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

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 ...

AI Technical Summary

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 high-temperature forgings with asymmetric flash edges in the process of robotized die forging, improves the accuracy of positioning, and contributes to the realization of robotization. Die forging lays the foundation

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