of the product, the digital ray nondestructive detection technology has the characteristics of high detection speed, low detection cost, easy image storage, easy realization of remote analysis and diagnosis and the like, and is the development direction of ray detection. The digital ray nondestructive detection technology is adopted, the image contrast can be improved through digital image processing methods such as gray level adjustment, enhancement, sharpening and the like, the identification force of defects is improved, and further, the defect identification algorithm is adopted to realize automatic screening, positioning and classification of the defects, so that intelligent sheet evaluation is realized, and the accuracy of defect identification and sheet evaluation efficiency are greatly improved.
Currently, digital radiography schemes are commonly used to place a workpiece on a stage, which is positioned intermediate the tube and detector, to achieve X-ray radiography of the workpiece. In order to meet the transillumination requirements for different workpiece sizes, different workpiece positions and different transillumination angles, a plurality of degrees of freedom of movement are required to be added on the ray tube, the detector and the workpiece stage. Because the imaging field of digital ray detection is limited by the factors of the plane size of the detector, the radiation angle of the rays, the imaging magnification ratio and the like, in order to meet the full coverage detection of a large-size workpiece, a plurality of linear motion degrees of freedom are added to the ray tube and the detector (or the workpiece object stage), so that the detection range is enlarged. To meet the requirements of detecting different angles of the workpiece, a 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 requirements for detecting various shapes and sizes of workpieces, the above-mentioned general workpiece detection system needs to add a plurality of degrees of freedom of movement to the X-ray tube, the detector, and the workpiece stage, and generally needs about 10 degrees of freedom of movement. For detection of different angles, especially when multiple angles are needed to be detected in multiple rotation axis directions or detection along the normal direction of the workpiece surface is needed, the mechanical movement mechanism of the system is very complex in design, and movement control, scanning angle planning and positive control of the radiation source detector are very difficult.
Disclosure of Invention
In view of the above analysis, the invention aims to provide an intelligent robot-based automatic digital ray detection device and method, which are used for solving the problems of complex mechanical movement mechanism and difficult movement control of the existing detection system.
The aim 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 an feeding and discharging transmission mechanism;
the 3D vision system recognizes 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 until the digital ray imaging system scans, so that the detection of the workpiece is completed.
Further, the digital radiography system includes a radiation source and a detector, radiation emitted by the radiation source being received by the detector.
Further, the loading and unloading transmission mechanism comprises a conveyor belt and a workpiece tray, wherein the conveyor belt reciprocates, and the workpiece tray is conveyed between the loading and unloading area and the 3D visual identification area.
Further, the robot gripping system comprises a robot, a clamping jaw quick-changing device and a plurality of clamping jaws, wherein the robot is used for changing the clamping jaws at the clamping jaw quick-changing device.
An automatic digital ray detection method based on an intelligent robot, which uses the automatic digital ray detection device based on the intelligent robot according to the technical scheme, comprises the following steps:
step 1: creating a scanning process of the workpiece;
step 2: and (5) batch automatic detection of workpieces.
Further, in step 1, the method includes the following steps:
step 1.1: creating a scanning process for each type of workpiece;
step 1.2: the 3D vision system extracts characteristic points of the grabbing positions of the workpiece and stores the characteristic points in the robot grabbing system;
step 1.3: designating a jaw suitable for gripping the type of 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 in 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 feature points of the gripping position of the workpiece, the type of the gripping jaw of the robot, the scanning path and the scanning parameters.
Further, in step 1.4, a scan path is planned according to the number of workpiece scan planes, the workpiece scan plane angle, and the workpiece scan plane size.
Further, in step 2, the method includes the following steps:
step 2.1: an operator places one or more workpieces on a workpiece tray;
step 2.2: the workpiece tray is moved to a 3D visual identification area by the feeding and discharging transmission mechanism;
step 2.3: identifying the number of workpieces on the workpiece tray and the type of each workpiece:
step 2.4: extracting grabbing position coordinates of each workpiece by a 3D vision system;
step 2.5: the robotic grasping system replaces the designated jaws from the jaw quick change device.
Further, in step 2, the method further comprises the following steps:
step 2.6: the robot moves to a designated position of the first workpiece to grasp;
step 2.7: the robot grabbing system moves the workpiece to a 1 st scanning path point and scans the workpiece according to specified scanning parameters;
step 2.8: scanning all scanning path points of the workpiece is completed sequentially;
step 2.9: the robot puts the workpiece back to the workpiece tray and starts scanning of the next workpiece until all the workpieces are scanned;
step 2.10: and the workpiece tray is moved to the loading and unloading area by the loading and unloading conveying mechanism.
The invention can at least realize one of the following beneficial effects:
(1) The automatic digital ray detection device and method based on the intelligent robot provided by the invention aim at workpieces with different shapes and sizes, and the scanning path is planned, so that the full coverage scanning can be completed by the optimal scanning process layout; the detection of different angles of the detected workpiece is realized, and the complexity of a motion 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 the workpiece according to the planned scanning path.
In the invention, the technical schemes can be mutually combined 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 may 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, like reference numerals being used to refer to like parts throughout the several views.
FIG. 1 is a schematic diagram of an automated digital radiography detector based on an intelligent robot in accordance with an embodiment of the present invention;
FIG. 2 is a schematic view of a four sided box-type workpiece according to an embodiment of the invention;
FIG. 3 is a schematic view of a curved surface member according to an embodiment of the present invention;
FIG. 4 is a flow chart of a process for creating a scan in accordance with an embodiment of the present invention;
FIG. 5 is a flow chart of automated batch workpiece inspection in accordance with an embodiment of the present invention;
fig. 6 is a schematic diagram of converting a 3D visual coordinate system into a robot coordinate system according to an embodiment of the present invention.
Reference numerals:
the device 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-changing device, an 8-robot, a 9-conveyor belt and a 10-workpiece tray.
Detailed Description
The following detailed description of preferred embodiments of the invention is made in connection with the accompanying drawings, which form a part hereof, and together with the description of the embodiments of the invention, are used to explain the principles of the invention and are not intended to limit the scope of the invention.
In describing embodiments of the present invention, it should be noted that, unless explicitly stated and limited otherwise, the term "coupled" should be interpreted broadly, for example, as being fixedly coupled, detachably or integrally coupled, mechanically or electrically coupled, directly coupled, or indirectly coupled via an intermediary. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
The terms "top," "bottom," "above … …," "below," and "on … …" are used throughout the description to refer to the relative positions of 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 versatile, irrespective of their orientation in space.
Example 1
In one embodiment of the invention, as shown in fig. 1, an intelligent robot-based automatic digital ray detection device is disclosed, which comprises a digital ray imaging system, a robot grabbing system, a 3D vision system 6 and an feeding and discharging transmission mechanism. The 3D vision system 6 recognizes the 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 finish the 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 ensured to be completed by the optimal scanning process layout, the detection of different angles of the detected workpiece is realized, the complexity of a motion 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 radiation emitted by the radiation source 2 is received by the detector 4, the radiation source moving mechanism 1 is used for moving the radiation source 2, and the detector moving mechanism 3 is used for moving the detector 4, so that the distance between the radiation source 2 and the detector 4 is changed, and the purpose of adjusting the imaging focal length is achieved.
In the embodiment, the ray source moving mechanism 1 realizes the vertical movement of the ray source 2 through a lead screw guide rail and a vertical sliding table; the detector moving mechanism 3 realizes the vertical movement of the detector 4 through a lead screw guide rail and a vertical sliding table, and realizes the horizontal movement of the detector 4 through the lead screw guide rail and a horizontal sliding table.
In this embodiment, in order to avoid damage of rays to the human body, the digital ray imaging system, the robot gripping system and the 3D vision system 6 are located in the shielding room, and the loading and unloading transmission mechanism spans the shielding room 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 spans 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 in the recognition range of the 3D vision system 6 is a 3D vision recognition area. The conveyor belt 9 reciprocates to convey the workpiece to be detected into the shielding chamber, after the detection is completed, the detected workpiece 5 is conveyed out of the shielding chamber, an operator takes the detected workpiece 5 off the workpiece tray 10, and then the next batch of workpieces to be detected is placed on the workpiece tray 10.
Optionally, the loading and unloading transmission mechanism is not provided with a workpiece tray 10, the conveyor belt 9 moves unidirectionally, the conveyor belt 9 transmits one workpiece 5 from the first shielding door to the shielding chamber each time, after detection is completed, the workpiece is transmitted out of the shielding chamber from the second shielding door, and simultaneously, 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 for identifying the type of the workpiece located on the workpiece tray 10 and coordinates of the grabbing points, and transmitting the coordinates of the grabbing points to the robot grabbing system to grab the designated position of the workpiece.
Further, the robot grabbing system comprises a robot 8, a clamping jaw quick-changing device 7 and a plurality of clamping jaws, and according to different workpiece shapes, sizes and weights recognized by the 3D vision system 6, the robot 8 is provided with proper clamping jaws on the clamping jaw quick-changing device 7 to finish grabbing the workpiece; 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 multi-degree-of-freedom flexibility of the robot 8, so that the scanning of the specified position and the specified angle is realized.
Example 2
An embodiment of the present invention discloses an automated digital radiography method based on an intelligent robot, using the automated digital radiography apparatus based on an intelligent robot of embodiment 1, comprising the steps of:
step 1: creating a scanning process of the detected workpiece:
each type of workpiece to be detected corresponds to a specific robot grabbing part, clamping jaw type, scanning path and scanning parameters, which are collectively called a scanning process. Before automated scanning of batch workpieces is achieved, a scanning process for each type of workpiece is first determined. As shown in fig. 4, the method specifically comprises the following steps:
step 1.1: creating a scanning process for each type of workpiece:
and creating a scanning process for each type of workpiece in a process file mode, wherein the scanning process is used for storing characteristic points of the grabbing position of the workpiece, the type of a clamping jaw of the robot, a scanning path and scanning parameters.
Step 1.2: the 3D vision system 6 extracts the feature points of the gripping position of the workpiece and stores the feature points in the robot gripping system:
the robot jaw gripping position must be fixed for each type of workpiece to ensure consistency of the same type of workpiece scan path. The three-dimensional model of the workpiece can be obtained through the 3D vision system 6, the coordinates of the characteristic points of the grabbing positions are marked on the three-dimensional model of the workpiece and sent to the robot grabbing system, and grabbing of the fixed positions of the workpiece by the robot clamping jaws is achieved.
Step 1.3: specifying a jaw suitable for gripping such workpieces:
the type of jaw used is also different for workpieces of different shapes, sizes and weights.
In this embodiment, for lighter weight (e.g., less than 10 kg) workpieces, flexible jaws are used. The portion of the clamp end of the flexible jaw that contacts the clamped workpiece is made of a flexible material, thereby ensuring non-destructive gripping of the workpiece. On the other hand, the flexible clamping jaw has extremely high adaptability, and the same clamp can grasp workpieces with different sizes, shapes and weights, so that the flexible clamping jaw is particularly suitable for grasping products which are easy to damage and have uncertain shapes. Further, the finger module of the flexible clamping jaw is made of light rubber, the hollow air pressure drives the opening and closing of the fingers, the finger module does not contain any high-density material, and the influence on the imaging result of the ray is small.
Further, in order to meet the requirement of grabbing workpieces with large differences in shape and size, the embodiment adopts a quick-change device to realize the switching of different clamping jaws. The quick-change device comprises a male end which is arranged on the robot, a plurality of female ends which are arranged on the flexible clamping jaw or other mechanical clamping jaws, and the clamping jaw can be changed within a few seconds under the control of the robot. The female end of the clamping jaw quick-changing device 7 is stored on the clamping jaw switching table at ordinary times, and the robot can automatically change according to the designated workpiece type.
Step 1.4: the robot grabs the workpiece and teaches scanning path points according to a scanning process:
in order to meet the requirement of multi-angle full coverage scanning of a workpiece, the gesture and the position of the workpiece need to be changed for multiple times of scanning, and the position of each motion axis (comprising a digital ray imaging system and a robot grabbing system) of a system corresponding to each scanning is called a scanning path.
When scanning and detecting a detected workpiece, the detected workpiece 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 is required to be opposite to the ray bundle; and a single-wall transillumination mode is adopted as much as possible, and the situation of image overlapping can occur in double-wall transillumination, so that the plane where the defect is located cannot be determined. Because the workpieces to be detected are various in shape and different in size, and the single imaging detection range is limited, corresponding scanning paths of the workpieces with different sizes and different shapes are required to be planned, and full coverage detection of the workpieces is completed through scanning in a plurality of paths. The present embodiment performs planning of the scanning path according to the number of the workpiece scanning surfaces, the workpiece scanning surface angle, and the workpiece scanning surface size.
The number of workpiece scan planes determines the number of times the robot changes pose during the scan. In general, one surface of the workpiece corresponds to one scanning surface, and the robot adjusts the posture of the workpiece to enable the designated scanning surface to face the ray bundle, and then 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 optimal imaging effect, the robot should make the workpiece scanning surface face the ray bundle as much as possible when adjusting the posture of the workpiece, so as to achieve the optimal imaging effect.
Further, for the size of the workpiece scanning surface, because the imaging system has a limited single scanning field of view, 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.
Illustratively, as shown in fig. 1, the workpiece to be inspected is a flat plate, and the number of scanning surfaces is 1; the scanning surface angle is controlled by a robot to adjust the posture of the flat plate part so that the flat plate part is opposite to the ray bundle; and according to the size of the scanning surface and the size of the imaging visual field, the full coverage scanning of the plane of the plate member is completed by 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, respectively. The angle of the scanning surface is controlled by the robot to adjust the posture of the four-sided box-shaped workpiece, 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 visual field, the full coverage scanning of the current scanning surface of the four-sided box-type workpiece is completed by translating the current scanning surface. 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 can be divided into a plurality of scanning surfaces according to the imaging view field size, the posture of the workpiece is changed for each scanning surface to make the workpiece face the ray bundle, and then the full coverage scanning of a single scanning surface is completed through translation.
The scan path is different for different types of workpieces. In the stage of creating a scanning process, the positions of all motion axes of all scanning path points are recorded in a teaching mode, and the path points are reproduced in an automatic scanning mode to realize uniform batch scanning in a scanning mode.
In the teaching process, each movement axis of the movement mechanism is manually controlled to reach a first target position, and the positions of each movement axis are recorded in a file; manually controlling each movement axis of the movement mechanism to reach a second target position, and recording the positions of each movement axis in a file; and according to the operation, the positions of all the motion axes corresponding to all the target path points are recorded in sequence, and the teaching process is completed. In the reproduction process, a file of teaching record target path points is loaded, positions of axes corresponding to the target points are sequentially read, and the movement mechanism is controlled to move, so that the teaching target path points are sequentially reached.
Step 1.5: determining the scanning parameters of each scanning path point by means of a pre-scanning experiment:
in step 1.4, imaging experiments are performed at the position every time a target path point is taught, 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: each axis position and each scanning parameter corresponding to the first scanning path point, each axis position and each scanning parameter corresponding to the second scanning path point, and each axis position and each scanning parameter corresponding to the nth scanning path point.
The scanning parameters comprise tube voltage, tube current, frame frequency and frame superposition, and the scanning parameters are different according to the different materials and thicknesses of the scanned workpiece parts for each path point scanning. 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 into the scanning process.
Step 1.6: saving the scanning process into a scanning process library:
the information of the grabbing part, the clamping jaw type, the scanning path, the scanning parameters and the like of the robot are recorded and stored in a scanning process library, and the creation of the scanning process is completed. And during automatic scanning, indexing is carried out through the workpiece types, and corresponding scanning process data are obtained.
Step 2: batch automatic detection of workpieces:
after the scanning process of each type of workpiece is established, batch automatic detection can be carried out on the type of workpiece, as shown in fig. 5, and the method specifically comprises the following steps:
step 2.1: an operator places one or more workpieces on the workpiece tray 10:
in the loading and unloading zone, an operator places one or more workpieces on the workpiece tray 10. When the workpieces are placed, the workpiece placing posture is ensured to be consistent with the workpiece placing posture when the scanning process is established as much as possible, so that the success rate and the accuracy of automatically grabbing the workpieces by the robot are increased.
Step 2.2: the loading and unloading conveying mechanism moves the workpiece tray 10 to a 3D visual identification area:
the loading and unloading conveying mechanism moves the workpiece tray 10 to the 3D visual recognition area. The 3D visual recognition area is also a gripping area of the robot.
Step 2.3: identifying the number of workpieces on the workpiece tray and the type of each workpiece:
the number of workpieces on the workpiece tray 10 is identified, after which each workpiece is inspected in turn. 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 method and the device realize the determination of each workpiece type by establishing the workpiece type characteristic identification library in advance.
Step 2.4: the 3D vision system 6 extracts the coordinates of the gripping position of each workpiece:
and the coordinates of the characteristic points of the grabbing positions recorded by the scanning process are converted by a coordinate system and then sent to a robot grabbing system, so that the robot is guided to grab the fixed positions of the workpieces. A specific coordinate system transformation diagram is shown in FIG. 6. The 3D vision system 6 defines a 3D vision coordinate system with respect to which 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 robotic kinematic control system, given position coordinates relative to the coordinate system. In the creation of the scanning process stage, the position coordinates of the gripping workpiece position relative to the workpiece coordinate system (workpiece reference point) are obtained. If the grabbing position of the workpiece is a geometric feature point, the 3D vision system 6 can accurately identify and extract the coordinates of the grabbing position relative to the 3D vision coordinate system, and the coordinates are directly extracted and converted into the robot coordinate system according to the calibration relation between the 3D vision coordinate system and the robot coordinate system. If the grabbing position is a non-geometric feature point, the coordinates of the reference point of the workpiece can be identified and extracted, then the grabbing position coordinates are obtained according to the position relation between the grabbing position recorded in the stage of the creating scanning process and the reference point of the workpiece, and finally the coordinates are converted into a robot coordinate system.
Step 2.5: the robotic grasping system replaces the designated jaws from the jaw quick change device 7:
the robotic grasping system replaces the scanning process designated jaws from the jaw quick change device 7. Each clamping jaw is taught and recorded in advance at the position of the clamping jaw quick-change device 7 and corresponds to the type of the clamping jaw. When in replacement, the clamping jaw of the current robot end effector is firstly placed at the position of the corresponding clamping jaw quick-change device 7, and then the installation and the replacement are carried out according to the designated clamping jaw type.
Step 2.6: the robot moves to a designated position of the first workpiece to grasp:
according to the workpiece grabbing position coordinates transferred by the 3D vision system 6, the robot grabbing system moves to the workpiece position to grab.
Step 2.7: the robot grabbing system moves the workpiece to a 1 st scanning path point, and scans according to specified scanning parameters:
and the robot grabbing system moves the workpiece to the 1 st scanning path point and scans the workpiece according to the designated scanning parameters. The specific scanning flow for the scanning path point is as follows: each motion axis moves to a scanning path point; setting parameters of a radiation source 2 and a detector 4; the radiation source 2 is controlled to emit beams, the detector 4 starts to collect data, and the data are stored after the collection is completed.
Step 2.8: scanning all scanning path points of the workpiece is completed sequentially;
step 2.9: the robot puts the workpiece back to the workpiece tray and starts scanning of the next workpiece until all the workpieces are scanned;
step 2.10: the loading and unloading transport mechanism moves the workpiece tray 10 to the loading and unloading area.
The workpiece tray 10 is moved to the loading and unloading area by the loading and unloading conveying mechanism, and one-time automatic detection is completed.
The present invention is not limited to the above-mentioned embodiments, and any changes or substitutions that can be easily understood by those skilled in the art within the technical scope of the present invention are intended to be included in the scope of the present invention.
Claims (4)
1. The automatic digital ray detection method based on the intelligent robot is characterized by being applied to an automatic digital ray detection device based on the intelligent robot, wherein the detection device comprises a digital ray imaging system, a robot grabbing system, a 3D vision system (6) and an feeding and discharging transmission mechanism;
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 finish detection of the workpiece;
the detection method comprises the following steps:
step 1: a scanning process for creating a workpiece (5), comprising:
step 1.1: creating a scanning process for each type of workpiece (5), comprising: creating a scanning process for each type of workpiece (5) in a process file manner, wherein the scanning process is used for storing workpiece grabbing position feature points, robot clamping jaw types, scanning paths and scanning parameters;
step 1.2: the 3D vision system (6) extracts characteristic points of the grabbing position of the workpiece (5) and stores the characteristic points in the robot grabbing system;
step 1.3: -designating a jaw suitable for gripping such a workpiece (5);
step 1.4: the robot (8) grabs the workpiece (5), and according to the scanning process teaching scanning path points, planning a scanning path according to the number of the workpiece scanning surfaces, the angles of the workpiece scanning surfaces and the sizes of the workpiece scanning surfaces; the scan path refers to: when the workpiece is subjected to multi-angle full coverage scanning, the gesture and the position of the workpiece are required to be changed to perform multiple scans, and the positions of all motion axes of the digital ray imaging system and the robot grabbing system corresponding to each scan are required to be changed;
step 1.5: determining the scanning parameters of each scanning path point in a pre-scanning experiment mode;
step 1.6: saving the scanning process in a scanning process library;
step 2: batch automated inspection of a workpiece (5), comprising:
step 2.1: an operator places one or more workpieces (5) on a workpiece tray (10);
step 2.2: the workpiece tray (10) is moved to a 3D visual identification area by the feeding and discharging transmission mechanism;
step 2.3: identifying the number of workpieces (5) on the workpiece tray (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: the robot grabbing system replaces a designated clamping jaw from a clamping jaw quick-changing device (7);
step 2.6: the robot (8) moves to a designated position of the first workpiece to grasp;
step 2.7: the robot grabbing system moves the workpiece to a 1 st scanning path point, and scans according to specified scanning parameters: each motion axis moves to a scanning path point; setting parameters of a radiation source and a detector; controlling the ray source to emit beams, starting the detector to collect data, and storing the data after the collection is completed;
step 2.8: scanning all scanning path points of the workpiece (5) is completed sequentially;
step 2.9: the robot returns the workpiece (5) to the workpiece tray (10) and starts scanning of the next workpiece (5) until all the workpieces (5) are scanned;
step 2.10: the workpiece tray (10) is moved to the loading and unloading area by the loading and unloading conveying mechanism.
2. The automated digital radiography method based on intelligent robots of claim 1 wherein the digital radiography system comprises a radiography source (2) and a detector (4), the radiation emitted by the radiography source (2) being received by the detector (4).
3. The automated digital radiography method based on intelligent robots of claim 1, characterized in that the loading and unloading transport mechanism comprises a conveyor belt (9) and a workpiece tray (10), the conveyor belt (9) reciprocates, and the workpiece tray (10) is transported between a loading and unloading area and a 3D visual recognition area.
4. The automated digital radiography method based on intelligent robots of claim 1 wherein the robotic grasping system comprises a robot (8), a jaw quick change device (7) and a plurality of jaws, the robot (8) changing jaws at the jaw quick change device (7).
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