A kind of auxiliary imaging system on the mobile phone of mill liner replacement machine and its use method

Abstract

The present invention introduces an auxiliary imaging system carried on a robot for replacing a mill liner, comprising a fixed bracket, a camera, an image processing unit, a display unit and a correction tool; the image processing unit receives the image data collected by the camera in real time and performs correction and enhancement processing on the image; the image processing unit covers the auxiliary reference virtual line corrected by the correction tool on the real-time image of the display unit; the correction tool comprises a ruler, a slider and a ring; the two sliders are slidably arranged on the ruler, the inner diameter of the ring matches the outer edge size of the gripper gripper pin, and the two rings are slidably arranged on both ends of the ruler. The present invention enhances the operator's ability to perceive the environment and the target, and the operator can accurately adjust the gripper position according to the auxiliary reference virtual line on the image and its relative liner posture; it effectively eliminates the safety hazards of operators going deep into the site, while achieving fast grasping, saving personnel and improving efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of auxiliary imaging systems, and in particular to an auxiliary imaging system carried on a robot for replacing a grinding mill liner and a method for using the system. Background Art

[0002] Mill lining is a consumable part. Liner replacement is one of the important equipment maintenance tasks of the mill. The liner changing device is a multi-degree-of-freedom special manipulator equipment designed specifically for mill liner replacement. It is usually composed of a frame body, a beam, a turntable, a multi-joint arm, a gripper and other parts. It can adapt well to the liner replacement operation in the narrow space and harsh environment of the mill, which can greatly reduce the number of operators, improve work efficiency, and reduce labor intensity and work risks.

[0003] When the liner changing device is working, the new liner is transported to the inside of the mill by the trolley on the beam, and then the hydraulic heavy-duty manipulator multi-joint arm and gripper are operated to grab the new liner and place it in a specific installation position. Due to the small working space, limited field of vision, lack of reference objects and other reasons, the operator cannot quickly and accurately observe the relative position of the gripper and the liner lifting ear. Therefore, a full-time personnel is required to approach and direct the operation during grabbing. However, this method is not only inefficient, but also poses a great safety hazard to the commanding personnel. Summary of the invention

[0004] The purpose of the present invention is to overcome the deficiencies of the prior art and provide an on-board auxiliary imaging system for a mill liner replacement robot and a method of using the system, so as to effectively eliminate potential safety hazards and improve replacement efficiency.

[0005] The technical solution adopted by the present invention is:

[0006] An auxiliary imaging system for a robot for replacing a mill liner, comprising a fixing bracket, a camera, an image processing unit, a display unit and a correction tool;

[0007] The camera is arranged in the middle of the non-moving housing at the front end of the manipulator gripper through a fixed bracket, and the camera is located on the plane where the centers of the gripper pins at both ends of the gripper are symmetrical; the image processing unit receives the image data collected by the camera in real time and corrects and enhances the image; the display unit is arranged at the manipulator operator's workstation, and the display unit displays the real-time image processed by the image processing unit; the image processing unit covers the auxiliary reference virtual line corrected by the correction tooling on the real-time image of the display unit;

[0008] The correction tool comprises a ruler, a slider and a ring; two sliders are slidably arranged on the ruler, the inner diameter of the ring matches the outer edge size of the gripper pin, and the two rings are slidably arranged on both ends of the ruler.

[0009] Specifically, a protective cover is arranged outside the camera, and the protective cover is connected to the front section of the camera through threads, and is used for dust and collision protection when the camera is not in working state.

[0010] Specifically, the camera is equipped with an auxiliary lighting device, which enhances the brightness of light within the camera's field of view.

[0011] Specifically, the auxiliary reference virtual line includes the linear motion trajectory of the gripper pin, the center axis and the coincidence point of the lifting lug.

[0012] Specifically, the middle of the ruler is the center point of the ruler, and the center point of the ruler coincides with the plane where the center of the camera is located.

[0013] A method for using an auxiliary imaging system carried by a robot for replacing a mill liner, the specific steps being:

[0014] Step 1: According to the shape and size of the liner to be replaced and the measured width distance of the two ends of the lifting ears, first put the two sets of rings of the correction tool on the gripper pins at both ends of the gripper respectively, and then according to the width of the two lifting ears on the liner to be replaced, adjust the two sliders on the correction tool to be symmetrical to the center of the ruler, and the distance between the two sliders is equal to the width distance of the two lifting ears; complete the installation of the correction tool on the gripper;

[0015] Step 2: Open the setting interface on the display unit, and adjust the coordinates of the gripper pin linear motion trajectory line, the central axis, and the coincidence point of the lifting lug of the auxiliary reference virtual line respectively, so that the gripper pin linear motion trajectory line coincides with the ruler, the central axis passes through the center of the ruler, and the coincidence point of the lifting lug coincides with the two sliders; after completion, exit the setting interface to complete the correction of the auxiliary reference virtual line;

[0016] Step 3: During operation, the image processing unit enhances the image of the front end of the gripper captured by the camera and displays it in real time on the display unit. The operator observes the auxiliary reference virtual line relative to the lining posture through the display unit to obtain the on-site posture information, and operates the multi-degree-of-freedom articulated arm of the manipulator to accurately adjust the gripper position according to the auxiliary reference virtual line to achieve rapid grasping of the lining.

[0017] Due to the adoption of the above-mentioned technical solution, the present invention has the following advantages:

[0018] The present invention enhances the operator's perception of the environment and targets by comprehensively using visual assistance, image enhancement and spatial geometric relationships. The operator can accurately adjust the gripper position according to the auxiliary reference virtual line on the image and its relative liner posture; it effectively eliminates the safety hazards of operators going deep into the site, while achieving fast gripping, saving manpower and improving efficiency; the system provides calibration and correction tooling and setting interfaces, which can be flexibly and quickly calibrated on site according to actual conditions, and can be widely applied to liners of different models. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic diagram of the overall structure of the multi-degree-of-freedom articulated arm and gripper of the manipulator of the present invention.

[0020] Figure 2 It is a schematic diagram of the gripper and camera perception field of the present invention.

[0021] Figure 3 It is a schematic diagram of the auxiliary reference virtual line of the present invention.

[0022] Figure 4 It is a schematic diagram of the effect of the present invention when the liner is grabbed.

[0023] Figure 5 It is a schematic diagram of a correction tool of the present invention.

[0024] Figure 6 It is a schematic diagram of the liner structure of the present invention.

[0025] In the figure: 1-manipulator multi-degree-of-freedom articulated arm, 2-gripper, 3-gripper pin, 4-camera, 5-correction tooling, 6-ruler, 7-slider, 8-ring, 9-straight motion trajectory of gripper pin, 10-central axis, 11-coincidence point of lifting ear, 12-lining plate, 13-lifting ear. DETAILED DESCRIPTION

[0026] The present invention will be further explained below in conjunction with the accompanying drawings and embodiments, which should not be used to limit the protection scope of the present invention. The purpose of disclosing the present invention is to protect all technical improvements within the scope of the present invention.

[0027] Combined with Figure 1-6 A robot-mounted auxiliary imaging system for replacing a mill liner 12 includes a fixing bracket, a camera 4, an image processing unit, a display unit and a correction tool 5.

[0028] The camera 4 is set in the middle of the non-moving shell at the front end of the manipulator gripper 2 through a fixed bracket, and the camera 4 is located on the plane where the symmetrical centers of the gripper pins 3 at both ends of the gripper 2 are located; a protective cover and auxiliary lighting equipment are set on the outside of the camera 4, and the protective cover is connected to the front end of the camera 4 through threads, which is used for dust and collision protection when the camera 4 is not working, and the auxiliary lighting equipment enhances the brightness in the field of view of the camera 4.

[0029] The image processing unit receives the image data collected by the camera 4 in real time and corrects and enhances the image; the display unit is arranged at the robot operator's workstation, and the display unit displays the real-time image processed by the image processing unit; the image processing unit overlays the auxiliary reference virtual lines corrected by the correction tool 5 on the real-time image of the display unit, and the auxiliary reference virtual lines include the linear motion trajectory line 9 of the gripper pin, the central axis 10 and the coincidence point 11 of the lifting ear.

[0030] The correction tool 5 includes a ruler 6, a slider 7 and a ring 8; the middle of the ruler 6 is the center point of the ruler 6, and the center point of the ruler 6 coincides with the plane where the center of the camera 4 is located; the two sliders 7 are slidably set on the ruler 6, the inner diameter of the ring 8 matches the outer edge size of the gripper pin 3 of the gripper 2, and the two rings 8 are slidably set on the two ends of the ruler 6 respectively.

[0031] A method for using an auxiliary imaging system carried by a robot for replacing a mill liner 12, the specific steps are as follows:

[0032] Step 1: According to the shape and size of the lining plate 12 to be replaced and the measured width distance of the ears 13 at both ends, first put the two rings 8 of the correction tool 5 on the gripper pins 3 at both ends of the gripper 2 respectively, and then adjust the two sliders 7 on the correction tool 5 to be symmetrical to the center of the ruler 6 according to the width of the two ears 13 on the lining plate 12 to be replaced, and the distance between the two sliders 7 is equal to the width distance of the two ears 13; complete the installation of the correction tool 5 on the gripper 2;

[0033] Step 2: Open the setting interface on the display unit, and adjust the coordinates of the gripper pin linear motion trajectory line 9, the central axis 10, and the lifting lug coincidence point 11 of the auxiliary reference virtual line respectively, so that the gripper pin linear motion trajectory line 9 coincides with the ruler 6, the central axis 10 passes through the center of the ruler 6, and the lifting lug coincidence point 11 coincides with the two sliders 7; after completion, exit the setting interface to complete the correction of the auxiliary reference virtual line;

[0034] Step three: During operation, the image processing unit enhances the image of the front end of the gripper 2 captured by the camera 4 and displays it in real time on the display unit. The operator observes the auxiliary reference virtual line relative to the lining 12 through the display unit to obtain the on-site posture information, and operates the manipulator multi-degree-of-freedom articulated arm 1 according to the auxiliary reference virtual line to accurately adjust the position of the gripper 2 to achieve rapid grasping of the lining 12.

[0035] Parts of the present invention not described in detail are prior art.

[0036] The embodiments selected herein for the purpose of disclosing the invention are currently considered to be suitable, but it should be understood that the invention is intended to include all changes and modifications of the embodiments that fall within the scope of the concept and invention.

Claims

1. A method for using an auxiliary imaging system carried by a robot for replacing a mill liner. Features: The specific steps are: Step 1: According to the shape and size of the liner to be replaced and the measured width distance of the two ends of the lifting ears, first put the two sets of rings of the correction tool on the gripper pins at both ends of the gripper respectively, and then according to the width of the two lifting ears on the liner to be replaced, adjust the two sliders on the correction tool to be symmetrical to the center of the ruler, and the distance between the two sliders is equal to the width distance of the two lifting ears; complete the installation of the correction tool on the gripper; Step 2, open the setting interface on the display unit, the auxiliary reference virtual line includes the gripper pin linear motion trajectory line, the central axis and the lifting ear coincidence point, adjust the coordinates of the gripper pin linear motion trajectory line, the central axis and the lifting ear coincidence point of the auxiliary reference virtual line respectively, adjust the gripper pin linear motion trajectory line to coincide with the ruler, the central axis passes through the center of the ruler, the middle of the ruler is the ruler center point, the ruler center point coincides with the plane where the camera center is located; the lifting ear coincidence point coincides with the two sliders; after completion, exit the setting interface to complete the correction of the auxiliary reference virtual line; Step 3: During operation, the image processing unit enhances the image of the front end of the gripper collected by the camera and displays it in real time on the display unit. The operator observes the auxiliary reference virtual line relative to the lining plate posture through the display unit to obtain the on-site posture information, and operates the multi-degree-of-freedom joint arm of the manipulator to accurately adjust the gripper position according to the auxiliary reference virtual line, so as to realize the rapid grasping of the lining plate; The mill liner replacement robot onboard auxiliary imaging system comprises a fixed bracket, a camera, an image processing unit, a display unit and a correction tool; The camera is arranged in the middle of the non-moving housing at the front end of the manipulator gripper through a fixed bracket, and the camera is located on the plane where the centers of the gripper pins at both ends of the gripper are symmetrical; the image processing unit receives the image data collected by the camera in real time and corrects and enhances the image; the display unit is arranged at the manipulator operator's workstation, and the display unit displays the real-time image processed by the image processing unit; the image processing unit covers the auxiliary reference virtual line corrected by the correction tooling on the real-time image of the display unit; The correction tool comprises a ruler, a slider and a ring; two sliders are slidably arranged on the ruler, the inner diameter of the ring matches the outer edge size of the gripper pin, and the two rings are slidably arranged on both ends of the ruler.

2. The method for using the auxiliary imaging system on the robot for replacing the mill liner according to claim 1, Features: A protective cover is arranged outside the camera, and the protective cover is connected to the front section of the camera through threads, and is used for dust and collision protection when the camera is not in working state.

3. The method for using the auxiliary imaging system on the robot for replacing the mill liner according to claim 1, Features: The camera is equipped with auxiliary lighting equipment, which enhances the brightness of light in the camera's field of view.

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