A Visual Positioning Method for Casting Grinding

Abstract

The invention relates to a visual positioning method for casting grinding, which comprises the following steps: (1) calibrating the transformation relation matrix between the camera image coordinate system and the robot coordinate system; (2) determining the scanning feature points of the casting; (3) Determine the coordinates of the scanned feature points of the casting in the camera image coordinate system; (4) convert the coordinates in the camera image coordinate system of the scanned feature points into coordinates in the robot coordinate system; (5) calculate multiple scans of the determined casting The geometric center of the feature point and the coordinates of the midpoint of two adjacent scanning feature points in the clockwise or counterclockwise direction in the robot coordinate system; (6) Determine the casting coordinate system. The invention can solve the problem that the camera field of view is not enough to cause the positioning of large-sized workpieces using a small field of view camera, and at the same time, it can solve the problem of low positioning accuracy when the local surface quality of the casting is poor and the consistency is poor. The method has high efficiency , low cost, good 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 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 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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