CN116551472A - Automatic polishing method and system for ship parts - Google Patents
Automatic polishing method and system for ship parts Download PDFInfo
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- CN116551472A CN116551472A CN202310567965.8A CN202310567965A CN116551472A CN 116551472 A CN116551472 A CN 116551472A CN 202310567965 A CN202310567965 A CN 202310567965A CN 116551472 A CN116551472 A CN 116551472A
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- 238000005498 polishing Methods 0.000 title claims abstract description 234
- 238000000034 method Methods 0.000 title claims abstract description 28
- 238000007517 polishing process Methods 0.000 claims abstract description 30
- 238000000227 grinding Methods 0.000 claims description 44
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- 230000008569 process Effects 0.000 claims description 7
- 230000004048 modification Effects 0.000 claims description 5
- 238000012986 modification Methods 0.000 claims description 5
- 238000012216 screening Methods 0.000 claims description 5
- 238000004458 analytical method Methods 0.000 claims description 3
- 238000003708 edge detection Methods 0.000 claims description 3
- 238000005259 measurement Methods 0.000 claims description 3
- 230000002452 interceptive effect Effects 0.000 claims 4
- 230000003993 interaction Effects 0.000 description 9
- 238000012545 processing Methods 0.000 description 6
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- 238000005457 optimization Methods 0.000 description 3
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B1/00—Processes of grinding or polishing; Use of auxiliary equipment in connection with such processes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B27/00—Other grinding machines or devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B27/00—Other grinding machines or devices
- B24B27/0092—Grinding attachments for lathes or the like
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B27/00—Other grinding machines or devices
- B24B27/033—Other grinding machines or devices for grinding a surface for cleaning purposes, e.g. for descaling or for grinding off flaws in the surface
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B49/00—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation
- B24B49/10—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation involving electrical means
- B24B49/105—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation involving electrical means using eddy currents
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B51/00—Arrangements for automatic control of a series of individual steps in grinding a workpiece
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B55/00—Safety devices for grinding or polishing machines; Accessories fitted to grinding or polishing machines for keeping tools or parts of the machine in good working condition
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
- B25J11/0065—Polishing or grinding
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/0002—Inspection of images, e.g. flaw detection
- G06T7/0004—Industrial image inspection
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/10—Segmentation; Edge detection
- G06T7/13—Edge detection
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- 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
- Y02P90/30—Computing systems specially adapted for manufacturing
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Robotics (AREA)
- Quality & Reliability (AREA)
- Constituent Portions Of Griding Lathes, Driving, Sensing And Control (AREA)
- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
Abstract
The application provides an automatic polishing method and system for ship parts, comprising the steps of collecting various workpiece models and workpiece information and summarizing the workpiece models and workpiece information into a workpiece database; scanning and analyzing the position of a workpiece on a workbench, and collecting image information of the workpiece on the workbench and height data of the workpiece; matching the category, the contour edge data and the free edge polishing number of the workpiece in a workpiece database according to the workpiece number and by combining the rough contour edge of the workpiece; setting polishing operation and polishing parameters of a workpiece; starting polishing, continuously collecting and calculating the distance between a polishing tool bit and a workpiece in the polishing process, converting the calculated distance into current and/or voltage signals in real time, and judging the polishing force according to the current and/or voltage signals; recording optimal polishing data, polishing according to the optimal polishing data, and continuously feeding back and adjusting polishing force in the polishing process. The accuracy of the polishing path and the smoothness of the polishing process are improved.
Description
Technical Field
The application relates to the technical field of ship part polishing, in particular to an automatic ship part polishing method and system.
Background
Polishing is an important procedure in the process of building a ship block, and is an important foundation for ensuring the welding quality and the coating requirement of parts. Traditional ship part polishing mainly relies on the production mode of workman manual polishing, uses unified grinding tool grinding to need clear surface to realize the function of clear away primer and rust. However, dust flies in the polishing process, the noise exceeds 100 dB, the occupational health of staff is seriously affected, and a large amount of dust can cause equipment failure and serious damage. With the development of automated techniques, attempts have been made to automatically polish parts using robots, but the robot polishing process requires accurate finding of the polished positions of the parts, and also requires smooth treatment of sharp edges to the R2 standard. Because the parts have interference of dust, abrasion, impact, pollution and other conditions under the field environment, and meanwhile, because of the constraint of the precision of the existing vision acquisition equipment, the automatic polishing process of the robot has the technical problems of poor polishing quality, uneven polishing edges, blank polishing, damage to polishing tool bits and the like.
Disclosure of Invention
The embodiment of the application aims to provide an automatic polishing method and system for ship parts, which solve the technical problems of poor polishing quality, uneven polishing edges, blank polishing, damage to polishing tool bits and the like in the existing automatic polishing process of a robot.
In a first aspect, a method for automatically polishing a ship component is provided, including:
collecting various workpiece models and workpiece information, and summarizing the workpiece models and the workpiece information into a workpiece database, wherein the workpiece information comprises the types of workpieces, contour edge data and the polishing number of free edges;
scanning and analyzing the position of a workpiece on a workbench, and collecting image information of the workpiece on the workbench and height data of the workpiece;
preprocessing the collected image information, dividing and acquiring the rough outline edge of the workpiece in the image information, determining the closed outline of the workpiece in the image information by utilizing the height data, further matching the type, outline edge data and free edge polishing quantity of the workpiece in a workpiece database according to the workpiece number and combining the rough outline edge of the workpiece, and outputting the position and gesture change signals of a polishing tool bit in real time;
setting polishing operation and polishing parameters of a workpiece according to the type of the workpiece, contour edge data, the number of free edge polishing, and position and posture change signals of polishing tool bits;
starting polishing, continuously collecting and calculating the distance between a polishing tool bit and a workpiece in the polishing process, converting the calculated distance into current and/or voltage signals in real time, and judging and recording the polishing force according to the current and/or voltage signals;
and screening out optimal polishing data, polishing according to the optimal polishing data, and continuously feeding back and adjusting polishing force in the polishing process.
In one embodiment, the segmenting and acquiring the approximate contour edge of the workpiece in the image information includes:
an edge detection algorithm is used to locate regions of significant variation in the image information, and the contour edge of the workpiece is separated from the table to segment and obtain the approximate contour edge of the workpiece.
In one embodiment, the collecting and summarizing various workpiece models and workpiece information into a workpiece database, the workpiece information including a class of workpiece, contour edge data, and a number of free edge polishes includes:
firstly, carrying out data preprocessing on different workpieces to establish corresponding three-dimensional models, and then determining and summarizing the belonging category of the workpieces, contour edge data information and the free edge polishing number into a workpiece database.
In one embodiment, continuously capturing and calculating the distance between the sanding tool bit and the work piece during the sanding process, converting the calculated distance into current and/or voltage signals in real time includes:
an electric eddy current sensor is arranged on the polishing tool bit, the electric eddy current sensor measures distance through a probe, and the measured distance is converted into current and/or voltage signals in the motor in real time.
In one embodiment, the selecting the optimal polishing data, polishing according to the optimal polishing data, and continuously feeding back and adjusting the polishing force in the polishing process includes:
firstly, the demonstrator records polishing data of the eddy current sensor, screens out optimal polishing data, records current and/or voltage signals at the moment, enables the eddy current sensor to be close to the optimal data in each polishing process, continuously feeds back and adjusts the distance measurement of a probe on the eddy current sensor in the polishing process, keeps the distance constant, and accordingly controls the polishing force of a polishing tool bit to be constant.
In one embodiment, the setting the grinding operation of the workpiece includes calculating a grinding path of the workpiece and setting a starting grinding position, and controlling the grinding bit to move to the position of the workpiece for the grinding operation.
According to a second aspect of the present application, there is also provided an automatic grinding system for ship components, comprising:
the polishing tool bit is used for polishing a workpiece;
the industrial camera is used for scanning and analyzing the position of the workpiece on the workbench, collecting the complete image information of the workpiece on the workbench and the height data of the workpiece, and outputting the position and posture change signals of the polishing tool bit in real time;
the image contour edge segmentation module is connected with the industrial camera and is used for preprocessing the acquired image information, segmenting and acquiring the rough contour edge of the workpiece in the image information and determining the closed outer contour of the workpiece in the image by utilizing the height data;
the electric vortex sensor is arranged on the polishing tool bit, the end face of the probe of the electric vortex sensor is arranged at the center of the polishing tool bit and acts together with the polishing tool bit, and the electric vortex sensor collects the distance between the workpiece and the end face of the probe;
the polishing force feedback module is connected with the eddy current sensor and records data of the eddy current sensor by using the demonstrator, wherein the data comprise current and/or voltage signals;
the workpiece database is used for collecting various workpiece models and workpiece information and summarizing the workpiece models and the workpiece information into the workpiece database, wherein the workpiece information comprises the types of workpieces, contour edge data and the polishing number of free edges;
the polishing control module is connected with the polishing tool bit, the industrial camera, the probe of the eddy current sensor, the workpiece database and the polishing force feedback module, and is used for matching the type, the contour edge data and the free edge polishing quantity of the workpiece in the workpiece database according to the workpiece number and combining the rough contour edge of the workpiece, setting polishing operation and polishing parameters of the workpiece according to the type, the contour edge data, the free edge polishing quantity and position and posture change signals of the polishing tool bit of the workpiece, and driving the polishing tool bit to move above the workpiece and polish according to the set polishing operation and polishing parameters of the workpiece; the distance between the workpiece collected by the eddy current sensor and the end face of the probe is converted into current and/or voltage through an algorithm, the polishing force is judged according to current and/or voltage signals, optimal polishing data are screened out, a polishing tool bit is driven to polish according to the optimal polishing data, and the polishing force is fed back and adjusted continuously in the polishing process.
In one embodiment, the polishing control system further comprises an interaction unit, wherein the interaction unit is connected with a polishing control module, the polishing control module provides information in a workpiece database for a user through the interaction unit, and the interaction unit controls scanning and analysis of the industrial camera, polishing operation of the workpiece and modification and setting of polishing parameters.
In one embodiment, the polishing device further comprises a mechanical arm, wherein a machine head is arranged on the head of the mechanical arm, the polishing tool bit, the industrial camera and the eddy current sensor are installed on the machine head, the polishing control module controls the mechanical arm and the machine head to move, and the polishing tool bit, the industrial camera and the eddy current sensor work along with the movement of the machine head of the mechanical arm.
In one embodiment, the sanding bit and industrial camera switchable positions are disposed on the bit.
The automatic polishing method and system for the ship parts have the beneficial effects that:
the workpiece database, the image contour edge segmentation processing and the polishing force feedback are used for optimization constraint, so that the accuracy of a polishing path and the stability of a polishing process are improved. And calculating a polishing path of the workpiece, determining an initial polishing position, and controlling the polishing tool bit to move to the position of the workpiece through signal processing to perform polishing operation. The automatic polishing quality is improved by means of three constraints, and the polishing standard of R3 is achieved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered limiting the scope, and that other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of a method for automatically polishing ship components according to an embodiment of the present application;
fig. 2 is a schematic structural view of an automatic polishing system for ship parts according to an embodiment of the present application.
100. Polishing a cutter head; 200. an industrial camera; 300. an eddy current sensor; 310. a probe; 400. a mechanical arm; 410. a machine head.
Detailed Description
For the purposes of making the objects, technical solutions and advantages of the embodiments of the present application more clear, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, which are generally described and illustrated in the figures herein, may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present application, as provided in the accompanying drawings, is not intended to limit the scope of the application, as claimed, but is merely representative of selected embodiments of the application. All other embodiments, which can be made by one of ordinary skill in the art based on the embodiments herein without making any inventive effort, are intended to be within the scope of the present application.
In a first aspect, the present application provides a method for automatically polishing a marine component.
Fig. 1 is a flowchart of a method for automatically polishing ship parts according to an embodiment of the present application. Referring to fig. 1, comprising:
collecting various workpiece models and workpiece information, and summarizing the workpiece models and the workpiece information into a workpiece database, wherein the workpiece information comprises the types of workpieces, contour edge data and the polishing number of free edges;
scanning and analyzing the position of a workpiece on a workbench, and collecting image information of the workpiece on the workbench and height data of the workpiece;
preprocessing the collected image information, dividing and acquiring the rough outline edge of the workpiece in the image information, determining the closed outline of the workpiece in the image information by utilizing the height data, further matching the type, outline edge data and free edge polishing quantity of the workpiece in a workpiece database according to the workpiece number and combining the rough outline edge of the workpiece, and outputting the position and gesture change signals of a polishing tool bit in real time;
setting polishing operation and polishing parameters of a workpiece according to the type of the workpiece, contour edge data, the number of free edge polishing, and position and posture change signals of polishing tool bits;
starting polishing, continuously collecting and calculating the distance between a polishing tool bit and a workpiece in the polishing process, converting the calculated distance into current and/or voltage signals in real time, and judging the polishing force according to the current and/or voltage signals;
and screening out optimal polishing data, polishing according to the optimal polishing data, and continuously feeding back and adjusting polishing force in the polishing process.
According to the method and the device, optimization constraint is carried out through the workpiece database, image contour edge segmentation processing and polishing force feedback, so that the accuracy of a polishing path and the stability of a polishing process are improved. And calculating a polishing path of the workpiece, determining an initial polishing position, and controlling the polishing tool bit to move to the position of the workpiece through signal processing to perform polishing operation. The automatic polishing quality is improved by means of three constraints, and the polishing standard of R3 is achieved.
Polishing standard for R3: according to PSPC standard, the free edge polishing quality of the parts is strict, the requirements of the process specification are required to be met, the R2 and R3 standards are required to be met, and for high and new ship parts, the sharp edge treatment is required to be met. According to the specifications, the edges of the ship product before painting are treated into round corners with at least R2 or are polished three times by using a power tool, so that the edges are smooth or at least treated equivalently. The equivalent treatment means equivalent in edge geometry generated after treatment or better than three times of polishing which can generate effective coating performance, and the polishing process of the power tool needs to be considered in the primary polishing process, so that the rotation direction of the power tool faces to a cutting edge for the purpose of minimizing burrs, and the burrs are removed by using sandpaper in the secondary and three polishing processes, and the burrs are smoothed after being removed.
In one embodiment, segmenting and acquiring the approximate contour edge of the workpiece in the image information includes:
an edge detection algorithm is used to locate regions of significant variation in the image information, and the contour edge of the workpiece is separated from the table to segment and obtain the approximate contour edge of the workpiece. The image contour edge segmentation process improves the accuracy of the polishing path by dividing the rough edge and contour of the workpiece as the polishing starting route.
In one embodiment, various workpiece models and workpiece information are collected and aggregated into a workpiece database, the workpiece information including workpiece category, contour edge data, and number of free edge polishes including:
firstly, carrying out data preprocessing on different workpieces to establish corresponding three-dimensional models, and then determining and summarizing the belonging category of the workpieces, contour edge data information and the free edge polishing number into a workpiece database. By establishing a complete workpiece database of the parts to be polished, the free edge recognition rate of the workpieces is improved, abundant workpiece database information is obtained, and the workpiece database information can be used for comparison and reference of the workpieces.
In one embodiment, continuously capturing and calculating the distance between the sanding tool bit and the work piece during sanding, converting the calculated distance in real time into a current and/or voltage signal includes:
an electric eddy current sensor is arranged on the polishing tool bit, the electric eddy current sensor measures distance through a probe, and the measured distance is converted into current and/or voltage signals in the motor in real time. The eddy current sensor can measure the distance between the measured metal conductor and the probe surface in a static and dynamic non-contact mode with high linearity and high resolution. It is a non-contact linearization metrology tool. The eddy current sensor can accurately measure static and dynamic relative displacement changes between the measured body and the probe end face. When the distance between the measured metal and the probe is changed, the Q value (quality factor) of the coil in the probe is also changed, the change of the Q value causes the change of the amplitude of the oscillating voltage, and the oscillating voltage which is changed along with the distance is converted into the voltage (current) change through detection, filtering, linear compensation and amplification normalization processing, and finally, the mechanical displacement (gap) is converted into the voltage (current). The method comprises the steps of collecting offset data between a workpiece to be polished and the end face of a sensor probe through an eddy current sensor, continuously converting the measured data into current/voltage through an algorithm, and reflecting the polishing force of the polishing tool bit on the workpiece to be polished according to the current/voltage.
In one embodiment, screening out optimal polishing data, and subsequently polishing according to the optimal polishing data, and continuously feeding back and adjusting polishing force in the polishing process comprises:
firstly, the demonstrator records polishing data of the eddy current sensor, screens out optimal polishing data, records current and/or voltage signals at the moment, enables the eddy current sensor to be close to the optimal data in each polishing process, continuously feeds back and adjusts the distance measurement of a probe on the eddy current sensor in the polishing process, keeps the distance constant, and accordingly controls the polishing force of a polishing tool bit to be constant. And finally, the polishing force of the polishing tool bit is controlled to be constant through constant distance maintenance, polishing data are kept in a smooth polishing range, and the automatic polishing quality is improved.
In one embodiment, setting the grinding operation of the workpiece includes calculating a grinding path of the workpiece and setting a starting grinding position, and controlling the grinding bit to move to the position of the workpiece for the grinding operation, further for improving the accuracy of the grinding path and the smoothness of the grinding process.
In a second aspect, the present application further provides an automatic polishing system for ship components, referring to fig. 2, including a polishing tool bit, an industrial camera, an eddy current sensor, an image contour edge segmentation module, an eddy current sensor, a polishing force feedback module, a workpiece database, and a polishing control module.
The sanding tool head 100 is used to sand a work piece;
the industrial camera 200 is a CCD industrial camera, and is used for scanning and analyzing the position of a workpiece on a workbench, collecting complete image information of the workpiece on the workbench and height data of the workpiece, and outputting position and posture change signals of a polishing tool bit in real time;
the image contour edge segmentation module is connected with the industrial camera 200 and is used for preprocessing the acquired image information, segmenting and acquiring the rough contour edge of the workpiece in the image information and determining the closed outer contour of the workpiece in the image by utilizing the height data;
the electric vortex sensor 300 is installed on the polishing tool bit 100, the end face of the probe 310 of the electric vortex sensor 300 is arranged at the center of the polishing tool bit 100 and works together with the polishing tool bit 100, and the electric vortex sensor 300 collects the distance between the workpiece and the end face of the probe 310;
the polishing force feedback module is connected with the eddy current sensor 300 and records data of the eddy current sensor 300 by using a demonstrator, wherein the data comprise current and/or voltage signals;
the workpiece database is used for collecting various workpiece models and workpiece information and summarizing the workpiece models and the workpiece information into the workpiece database, wherein the workpiece information comprises the types of workpieces, contour edge data and the polishing number of free edges;
the polishing control module is connected with the polishing tool bit 100, the industrial camera 200, the electric vortex sensor 300, the workpiece database and the polishing force feedback module, and is used for matching the type, the contour edge data and the free edge polishing quantity of the workpiece in the workpiece database according to the workpiece number and combining the rough contour edge of the workpiece, setting polishing operation and polishing parameters of the workpiece according to the type, the contour edge data, the free edge polishing quantity and position and posture change signals of the polishing tool bit of the workpiece, and driving the polishing tool bit to move above the workpiece and polish according to the set polishing operation and polishing parameters of the workpiece; the distance between the workpiece collected by the eddy current sensor and the end face of the probe is converted into current and/or voltage through an algorithm, the polishing force is judged according to current and/or voltage signals, optimal polishing data are screened out, a polishing tool bit is driven to polish according to the optimal polishing data, and the polishing force is fed back and adjusted continuously in the polishing process.
In one embodiment, the device further comprises an interaction unit, wherein the interaction unit is connected with the polishing control module, the polishing control module provides information in a workpiece database for a user through the interaction unit, and the interaction unit controls scanning and analysis of the industrial camera and modification and setting of polishing operation and polishing parameters of the workpiece. And the interaction unit is convenient for information transmission and display.
In one embodiment, the polishing device further comprises a mechanical arm 400, the head of the mechanical arm 400 is provided with a machine head 410, the polishing tool bit 100, the industrial camera 200 and the eddy current sensor 300 are installed on the machine head 410, the polishing control module controls the mechanical arm 400 and the machine head 410 to move, and the polishing tool bit 100, the industrial camera 200 and the eddy current sensor 300 work along with the movement of the machine head 410 of the mechanical arm 400. The hardware equipment is arranged on the machine head of the mechanical arm, the hardware equipment can be controlled to move in one-stop mode through the mechanical arm, the movement and visual detection of the industrial camera are driven, and meanwhile, the visual collection, workpiece polishing and other multitasks are completed through the switching of the camera and the polishing tool bit.
In one embodiment, the sanding head 100 and the industrial camera 200 are switchably positioned on the head. The visual collection, the workpiece polishing and other multi-tasks are completed through the switching of the camera and the polishing tool bit.
The system performs optimization constraint through the workpiece database, the image contour edge segmentation module and the polishing force feedback module, so that the accuracy of a polishing path and the stability of a polishing process are improved. The system calculates the polishing path of the workpiece, determines the initial polishing position, and controls the polishing tool bit on the mechanical arm to move to the position of the workpiece through signal processing to perform polishing operation.
The foregoing description is only of the preferred embodiments of the present application and is not intended to limit the same, but rather, various modifications and variations may be made by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application should be included in the protection scope of the present application.
Claims (10)
1. An automatic polishing method for ship parts is characterized by comprising the following steps:
collecting various workpiece models and workpiece information, and summarizing the workpiece models and the workpiece information into a workpiece database, wherein the workpiece information comprises the types of workpieces, contour edge data and the polishing number of free edges;
scanning and analyzing the position of a workpiece on a workbench, and collecting image information of the workpiece on the workbench and height data of the workpiece;
preprocessing the collected image information, dividing and acquiring the rough outline edge of the workpiece in the image information, determining the closed outline of the workpiece in the image information by utilizing the height data, further matching the type, outline edge data and free edge polishing quantity of the workpiece in a workpiece database according to the workpiece number and combining the rough outline edge of the workpiece, and outputting the position and gesture change signals of a polishing tool bit in real time;
setting polishing operation and polishing parameters of a workpiece according to the type of the workpiece, contour edge data, the number of free edge polishing, and position and posture change signals of polishing tool bits;
starting polishing, continuously collecting and calculating the distance between a polishing tool bit and a workpiece in the polishing process, converting the calculated distance into current and/or voltage signals in real time, and judging and recording the polishing force according to the current and/or voltage signals;
and screening out optimal polishing data, polishing according to the optimal polishing data, and continuously feeding back and adjusting polishing force in the polishing process.
2. The method of automatically polishing a ship component according to claim 1, wherein the dividing and acquiring the rough contour edge of the workpiece in the image information comprises:
an edge detection algorithm is used to locate regions of significant variation in the image information, and the contour edge of the workpiece is separated from the table to segment and obtain the approximate contour edge of the workpiece.
3. The automatic grinding method of ship parts according to claim 1, wherein the collecting various workpiece models and workpiece information and summarizing the workpiece models and workpiece information into a workpiece database, wherein the workpiece information includes workpiece types, contour edge data and free edge grinding number, and the method comprises the following steps:
firstly, carrying out data preprocessing on different workpieces to establish corresponding three-dimensional models, and then determining and summarizing the belonging category of the workpieces, contour edge data information and the free edge polishing number into a workpiece database.
4. The automatic grinding method of ship parts according to claim 1, wherein continuously collecting and calculating the distance between the grinding bit and the workpiece during the grinding process, and converting the calculated distance into current and/or voltage signals in real time comprises:
an electric eddy current sensor is arranged on the polishing tool bit, the electric eddy current sensor measures distance through a probe, and the measured distance is converted into current and/or voltage signals in the motor in real time.
5. The automatic grinding method of ship parts according to claim 4, wherein the screening out the optimal grinding data, and then grinding according to the optimal grinding data, and continuously feeding back and adjusting the grinding force during the grinding process comprises:
firstly, the demonstrator records polishing data of the eddy current sensor, screens out optimal polishing data, records current and/or voltage signals at the moment, enables the eddy current sensor to be close to the optimal data in each polishing process, continuously feeds back and adjusts the distance measurement of a probe on the eddy current sensor in the polishing process, keeps the distance constant, and accordingly controls the polishing force of a polishing tool bit to be constant.
6. The automatic grinding method of ship parts according to claim 1, wherein the setting of the grinding operation of the work piece includes calculating a grinding path of the work piece and setting a starting grinding position, and controlling the grinding bit to move to the position of the work piece for the grinding operation.
7. An automatic grinding system for ship parts, comprising:
the polishing tool bit is used for polishing a workpiece;
the industrial camera is used for scanning and analyzing the position of the workpiece on the workbench, collecting the complete image information of the workpiece on the workbench and the height data of the workpiece, and outputting the position and posture change signals of the polishing tool bit in real time;
the image contour edge segmentation module is connected with the industrial camera and is used for preprocessing the acquired image information, segmenting and acquiring the rough contour edge of the workpiece in the image information and determining the closed outer contour of the workpiece in the image by utilizing the height data;
the electric vortex sensor is arranged on the polishing tool bit, the end face of the probe of the electric vortex sensor is arranged at the center of the polishing tool bit and acts together with the polishing tool bit, and the electric vortex sensor collects the distance between the workpiece and the end face of the probe;
the polishing force feedback module is connected with the eddy current sensor and records data of the eddy current sensor by using the demonstrator, wherein the data comprise current and/or voltage signals;
the workpiece database is used for collecting various workpiece models and workpiece information and summarizing the workpiece models and the workpiece information into the workpiece database, wherein the workpiece information comprises the types of workpieces, contour edge data and the polishing number of free edges;
the polishing control module is connected with the polishing tool bit, the industrial camera, the electric vortex sensor, the workpiece database and the polishing force feedback module, and is used for matching the type, the contour edge data and the free edge polishing quantity of the workpiece in the workpiece database according to the workpiece number and combining the rough contour edge of the workpiece, setting polishing operation and polishing parameters of the workpiece according to the type, the contour edge data, the free edge polishing quantity and position and posture change signals of the polishing tool bit of the workpiece, and driving the polishing tool bit to move above the workpiece and polish according to the set polishing operation and polishing parameters of the workpiece; the distance between the workpiece collected by the eddy current sensor and the end face of the probe is converted into current and/or voltage through an algorithm, the polishing force is judged according to current and/or voltage signals, optimal polishing data are screened out, a polishing tool bit is driven to polish according to the optimal polishing data, and the polishing force is fed back and adjusted continuously in the polishing process.
8. The automatic grinding system of ship parts according to claim 7, further comprising an interactive unit, wherein the interactive unit is connected with a grinding control module, wherein the grinding control module provides information in a workpiece database to a user through the interactive unit, and controls scanning and analysis of an industrial camera and modification and setting of grinding operation and grinding parameters of the workpiece through the interactive unit.
9. The automatic grinding system of ship components according to claim 7, further comprising a mechanical arm, wherein a head of the mechanical arm is provided with a machine head, the grinding bit, the industrial camera and the eddy current sensor are mounted on the machine head, the grinding control module controls the mechanical arm and the machine head to move, and the grinding bit, the industrial camera and the eddy current sensor work along with the machine head of the mechanical arm.
10. The automatic marine component grinding system of claim 9, wherein the grinding bit and industrial camera switchable positions are disposed on the bit.
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| CN202310567965.8A CN116551472A (en) | 2023-05-18 | 2023-05-18 | Automatic polishing method and system for ship parts |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116945025A (en) * | 2023-09-18 | 2023-10-27 | 南京昊阳环保科技有限公司 | Intelligent journal polishing device and method |
| CN117391514A (en) * | 2023-10-24 | 2024-01-12 | 江苏富松模具科技有限公司 | Machining quality management method and system of vertical shaft grinding machine |
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2023
- 2023-05-18 CN CN202310567965.8A patent/CN116551472A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116945025A (en) * | 2023-09-18 | 2023-10-27 | 南京昊阳环保科技有限公司 | Intelligent journal polishing device and method |
| CN116945025B (en) * | 2023-09-18 | 2023-11-28 | 南京昊阳环保科技有限公司 | Intelligent journal polishing device and method |
| CN117391514A (en) * | 2023-10-24 | 2024-01-12 | 江苏富松模具科技有限公司 | Machining quality management method and system of vertical shaft grinding machine |
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