Steel pipe grinding device, steel pipe intelligent grinding equipment, system and method

Abstract

The present invention provides a steel pipe grinding device, steel pipe intelligent grinding equipment, system and method. The steel pipe grinding device is used in conjunction with a six-axis robot, and includes: a mounting frame, including a first panel, a second panel and a third panel, the first panel, the second panel and the third panel are sequentially connected to form a right-angle U-shaped structure, and the second panel is used to be connected and fixed to the sixth axis of the six-axis robot; a visual device, installed and fixed on the outer surface of the first panel; a grinding mechanism, installed and fixed on the outer surface of the third panel. The steel pipe intelligent grinding equipment includes a conveying roller, a photoelectric sensor component, a six-axis robot, a steel pipe grinding device, an electrical controller, a local terminal, and a remote terminal. The steel pipe intelligent grinding method of the present invention can realize the fully automatic grinding of steel pipes of various specifications that are adaptive, effectively improve production efficiency, and reduce safety hazards for workers.

Description

Technical Field

[0001] The present invention relates to the field of mechanical automation technology, and in particular to a steel pipe grinding device used in conjunction with a six-axis robot, steel pipe intelligent grinding equipment including the steel pipe grinding device, a steel pipe intelligent grinding method using the steel pipe intelligent grinding equipment, and a management system for the steel pipe intelligent grinding equipment. Background Art

[0002] Grinding the burrs on the end faces of steel pipes is a necessary process in the production of steel pipes. Traditionally, the grinding work is done manually by operators holding grinding tools, which results in serious noise and dust pollution on site, high labor intensity and potential safety hazards. Although this situation has improved, it is still done manually with angle grinders, which results in serious dust and noise pollution on site and a poor working environment. Summary of the invention

[0003] The present invention is made to solve the above-mentioned problems, and its purpose is to provide a steel pipe grinding device, steel pipe intelligent grinding equipment, steel pipe intelligent grinding method, and steel pipe intelligent grinding equipment management system for use with a six-axis robot.

[0004] The present invention provides a steel pipe grinding device, which is characterized in that it comprises: an installation frame, including a first panel, a second panel and a third panel, the first panel, the second panel and the third panel are connected in sequence to form a right-angle U-shaped structure, and the second panel is used to be connected and fixed to the sixth axis of a six-axis robot; a visual device, installed and fixed on the outer side of the first panel; and a grinding mechanism, installed and fixed on the outer side of the third panel.

[0005] Furthermore, in the steel pipe grinding device provided by the present invention, there is also such a feature: wherein the visual device includes a 3D laser line scanning camera and a 2D visual camera.

[0006] The present invention also provides an intelligent steel pipe grinding equipment, which is characterized in that it includes: a conveying roller, used to convey the steel pipe to be ground; a photoelectric sensor component, arranged beside the steel pipe conveying roller, used to detect whether the steel pipe is conveyed to the specified position; a six-axis robot, arranged beside the conveying roller; a steel pipe grinding device, which is the above-mentioned steel pipe grinding device, and the steel pipe grinding device is installed on the sixth axis of the six-axis robot, and is used to obtain the circular end surface parameters of the steel pipe to be ground and to grind the circular end surface; an electrical controller, which is respectively connected to the controller of the conveying roller, the photoelectric sensor component, the six-axis robot, the visual device, and the grinding mechanism; a local terminal, which is connected to the electrical controller, and is used to analyze and process data and for users in the workshop to operate; a remote terminal, which is connected to the electrical controller, and is used to analyze and process data and for remote users to operate.

[0007] Furthermore, the intelligent steel pipe grinding equipment provided by the present invention also has the following characteristics: wherein the photoelectric sensor component includes a first sensor and a second sensor, and the distance between the first sensor and the second sensor is 30 cm.

[0008] The present invention also provides a steel pipe intelligent grinding method, which is performed using the above-mentioned steel pipe intelligent grinding device and is characterized in that it comprises the following steps:

[0009] Step 1: During the conveying process of the steel pipe to be polished, the first rule is used to detect whether the steel pipe is in place. When the steel pipe is in place, the roller table stops conveying according to the positioning instruction and lifts the steel pipe to position.

[0010] Step 2: When the steel pipe is lifted up and cannot move, first, the six-axis robot drives the visual device to move to the preset 3D shooting position to shoot the 3D image according to the 3D shooting instruction, and then analyzes and processes the obtained 3D image to obtain the estimated circular end surface parameters of the steel pipe to be polished and the precise distance value between the preset 3D shooting position and the circular end surface of the steel pipe to be polished;

[0011] Step 3: Generate a 2D shooting instruction based on the estimated circular end surface parameters and the precise distance value. Then, the six-axis robot drives the visual device to move to the 2D shooting position to shoot a 2D image according to the 2D shooting instruction. Then, the 2D image is analyzed and processed to obtain the precise circular end surface parameters.

[0012] Step 4: Generate a grinding instruction according to the precise circular end surface parameters, and then the six-axis robot drives the grinding mechanism to move to the grinding position to grind the circular end surface of the steel pipe according to the grinding instruction;

[0013] Step 5: After grinding is completed, the six-axis robot returns to the initial position according to the reset command and feeds back a grinding completion signal;

[0014] Step 6: Generate a continue conveying instruction according to the grinding completion signal, and the roller continues to operate according to the continue conveying instruction.

[0015] Furthermore, the intelligent steel pipe grinding method provided by the present invention also has the following feature: wherein, the first rule in step 1 is: when the first sensor sends out a sensing signal and the second sensor has no sensing signal, it is determined that the steel pipe to be ground has been transferred to the designated position.

[0016] Furthermore, the intelligent steel pipe grinding method provided by the present invention also has the following characteristics: wherein, the estimated circular end face parameters in step 2 include the estimated inner diameter value of the steel pipe and the estimated outer diameter value of the steel pipe; the precise circular end face parameters in step 3 include the precise inner diameter value of the steel pipe, the precise outer diameter value of the steel pipe, and the center value of the steel pipe.

[0017] Furthermore, the intelligent steel pipe grinding method provided by the present invention also has the following characteristics: wherein, the analysis and processing process of the 2D image in step 3 is specifically as follows: the first step is to identify the steel pipe in the 2D image according to the image color value, and automatically obtain the steel pipe picture area; the second step is to extract the characteristic circular ring in the steel pipe picture area; the third step is to calculate the outer diameter value, inner diameter value, and center value of the characteristic circular ring, that is, the precise outer diameter value, precise inner diameter value, and center value of the steel pipe.

[0018] Furthermore, in the intelligent steel pipe grinding method provided by the present invention, there is also such a feature: wherein, the grinding instructions include: the first step instruction: grinding the inner cylindrical surface of the steel pipe according to the steel pipe center value and the precise steel pipe inner diameter value; the second step instruction: grinding the outer cylindrical surface of the steel pipe according to the steel pipe center value and the precise steel pipe outer diameter value.

[0019] The present invention also provides a steel pipe intelligent grinding equipment management system, which is characterized in that: the steel pipe grinding intelligent robot management system is communicatively connected with the primary control system and the secondary management system of the factory, and the steel pipe intelligent grinding equipment management system includes: a storage unit for storing computer program instructions; a processing unit for data analysis and processing and generating command signals; a communication unit for transmitting command signals and for communicating with the primary control system and the secondary management system; an execution unit for executing computer program instructions, wherein when the computer program instructions are executed, the above-mentioned steel pipe intelligent grinding method is triggered.

[0020] Functions and effects of the present invention:

[0021] The present invention ensures that the steel pipe to be polished is located at a specified position according to its feedback signal by arranging a photoelectric sensor component beside the steel pipe conveying roller; then the six-axis robot drives the visual device to complete 3D shooting and 2D shooting, and the accurate steel pipe inner diameter value, accurate steel pipe outer diameter value, and steel pipe center value can be obtained through image data analysis; and then the six-axis robot drives the polishing mechanism to complete accurate polishing according to the obtained accurate circular end surface parameters. This polishing method is fully automatic polishing, which can effectively improve production efficiency and reduce safety hazards of workers. Moreover, this polishing method is accurate polishing, which is performed according to the actual situation of each steel pipe to be polished, so it can be applied to steel pipes of various specifications. In addition, the present invention can also adopt active user operation, which can make the polishing process flexible. In addition, the steel pipe intelligent polishing equipment management system of the present invention is connected to the primary control system and the secondary management system of the factory, so that the polishing data can be synchronously entered into these systems of the factory, and the overall management of the factory can be better realized. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1Schematic diagram of the installation of the steel pipe grinding device used in conjunction with the six-axis robot in Example 1 of the present invention installed on the robot;

[0023] Figure 2 is a schematic structural diagram of a steel pipe grinding device used in conjunction with a six-axis robot in Example 1 of the present invention;

[0024] Figure 3 is a schematic diagram of the structure of the visual device in Example 1 of the present invention (seen from the inner surface of the bottom plate);

[0025] Figure 4 is a schematic structural diagram of an installation frame in Embodiment 1 of the present invention;

[0026] Figure 5 This is a schematic diagram of electrical connections of the steel pipe intelligent grinding device in Embodiment 2 of the present invention;

[0027] Figure 6 is a schematic diagram of the position arrangement of the first photoelectric sensor and the second photoelectric sensor in Example 2 of the present invention (top view);

[0028] Figure 7 is a block diagram of a steel pipe intelligent grinding equipment management system in Example 3 of the present invention;

[0029] Figure 8 3D images in Example 4 of the present invention are analyzed and processed to obtain an estimated inner diameter value and an estimated outer diameter value of a steel pipe, wherein (a) is a schematic diagram of a circular end surface of a steel pipe, (b) is a schematic diagram of a laser hitting the circular end surface of a steel pipe, and (c) is a schematic diagram of two thick line segments formed in a 3D image by feedback signals from a 3D laser line scanning camera;

[0030] Fig. 9 It is a schematic diagram of the analysis and processing process of a 2D image in Example 4 of the present invention, wherein (a) is a schematic diagram of a 2D image, (b) is a schematic diagram of obtaining a steel pipe image area, and (c) is a schematic diagram of extracting a feature ring. DETAILED DESCRIPTION

[0031] In order to make the technical means, creative features, objectives and effects achieved by the present invention easy to understand, the following embodiments, in conjunction with the accompanying drawings, specifically explain the steel pipe grinding device used in conjunction with a six-axis robot, the steel pipe intelligent grinding equipment including the steel pipe grinding device, the steel pipe intelligent grinding method using the steel pipe intelligent grinding equipment, and the steel pipe intelligent grinding equipment management system of the present invention.

[0032] <Example 1>

[0033] This embodiment provides a steel pipe grinding device used in conjunction with a six-axis robot. Figure 1 and Figure 2As shown, the steel pipe grinding device 100 includes: a mounting frame 10 , a visual device 20 , and a grinding mechanism 30 .

[0034] The mounting frame 10 is made of metal material. Figure 4 As shown, the mounting frame 10 includes a first panel 11, a second panel 12 and a third panel 13, and the first panel 11, the second panel 12 and the third panel 13 are sequentially connected to form a right-angle U-shaped structure, and the right-angle U-shaped structure is integrally formed.

[0035] like Figure 4 As shown, in this embodiment, the first panel 11 is provided with a plurality of bolt holes 111, and the bolt holes 111 are used to install the visual device 20. The first panel 11 is provided with weight-reducing holes for reducing weight, and the weight-reducing holes can be square holes, round holes or special-shaped holes. Figure 4 As shown, the weight-reducing hole 112 is set as a round hole. The first panel 11 is also provided with a spare mounting hole 113, which can be used in special cases, such as when the entire visual device 20 is not required for shooting, and only 2D shooting is required, the 2D camera can be directly bolted and fixed through the spare mounting hole 113.

[0036] like Figure 4 As shown, the second panel 12 is provided with a plurality of bolt holes 121 for being connected and fixed with the sixth axis of the six-axis robot by bolts. Figure 1 As shown, the mounting frame 10 is fixedly connected to the sixth axis 201 of the six-axis robot 200 by bolts and positioning pins, so that the entire steel pipe grinding device 100 is installed on the six-axis robot. The second panel 12 is also provided with a weight-reducing hole for reducing weight. The weight-reducing hole can be a square hole, a round hole or a special-shaped hole. In this embodiment, Figure 4 As shown, the weight-reducing hole 122 is configured to be crescent-shaped.

[0037] The third panel 13 is used to install the grinding mechanism 30. Figure 4 As shown, the third panel 13 is provided with a grinding mechanism installation hole 131 and a plurality of bolt holes 132 .

[0038] like Figure 4 As shown, a dust shield 14 is welded to the upper edge of the third panel 13, and the angle between the dust shield 14 and the third panel is 135°. The dust shield 14 with an inclination angle of 135° can effectively block the flying dust caused by the grinding mechanism when grinding the steel pipe, and also ensure that it will not interfere with the work of the grinding mechanism.

[0039] like Figure 4As shown, the mounting frame 10 is provided with two support columns 15 on the opening side corresponding to the right-angle U-shaped structure, one end of the support column 15 is welded and fixed to the inner side surface of the first panel 1, and the other end is welded and fixed to the inner side surface of the third panel 13. Triangular reinforcement plates 16 are also welded at the angle between the first panel 11 and the second panel 12, and at the angle between the second panel 12 and the third panel 13. The arrangement of the support columns 15 and the triangular reinforcement plates 16 makes the entire mounting frame 10 structure more stable and high in strength.

[0040] like Figure 1 and Figure 2 As shown, the visual device 20 is fixed to the outer side of the first panel 11 by bolt connection. Figure 3 As shown, the visual device 20 includes a base plate 21, a dustproof frame 22, a 3D laser line scanning camera 23, a 2D visual camera 24, and a light source 25.

[0041] The bottom plate 21 has a bottom plate inner surface and a bottom plate back surface. Figure 2 The viewing angle shown is from the back of the base plate. Figure 3 The view shown is from the inside of the base plate. Figure 2 As shown, the back of the base plate is bolted and fixed to the first panel 11 of the mounting frame 10. Figure 4 As shown, a dustproof frame 22 is bolted and fixed along the edges of the inner surface 21 of the bottom plate, and a plurality of weight-reducing holes 221 are provided on the dustproof frame 22. Two rectangular weight-reducing windows are provided on the bottom plate 21, and a light acrylic cover plate 27 is covered at the position of the weight-reducing windows to prevent dust, and the acrylic cover plate 27 is bolted and fixed to the bottom plate 21.

[0042] like Figure 4 As shown, the 3D laser line scanning camera 23, the 2D visual camera 24, and the light source 25 are all installed on the inner surface of the bottom plate. There are two light sources 25, which are respectively arranged on both sides of the inner surface of the bottom plate, and the camera is arranged between the two light sources. The 2D visual camera 24 is installed by means of a mounting bracket 26, and the mounting bracket 26 is bolted to the bottom plate 21. The 3D laser line scanning camera 23 is fixed to the bottom plate 21 by means of bolts.

[0043] Each light source 25 is installed by a set of light source installation components 28. Each set of light source installation components 28 includes a support 281, a first adjustment member 282, a second adjustment member 283, and an adjustment screw 284. The support 281 is fixed to the inner surface of the bottom plate by screws, the first adjustment member 282 is fixed to the support 281, the second adjustment member 283 is connected to the first adjustment member 282 by the adjustment screw 284, and the light source is fixed to the second adjustment member 283. The light source 25 adopts a long strip-shaped lamp body. The support 281 has two first long holes, and the first long holes are arranged horizontally and longitudinally. The first adjustment member 282 has a second long hole, and the second long hole is arranged horizontally and transversely. The first adjusting member 282 is fixed to the support 281 by bolts connected with the first long hole and the second long hole. The bolt connection position can be selected at any position in the first long hole, so as to adjust the horizontal longitudinal fixed position of the first adjusting member 282, that is, adjust the position of the light source 25 in the horizontal longitudinal direction; the bolt connection position can be selected at any position in the second long hole, so as to adjust the horizontal transverse fixed position of the first adjusting member 282, that is, adjust the position of the light source 25 in the horizontal transverse direction. The first adjusting member 282 has a first threaded hole, and the second adjusting member 283 has a second threaded hole. The adjusting screw 284 is inserted into the first threaded hole and the second threaded hole, so that the first adjusting member 282 is connected to the second adjusting member 283. By adjusting the adjusting screw 284, the rotation angle of the second adjusting member 283 relative to the first adjusting member 281 can be adjusted, that is, the light source 25 can rotate around the adjusting screw 284, so as to adjust the light emitting surface of the light source.

[0044] like Figure 2 As shown, the grinding mechanism 30 is mounted and fixed on the outer side of the third panel 13. The grinding mechanism 30 includes a pneumatic floating motor 31 and a milling cutter 32. The end face of the pneumatic floating motor 31 is embedded in the grinding mechanism mounting hole 131, and the pneumatic floating motor 31 has a mounting foot 311, and the mounting foot of the pneumatic floating motor 31 is fixed on the third panel 13 by bolt connection. The milling cutter 32 is a carbide milling cutter, which is mounted on the output end of the pneumatic floating motor 31 through a chuck. The milling cutter 32 is driven by the pneumatic floating motor 31 to rotate at high speed to achieve milling processing.

[0045] <Example 2>

[0046] This embodiment provides an intelligent steel pipe grinding device. Figure 5 It is a schematic diagram of electrical connections of the intelligent steel pipe grinding equipment in Example 2 of the present invention.

[0047] The intelligent steel pipe grinding equipment in this embodiment includes: a conveying roller, a photoelectric sensor component 400, a six-axis robot 200, a steel pipe grinding device 100, an electrical controller 500, a local terminal 700, and a remote terminal 600.

[0048] The conveyor roller is used to convey the steel pipe to be polished. Figure 6The middle arrow J1 indicates the running direction of the roller conveyor steel pipe.

[0049] The photoelectric sensor assembly 400 is arranged beside the conveying roller to detect whether the steel pipe has been conveyed to the designated position. The photoelectric sensor assembly 400 includes a first sensor 401 and a second sensor 402, both of which are infrared sensors. Figure 6 As shown, in this embodiment, the infrared emission direction of the first sensor 401 and the second sensor 402 is perpendicular to the axial direction of the steel pipe and opposite to the running direction of the conveyor roller. Figure 6 As shown by the middle arrow J2, the infrared emission direction of the second sensor 402 is Figure 6 As shown by the arrow J3 in the middle. The distance between the first sensor 401 and the second sensor 402 is 30 cm. And the infrared sensing distance of the first sensor 401 and the second sensor 402 is limited, and the limited distance can be set according to the actual production situation to ensure that the steel pipe at the front end of the steel pipe transportation process can be sensed, but the steel pipe at the rear position cannot be sensed. Through the position setting of the first sensor 401 and the second sensor 402 and the current sensing distance, it is detected whether the steel pipe to be polished has reached the specified position.

[0050] The six-axis robot 200 is arranged beside the steel pipe conveying roller. In this embodiment, the six-axis robot 200 is arranged on the right side of the steel pipe conveying roller (such as Figure 6 The six-axis robot 200 can perform actions with six degrees of freedom.

[0051] The steel pipe grinding device adopts the steel pipe grinding device 100 in Example 1, and the steel pipe grinding device 100 is installed on the sixth axis 201 of the six-axis robot 200. The steel pipe grinding device 100 is used to obtain the circular end surface parameters of the steel pipe to be ground and to grind the circular end surface.

[0052] The electrical controller 500 is a PLC electrical controller. Figure 5 As shown, the electrical controller 500 is respectively connected to the controller 300 of the conveyor roller, the six-axis robot 200, the visual device 20, the grinding mechanism 30, and the photoelectric sensor component 400.

[0053] The local terminal 700 is connected to the electrical controller 500 and is used for analyzing and processing data and for users in the workshop to operate. The local terminal 700 is a touch-screen integrated machine set in the workshop. The remote terminal 600 is connected to the electrical controller 500 and is used for analyzing and processing data and for remote users to operate. The remote terminal 600 is a computer set in a remote location.

[0054] <Example 3>

[0055] In this embodiment, a steel pipe grinding intelligent robot management system is provided, which is used to instruct the steel pipe intelligent grinding equipment in Example 2 to work. The steel pipe grinding intelligent robot management system is connected to the primary control system and the secondary management system of the factory. The primary control system and the secondary management system are the existing control system and management system in the factory, respectively.

[0056] The steel pipe grinding intelligent robot management system of this embodiment includes: a storage unit for storing computer program instructions; a communication unit for transmitting instruction signals and for communicating with the primary control system and the secondary management system; a processing unit for data analysis and processing and generating instruction signals; and an execution unit for executing computer program instructions. When the computer program instructions are executed by the execution unit, the steel pipe intelligent grinding method in the following embodiment 4 is triggered to be automatically performed.

[0057] <Example 4>

[0058] This embodiment provides a steel pipe intelligent grinding method, which includes the following steps:

[0059] Step 1: Check whether the steel pipe is in place

[0060] During the conveying process of the steel pipe to be polished, the first sensor 401 and the second sensor 402 detect in real time, and the processing unit determines whether the steel pipe is conveyed to the right place according to the first rule.

[0061] The first rule is: See Figure 6 When the first sensor 401 sends out a sensing signal and the second sensor 402 has no sensing signal, it is determined that the steel pipe 1 to be polished has been transferred to the specified position; when both the first sensor 401 and the second sensor 402 have no sensing signals, it indicates that the steel pipe 1 to be polished has not reached the specified position; when both the first sensor 401 and the second sensor 402 send out sensing signals, it indicates that the circular end face to be polished (the right circular end face) of the steel pipe 1 to be polished has exceeded the specified position, and there is a risk of touching the six-axis robot and the steel pipe polishing device located on the right.

[0062] When the steel pipe 1 to be polished is transported to the specified position, the processing unit generates a positioning instruction, which is transmitted to the PLC electrical controller, and then transmitted to the controller of the conveying roller after signal conversion. The roller stops running according to the positioning instruction, and the transmission of all steel pipes on the roller stops, and the steel pipe 1 to be polished is lifted up and positioned.

[0063] When the right circular end surface of the steel pipe 1 to be polished exceeds the specified position, the processing unit generates a warning instruction, which is displayed on the touch screen of the local terminal, reminding the staff to perform manual adjustments to place the steel pipe in the polishable area. When the steel pipe is in the polishable area, the first sensor 401 sends a sensing signal and the second sensor 402 has no sensing signal.

[0064] Step 2: 3D Shooting and Image Processing

[0065] When the steel pipe 1 to be polished is lifted up and stops moving, the communication unit receives a feedback signal from the controller of the conveying roller, and the processing unit generates a 3D shooting instruction.

[0066] The 3D shooting command is transmitted to the PLC electrical controller, and then transmitted to the six-axis robot and the visual device after signal conversion. The six-axis robot 200 drives the visual device 20 to move to the preset 3D shooting position to shoot the 3D image according to the 3D shooting command ( Figure 6 The direction of the arrow J4 is the laser direction of the 3D laser line scanning camera. The 3D laser line scanning camera emits laser light from the preset 3D shooting position. The situation of the laser light irradiating the round end surface of the steel pipe is as follows: Figure 8 As shown in (a), Figure 8 (a) The circle in the middle is the round end face of the steel pipe, and the dotted line is the laser surface. Figure 8 As shown in (b), the laser hits the circular end surface of the steel pipe (the position shown by the thick line in the figure) and is reflected back to form a feedback signal. The feedback signal of the 3D laser line scanning camera will form the following in the 3D image: Figure 8 The two thick line segments shown in (c) can be analyzed and processed by the 3D image processor to calculate the distance a between the two adjacent endpoints of the two thick line segments and the distance b between the two distant endpoints of the two thick line segments. The distance a is the estimated inner diameter of the steel pipe, and the distance b is the estimated outer diameter of the steel pipe. In addition, the precise distance L between the visual device 20 and the circular end surface of the steel pipe can be obtained according to the feedback signal.

[0067] The estimated inner diameter a and outer diameter b of the steel pipe obtained by 3D shooting in this step are not very accurate values, but approximate values. The reasons are: First, the specific position of the right circular end face of the steel pipe 1 to be polished is not known in advance, so the distance between this position and the preset 3D shooting position will change with the situation of each steel pipe 1 to be polished, but the steel pipe 1 to be polished is detected by the photoelectric sensing component and then positioned and lifted within the specified position range, so the distance is within the controllable range. Second, the position of the steel pipe may have some deviations, refer to Figure 8 (a) Figure 8 In (a), the laser plane is irradiated exactly at the diameter position of the steel pipe, but in actual situations, the position of the steel pipe is sometimes slightly to the left or slightly to the right, resulting in the laser plane not being irradiated exactly at the diameter position of the steel pipe. Therefore, based on the above two points, the estimated inner diameter value a and the estimated outer diameter value b of the steel pipe obtained by 3D image processing are approximate values, not very accurate values.

[0068] Step 3: 2D Shooting and Image Processing

[0069] After obtaining the estimated inner diameter value a of the steel pipe, the estimated outer diameter value b of the steel pipe, and the precise distance value L, the processing unit generates a 2D shooting instruction according to the estimated inner diameter value a of the steel pipe, the estimated outer diameter value b of the steel pipe, and the precise distance value L. The 2D shooting instruction includes selecting a suitable shooting template in the 2D shooting database and determining the shooting focal length according to the estimated inner diameter value a of the steel pipe and the estimated outer diameter value b of the steel pipe, and determining the 2D shooting position according to the difference between the precise distance value L and the shooting focal length.

[0070] The 2D shooting command is transmitted to the PLC electrical controller, and after signal conversion, it is transmitted to the six-axis robot and the visual device. The six-axis robot drives the visual device to move to the 2D shooting position according to the 2D shooting command to shoot the 2D image. Before 2D shooting, the PLC electrical controller controls the light source 25 to turn on. The 2D shooting position is determined as follows: when the precise distance value L is greater than the focal length of the camera, the six-axis robot drives the visual device to approach the circular end face of the steel pipe; when the precise distance value L is less than the focal length of the camera, the six-axis robot drives the visual device away from the circular end face of the steel pipe: so that the distance between the final 2D shooting position and the circular end face of the steel pipe to be polished is exactly equal to the focal length of the camera, so as to obtain a clear and accurate 2D image.

[0071] The 2D image obtained will show extremely high brightness at the round end of the steel pipe due to the reflection of the light source, and extremely low brightness at non-steel pipe locations. Fig. 9 As shown in (a), the circular end surface of the steel pipe appears as a bright ring, while other areas appear dark.

[0072] The processing unit analyzes and processes the 2D image. The specific process is as follows:

[0073] In the first step, the steel pipes in the 2D image are identified based on the image color values, and the steel pipe image area is automatically obtained. The steel pipe image area is marked with a rectangle of predefined size. This step is presented as follows Figure 8 (b) The size of the rectangle can be manually customized in advance.

[0074] The second step is to extract the characteristic circular ring in the steel pipe image area. This step is presented as follows Figure 8 (c) is shown. The feature ring in the steel pipe image area is extracted using an image feature extraction model. The specific operation is: an existing image feature extraction model can be selected as the initial model according to the actual situation, and a large number of samples are used for training to obtain the final trained model. The model training process is a conventional operation method in the prior art and will not be elaborated here.

[0075] The third step is to obtain the characteristic ring and then calculate the outer diameter, inner diameter and center value of the characteristic ring, which are the precise outer diameter, inner diameter and center value of the steel pipe.

[0076] Step 4: Sanding

[0077] After obtaining the precise outer diameter value, the precise inner diameter value and the center value of the steel pipe, the processing unit generates a grinding instruction according to the precise outer diameter value, the precise inner diameter value and the center value of the steel pipe.

[0078] The grinding instructions include: the first step instruction: grinding the inner surface of the steel pipe according to the center value of the steel pipe and the precise inner diameter value of the steel pipe. The second step instruction: grinding the outer surface of the steel pipe according to the center value of the steel pipe and the precise outer diameter value of the steel pipe.

[0079] The grinding instructions are sent to the PLC electrical controller and then transmitted to the six-axis robot and grinding mechanism after signal conversion.

[0080] The six-axis robot drives the grinding mechanism to move to the grinding position according to the grinding instruction. First, the grinding mechanism extends into the steel pipe to grind the inner surface of the steel pipe according to the center value of the steel pipe and the precise inner diameter value of the steel pipe. Then, the grinding mechanism withdraws from the steel pipe and grinds the outer surface of the steel pipe according to the center value of the steel pipe and the precise outer diameter value of the steel pipe. During the entire grinding process, the grinding angle can be adjusted by controlling the parameters of the pneumatic floating motor 31, and a certain angle of flexible floating can be achieved during the grinding process to achieve the best grinding effect.

[0081] Step 5: Reset the six-axis robot

[0082] After grinding is completed, the six-axis robot returns to the initial position according to the reset command and feeds back a grinding completion signal;

[0083] Step 6: Transfer the steel pipe to be polished

[0084] The processing unit generates a continue conveying instruction according to the grinding completion signal, and the roller continues to operate according to the continue conveying instruction to convey the next steel pipe to be ground, and then repeats the above steps 1-5 to perform automatic grinding of the next steel pipe.

[0085] Furthermore, since the steel pipe grinding intelligent robot management system is connected to the primary control system and the secondary management system of the factory, the primary control system and the secondary management system can be linked. The compressed air source in the factory is coordinated with the grinding mechanism, and the grinding mechanism is cooled by the compressed air in the factory through the air pipe and the cut-off valve.

[0086] In addition, in the operation of the steel pipe intelligent grinding method, intervention can be carried out through the local terminal and the remote terminal to implement user-initiated operations. The user-initiated operations of the local terminal include but are not limited to any one of manual visual photography, manual grinding, and manual resetting. The active operations of the remote terminal include but are not limited to one-button start of the fully automatic grinding mode, and the step-by-step start mode of visual photography and intelligent grinding.

[0087] The above implementation is a preferred example of the present invention and is not intended to limit the protection scope of the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.

Claims

1. A steel pipe intelligent grinding device, characterized in that: include: Conveying rollers, used to convey the steel pipes to be polished; The photoelectric sensor assembly is arranged beside the steel pipe conveying roller to detect whether the steel pipe has been conveyed to the designated position; A six-axis robot is arranged beside the conveying roller; A steel pipe grinding device, installed on the sixth axis of the six-axis robot, used to obtain the circular end surface parameters of the steel pipe to be ground and to grind the circular end surface, the steel pipe grinding device comprising a mounting frame, a visual device and a grinding mechanism; An electrical controller, connected to the controller of the conveying roller, the photoelectric sensor assembly, the six-axis robot, the visual device, and the grinding mechanism respectively; A local terminal, connected to the electrical controller, for analyzing and processing data and for users in the workshop to perform operations; A remote terminal connected to the electrical controller for analyzing and processing data and for remote users to perform operations; Wherein, the mounting frame comprises a first panel, a second panel and a third panel, the first panel, the second panel and the third panel are sequentially connected to form a right-angle U-shaped structure, and the second panel is used to be connected and fixed to the sixth axis of the six-axis robot; The visual device is mounted and fixed on the outer side of the first panel; The grinding mechanism is installed and fixed on the outer side surface of the third panel.

2. The intelligent steel pipe grinding device according to claim 1, characterized in that: in, The vision device includes a 3D laser line scanning camera and a 2D vision camera.

3. The intelligent steel pipe grinding device according to claim 1, characterized in that: in, The photoelectric sensor assembly includes a first sensor and a second sensor, and the distance between the first sensor and the second sensor is 30 cm.

4. A steel pipe intelligent grinding method, using the steel pipe intelligent grinding device according to claim 1, characterized in that: The following steps are involved: Step 1: During the conveying process of the steel pipe to be polished, the first rule is used to detect whether the steel pipe is in place. When the steel pipe is in place, the roller table stops conveying according to the positioning instruction and lifts the steel pipe to position. Step 2: When the steel pipe is lifted up and cannot move, first, the six-axis robot drives the visual device to move to the preset 3D shooting position to shoot a 3D image according to the 3D shooting instruction, and then analyzes and processes the obtained 3D image to obtain the estimated circular end surface parameters of the steel pipe to be polished and the precise distance value between the preset 3D shooting position and the circular end surface of the steel pipe to be polished; Step 3: Generate a 2D shooting instruction according to the estimated circular end surface parameters and the precise distance value, then, the six-axis robot drives the visual device to move to the 2D shooting position to shoot a 2D image according to the 2D shooting instruction, and then, analyzes and processes the 2D image to obtain the precise circular end surface parameters; Step 4: generating a grinding instruction according to the precise circular end surface parameters, and then the six-axis robot drives the grinding mechanism to move to the grinding position to grind the circular end surface of the steel pipe according to the grinding instruction; Step 5: After grinding is completed, the six-axis robot returns to the initial position according to the reset command and feeds back a grinding completion signal; Step 6: Generate a continue conveying instruction according to the grinding completion signal, and the roller continues to operate according to the continue conveying instruction.

5. The intelligent steel pipe grinding method according to claim 4, characterized in that: in, The first rule in step 1 is: when the first sensor sends out a sensing signal and the second sensor has no sensing signal, it is determined that the steel pipe to be polished has been transferred to the designated position.

6. The intelligent steel pipe grinding method according to claim 4, characterized in that: in, The estimated circular end face parameters in step 2 include an estimated inner diameter value of the steel pipe and an estimated outer diameter value of the steel pipe; The precise circular end face parameters described in step 3 include precise steel pipe inner diameter value, precise steel pipe outer diameter value, and steel pipe center value.

7. The intelligent grinding method for steel pipe according to claim 6, Features: The specific analysis and processing process of the 2D image in step 3 is as follows: The first step is to identify the steel pipe in the 2D image according to the image color value, and automatically obtain the steel pipe image area; The second step is to extract the characteristic circular ring within the steel pipe image area; The third step is to calculate the outer diameter value, inner diameter value, and center value of the characteristic circle, which are the outer diameter value, inner diameter value, and center value of the precise steel pipe.

8. The intelligent steel pipe grinding method according to claim 6 or 7, characterized in that: in, The grinding instructions include: The first instruction: grinding the inner surface of the steel pipe according to the center value of the steel pipe and the precise inner diameter value of the steel pipe; The second step instruction: grind the outer cylindrical surface of the steel pipe according to the steel pipe center value and the precise steel pipe outer diameter value.

9. A steel pipe intelligent grinding equipment management system, characterized by: The steel pipe grinding intelligent robot management system is connected to the factory's primary control system and secondary management system. The steel pipe intelligent grinding equipment management system includes: A storage unit, used for storing computer program instructions; A processing unit, used for data analysis and processing and generating command signals; A communication unit, used for transmitting command signals and for communicating with the primary control system and the secondary management system; An execution unit, for executing computer program instructions, When the computer program instructions are executed, the intelligent steel pipe grinding method described in any one of claims 4 to 8 is triggered.

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