CN211588658U - Machine vision auxiliary curved surface machining device - Google Patents
Machine vision auxiliary curved surface machining device Download PDFInfo
- Publication number
- CN211588658U CN211588658U CN201921770983.1U CN201921770983U CN211588658U CN 211588658 U CN211588658 U CN 211588658U CN 201921770983 U CN201921770983 U CN 201921770983U CN 211588658 U CN211588658 U CN 211588658U
- Authority
- CN
- China
- Prior art keywords
- detection device
- curved surface
- line laser
- visual detection
- adjusting plate
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Images
Landscapes
- Laser Beam Processing (AREA)
Abstract
The utility model provides a machine vision assists curved surface processingequipment. The device comprises a vision sensing device, a vision device adjusting mechanism, a horizontal milling machine, a workpiece conveying mechanism and a computer, wherein the vision sensing device comprises two red linear lasers, an area array camera, a lens and a filter; the area array camera collects images on the workpiece and transmits the images into the computer, and the computer sends out an instruction to command the conveying mechanism to convey the workpiece and control the milling cutter to finish curved surface cutting. The device is an efficient curved surface processing device, adopts an integral curved surface processing scheme taking a linear laser combined type vision sensing system as a reference, has high response speed, can accurately identify the height change of the curved surface of a workpiece, reasonably controls the cutting depth of a cutter, and can efficiently finish the curved surface processing.
Description
Technical Field
The utility model belongs to the technical field of the mechanical automation processing technique and specifically relates to a machine vision assists curved surface processingequipment.
Background
In recent years, with the development of industrial automation, machine vision technology has appeared, so that the methods of machining tend to be diversified. In the prior art, complex curved surface machining is carried out by adopting a multi-axis numerical control machining center, and the numerical control machining center can meet the machining precision, shorten the machining time and efficiently and quickly finish various curved surface machining. And for some curved surface workpieces with insufficient precision requirements and large volume, if a numerical control machining center is adopted, the machining price is high. Therefore, for some curved surface workpieces with insufficient precision requirements and large volume, the curved surface machining is finished by manually operating the numerical control milling machine. The height of the milling cutter is continuously adjusted in the process of machining a curved surface workpiece by a manually operated milling machine so as to meet the machining requirement, the machining condition of the surface of the workpiece is continuously observed at the same time, excessive machining and insufficient cutting are prevented, and polishing is needed after machining is finished. Such processing methods not only waste a lot of manpower, but also do not fully meet the processing requirements. Therefore, the machine vision-assisted curved surface machining method is an efficient machining method.
SUMMERY OF THE UTILITY MODEL
The utility model aims at improving the efficiency of the large-scale curved surface technique of current manual work processing, provide a device based on machine vision assists curved surface processing, the device can satisfy the rough machining of ordinary curved surface work piece, is showing the efficiency that improves curved surface processing.
In order to solve the technical problem, the utility model discloses a following technical scheme:
a machine vision auxiliary curved surface processing device comprises a vision detection device, a horizontal milling machine, a workpiece conveying mechanism and a workpiece clamp;
the visual detection device comprises a filter, a lens, a left side line laser adjusting plate, a line laser mounting seat, an area-array camera mounting plate, a right side line laser adjusting plate, a right side line laser, a visual detection device adjusting plate, a visual detection device box body and a visual detection device fixing frame; the area-array camera is arranged on an area-array camera mounting plate in a visual detection device box body, the upper and lower positions of the area-array camera can be adjusted, the left line laser and the right line laser are respectively arranged on a left line laser adjusting plate and a right line laser adjusting plate in the visual detection device box body and can adjust the angles, the left line laser and the right line laser are symmetrically distributed on the left side and the right side of the area-array camera mounting plate at equal intervals, and the filter is arranged at the lower end of the visual detection device box body; the rear end of a visual detection device fixing frame is arranged on a horizontal milling machine, the front end of the visual detection device fixing frame is connected with a visual detection device adjusting plate with an adjustable position, and a visual detection device box body is arranged on the visual detection device adjusting plate;
further, the spectrum of the line laser emitted by the left line laser and the spectrum of the line laser emitted by the right line laser are consistent with the band pass of the filter.
Furthermore, an adjusting groove is arranged on the adjusting plate of the visual detection device, and the position of the adjusting plate can be adjusted along the groove hole on the adjusting plate according to the working height requirement of the visual detection device;
furthermore, the visual detection device is positioned right above the milling cutter, and the laser line on the curved surface workpiece is always in the visual field range of the area array camera;
further, the left side line laser adjusting plate and the right side line laser adjusting plate are respectively arranged on the line laser mounting seats at two sides of the area array camera mounting plate, and the adjusting angles of the left side line laser adjusting plate and the right side line laser adjusting plate relative to the vertical direction are 30-60 degrees;
further, the horizontal milling machine is provided with a current sensor, when the cutter contacts a workpiece, the current sensor is triggered, and then the control system can acquire the position information of the cutter at the moment.
After the scheme is adopted, as the machine vision system is adopted to assist the milling cutter device, the device only needs to acquire images of linear laser on the surface of a curved surface workpiece when the milling cutter cuts or retracts and obtain the distance of the linear laser, and then the cutting depth (H) of the cutter at the moment can be calculated by the formulaC) The cutting track of the milling cutter can be conveniently detected and tracked in real time; the tracking machining method overcomes the limitation of the existing manual machining, can control and detect the milling cutter constantly, has higher machining precision than manual machining, and can finish the curved surface machining efficiently.
Drawings
FIG. 1 is a schematic view of a machine vision-assisted curved surface processing apparatus according to the present invention;
FIG. 2 is a three-dimensional structure diagram of a machine vision-aided curved surface processing device according to the present invention;
fig. 3 is a schematic view of a partial structure of a vision inspection device in a machine vision-assisted curved surface processing device according to the present invention;
FIG. 4 is a schematic view of the initial cutting process of the cutting tool according to the present invention;
FIG. 5 is a schematic diagram of the calculation of the cutting depth of the tool according to the present invention;
FIG. 6 is a simplified cutting process when the cutting tool of the present invention is located at the lowest end;
fig. 7 is a schematic diagram of the calculation of the cutting depth of the cutter moving upward along the slope according to the present invention;
FIG. 8 is a drawing showing an outline of a curved surface part in example 1 of the present invention;
FIG. 9 is an elevation view of the machined curved surface part of FIG. 8;
the reference numbers in the figures are as follows:
1-a curved surface workpiece; 2-milling cutter; 3-a filter; 4-a lens; 5-left line laser; 6-left line laser adjusting plate; 7-line laser mounting base; 8-area-array camera; 9-an area-array camera mounting plate; 10-right side line laser adjusting plate; 11-adjusting plate of visual inspection device; 12-a visual inspection device box; 13-visual inspection device mount; 14-a workpiece transport table; 15-a workpiece holder; 16-a horizontal milling machine; 17-a workpiece conveying mechanism; 18-right line laser.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments. The following description is only for the purpose of explanation and is not intended to limit the invention.
As shown in fig. 1, fig. 2 and fig. 3, the machine vision auxiliary curved surface processing device of the present invention includes a vision inspection device 17, a horizontal milling machine 16, a workpiece conveying mechanism 14, and a workpiece fixture 15; the visual detection device comprises a filter 3, a lens 4, a left side line laser 5, a left side line laser adjusting plate 6, a line laser mounting seat 7, an area array camera 8, an area array camera mounting plate 9, a right side line laser adjusting plate 10, a right side line laser 18, a visual detection device adjusting plate 11, a visual detection device box body 12 and a visual detection device fixing frame 13; the area array camera 8 is arranged on an area array camera mounting plate 9 in a visual detection device box body 12, the up-down position of the area array camera can be adjusted, the left line laser 5 and the right line laser 18 are respectively arranged on a left line laser adjusting plate 6 and a right line laser adjusting plate 10 in the visual detection device box body 12, the angle of the left line laser 5 and the right line laser 18 can be adjusted, the left line laser 5 and the right line laser 18 are symmetrically distributed on the left side and the right side of the area array camera mounting plate 9 at equal intervals, and the filter 3 is arranged at the lower end of the visual detection device box body 12; the rear end of a visual detection device fixing frame 13 is arranged on a horizontal milling machine 16, the front end of the visual detection device fixing frame 13 is connected with a visual detection device adjusting plate 11 with an adjustable position, and a visual detection device box body 12 is arranged on the visual detection device adjusting plate 11;
during use, the laser spectrums emitted by the left line laser 5 and the right line laser 18 are consistent with the band pass of the filter 3. The visual detection device 17 is positioned right above the milling cutter 2, and the laser line on the curved surface workpiece is always in the visual field range of the area array camera;
the visual detection device adjusting plate 11 is provided with an adjusting groove, and the position of the adjusting groove can be adjusted along the groove hole according to the working height requirement of the visual detection device; the visual inspection device regulating plate 11, left sideline laser regulating plate 6, right sideline laser regulating plate 10, area array camera mounting panel 9 that relate to among this application technical scheme all can adjusting position or angle, and these adjusting device are being prior art, and no longer detail here.
The left side line laser adjusting plate 6 and the right side line laser adjusting plate 10 are respectively arranged on the line laser mounting seats 7 at two sides of the area array camera mounting plate 9, and the adjusting angles of the left side line laser adjusting plate 6 and the right side line laser adjusting plate 10 relative to the vertical direction are 30-60 degrees;
the horizontal milling machine is provided with a current sensor, when the cutter contacts a workpiece, the current sensor is triggered, and then the control system can acquire the position information of the cutter at the moment.
In the following, according to the technical solution of the present invention, the following embodiments are provided:
example 1
As shown in fig. 8 and 9, the part is processed, the part is a curved part, the radius of the curved surface is 3800mm, the chord length is 4800mm, and the thickness of the workpiece is 150mm, the method for realizing curved surface processing with the aid of the machine vision described in this patent, in combination with the schematic diagrams of the apparatus and the method described in fig. 1 to 9, states the following steps:
Step 2: initialization and adjustment of processing equipment: adjusting the workpiece according to the working requirement, so that the workpiece is positioned below the milling cutter, adjusting the initial position of the milling cutter to enable the initial position to be away from the outermost side contour line L (mm) of the curved surface workpiece (the value of L is 20-25 mm), adjusting the visual sensing device to enable the visual sensing device to be positioned at a distance above the milling cutter, enabling line laser generated by the left and right line lasers to be irradiated on the surface of the workpiece and positioned in the middle of the visual field of the area array camera, and enabling the coincident line of the two laser lines to be coincident with the cutting point at the lowest part of the milling cutter and to be;
and step 3: setting the cutting depth of the workpiece to HeIs 20mm, and the feeding step length S of the workpiece in the X direction is 2 mm; defining the cutting depth of the cutter in the vertical direction as Hs(mm), the slope of the tool at the current cutting point is tan (θ), tan (θ) ═ Xk-Xj)/((Xk+Xj) Tan (β)), when the workpiece is cut from the right end to the left end and the milling cutter does not reach the lowest point, the milling cutter downwards performs cutting motion at a certain speed v (mm/s) along the Y direction, wherein v is 5mm/s, the area array camera acquires images at a certain frame rate, when the height of the milling cutter from the curved surface changes, the distance between the left laser line and the right laser line on the curved surface also changes, because the lowest end tangent point of the cutter does not contact the workpiece at the moment, the separation of the laser lines at the moment is called as reverse separation, and when the workpiece is contacted right below the cutter, the separation of the laser lines at the moment is called as forward separation;
and 4, step 4: when the milling cutter contacts a curved surface workpiece, the current sensor is excited and feeds back a signal to the visual detection system, and the system records the current time node t1(s) the area-array camera takes the image M at this time1；
And 5: the cutter continues to move downwards, and when the image sensor detects that the laser lines on the curved surface are overlapped, the area-array camera takes down the image M at the moment2Feeding back the information to the visual inspection system, which records the current time node t2(s) calculating the vertical movement distance H of the milling cutter between the time when the cutter contacts the workpiece and the time when the laser line is coincident with the curved surfaceb，Hb＝ν*(t2-t1) Hereinafter, the cutting distance of the tool in the vertical direction is recorded asHsThe cutter cuts vertically downwards at a certain speed until H is mete＝(Hs+Hb) Stopping cutting and moving downwards when the cos (theta) is reached, then moving the workpiece to the X negative half shaft direction by a step length s (mm), meanwhile, continuing to cut downwards by the milling cutter along the vertical direction, and executing the step 6 after the movement of the step length is completed;
step 6: calculating the slope tan (theta) and the cutting depth H of the current cutting point of the workpiece, wherein tan (theta) is equal to (X)K-Xj)/ ((Xk+Xj)tan(β))，H＝(Hs+Hb) Cos (θ); if tan (theta) is not 0 and H is less than HeI.e. not reaching the cutting depth, step 7 is executed; if tan (theta) is not 0 and H is equal to HeIf the cutting depth is reached, step 8 is executed; if tan (theta) is not 0 and H is greater than HeIf the cutting is excessive, step 9 is executed; if tan (θ) is 0, i.e. the lowest point is reached, step 10 is executed;
and 7: the milling cutter continues to cut downwards along the vertical direction until H is satisfiede＝(Hs+ Hb) Cos (θ), then step 6 is performed;
and 8: moving the workpiece by one step length s (mm) in the direction of the negative X half shaft, simultaneously cutting the workpiece downwards along the vertical direction by the milling cutter, and executing the step 6 after the step length movement is finished;
and step 9: the milling cutter moves upwards along the vertical direction until H is satisfiede＝(Hs+Hb) Cos (θ), then step 6 is performed;
step 10: when the milling cutter reaches the lowest end (the slope of the cutting point is 0) of the curved surface workpiece, the area array camera acquires the laser line information on the curved surface at the moment, the cutting depth H of the current point in the vertical direction is calculated, and if the H is smaller than HeThe mill continues to cut down in the vertical direction until H equals He，HeSetting the cutting depth for the current point workpiece; if H is equal to HeThen, go to step 11;
step 11: the milling cutter upwards cuts at a certain speed in the vertical direction, meanwhile, the workpiece moves by a step length s (mm) in the direction of the negative X half axis, and after the step length movement is finished, the step 12 is executed;
step 12: calculating the slope tan (theta) and the cutting depth H of the current cutting point of the workpiece and the information of a current sensor, wherein tan (theta) is equal to (X)K-Xj)/((Xk+Xj)tan(β))，H＝(Hs+Hb) Cos (θ); if H is less than HeAnd the current sensor has excitation (the cutter has contact with the workpiece), namely the milling cutter does not reach the set cutting depth, then step 13 is executed; if H is equal to HeAnd the current sensor is excited (the cutter is in contact with the workpiece), namely the milling cutter reaches the set cutting depth, then step 14 is executed; if H is greater than HeAnd the current sensor is excited (the cutter is in contact with the workpiece), namely the milling cutter is over-cut, then step 15 is executed; if the current sensor is not excited (the tool is not in contact with the workpiece), that is, the cutting is finished, step 16 is executed;
step 13: the milling cutter cuts downwards along the vertical direction until H is equal to He＝Hs*cos(θ)+HbCos (θ) then performs step 12;
step 14: moving the workpiece to the direction of the negative X half shaft by a step length s (mm), simultaneously cutting the workpiece upwards by the milling cutter along the vertical direction, and executing the step 12 after the step length movement is finished;
step 15: the milling cutter moves upwards along the vertical direction until H is satisfiede＝Hs*cos(θ)+HbCos (θ) then performs step 12;
step 16: and returning the milling cutter to the initial position to finish the processing of the target workpiece.
The above steps can be completed by a computer, the image processing algorithm and the computer software are not the key points of the patent protection, and the technical scheme of the application focuses on the hardware device and the hardware.
The present invention has been described in terms of some embodiments, and is not intended to be limited to the embodiments, and any modifications, improvements, equivalents, and the like that are made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (6)
1. A machine vision auxiliary curved surface processing device is characterized by comprising a vision detection device (17), a horizontal milling machine (16), a workpiece conveying mechanism (14) and a workpiece clamp (15);
the visual detection device comprises a filter (3), a lens (4), a left side line laser (5), a left side line laser adjusting plate (6), a line laser mounting seat (7), an area-array camera (8), an area-array camera mounting plate (9), a right side line laser adjusting plate (10), a right side line laser (18), a visual detection device adjusting plate (11), a visual detection device box body (12) and a visual detection device fixing frame (13); the area-array camera (8) is arranged on an area-array camera mounting plate (9) in a visual detection device box body (12) and can adjust the up-down position, the left line laser (5) and the right line laser (18) are respectively arranged on a left line laser adjusting plate (6) and a right line laser adjusting plate (10) in the visual detection device box body (12) and can adjust the angle, the left line laser (5) and the right line laser (18) are equidistantly and symmetrically distributed on the left side and the right side of the area-array camera mounting plate (9), and the filter (3) is arranged at the lower end of the visual detection device box body (12); the rear end of a visual detection device fixing frame (13) is installed on a horizontal milling machine (16), the front end of the visual detection device fixing frame (13) is connected with a visual detection device adjusting plate (11) with an adjustable position, and a visual detection device box body (12) is installed on the visual detection device adjusting plate (11).
2. The machine-vision assisted curved surface machining device of claim 1, wherein: and the spectrum of the linear laser emitted by the left linear laser (5) and the right linear laser (18) is consistent with the band pass of the filter (3).
3. The machine-vision assisted curved surface machining device of claim 1, wherein: the visual detection device adjusting plate (11) is provided with an adjusting groove, and the position of the adjusting groove can be adjusted along a groove hole on the visual detection device according to the working height requirement of the visual detection device.
4. The machine-vision assisted curved surface machining device of claim 1, wherein: the visual detection device (17) is positioned right above the milling cutter (2), and the laser line on the curved surface workpiece is always in the visual field range of the area-array camera.
5. The machine-vision assisted curved surface machining device of claim 1, wherein: the left side line laser adjusting plate (6) and the right side line laser adjusting plate (10) are respectively installed on line laser installation seats (7) on two sides of an area array camera installation plate (9), and the adjusting angles of the left side line laser adjusting plate (6) and the right side line laser adjusting plate (10) relative to the vertical direction are 30-60 degrees.
6. The machine-vision assisted curved surface machining device of claim 1, wherein: the horizontal milling machine (16) is provided with a current sensor, when the cutter contacts a workpiece, the current sensor is triggered, and then the control system can acquire the position information of the cutter at the moment.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921770983.1U CN211588658U (en) | 2019-10-22 | 2019-10-22 | Machine vision auxiliary curved surface machining device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921770983.1U CN211588658U (en) | 2019-10-22 | 2019-10-22 | Machine vision auxiliary curved surface machining device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN211588658U true CN211588658U (en) | 2020-09-29 |
Family
ID=72586083
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921770983.1U Expired - Fee Related CN211588658U (en) | 2019-10-22 | 2019-10-22 | Machine vision auxiliary curved surface machining device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN211588658U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110814398A (en) * | 2019-10-22 | 2020-02-21 | 武汉科技大学 | Machine vision auxiliary curved surface machining device and method |
| CN112571159A (en) * | 2020-12-10 | 2021-03-30 | 高铭科维科技无锡有限公司 | Component polishing method based on visual detection and polishing system thereof |
-
2019
- 2019-10-22 CN CN201921770983.1U patent/CN211588658U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110814398A (en) * | 2019-10-22 | 2020-02-21 | 武汉科技大学 | Machine vision auxiliary curved surface machining device and method |
| CN110814398B (en) * | 2019-10-22 | 2024-06-21 | 武汉科技大学 | Machine vision auxiliary curved surface processing device and method |
| CN112571159A (en) * | 2020-12-10 | 2021-03-30 | 高铭科维科技无锡有限公司 | Component polishing method based on visual detection and polishing system thereof |
| CN112571159B (en) * | 2020-12-10 | 2022-04-26 | 高铭科维科技无锡有限公司 | Component polishing method based on visual detection and polishing system thereof |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109604830B (en) | Accurate welding seam tracking system for laser welding of active laser vision guiding robot | |
| CN107052950B (en) | A kind of complex-curved sanding and polishing system and method | |
| Huang et al. | Development of a real-time laser-based machine vision system to monitor and control welding processes | |
| CN109702290B (en) | Steel plate groove cutting method based on visual identification | |
| CN111195830B (en) | Digital thinning processing method for large thin-wall barrel part | |
| CN110524582B (en) | Flexible assembly welding robot workstation | |
| CN101733558A (en) | Intelligent laser cutting system provided with master-slave camera and cutting method thereof | |
| CN110814398B (en) | Machine vision auxiliary curved surface processing device and method | |
| CN107717631B (en) | A kind of HSC Milling Tools abrasion automatic monitoring method | |
| CN106239368B (en) | A kind of complex contour curve Grinding Error in situ detection device and method | |
| CN211588658U (en) | Machine vision auxiliary curved surface machining device | |
| CN106041296B (en) | A kind of online dynamic vision laser precision machining method | |
| CN102179726B (en) | Digital control processing secondary clamping deviation measuring apparatus and method based on image technique | |
| CN108284388A (en) | A kind of intelligent Force control grinding and polishing apparatus of vision guide | |
| CN110480128A (en) | A kind of real-time welding seam tracking method of six degree of freedom welding robot line laser | |
| CN109903342B (en) | Laser in-situ processing equipment and method based on scanning galvanometer | |
| CN201596852U (en) | Master-slave mode camera allocated intelligent laser cutting system | |
| CN114453729A (en) | Laser cooperation device for multi-axis turning and milling composite machine tool and control method | |
| CN108788467A (en) | A kind of Intelligent Laser welding system towards aerospace structural component | |
| CN109822194A (en) | A kind of weld tracker and welding method | |
| CN114559157B (en) | Welding seam track autonomous locating device, system and method based on machine vision | |
| CN103970071A (en) | Method for detecting and correcting machining path in casting surface cleaning process | |
| CN110253339B (en) | Integral spiral milling cutter grinding damage image acquisition device and method based on machine vision | |
| CN110298828B (en) | Method for positioning off-tracking slab burrs | |
| CN113634915A (en) | Cutting device based on vision and cutting method thereof |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| EE01 | Entry into force of recordation of patent licensing contract | ||
| EE01 | Entry into force of recordation of patent licensing contract |
Assignee: Wuhan University of science and Technology Business Incubator Co.,Ltd. Assignor: WUHAN University OF SCIENCE AND TECHNOLOGY Contract record no.: X2020420000004 Denomination of utility model: A machine vision aided curved surface machining device Granted publication date: 20200929 License type: Common License Record date: 20201021 |
|
| EE01 | Entry into force of recordation of patent licensing contract | ||
| EE01 | Entry into force of recordation of patent licensing contract |
Assignee: Wuhan Chuanfu metal materials Co.,Ltd. Assignor: WUHAN University OF SCIENCE AND TECHNOLOGY Contract record no.: X2021420000023 Denomination of utility model: Machine vision aided curved surface processing device Granted publication date: 20200929 License type: Common License Record date: 20210907 |
|
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20200929 Termination date: 20211022 |
|
| EC01 | Cancellation of recordation of patent licensing contract | ||
| EC01 | Cancellation of recordation of patent licensing contract |
Assignee: Wuhan University of science and Technology Business Incubator Co.,Ltd. Assignor: WUHAN University OF SCIENCE AND TECHNOLOGY Contract record no.: X2020420000004 Date of cancellation: 20230505 |