Visual positioning method for casting grinding

Abstract

The invention relates to a visual positioning method for casting grinding. The visual positioning method comprising the following steps of (1) calibrating the conversion relation matrix between a camera image coordinate system and a robot coordinate system; determining scanning feature points of a casting; (3) determining the coordinates of the scanning feature points of the casting in the cameraimage coordinate system; (4) converting the coordinates of the scanning feature points in the camera image coordinate system into the coordinates under the robot coordinate system; (5) calculating thegeometric centers of the plurality of scanning feature points of the determined casting and the coordinates of the midpoints of the two adjacent scanning feature points in the clockwise or counterclockwise direction under the robot coordinate system; and (6) determining a casting coordinate system. The visual positioning method can solve the problem that when the small-view-field camera is used for positioning a large-size workpiece, the large-size workpiece cannot be positioned due to insufficient view field, meanwhile, the visual positioning method can solve the problem that the positioningprecision is not high when the quality of the local surface of the casting is poor and the consistency is poor, and the method is high in efficiency, low in cost and good in product consistency.

Description

technical field [0001] The invention belongs to the technical field of machining, and in particular relates to a visual positioning method for casting grinding. Background technique [0002] Due to the surface finish and roughness of castings are generally very large, if there are requirements for product finish and roughness, further cutting or grinding must be carried out. At present, the cleaning of castings in my country is still mainly manual grinding, and its positioning The fixing method usually adopts visual inspection and hand holding, and a few use mechanical positioning. This method has low production efficiency, poor product consistency, and high labor costs for polishing. Therefore, it is very necessary to research and develop fully automatic casting cleaning with independent intellectual property rights. equipment. [0003] At present, one of the technical difficulties in grinding castings in an automated way is the accurate positioning of casting products durin...

AI Technical Summary

Problems solved by technology

[0002] Due to the surface finish and roughness of castings are generally very large, if there are requirements for product finish and roughness, further cutting or grinding must be carried out. At present, the cleaning of castings in my country is still mainly manual grinding, and its positioning The fixing method usually adopts visual inspection and hand holding, and a few use mechanical positioning. This method has low production efficiency, poor product consistency, and high labor cost for polishing. Therefore, it is very necessary to research and develop fully automatic casting cleaning with independent intellectual property rights. equipment

[0003] At present, one of the technical difficulties in grinding castings in an automated way is the accurate positioning of casting products during the grinding process. In order to solve the problem of automatic positioning of products during the grinding process, especially when the local surface quality of castings is poor, it is urgent to provide consistency. Good, high positioning accuracy visual positioning method for casting grinding

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