Automatic adaptive strip steel surface grinding and defect detection device and method

Abstract

The present invention provides an automatic adaptive strip surface grinding and defect detection device and method, including: a truss robot, a strip grinding device, a defect detection device, and an auxiliary device; the strip grinding device, the defect detection device, and the auxiliary device are arranged on the truss robot; the auxiliary device adjusts the bonding state between the strip grinding device and the strip during the grinding process; the grinding track of the strip grinding device is a straight line, and the grinding marks are along the width direction of the strip. The present invention improves the bonding state between the oilstone and the strip through the auxiliary roller device during the grinding process, and can adapt to the grinding and defect detection in the case of strip shape problems, and the grinding track of the present invention is a straight line, and the grinding marks are along the width direction of the strip, which meets the strip imaging detection conditions. In the case of overhang, C-warping, etc. in the strip shape, the strip imaging height is the same at different positions through the action of the auxiliary roller, which ensures the imaging quality and avoids the occurrence of uneven phenomena such as light and dark stripes caused by height.

Description

Technical Field

[0001] The invention relates to the technical field of automatic strip grinding, and in particular to an automatic adaptive strip surface grinding and defect detection device. Background Art

[0002] During the production of strip steel, the rollers in contact with the strip steel and the vibration of the rolling mill cause various defects on the strip steel surface, such as roller marks, transverse embossing, vibration marks, scratches, incoming steel defects, etc. These potential periodic defects are usually very subtle and difficult to detect, so the strip steel surface needs to be fully covered and polished to identify these defects.

[0003] The following relevant patent documents were found after searching:

[0004] Patent document CN110014340A discloses a strip steel surface grinding machine, which can grind the strip steel surface through the reciprocating motion of the swing arm on its rotating shaft, and can even achieve online grinding without stopping the unit. However, the shortcomings of this patent document are that the grinding trajectory is an arc, and the grinding marks have a cross angle, which is not conducive to strip steel imaging detection, and it cannot overcome the strip steel overhang, C-warping and other plate shape problems, and there will be phenomena such as missing grinding and uneven grinding, as well as imaging height differences, resulting in uneven imaging such as light and dark stripes. Summary of the invention

[0005] In view of the defects in the prior art, the object of the present invention is to provide an automatic adaptive strip steel surface grinding and defect detection device.

[0006] According to the present invention, an automatic adaptive strip steel surface grinding and defect detection device is provided, comprising: a truss robot, a strip steel grinding device, a defect detection device, and an auxiliary device;

[0007] The strip grinding device, defect detection device and auxiliary device are arranged on the truss robot;

[0008] The auxiliary device adjusts the fitting state between the strip grinding device and the strip during the grinding process;

[0009] The grinding track of the strip grinding device is a straight line, and the grinding marks are along the width direction of the strip.

[0010] Preferably, the truss robot comprises: a truss, an X-axis drive module, a Y-axis track, and a Y-axis drive module;

[0011] The Y-axis driving module drives the truss to perform linear motion along the Y-axis track, and the X-axis driving module drives the strip steel grinding device to perform linear motion along the X-axis.

[0012] Preferably, the strip steel grinding device comprises: a Z-axis servo module, a constant force device, and a flexible grinding device;

[0013] The Z-axis servo module is fixed on the X-axis driving module, the constant force device is fixed on the Z-axis servo module, and the flexible grinding device is fixed on the constant force device.

[0014] Preferably, the flexible grinding device comprises: a connecting device, a flexible substrate, and an abrasive;

[0015] The constant force device, the connecting device, the flexible substrate, and the abrasive are connected in sequence;

[0016] The abrasive is connected to the bottom end of the flexible substrate;

[0017] The X-axis drive module drives the Z-axis servo module to reciprocate along the X-axis, thereby driving the abrasive to do reciprocating linear motion, wherein the constant force device is used to ensure constant grinding pressure.

[0018] Preferably, the defect detection device comprises: an imaging bracket, a camera, and a light source;

[0019] The camera and the light source are installed on an imaging bracket, and the imaging bracket is fixed on the X-axis of the truss, and the defect detection device is driven to move by the movement of the truss;

[0020] There are multiple cameras, which are evenly spaced in the width direction of the strip;

[0021] The number of light sources is plural.

[0022] Preferably, the auxiliary device comprises: a roller servo module, an auxiliary roller serving as a support roller;

[0023] The roller servo module is arranged on the truss, and the two ends of the auxiliary roller are respectively mounted on two roller servo modules, and the auxiliary roller is driven to rise and fall by controlling the roller servo module.

[0024] Preferably, when the grinding work starts, the grinding head composed of abrasives is lowered by the Z-axis servo module to fit the strip steel, and the auxiliary roller rises to a set distance from the strip steel and remains fixed to correct the plate shape problems of overhang, C-warping or edge waves; the X-axis drive module drives the strip steel grinding device to reciprocate to grind the strip steel, thereby driving the oilstone to perform reciprocating linear motion, wherein the constant force device ensures that the grinding pressure is constant.

[0025] Preferably, before or after grinding, the auxiliary roller rises to a preset position from the camera, and the Y-axis drive device drives the truss to move linearly along the Y-axis at a set speed, while sending a pulse signal to the camera and the light source through the encoder.

[0026] Preferably, the strip steel is supported by auxiliary rollers so that the imaging heights of multiple cameras are consistent.

[0027] According to a detection method provided by the present invention, the strip steel is polished and / or strip steel defects are detected by the automatic adaptive strip steel surface polishing and defect detection device.

[0028] Compared with the prior art, the present invention has the following beneficial effects:

[0029] 1. The purpose of the present invention is to propose an automatic adaptive strip surface grinding and defect detection device, reduce manual labor intensity and cost, greatly improve production efficiency, and realize automation and intelligence of strip grinding.

[0030] 2. The present invention improves the contact state between the oilstone and the steel strip during the grinding process by using an auxiliary roller device, so it can adapt to the grinding and defect detection of the steel strip with plate shape problems such as overhang, C-warping, edge waves, etc.

[0031] 3. The grinding track of the present invention is a straight line, and the grinding marks are along the width direction of the strip, which meets the strip imaging detection conditions. In the case of overhanging and warping of the strip, the strip imaging height is the same at different positions through the auxiliary roller, ensuring the imaging quality and avoiding uneven phenomena such as light and dark stripes caused by height. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Other features, objects and advantages of the present invention will become more apparent from the detailed description of non-limiting embodiments made with reference to the following drawings:

[0033] Figure 1 This is a schematic diagram of the structure of the strip surface grinding and defect detection device.

[0034] Figure 2 This is a schematic diagram for comparing the grinding status of strip steel A after adding rollers.

[0035] Figure 3 This is a schematic diagram for comparing the grinding status of strip steel B after adding the roller.

[0036] Figure 4 This is a schematic diagram for comparing the imaging status of strip A after adding the roller.

[0037] Figure 5 This is a schematic diagram for comparing the imaging status of strip B after adding the roller.

[0038] The figure shows:

[0039] 1-truss X-axis; 2-first X-axis drive module; 3-light source; 4-first Z-axis servo module; 5-second Z-axis servo module; 6-camera; 7-second X-axis drive module; 8-imaging bracket; 9-Y-axis drive device; 10-roller servo module; 11-auxiliary roller; 12-Y-axis track; 13-strip steel;

[0040] 14-Oilstone; 15-Strip steel;

[0041] 24-first imaging position; 25-second imaging position; 26-third imaging position; 27-imaging height h1; 28-imaging height h2; 29-imaging height h3; 31-fourth imaging position; 32-fifth imaging position; 33-sixth imaging position; 34-imaging height h4; 35-imaging height h5; 36-imaging height h6;

[0042] 39-seventh imaging position; 40-eighth imaging position; 41-ninth imaging position; 42-imaging height h7; 43-imaging height h8; 44-imaging height h9; 46-tenth imaging position; 47-eleventh imaging position; 48-twelfth imaging position; 49-imaging height h10; 50-imaging height h11; 51-imaging height h12; DETAILED DESCRIPTION

[0043] The present invention is described in detail below in conjunction with specific embodiments. The following embodiments will help those skilled in the art to further understand the present invention, but are not intended to limit the present invention in any form. It should be noted that, for those of ordinary skill in the art, several changes and improvements can also be made without departing from the concept of the present invention. These all belong to the protection scope of the present invention.

[0044] The purpose of the present invention is to provide an automatic adaptive strip surface grinding and defect detection device, which can adapt to the grinding and defect detection of strips with plate shape problems such as overhang, C warping, edge waves, etc., reduce manual labor intensity and costs, greatly improve production efficiency, and realize the automation and intelligence of strip grinding. In order to make the above-mentioned purposes, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0045] like Figure 1 As shown, the present invention provides an automatic adaptive strip steel surface grinding and defect detection device, comprising: a truss robot, a strip steel grinding device, a defect detection device, and an auxiliary device.

[0046] The truss robot comprises: a truss, an X-axis driving module, a Y-axis track, and a Y-axis driving module; the Y-axis driving module drives the truss to perform linear motion along the Y-axis track, and the X-axis driving module drives the strip grinding device to perform linear motion along the X-axis.

[0047] The strip steel grinding device comprises: a Z-axis servo module, a constant force device, and a flexible grinding device; the Z-axis servo module is fixed on the X-axis drive module, the constant force device is fixed on the Z-axis servo module, and the flexible grinding device is fixed on the constant force device; the flexible grinding device comprises: a connecting device, a flexible substrate, and an abrasive; the abrasive is, for example, an oilstone. The X-axis drive module drives the Z-axis servo module to reciprocate along the X-axis, thereby driving the oilstone to perform reciprocating linear motion, wherein the constant force device is used to ensure constant grinding pressure.

[0048] The defect detection device includes: an imaging bracket, a camera, and a light source; the camera and the light source are installed on the imaging bracket, and the imaging bracket is fixed on the X-axis of the truss, and the defect detection device is driven to move by the movement of the truss. There are four cameras and two light sources.

[0049] The auxiliary device includes: a roller servo module and an auxiliary roller as a support roller; the roller servo module is arranged on a truss, and both ends of the auxiliary roller are respectively mounted on two roller servo modules, and the auxiliary roller is driven to rise and fall by controlling the roller servo module. The auxiliary roller is located directly below the abrasive.

[0050] The working principle of the present invention is described in detail below.

[0051] When the equipment starts grinding, the grinding head composed of two abrasives is lowered by the Z-axis servo module to fit the strip steel, and the auxiliary roller rises to a distance of 2mm from the strip steel and remains fixed. The X-axis drive module drives the strip steel grinding device to reciprocate to grind the strip steel, thereby driving the oilstone to do reciprocating linear motion, and the constant force device ensures constant grinding pressure.

[0052] Before or after grinding, the auxiliary roller rises to a position 800 mm away from the camera, and the Y-axis drive device drives the truss to move linearly along the Y-axis at a speed of 600 mm / s, while sending pulse signals to the camera and light source through the encoder.

[0053] When the strip is being ground, the auxiliary roller rises to a distance of 2 mm from the strip and remains fixed. Figure 2 The strip steel 15 located at the top, Figure 3 The strip steel 15 at the top is the grinding state of the strip steel without auxiliary rollers. Figure 2 The strip steel 15 located at the bottom, Figure 3 The strip steel 15 at the bottom is the grinding state of the strip steel with the auxiliary roller. Through the support of the auxiliary roller, the fit between the oilstone and the strip steel can be improved, and the uneven grinding phenomenon caused by the strip steel plate shape can be improved.

[0054] When strip steel imaging is in progress and imaging is carried out without auxiliary idlers, the first imaging position, the second imaging position, and the third imaging position correspond to imaging heights h1, h2, and h3 respectively. At this time, h1 < h2 < h3. When the auxiliary idler rises to a position 800 mm away from the camera, with the support of the auxiliary idler, the fourth imaging position, the fifth imaging position, and the sixth imaging position correspond to imaging heights h4, h5, and h6 respectively. At this time, h4 = h5 = h6, which can improve the phenomenon of uneven imaging brightness caused by strip steel shape problems.

[0055] In the description of the present application, it should be understood that the orientation or positional relationship indicated by the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present application.

[0056] The specific embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the above specific embodiments, and those skilled in the art can make various changes or modifications within the scope of the claims, which do not affect the essence of the present invention. Without conflict, the embodiments of the present application and the features in the embodiments can be arbitrarily combined with each other.

Claims

1. An automatic adaptive strip steel surface grinding and defect detection device, characterized in that: include: Truss robot, strip grinding device, defect detection device, auxiliary device; The strip grinding device, defect detection device and auxiliary device are arranged on the truss robot; The auxiliary device adjusts the fitting state between the strip grinding device and the strip during the grinding process; The grinding track of the strip grinding device is a straight line, and the grinding marks are along the width direction of the strip; The auxiliary device comprises: a roller servo module and an auxiliary roller serving as a supporting roller; The roller servo module is arranged on the truss, and the two ends of the auxiliary roller are respectively mounted on two roller servo modules, and the auxiliary roller is driven to rise and fall by controlling the roller servo module; The auxiliary roller is located directly below the abrasive; At the beginning of the grinding work, the grinding head composed of abrasives is lowered through the Z-axis servo module to fit the strip steel, and the auxiliary roller rises to a set distance from the strip steel and remains fixed to correct the plate shape problems of overhang, C warping or edge waves; the X-axis drive module drives the strip steel grinding device to reciprocate to grind the strip steel, thereby driving the oilstone to do reciprocating linear motion, and the constant force device ensures constant grinding pressure; Before or after grinding, the auxiliary roller rises to a preset position from the camera, and the Y-axis drive device drives the truss to move linearly along the Y-axis at a set speed, while sending pulse signals to the camera and light source through the encoder; The strip steel is supported by auxiliary rollers, so that the imaging height of multiple cameras is consistent; The strip steel grinding device comprises: a Z-axis servo module, a constant force device, and a flexible grinding device; The Z-axis servo module is fixed on the X-axis drive module, the constant force device is fixed on the Z-axis servo module, and the flexible grinding device is fixed on the constant force device; The flexible grinding device comprises: a connecting device, a flexible substrate, and an abrasive; The constant force device, the connecting device, the flexible substrate, and the abrasive are connected in sequence; The abrasive is connected to the bottom end of the flexible substrate; The X-axis drive module drives the Z-axis servo module to reciprocate along the X-axis, thereby driving the abrasive to do reciprocating linear motion, wherein the constant force device is used to ensure constant grinding pressure.

2. The automatic adaptive strip steel surface grinding and defect detection device according to claim 1 is characterized in that: The truss robot comprises: a truss, an X-axis drive module, a Y-axis track, and a Y-axis drive module; The Y-axis driving module drives the truss to perform linear motion along the Y-axis track, and the X-axis driving module drives the strip steel grinding device to perform linear motion along the X-axis.

3. The automatic adaptive strip steel surface grinding and defect detection device according to claim 1 is characterized in that: The defect detection device comprises: an imaging bracket, a camera, and a light source; The camera and the light source are installed on an imaging bracket, and the imaging bracket is fixed on the X-axis of the truss, and the defect detection device is driven to move by the movement of the truss; There are multiple cameras, which are evenly spaced in the width direction of the strip; The number of light sources is plural.

4. A detection method, characterized in that: The strip steel is ground and / or strip steel defects are detected by the automatic adaptive strip steel surface grinding and defect detection device according to any one of claims 1 to 3.

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