Forging ex-situ identification and positioning method in robotized die forging process

A positioning method and robot technology, applied in the direction of instruments, image data processing, calculation, etc., to improve positioning accuracy and solve the problem of high-temperature forging out-of-position identification and positioning

Active Publication Date: 2019-11-05
CHINA UNIV OF MINING & TECH (BEIJING)
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  • Application Information

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Problems solved by technology

[0004] The invention proposes a method for identifying and locating out-of-position forgings in the process of robotized die forging, which solves the problem of out-of-position identification and positioning of hi

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  • Forging ex-situ identification and positioning method in robotized die forging process
  • Forging ex-situ identification and positioning method in robotized die forging process
  • Forging ex-situ identification and positioning method in robotized die forging process

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Example Embodiment

[0042] by figure 1 It can be seen that the method for identifying ex-situ forgings during robotic die forging includes the following steps:

[0043] (1) Use the high-temperature forging image preprocessing combination algorithm to process the image of the die forging platform taken in the horizontal direction;

[0044] (2) Use iterative selection threshold method for image segmentation to obtain forging area;

[0045] (3) Obtain the centroid coordinates of the divided forging area;

[0046] (4) According to steps (1) to (3), calibrate the centroid coordinate Q1 of the forging area when no out-of-position occurs;

[0047] (5) According to steps (1) to (3), obtain the centroid coordinate Q2 of the forging area when the out-of-position occurs;

[0048] (6) Calculate the distance value of Q1 and Q2. If the value exceeds the set threshold, it is considered that the forging is out of position, otherwise it is considered that the forging is not out of position.

[0049] by figure 1 It can be s...

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Abstract

The invention discloses a forging ex-situ identification and positioning method in a robotized die forging process. According to the forging ex-situ recognition method in the robotized die forging process, a die forging platform image shot in the horizontal direction is processed through a high-temperature forging image preprocessing combination algorithm, image segmentation is conducted through an iterative selection threshold method, and whether a forging is ex-situ or not is judged according to the distances of centroid coordinates of a forging area when the forging is not ex-situ and whenthe forging is ex-situ. According to the forging positioning method in the robotized die forging process, a positioning platform image shot in the overlooking direction is processed through a high-temperature forging image preprocessing combination algorithm; image segmentation is carried out by using a region growing method to obtain a forging region, and a forging center coordinate C which is less influenced by axial asymmetry and radial asymmetry of forging flashes is solved by using a bidirectional correction positioning algorithm. According to the method, the problems of ex-situ identification and positioning of the high-temperature forge piece with the asymmetric flash in the robotized die forging process are solved, the positioning accuracy is improved, and a foundation is laid forachieving robotized die forging.

Description

technical field [0001] The invention belongs to the technical field of measurement of irregular surfaces or contours, and specifically provides a method for identifying and locating out-of-position forgings in a robotized die forging process. Background technique [0002] Die forging is a widely used mechanical manufacturing technology. The die forging production line is noisy and the temperature is high. Working in a high temperature environment for a long time and exposed to industrial noise will endanger the health of workers. The application of industrial manipulators to replace humans and realize robotic die forging can liberate workers from the arduous production line, which is in line with the general trend of intelligent manufacturing development and is of great significance. [0003] In die forging manufacturing, during each forging process, the forging will adhere to the upper die chamber. When the upper die chamber is lifted, the forging will be taken out of the ...

Claims

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Application Information

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IPC IPC(8): G06T7/00G06T7/136G06T7/66
CPCG06T7/0004G06T2207/30108G06T7/136G06T7/66
Inventor 汪爱明朱亚坤
Owner CHINA UNIV OF MINING & TECH (BEIJING)
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