CN115930776A - On-line automatic detection device and detection method for hot forging forming of turnout steel rail - Google Patents
On-line automatic detection device and detection method for hot forging forming of turnout steel rail Download PDFInfo
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- CN115930776A CN115930776A CN202211479605.4A CN202211479605A CN115930776A CN 115930776 A CN115930776 A CN 115930776A CN 202211479605 A CN202211479605 A CN 202211479605A CN 115930776 A CN115930776 A CN 115930776A
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- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
The invention relates to an on-line automatic detection device and a detection method for hot forging forming of turnout steel rails, which can realize the automatic three-dimensional scanning of hot forging forming parts of turnout steel rails at the blanking position immediately and output a three-dimensional point cloud model of the parts, can detect all sizes of the parts by processing software and generate a detection report. The portal frame is fixed on the basis of the periphery of the press, the industrial robot is arranged on a cross beam of the portal frame, and the scanner is connected with a joint at the tail end of the industrial robot. During detection, the industrial robot drives the scanner to shoot and scan according to a preset path, data obtained through shooting and scanning are spliced through processing software, a three-dimensional point cloud model of a workpiece is formed finally, all sizes of the part are detected through the processing software, and a detection report is generated.
Description
Technical Field
The invention relates to an on-line automatic detection device and a detection method for hot forging forming of a turnout steel rail, which can realize that the three-dimensional automatic scanning of a hot forging forming part of the turnout steel rail at a blanking position is carried out immediately and a three-dimensional point cloud model of the part is output, can detect all sizes of the part by utilizing processing software and generate a detection report.
Background
Switches are important components of railway transportation equipment. The steel rail in the turnout needs hot forging forming in the factory machining and manufacturing process. Due to the particularity of the process, the temperature of the processed rail piece reaches above 850 ℃ (the temperature during detection is about 1000 ℃), the current detection means can only measure a plurality of sizes of a certain section of the end head, key points can not be detected in time (such as the symmetry degree of the section, the size of the middle position of a forming section, the straightness of rail limbs, the space of a fishtail and the like), workpieces are generally required to be cooled to room temperature and even required to flow to a machining process to be reflected, mass quality accidents can occur once problems occur, great waste is caused, workshop production is restricted, on the other hand, heat radiation is extremely harmful to human bodies in the detection process, and the difficulty in controlling the quality of products is high.
Disclosure of Invention
The design purpose is as follows: the defects in the background technology are avoided, the existing hot forging forming field reality of the turnout steel rail is combined, a surface structure light three-dimensional measurement automatic scanner and a six-joint robot are adopted, the surface structure light three-dimensional measurement automatic scanner and the six-joint robot are interacted with an existing hot forging forming automatic generation line transfer system, meanwhile, a portal frame for correspondingly fixing the six-joint robot is designed (the prior art is improved, see attached figure 4), the three-dimensional automatic scanning of the turnout steel rail hot forging forming part at the blanking position is achieved immediately, a three-dimensional point cloud model of the part is output, all sizes of the part are detected by processing software, and a detection report is generated.
The design scheme is as follows: in order to achieve the above design objectives. The device comprises a high-precision three-dimensional automatic scanner, a six-joint industrial robot, a robot fixing portal frame, a corresponding control system and software. As shown in fig. 1. The portal frame is fixed on the basis of the periphery of the press, the industrial robot is arranged on a cross beam of the portal frame, and the scanner is connected with a joint at the tail end of the industrial robot. During detection, the industrial robot drives the scanner to perform photographing scanning according to a preset path, and data of the photographing scanning are spliced through processing software to finally form a three-dimensional point cloud model of the workpiece.
The invention is characterized in that the industrial machine can not be arranged on the upright post of the press machine because the high-precision scanner has the requirement of shock absorption, and the press machine has larger shock during working and is not beneficial to the repeated positioning of the scanner. The detection position is a pedestrian passage opening, when the robot works, an operator needs to frequently pass through the robot, meanwhile, the fact that the variety of products formed by hot forging of a press machine is more is considered, and when necessary, some special workpieces need to be manually detected is also considered, so that the industrial robot cannot be installed on the ground. For solving the scanner problem of moving away to avoid possible earthquakes, reduce the inconvenience that industrial robot brought the on-the-spot operating personnel, designed switch hot forging shaping on-line automatic checkout device according to on-the-spot particular case, as shown in figure 1.
The workpiece detection position corresponds to a foundation pit of the press machine, in order to enable the scanner to scan all parts of the workpiece and simultaneously reduce the arm spread length of the industrial robot as much as possible, the optimal position is the right opposite side of the rail piece blanking position, the position is the foundation pit of the press machine, and therefore a fixing base shown in figure 2 is designed. The fixed base is fixed with the side face of the foundation pit by adopting an expansion nail, a horizontal plate is arranged on the fixed base, and a connecting screw is reserved on the fixed base.
The bottom of the side upright post is connected with a horizontal plate of the fixed base, and the top of the side upright post is connected with a horizontal beam. The side stand is separated from the press stand and is two independent stress systems, so that the influence of vibration on the precision of the detection device when the press works is avoided. The bottom of the side vertical wall is fixed with the press foundation, the top of the side vertical wall is connected with the horizontal beam, and a display is arranged in front of the side vertical wall to display the scanning condition of the scanner in real time. The distance between the lower flat plate of the horizontal beam and the ground is 1.9m, so that an operator can conveniently walk, measure and the like. The industrial robot base is mounted on the side of the horizontal beam facing the measuring rail, as shown in fig. 3.
And the lower part of the fixing base is arranged in a pit of the press machine, the fixing base is fixedly connected with a side foundation of the pit through expansion screws, and the horizontal plate is parallel to the ground by adjusting screws at the bottom. The side upright posts are arranged on the horizontal plate and connected with the horizontal plate through screws, the side upright walls are arranged on the horizontal ground, and the bottoms of the side upright posts are fixed with the foundation through expansion screws. The horizontal beam is arranged on the side upright post and the side upright wall, the surface with the mounting plate faces the measuring workpiece, and the horizontal beam, the side upright wall and the side upright post are connected through bolts. And installing the industrial robot on the horizontal cross beam installing plate and connecting the industrial robot by using bolts. And finally, the scanner is installed at the tail joint of the industrial robot, and the scanner is driven to complete the shooting measurement of the workpiece through the motion of the industrial robot. During the first measurement, the shooting point and the path required when the scanner measures the workpiece are determined by the aid of the industrial robot demonstrator, an automatic control program is generated, and automatic measurement is achieved.
The rail piece is transferred to the blanking position of the blanking frame through the transfer mechanism of the steel rail hot forging forming production line, when a photoelectric switch at the blanking position detects a material coming, a signal is sent to an automatic detection device system, after the detection system receives a steel rail in-place signal, an industrial robot is started to shoot and scan the steel rail according to a preset path, pictures are spliced through processing software, a three-dimensional point cloud model is finally formed, after the industrial robot finishes measuring, a measuring completion signal is sent to a control system of the transfer mechanism of the steel rail hot forging forming production line, and after the control system receives the signal, the steel rail is pushed to a blanking storage area. When the next hot-forging forming steel rail is transferred to the blanking position of the blanking frame, the actions are repeated, and then online automatic detection is realized.
Compared with the background technology, the method is suitable for three-dimensional online automatic measurement at high temperature (900-1050 ℃) after steel rail hot forging forming, can generate a three-dimensional point cloud model, meets all quality detection requirements of hot forging forming steel rails, realizes online automatic detection of hot workpieces, has high detection efficiency, comprehensive detection item points, high precision and wide applicability, can quickly find the quality problem of the product appearance size, and avoids waste in production; secondly, the problem that some key dimension measurements (such as section symmetry, dimension of the middle position of a forming section, rail limb straightness, fishtail space and the like) after the hot forging forming of the turnout steel rail cannot be detected in the prior art is solved; thirdly, direct measurement at the feeding position is realized, whether the quality of the steel rail is qualified or not is judged, and the problem that the quality is found after the hot-forged steel rail flows into the next procedure is avoided, so that the quality problem in batches is solved; fourthly, the device provided by the invention is combined with the actual situation of the foundation of the field press, and an industrial robot gantry fixing device is designed, so that the industrial robot gantry fixing device is fixed at a position 1.9m away from the ground, and the passing and manual retest of operators are facilitated; fifthly, an independent stress system is adopted, so that the influence of the vibration of the press on the repeated measurement precision of the industrial robot is avoided; sixthly, the industrial robot is utilized to control the scanner to shoot and scan, the application range of the device is greatly enlarged, and the measurement of all turnout steel rail hot forging forming products can be realized.
Drawings
Fig. 1 is a three-dimensional schematic view of an on-line automatic detection device for hot forging forming of a turnout steel rail.
Fig. 2 is a front view of fig. 1.
Fig. 3 is a schematic side view of fig. 1.
Fig. 4 is a schematic front view of a gantry.
Fig. 5 is a schematic top view of a gantry.
Fig. 6 is a schematic perspective view of a gantry.
Detailed Description
Example 1: reference is made to figures 1-6. The utility model provides a switch rail hot forging shaping on-line automatic checkout device, includes switch board 13, and the portal frame is fixed on press 1's peripheral basis 2, and the basis is equipped with foundation pit 3, and the foundation pit is just facing to be rail spare unloading position, and industrial robot 4 ((ABBIRB 2600)) installs on portal frame crossbeam 5, and the face is towards measuring rail spare, and scanner 6 is connected with industrial robot 4 end joint. The workpiece detection position corresponds to a foundation pit 3 of the press machine, a plurality of blanking supports 7 are arranged in the foundation pit 3, and the supporting surfaces at the upper ends of the plurality of blanking supports 7 are workpiece detection positions. The optimal position of the workpiece detection position is just opposite to the blanking position of the rail piece. The fixed base 8 is fixed with the side face of the foundation pit by adopting expansion nails, a horizontal plate 12 is arranged on the fixed base, and a connecting screw is reserved. The bottom of the portal frame side upright post 9 is connected with the horizontal plate of the fixed base, the top of the portal frame side upright post 9 is connected with the portal frame beam 5, and the side upright post 9 is separated from the upright post 10 of the press machine. The bottom of the gantry side vertical wall 10 is fixed with the press foundation 2, the top of the gantry side vertical wall 10 is connected with the gantry beam 5, and the front of the side vertical wall is provided with a display 11 for displaying the scanning condition of the scanner in real time. A photoelectric switch is arranged at the blanking position.
Portal frame owner is looked at and is II formula structure, overloads and is L type structure, and three-dimensional view comprises II formula structure and side upright wall 10, and the horizontal crossbeam that is located II formula structure upper portion is equipped with industrial robot mounting substrate, and II formula structure one side is the side upright wall.
Example 2: on the basis of embodiment 1, an on-line automatic detection method for hot forging forming of a turnout steel rail includes that a rail piece is transferred to a discharging position of a discharging frame through a transfer mechanism of a steel rail hot forging forming production line, when a photoelectric switch at the discharging position detects that a material comes, a signal is sent to an automatic detection device system in a control cabinet, after the detection system receives a steel rail in-place signal, an industrial robot is started to shoot and scan the steel rail according to a preset path, pictures are spliced through processing software (existing software, vision Scan V6.1 and Geomagic) to finally form a three-dimensional point cloud model, after the industrial robot finishes measuring, a measurement completion signal is sent to a control system (the existing mechanism is an automatic feeding system of a press), after the control system receives the signal, the steel rail is pushed to a discharging storage area, when the next hot forging forming steel rail is transferred to the discharging position of the discharging frame, the actions are repeated, and then on-line automatic detection is achieved (the whole three-dimensional size and the shape of a measured workpiece includes the rail bottom width, the rail height, the rail tail width, the rail waist thickness, the rail width, the rail head width and the like).
It is to be understood that: although the above embodiments have been described in some detail for the purpose of illustrating the present invention, these descriptions are only intended to be a brief description of the design of the present invention, and are not intended to limit the design of the present invention, and any combination, addition or modification without departing from the scope of the present invention.
Claims (9)
1. The utility model provides an online automatic checkout device of switch rail hot forging shaping, includes switch board (13), characterized by: the portal frame is fixed on the basis (2) of the periphery of the press (1), the basis is provided with a foundation pit (3), the right opposite side of the foundation pit is a rail piece blanking position, an industrial robot (4) is installed on a portal frame cross beam (5) and faces towards a measuring rail piece, and a scanner (6) is connected with an end joint of the industrial robot (4).
2. The switch rail hot forging forming on-line automatic detection device of claim 1, which is characterized in that: the workpiece detection position corresponds to a foundation pit (3) of the press machine, a plurality of blanking supports (7) are arranged in the foundation pit (3), and the supporting surfaces at the upper ends of the plurality of blanking supports (7) are workpiece detection positions.
3. The switch rail hot forging forming on-line automatic detection device according to claim 2, characterized in that: the optimal position of the workpiece detection position is just opposite to the blanking position of the rail piece.
4. The switch rail hot forging forming on-line automatic detection device according to claim 1, characterized in that: the fixed base (8) is fixed with the side surface of the foundation pit by adopting expansion nails, and a horizontal plate (12) is arranged on the fixed base and is reserved with a connecting screw.
5. The switch rail hot forging forming on-line automatic detection device of claim 1, which is characterized in that: the bottom of a portal frame side upright post (9) is connected with a horizontal plate of a fixed base, the top of the portal frame side upright post (9) is connected with a portal frame cross beam (5), and the side upright post (9) is separated from an upright post (10) of a press machine.
6. The switch rail hot forging forming on-line automatic detection device according to claim 1, characterized in that: the bottom of the gantry side vertical wall (10) is fixed with the press machine foundation (2), the top of the gantry side vertical wall (10) is connected with the gantry beam (5), and a display (11) is arranged in front of the side vertical wall and displays the scanning condition of the scanner in real time.
7. The switch rail hot forging forming on-line automatic detection device according to claim 3, characterized in that: a photoelectric switch is arranged at the blanking position.
8. A switch steel rail hot forging forming on-line automatic detection method is characterized in that: the rail piece is transferred to the blanking position of a blanking frame through a transfer mechanism of a steel rail hot forging forming production line, when a photoelectric switch at the blanking position detects a material coming, a signal is sent to an automatic detection device system in a control cabinet, after the detection system receives a steel rail in-place signal, an industrial robot is started to photograph and scan the steel rail according to a preset path, pictures are spliced through processing software, and finally a three-dimensional point cloud model is formed.
9. The on-line automatic detection method for the hot forging forming of the turnout steel rail according to claim 1, which is characterized in that: three-dimensional on-line automatic measurement is carried out at the high temperature of 900-1050 ℃.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211479605.4A CN115930776A (en) | 2022-11-24 | 2022-11-24 | On-line automatic detection device and detection method for hot forging forming of turnout steel rail |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211479605.4A CN115930776A (en) | 2022-11-24 | 2022-11-24 | On-line automatic detection device and detection method for hot forging forming of turnout steel rail |
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| CN115930776A true CN115930776A (en) | 2023-04-07 |
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| CN202211479605.4A Pending CN115930776A (en) | 2022-11-24 | 2022-11-24 | On-line automatic detection device and detection method for hot forging forming of turnout steel rail |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116152284A (en) * | 2023-04-20 | 2023-05-23 | 天津宜科自动化股份有限公司 | Grouping scanning and pushing method of laser contour sensor |
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2022
- 2022-11-24 CN CN202211479605.4A patent/CN115930776A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116152284A (en) * | 2023-04-20 | 2023-05-23 | 天津宜科自动化股份有限公司 | Grouping scanning and pushing method of laser contour sensor |
| CN116152284B (en) * | 2023-04-20 | 2023-07-28 | 天津宜科自动化股份有限公司 | Grouping scanning and pushing method of laser contour sensor |
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