A method and system for deburring beams and slabs applied to a composite production line for crossbeams and short bottom beams.

Abstract

This application relates to a method and system for deburring beams and slabs applied in a composite production line for crossbeams and short bottom beams, and relates to the field of beam and slab processing production lines. The method includes: acquiring punching information; determining the hole diameter and burr surface based on the punching information; selecting a corresponding mud layer detection cylinder according to the hole diameter and pressing the mud layer detection cylinder onto the burr surface; acquiring a mud layer detection surface image; analyzing the mud layer detection surface image and a standard detection surface image to obtain the notch feature area; determining the notch feature depth range based on the color of the mud layer detection surface image; selecting a deburring operation instruction according to the notch feature depth range and the notch feature area; performing the deburring operation at the notch feature area; and re-acquiring the mud layer detection surface image after performing the deburring operation until no notch feature area exists. This application has the ability to identify burrs by exposing layers of different colors in the mud layer and the missing areas of each layer, thus determining the deburring operation. This eliminates the need for manual deburring by the user, improving the automation and intelligence of the deburring process.

Description

TECHNICAL FIELD

[0001] The application relates to the field of beam plate processing flow lines, in particular to a beam plate deburring method and system applied to a cross beam and short bottom beam composite production line. BACKGROUND

[0002] A container is a tool for loading and transporting packaged or unpackaged goods, and facilitating loading and unloading by mechanical equipment.

[0003] Each plate needs to be processed before assembling the container, such as goose back beams, short bottom cross beams and door cross beams. The existing automatic process flow of the door cross beam includes the following processes: material preparation, feeding, servo shearing, strip conveying, strip leveling, strip conveying positioning, punching, conveying, bending and unloading stacking.

[0004] The existing technology has the following problems: after punching, burrs exist at the edges of the corresponding holes, and after completing the process flow, workers still need to manually deburr, which wastes a lot of labor cost, and there is still room for improvement. SUMMARY

[0005] In order to improve the problem that burrs exist at the edges of the corresponding holes after punching and workers still need to manually deburr, which wastes a lot of labor cost, the application provides a beam plate deburring method and system applied to a cross beam and short bottom beam composite production line.

[0006] In a first aspect, the application provides a beam plate deburring method applied to a cross beam and short bottom beam composite production line, which adopts the following technical solution:

[0007] A beam plate deburring method applied to a cross beam and short bottom beam composite production line, comprising:

[0008] Obtaining punching information;

[0009] Determining a hole diameter and a burr surface based on the punching information;

[0010] According to the hole diameter, a corresponding mud layer detection cylinder is selected and pressed onto the burr surface, the mud layer detection cylinder comprises an outer cylinder, an outer sidewall and an inner cylinder which is fitted with the inner sidewall of the hole and is provided in a through hole, and a mud layer which fills between the outer cylinder and the inner cylinder, the color of the mud layer gradually changes from the side close to the burr surface to the side away from the burr surface;

[0011] Obtaining a mud layer detection surface image;

[0012] Analyzing the mud layer detection surface image and a preset standard detection surface image to obtain a gap characteristic area;

[0013] Determining a gap characteristic depth range based on the color of the mud layer detection surface image;

[0014] Select the deburring operation command based on the depth range and area of ​​the notch feature;

[0015] Deburring is performed on the area with the notch feature.

[0016] After performing the deburring operation, the mud layer detection surface image is re-acquired until there are no gap feature areas.

[0017] By adopting the above technical solution, the distance the burr surface is pushed on the mud layer makes the mud layer expose layers of different colors, thus corresponding to different depths. Then, the size of the corresponding area is obtained according to the missing area of ​​each layer, and finally the characteristics of the burr are obtained. The deburring operation is determined according to the characteristics of the burr. Different burrs can be removed without the user having to manually deburr, which improves the automation and intelligence of the deburring process.

[0018] Optionally, methods for selecting deburring operation commands based on the notch feature depth range include:

[0019] When the depth range of the notch feature is less than the preset differentiation depth and the notch feature area is less than the preset differentiation area, select the preset smoothing operation command.

[0020] When the depth range of the notch feature is greater than the distinguishing depth or the notch feature area is greater than the distinguishing area, compare the mud layer detection surface image and the standard detection surface image to obtain the stringing image;

[0021] Determine if the wire drawing image exists;

[0022] If present, the wire-drawing region is determined based on the wire-drawing image;

[0023] The direction of removal is determined based on the wire-pulling area and the preset center area;

[0024] A specific removal operation instruction is generated based on the removal orientation and preset removal operation instructions;

[0025] Select a specific removal operation command;

[0026] If it does not exist, select the removal operation command.

[0027] By adopting the above technical solution, on the one hand, different operations can be selected according to different burr conditions, so that deburring can be more targeted; on the other hand, when stringing occurs, it means that some of the mud and sand are left on the side of the burr near the burr surface due to compression, which indirectly indicates that this is the gap between the burr and the burr surface, and the removal effect is better from this point, thus improving the efficiency of deburring.

[0028] Optionally, when the notch feature depth range is less than the distinguishing depth, the method for selecting the smoothing operation command includes:

[0029] Determine if the wire drawing image exists;

[0030] If present, the smoothing operation command will be transformed into a specific removal operation command;

[0031] If it does not exist, select the smoothing operation command.

[0032] By adopting the above technical solution, since some areas are low and lack a base point for removal, the removal efficiency is low and it is easy to do useless work. Therefore, grinding is more efficient in this case. When a gap appears in the area that should be ground, the removal gap is more effective than grinding. The scraper can be inserted into the gap for removal, which is more effective. Therefore, the grinding operation can be replaced by the removal operation, which improves the flexibility of operation.

[0033] Optionally, the methods for selecting a grinding operation command, a specific removal operation command, or a removal operation command include:

[0034] Define the notch feature area corresponding to the grinding operation command as the grinding area, define the notch feature area corresponding to the scraping operation command as the scraping area, and define the notch feature area corresponding to a specific scraping operation command as the specific scraping area.

[0035] When a grinding area, a removal area, or a specific removal area exists alone, the grinding operation command, the specific removal operation command, or the removal operation command can be selected separately.

[0036] When a specific eradication area exists, the specific eradication coverage area is determined based on the eradication direction and the preset eradication range;

[0037] When a grinding area and / or a removal area exist and both the grinding area and / or the removal area fall within a specific removal coverage area, select a specific removal operation command and delete the grinding operation command and / or the removal operation command.

[0038] When a grinding area and / or a removal area exist, but at least one does not fall within a specific removal coverage area, select a specific removal operation command, a grinding operation command, and / or a removal operation command.

[0039] If the specific area to be removed does not exist, select the smoothing operation command and the removal operation command.

[0040] By adopting the above technical solution, when a special removal operation instruction is issued, it is determined here whether the area that should have been separately ground and removed can be removed at the same time along this removal direction. This reduces the number of operations when performing special removal operations and improves the efficiency and flexibility of deburring.

[0041] Optionally, when a specific removal area does not exist, the methods for selecting the grinding operation command and the removal operation command include:

[0042] When both the smoothed area and the scraping area exist, the direction of the scraping attempt is determined based on the scraping area and the smoothed area.

[0043] The removal operation instructions are determined based on the direction of the removal attempt and the removal operation instructions.

[0044] Choose to attempt to remove the scraping operation command and delete the smoothing operation command.

[0045] By adopting the above technical solution, when scraping and grinding occur, since the scraping direction is arbitrary, it is entirely possible to attempt scraping of the grinding area by positioning both in the same direction. This further reduces the number of operations during scraping, thereby improving the efficiency and flexibility of deburring.

[0046] Optionally, when no frayed image exists, a method for re-acquiring the mud layer detection surface image after performing deburring operations until no gap feature regions exist includes:

[0047] Bring the mud layer detection cylinder, which previously acquired the mud layer detection surface image, close to the burr surface;

[0048] When the mud layer detection cylinder moves to the burr surface, press the mud layer from the side away from the burr surface;

[0049] If the mud layer detection cylinder cannot be moved to the burr surface, tap the inner cylinder from the side away from the burr surface and continue pressing the mud layer detection cylinder until it is moved to the burr surface;

[0050] After moving to the burr surface, the mud layer detection surface image is re-acquired.

[0051] By adopting the above technical solution, the original mud layer detection cylinder can be reused. On the one hand, it can detect whether the deburring operation is completed, thus improving the accuracy of deburring. On the other hand, by pushing the original mud layer, the mud layer detection cylinder can be restored to its original state and reused, thereby improving the reusability of the mud layer detection cylinder.

[0052] Optionally, the method of bringing the mud layer detection cylinder, from which the mud layer detection surface image was previously acquired, close to the burr surface includes:

[0053] Analyze the layer lines in the wire drawing image to determine the fitted layer lines;

[0054] Analyze the wire drawing images to determine the wire drawing shape;

[0055] At the drawing area, the drawing shape of the drawing wire is cut off along the fitted layer line to obtain a new cutting layer line;

[0056] When connecting the stratification line and the newly cut stratification line, place the mud layer detection cylinder close to the burr surface;

[0057] When the layering line and the newly cut layering line are not connected, redetermine the wire drawing image or the concave image;

[0058] When a concave image appears, analyze the concave image to determine the shape of the concave image;

[0059] The concave mud layer is filled based on the fitted layer lines.

[0060] By adopting the above technical solution, the trend of layer line changes can be used to determine whether the wire has been completely removed and whether the depression has been completely repaired. This allows for the repair of situations where the mud layer detection cylinder cannot be restored to its original state due to depressions or wires, thereby improving the service life of the mud layer detection cylinder.

[0061] Optionally, it also includes a method for determining the shape of the wire drawing or the concave shape, the method comprising:

[0062] Acquire the first wide-angle image from the end face of the mud layer;

[0063] The second wide-angle image is obtained by moving the camera position based on the wire-like image in the first wide-angle image;

[0064] The actual three-dimensional position of the layering line is determined based on the first wide-angle image and the second wide-angle image;

[0065] The actual three-dimensional position of the layer line is corrected based on the fitted layer line to determine the three-dimensional position of the theoretical layer line.

[0066] The actual burr three-dimensional model is obtained by fitting the actual three-dimensional position of the layer line.

[0067] The theoretical burr three-dimensional model is obtained by fitting the three-dimensional position of the theoretical layer line.

[0068] The drawing shape and the concave shape are determined based on the actual 3D model of burrs and the theoretical 3D model of burrs.

[0069] By adopting the above technical solution, the shape of the filaments and the shape of the depressions are determined by simulating the three-dimensional model through different layered three-dimensional positions. This makes the shapes of the filaments and depressions visible, which facilitates the machine to fill in the depression area and remove the filament area, thereby improving the repair efficiency of the mud layer detection cylinder.

[0070] Optionally, when the mud layer detection cylinder cannot be moved to the burr surface, the method of tapping the inner cylinder from the side away from the burr surface and continuing to press the mud layer detection cylinder until it is moved to the burr surface includes:

[0071] When the mud layer detection cylinder cannot be moved to the burr surface, tap it to make the inner cylinder gradually approach the burr surface;

[0072] Continue striking the inner cylinder until it can no longer get close to the burr surface, and accumulate the number of strikes.

[0073] The cylinder surface spacing is obtained when the number of taps exceeds the preset effective critical number.

[0074] After converting the cylinder surface spacing into the notch feature depth range, select the deburring operation command based on the notch feature depth range.

[0075] The mud layer detection surface image is acquired when the inner cylinder moves to the burr surface.

[0076] By adopting the above technical solution, when the mud layer detection cylinder cannot fit with the burr surface, the burrs may remain on the inner wall or edge of the hole after being operated. In this case, it is impossible to detect them through the mud layer detection image. However, the burrs that have entered the hole can be removed by tapping the inner cylinder, thereby improving the burr removal efficiency.

[0077] Secondly, this application provides a deburring system for beams and slabs applied in a composite production line for crossbeams and short bottom beams, employing the following technical solution:

[0078] A deburring system for beams and slabs applied in a composite production line for crossbeams and short bottom beams includes:

[0079] The acquisition module is used to acquire punching information, mud layer detection surface image, first wide-angle image and second wide-angle image;

[0080] The memory is used to store the program of any of the above-mentioned control methods for deburring beams and plates applied to the composite production line of crossbeams and short bottom beams;

[0081] The processor and the program in the memory can be loaded and executed by the processor to implement any of the above-mentioned control methods for deburring beams and plates applied to the crossbeam and short bottom beam composite production line.

[0082] By adopting the above technical solution, the distance the burr surface is pushed on the mud layer makes the mud layer expose layers of different colors, thus corresponding to different depths. Then, the size of the corresponding area is obtained according to the missing area of ​​each layer, and finally the characteristics of the burr are obtained. The deburring operation is determined according to the characteristics of the burr. Different burrs can be removed without the user having to manually deburr, which improves the automation and intelligence of the deburring process.

[0083] In summary, this application includes at least the following beneficial technical effects:

[0084] 1. By exposing layers of different colors in the mud layer and the missing areas in each layer, the characteristics of burrs are obtained, and the deburring operation is determined. This eliminates the need for manual deburring by the user, improving the automation and intelligence of the deburring process.

[0085] 2. Along this removal direction, the area that would otherwise require separate grinding and removal is simultaneously removed, thereby reducing the number of operations and improving the efficiency and flexibility of deburring.

[0086] 3. By simulating a three-dimensional model through different layered three-dimensional positions, the shape of the filaments and depressions can be determined, making the shapes of the filaments and depressions visible. This facilitates the machine to fill in the depression areas and remove the filament areas, thus improving the repair efficiency of the mud layer detection cylinder. Attached Figure Description

[0087] Figure 1 This is a flowchart of a method for deburring beams and plates applied to a composite production line for crossbeams and short bottom beams, as described in this application.

[0088] Figure 2 This is a schematic diagram of the structure of the mud layer detection cylinder in the embodiments of this application.

[0089] Figure 3 This is a schematic diagram of the mud layer detection surface image in an embodiment of this application.

[0090] Figure 4 This is a flowchart of a method for selecting deburring operation instructions based on the depth range of the notch feature in an embodiment of this application.

[0091] Figure 5 This is a flowchart of a method for selecting a smoothing operation command when the depth range of the notch feature is less than the distinguishing depth, as described in an embodiment of this application.

[0092] Figure 6 This is a flowchart of a method for selecting a grinding operation command, a specific removal operation command, or a removal operation command in an embodiment of this application.

[0093] Figure 7 This is a flowchart illustrating the method for selecting a smoothing operation command and a removal operation command when a specific removal area does not exist, as described in this application embodiment.

[0094] Figure 8 This is a flowchart of a method in this application embodiment for re-acquiring a mud layer detection surface image after performing a deburring operation when no wire drawing image exists, until no gap feature area exists.

[0095] Figure 9 This is a flowchart illustrating the method of bringing a mud layer detection cylinder with a previously acquired mud layer detection surface image close to a burr surface in an embodiment of this application.

[0096] Figure 10 This is a flowchart of the method for determining the wire drawing shape or recessed shape in the embodiments of this application.

[0097] Figure 11 This is a flowchart of a method in this application embodiment for striking the inner cylinder from the side away from the burr surface and continuing to press the mud layer detection cylinder until it moves onto the burr surface when the mud layer detection cylinder cannot be moved to the burr surface.

[0098] Figure 12 This is a system module diagram of a method for deburring beams and slabs applied to a composite production line for crossbeams and short bottom beams, as described in this application. Detailed Implementation

[0099] To make the purpose, technical solution, and advantages of this application clearer, the following description is provided in conjunction with the appendix. Figures 1-12 The present application will be further described in detail below with reference to embodiments. It should be understood that the specific embodiments described herein are for illustrative purposes only and are not intended to limit the scope of the application.

[0100] This application discloses a method for deburring beams and slabs applied in a composite production line for crossbeams and short bottom beams. (Refer to...) Figure 1 A method for deburring beams and plates applied to a composite production line for crossbeams and short bottom beams includes:

[0101] Step 100: Obtain punching information.

[0102] The punching information refers to the information required for punching holes in the beam plate, including the hole diameter, hole coordinates, hole thickness, and punching direction. This information can be obtained through manual input, where a user writes the program and inputs the hole information.

[0103] Step 101: Determine the hole diameter and burr surface based on the punching information.

[0104] The aperture is the diameter of the hole punched. The burr surface is the surface of the beam or slab material where excess residue remains due to punching, usually at the end edge in the punching direction.

[0105] Step 102: Select the corresponding mud layer detection cylinder according to the aperture and press the mud layer detection cylinder onto the burr surface. The mud layer detection cylinder includes an outer cylinder, an outer side wall and an inner side wall of the hole that fit together and pass through the hole, and fills the mud layer between the outer cylinder and the inner cylinder. The color of the mud layer gradually changes from the side closer to the burr surface to the side farther away from the burr surface.

[0106] like Figure 2As shown, the mud layer detection cylinder includes an outer cylinder, an inner cylinder, and a mud layer. The diameter of the inner cylinder fits the inner wall of the hole. When the mud layer detection cylinder approaches the burr surface, the inner cylinder inserts into the hole and fits against the inner wall of the hole. The length of the outer cylinder is less than the length of the inner cylinder. In this embodiment, the excess length of the outer cylinder is exactly the same as or greater than the thickness of the hole, allowing the inner cylinder to clean the hole. One end of the inner cylinder inserted into the hole has a conical surface to scrape off the burrs on the inner wall of the hole. The mud layer is located between the inner and outer cylinders. In the figure, the mud layer gradually changes color from the side near the conical surface (i.e., the side near the burr surface) to the side away from the burr surface, and can be stacked in multiple layers. In this embodiment, the mud layer has a certain degree of viscosity within the same layer, preventing it from falling off the cylinder. The mud layer also has a certain layering ability similar to a cake, and when subjected to shear force, it will not move along with the mud layer on the edges to form a cut surface.

[0107] Step 103: Obtain the image of the mud layer detection surface.

[0108] The mud layer detection image is taken from the side closest to the burr surface, such as... Figure 3 As shown. The method of acquisition is through camera capture.

[0109] Step 104: Analyze the mud layer detection surface image and the preset standard detection surface image to obtain the notch feature region.

[0110] The standard inspection surface image is an image of the mud layer near the burr surface when the mud layer has not moved. The notch feature region is a region that differs from the standard inspection surface image. For example... Figure 3 As shown, when the mud layer is concave inward, it will form layers due to the characteristics of the mud layer, thus creating layer lines. The color of the mud layer between each two layer lines is different from the color of the mud layer between other layer lines.

[0111] Step 105: Determine the depth range of the notch feature based on the color of the mud layer detection surface image.

[0112] The depth range of the notch feature refers to the area occupied by the depth at the notch. Since the mud layer cannot change with each movement, only a single color can be assigned to a mud layer of a certain thickness; therefore, the color can only represent a specific depth range. This can be determined through a database query.

[0113] Step 106: Select the deburring operation command based on the depth range and area of ​​the notch feature.

[0114] The deburring operation command determines the deburring operation based on different depths and nick sizes. Specific selection methods will be introduced in subsequent steps. By using different deburring operations, it is possible to target burrs of varying degrees and conditions.

[0115] Step 107: Perform deburring operation on the notch feature area.

[0116] Step 108: After performing the deburring operation, reacquire the mud layer detection surface image until there are no gap feature areas.

[0117] Reference Figure 4 Methods for selecting deburring operation commands based on the depth range of the notch feature include:

[0118] Step 200: When the depth range of the notch feature is less than the preset differentiation depth and the notch feature area is less than the preset differentiation area, select the preset grinding operation command.

[0119] The differentiation depth is a manually set depth value, used to distinguish different operations. Here, it is a depth set by those skilled in the art based on their experience. In this embodiment, the differentiation depth can be set to distinguish between two operations: scraping and grinding. The differentiation area is the area value where none of the four parts are visible. Like the differentiation depth, it is an area set by those skilled in the art based on their experience. The grinding operation instruction is the instruction to use sandpaper or other grinding tools to grind the area smooth. When the depth is less than the differentiation depth and the area is less than the differentiation area, it indicates that the burr is small and not easily removed by scraping; therefore, grinding can be used.

[0120] Step 201: When the depth range of the notch feature is greater than the distinguishing depth or the notch feature area is greater than the distinguishing area, compare the mud layer detection surface image and the standard detection surface image to obtain the wire drawing image.

[0121] The stringing image shows information about the stringy patterns formed due to the pulling of burrs. Because some burrs do not completely adhere to the burr surface on the side closest to the burr, gaps exist. When the mud layer is compressed while adhering to the burr, some of the mud layer is squeezed into these gaps. Then, when the mud layer detection cylinder is moved away from the burr surface, the adhesion between the mud layer and the current mud layer causes a portion to be pulled outwards, thus forming a stringing phenomenon. Figure 3 The dotted lines shown represent the movement of the layering lines caused by the corresponding wire drawing. Of course, even if the lines are not on the layering lines, the movement of the mud layers will still create an outline, thus still forming a wire drawing image.

[0122] Step 202: Determine if the wire drawing image exists.

[0123] The purpose of the judgment is to determine whether there is a gap between the burr and the burr surface.

[0124] Step 2021: If it exists, determine the wire drawing area based on the wire drawing image.

[0125] The drawing area refers to information about the drawing area, such as... Figure 3 As shown, since it is a localized effect, and because the brushed texture is essentially a very thin, planar layer, the brushed area can be considered as the local outline of the brushed contour near the center of the layer line. If it exists, it means that the gap can be used as a removal point for removal; therefore, the coordinates of the removal point, i.e., the brushed area, are needed.

[0126] Step 2022: If it does not exist, select the removal operation command.

[0127] The removal operation command is used to remove burrs. If it does not exist, it means there is no gap at this time, and you can select the normal removal operation command.

[0128] Step 203: Determine the removal direction based on the wire-pulling area and the preset center area.

[0129] The central region refers to the area at the center of the hole. The removal direction refers to the direction from the burr-drawing area towards the central region. This direction can be a vague one, such as any coordinate point within the burr-drawing area towards any coordinate point inside the hole, or it can be the center of the burr-drawing area towards the center. The purpose is to facilitate removal from one side of the burr. It should be noted that in practice, the burr is usually located on the side of the burr furthest from the center, so removal from the opening of the burr is generally directed towards the center.

[0130] Step 204: Generate a specific removal operation instruction based on the removal orientation and preset removal operation instructions.

[0131] A specific removal operation command is a removal operation command with a defined removal direction.

[0132] Step 205: Select a specific removal operation command.

[0133] Reference Figure 5 When the depth range of the notch feature is less than the distinguishing depth, the methods for selecting the smoothing operation command include:

[0134] Step 300: Determine if the wire drawing image exists.

[0135] Although the size and depth of the target burr correspond to the grinding operation, if the size and depth are small but there is still a base point for removal, the removal operation can still be used.

[0136] In the embodiments of this application, the grinding operation is generally considered to be more cumbersome and complex than the scraping operation. Therefore, scraping is used when it is feasible, and grinding is used only when grinding is the only option, in order to reduce the workload.

[0137] Step 3001: If it exists, the grinding operation command is converted into a specific removal operation command.

[0138] If it exists, a removal operation can be performed, and since there is a gap, a specific removal operation command can be selected.

[0139] Step 3002: If not, select the smoothing operation command.

[0140] If it does not exist, and the burr area is small and the depth is shallow, then only the smoothing operation command can be selected.

[0141] Reference Figure 6 The methods for selecting a grinding operation command, a specific removal operation command, or a removal operation command include:

[0142] Step 400: Define the notch feature area corresponding to the grinding operation command as the grinding area, define the notch feature area corresponding to the scraping operation command as the scraping area, and define the notch feature area corresponding to a specific scraping operation command as a specific scraping area.

[0143] Step 401: When the grinding area, the removal area, or a specific removal area exists alone, select the grinding operation command, the specific removal operation command, or the removal operation command separately.

[0144] When there is only one, the corresponding operation is applied directly without any other operations.

[0145] Step 402: When a specific eradication area exists, determine the specific eradication coverage area based on the eradication direction and the preset eradication range.

[0146] The shoveling range is the area formed by the width that the shovel can cover and its infinite length. The width here is determined by the width of the shovel on the robotic arm. A specific shoveling coverage area is the shoveling range in the same direction as the length and the shoveling direction. That is, when a specific shoveling operation command is executed, the area covered when the shovel continues to move forward in the shoveling direction after completing its initial operation.

[0147] Step 403: When a smoothing area and / or a scraping area exist and both the smoothing area and / or the scraping area fall within a specific scraping coverage area, select a specific scraping operation command and delete the smoothing operation command and / or the scraping operation command.

[0148] When either the smoothed area or the scraped area falls within a specific scraping coverage area, deburring can be performed using specific scraping operation commands, reducing the number of commands and improving scraping efficiency.

[0149] Step 404: When a smoothing area and / or a removal area exist, but at least one does not fall within a specific removal coverage area, select a specific removal operation command, a smoothing operation command, and / or a removal operation command.

[0150] If it does not fall into the category, it executes its own operation instructions independently.

[0151] Step 405: If the specific area to be removed does not exist, select the smoothing operation command and the removal operation command.

[0152] When a specific area to be removed does not exist and is not isolated, it means that there is a smoothing area and a removal area, so two operations are required.

[0153] Reference Figure 7 When a specific area to be removed does not exist, the methods for selecting the smoothing operation command and the removal operation command include:

[0154] Step 500: When both the smoothed area and the scraped area exist, determine the scraping direction based on the scraped area and the smoothed area.

[0155] The direction to be removed is from the area to be removed towards the area to be smoothed. This can be from any point in the area to be removed to any point in the area to be smoothed, or it can be from the center point of the area to the center point of the area to be smoothed.

[0156] Step 501: Determine the attempt to remove the operation instruction based on the direction of the attempt to remove and the removal operation instruction.

[0157] The attempt to remove operation command is a command that performs removal operations on both the removal area and the smoothing area simultaneously, in the direction in which the attempt to remove is being made.

[0158] Step 502: Select the attempt to remove the operation command and delete the smoothing operation command.

[0159] Reference Figure 8 When no frayed image exists, the method for re-acquiring the mud layer detection surface image after performing deburring operation until no gap feature region exists includes:

[0160] Step 600: Bring the mud layer detection cylinder, from which the mud layer detection surface image was previously obtained, close to the burr surface.

[0161] Step 601: When the mud layer detection cylinder moves to the burr surface, press the mud layer from the side away from the burr surface.

[0162] Step 602: When the mud layer detection cylinder cannot be moved to the burr surface, tap the inner cylinder from the side away from the burr surface and continue to press the mud layer detection cylinder until it is moved to the burr surface.

[0163] Because the mud layer is fluid, even if it is partially blocked, it will still move closer to the burr surface. However, if it eventually cannot move, it means that part of it is blocking the inner or outer cylinder. Most of the burrs move towards the hole, so it is very likely that the movement path of the inner cylinder is blocked. This situation occurs because the burrs turn over during the scraping process and enter the area of ​​the middle hole. In this case, the inner cylinder needs to be tapped to remove the burrs at the inner edge of the hole.

[0164] Step 603: After moving to the burr surface, reacquire the mud layer detection surface image.

[0165] Reference Figure 9 The method of bringing the mud layer detection cylinder, which previously acquired the mud layer detection surface image, close to the burr surface includes:

[0166] Step 700: Analyze the layer lines in the wire drawing image to determine the fitted layer lines.

[0167] The fitted layer line represents the theoretically correct position of the layer line when its inaccuracy is caused by stringing or pulling. For example... Figure 3 As shown, the fitted layer line is a virtual layer line, which can be obtained by fitting a spline curve in CAD.

[0168] Step 701: Analyze the wire drawing image to determine the wire drawing shape.

[0169] The wire drawing shape is a three-dimensional shape. The analysis method is obtained in steps 800-806.

[0170] Step 702: At the drawing area, cut the drawing shape along the fitted layer line to obtain a new cutting layer line.

[0171] The newly cut layer line is obtained by removing the fibrous textured material; it marks the boundary between two layers of mud of different colors. This can be achieved by cutting along the interface between the fibrous textured material and the notched texture.

[0172] Step 703: When connecting the layer line and the newly cut layer line, bring the mud layer detection tube close to the burr surface.

[0173] The connection between the two indicates that the wire cutting was correct and there were no excess or recessed parts. It was exactly on the corresponding surface, so the repair was complete. The mud layer detection tube can then be brought close to the burr surface.

[0174] Step 704: Re-determine the wire drawing image or the recessed image when the layer line and the newly cut layer line are not connected.

[0175] If there is no connection, it indicates that the excision was not done well at this time, possibly too much or too little was excised. In this case, the filament image or the depression image should be re-determined.

[0176] Step 705: Analyze the concave image when a concave image appears to determine the shape of the concave image.

[0177] The concave shape is caused by multiple cuts. The method for determining this is similar to that for the wire drawing shape, so it will not be elaborated here.

[0178] Step 706: Fill the concave mud layer based on the fitted layer lines.

[0179] Reference Figure 10 It also includes a method for determining the shape of the wire drawing or the concave shape, the method comprising:

[0180] Step 800: Obtain the first wide-angle image on the end face of the mud layer.

[0181] The first wide-angle image is a wide-angle image taken on the outermost plane of the mud layer, that is, on the plane closest to the burr surface.

[0182] Step 801: After moving the camera position based on the wire drawing image in the first wide-angle image, obtain the second wide-angle image.

[0183] The second wide-angle image is a second wide-angle image located behind the first wide-angle image, away from the wire-like image. The camera is moved to determine the wire-like area based on the wire-like image, then moved to the other side of the wire-like area, and then the image is taken.

[0184] Step 802: Determine the actual three-dimensional position of the layer line based on the first wide-angle image and the second wide-angle image.

[0185] The actual three-dimensional position of the dividing line is the three-dimensional position of the dividing line. It is determined by obtaining two straight lines based on the position of any point of the dividing line in the first wide-angle image and the second wide-angle image. The intersection point of these two straight lines is then determined, and the intersection point is the actual three-dimensional position.

[0186] Step 803: Correct the actual three-dimensional position of the layer line based on the fitted layer line to determine the three-dimensional position of the theoretical layer line.

[0187] The theoretical stratification line's three-dimensional position is the location of the stratification line of the mud layer under normal conditions. In reality, it is the slope line of the gap model with only extrusion and no filamentation or depression. The correction method is to add the fitted stratification line to the actual stratification line's three-dimensional position to obtain two endpoints. Then, the line between the two endpoints is fitted according to the fitted stratification line.

[0188] Step 804: Fit the actual three-dimensional position of the layer line to obtain the actual three-dimensional model of the burr.

[0189] The actual burr 3D model is a 3D model obtained by fitting the actual 3D position of the layer lines. The fitting method can be any modeling method, such as CATIA software.

[0190] Step 805: Fit the three-dimensional position of the theoretical layer line to obtain the three-dimensional model of the theoretical burr.

[0191] The theoretical burr 3D model is a 3D model fitted according to the 3D position of the theoretical layer line.

[0192] Step 806: Determine the wire drawing shape and the concave shape based on the actual 3D burr model and the theoretical 3D burr model.

[0193] Reference Figure 11 When the mud layer detection cylinder cannot be moved to the burr surface, the method of tapping the inner cylinder from the side away from the burr surface and continuing to press the mud layer detection cylinder until it is moved to the burr surface includes:

[0194] Step 900: When the mud layer detection cylinder cannot be moved to the burr surface, tap it to make the inner cylinder gradually approach the burr surface.

[0195] If the cylinder cannot be moved, it may be because a burr has reached inside the edge of the hole, blocking the inner cylinder. And if... Figure 3 As shown, one end of the inner cylinder is tapered, which makes it easy to knock the inner cylinder and scrape up the burrs that have fallen into the hole.

[0196] Step 901: Continue tapping until the inner cylinder can no longer get close to the burr surface, and accumulate the number of taps.

[0197] The number of taps is the number of times the inner cylinder is tapped; the counting only begins when the inner cylinder can no longer be brought closer.

[0198] Step 902: Obtain the cylinder surface spacing when the number of taps exceeds the preset effective critical number of taps.

[0199] The effective critical number of strikes is the number of strikes that are effective; exceeding this number means further strikes are meaningless. The cylinder-to-surface distance is the information regarding the distance between the outer cylinder and the burr surface; essentially, it represents the height of the burr falling into the hole above the burr surface.

[0200] Step 903: After converting the cylinder surface spacing into the notch feature depth range, select the deburring operation command based on the notch feature depth range.

[0201] Since the area inside the borehole cannot be determined from the mud layer inspection surface image, the depth is selected for the deburring operation based on the cylinder surface spacing. The purpose of this conversion is to allow the system to apply different deburring operations to the area inside the borehole as well.

[0202] Step 904: Obtain an image of the mud layer detection surface when the inner cylinder moves to the burr surface.

[0203] If it can be moved, it means that there are no other areas with burrs at this time, and it can be moved back to the burr surface for verification to check the result of the previous deburring operation.

[0204] Based on the same inventive concept, embodiments of the present invention provide a deburring system for beams and plates applied to a composite production line for crossbeams and short bottom beams.

[0205] Reference Figure 12 A deburring system for beams and slabs applied in a composite production line for crossbeams and short bottom beams, comprising:

[0206] The acquisition module is used to acquire punching information, mud layer detection surface image, first wide-angle image and second wide-angle image;

[0207] The memory is used to store a program for a control method of deburring beams and plates applied to a composite production line for crossbeams and short bottom beams;

[0208] The processor and memory contain programs that can be loaded and executed by the processor to implement a control method for deburring beams and slabs applied to a composite production line for crossbeams and short bottom beams.

[0209] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional modules is used as an example. In practical applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. The specific working process of the system, device, and unit described above can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0210] This invention provides a computer-readable storage medium storing a computer program that can be loaded and executed by a processor, which is a method for deburring beams and slabs applied to a composite production line for crossbeams and short bottom beams.

[0211] Computer storage media include, for example, USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, optical disks, and other media that can store program code.

[0212] Based on the same inventive concept, embodiments of the present invention provide a smart terminal, including a memory and a processor, wherein the memory stores a computer program that can be loaded and executed by the processor, which is a method for deburring beams and slabs applied to a composite production line for crossbeams and short bottom beams.

[0213] The above are all preferred embodiments of this application and are not intended to limit the scope of protection of this application. Any feature disclosed in this specification (including the abstract and drawings) may be replaced by other equivalent or similar features unless specifically stated otherwise. That is, unless specifically stated otherwise, each feature is only one example of a series of equivalent or similar features.

Claims

1. A beam plate deburring method applied to a beam short bottom beam composite production line, characterized by, The method comprises: acquiring piercing information; determining a hole diameter and a burr surface based on the piercing information; selecting a corresponding mud layer detection cylinder according to the hole diameter and pressing the mud layer detection cylinder onto the burr surface, the mud layer detection cylinder comprising an outer cylinder, an inner cylinder fitted with the inner side wall of the hole and penetrating the penetrating hole, and a mud layer filling between the outer cylinder and the inner cylinder, the mud layer gradually changing in color from the side close to the burr surface to the side away from the burr surface, and the end of the inner cylinder inserted into the hole having a taper surface to shovel the burr on the inner side wall of the hole; acquiring a mud layer detection surface image; analyzing the mud layer detection surface image and a preset standard detection surface image to obtain a notch feature area; determining a notch feature depth range based on the color of the mud layer detection surface image; selecting a deburring operation instruction according to the notch feature depth range and the notch feature area; performing the deburring operation at the notch feature area; and reacquiring the mud layer detection surface image after performing the deburring operation until there is no notch feature area; the method for selecting a deburring operation instruction according to the notch feature depth range comprises: when the notch feature depth range is smaller than a preset distinguishing depth and the notch feature area is smaller than a preset distinguishing area, selecting a preset grinding operation instruction; when the notch feature depth range is greater than the distinguishing depth or the notch feature area is greater than the distinguishing area, comparing the mud layer detection surface image with the standard detection surface image to obtain a wire drawing image; determining whether the wire drawing image exists; if it exists, determining a wire drawing area based on the wire drawing image; determining a shoveling direction based on the wire drawing area and a preset center area; forming a specific shoveling operation instruction based on the shoveling direction and the preset shoveling operation instruction; selecting the specific shoveling operation instruction; and if it does not exist, selecting a shoveling operation instruction; the method for selecting a grinding operation instruction when the notch feature depth range is smaller than the distinguishing depth comprises: determining whether the wire drawing image exists; if it exists, converting the grinding operation instruction into a specific shoveling operation instruction; and if it does not exist, selecting the grinding operation instruction. The method for selecting the flattening operation instruction, the specific digging operation instruction or the digging operation instruction comprises: defining the notch feature area corresponding to the flattening operation instruction as a flattening area, defining the notch feature area corresponding to the digging operation instruction as a digging area, and defining the notch feature area corresponding to the specific digging operation instruction as a specific digging area; selecting the flattening operation instruction, the specific digging operation instruction or the digging operation instruction separately when the flattening area, the digging area or the specific digging area exists separately; determining the specific digging coverage range according to the digging direction and the preset digging range when the specific digging area exists; selecting the specific digging operation instruction and deleting the flattening operation instruction and / or the digging operation instruction when the flattening area and / or the digging area exists and the flattening area and / or the digging area all fall into the specific digging coverage range; selecting the specific digging operation instruction, the flattening operation instruction and / or the digging operation instruction when the flattening area and / or the digging area exists but at least one does not fall into the specific digging coverage range; selecting the flattening operation instruction and the digging operation instruction when the specific digging area does not exist, comprising: determining the attempted digging direction based on the digging area and the flattening area when the flattening area and the digging area exist simultaneously; determining the attempted digging operation instruction according to the attempted digging direction and the digging operation instruction; and selecting the attempted digging operation instruction and deleting the flattening operation instruction.

2. The beam plate deburring method applied to the beam short bottom beam composite production line according to claim 1, characterized in that, The method for reacquiring the mud layer detection surface image after performing the deburring operation when the drawing image does not exist until the notch feature area does not exist comprises: moving the mud layer detection cylinder on which the mud layer detection surface image is acquired previously close to the burr surface; pressing the mud layer from the side far away from the burr surface when the mud layer detection cylinder moves to the burr surface; knocking the inner cylinder from the side far away from the burr surface and continuing to press the mud layer detection cylinder until the mud layer detection cylinder moves to the burr surface when the mud layer detection cylinder cannot move to the burr surface; and reacquiring the mud layer detection surface image after moving to the burr surface.

3. The beam plate deburring method applied to the beam short bottom beam composite production line according to claim 2, characterized in that, The method for moving the mud layer detection cylinder on which the mud layer detection surface image is acquired previously close to the burr surface comprises: analyzing the layering line in the drawing image to determine the fitted layering line; analyzing the drawing image to determine the wire shape; acquiring the new layering line after cutting the wire along the fitted layering line at the wire area to cut the wire of the wire shape; moving the mud layer detection cylinder close to the burr surface when the layering line and the new layering line are connected; re-determining the drawing image or the recess image when the layering line and the new layering line are not connected; analyzing the recess image to determine the recess shape when the recess image appears; and filling the mud layer of the recess shape based on the fitted layering line.

4. The beam plate deburring method applied to the beam short bottom beam composite production line according to claim 3, characterized in that, The method for determining the wire drawing shape or the recess shape comprises: acquiring a first wide-angle image on the mud layer end face; acquiring a second wide-angle image after moving the camera position based on the wire drawing image in the first wide-angle image; determining the actual delamination line three-dimensional position based on the first wide-angle image and the second wide-angle image; correcting the actual delamination line three-dimensional position according to the fitting delamination line to determine the theoretical delamination line three-dimensional position; fitting based on the actual delamination line three-dimensional position to obtain the actual burr three-dimensional model; fitting based on the theoretical delamination line three-dimensional position to obtain the theoretical burr three-dimensional model; determining the wire drawing shape and the recess shape based on the actual burr three-dimensional model and the theoretical burr three-dimensional model.

5. The beam plate deburring method applied to the beam short bottom beam composite production line according to claim 2, characterized in that, When the mud layer detection cylinder cannot move to the burr face, the method for knocking the inner cylinder from the side away from the burr face and continuing to press the mud layer detection cylinder until the mud layer detection cylinder moves to the burr face comprises: knocking when the mud layer detection cylinder cannot move to the burr face, so that the inner cylinder gradually approaches the burr face; continuing to knock when the inner cylinder cannot approach the burr face and accumulating the number of times of knocking; acquiring the cylinder face spacing when the number of times of knocking is greater than the preset effective critical number of times; converting the cylinder face spacing into the gap feature depth range and selecting the deburring operation instruction based on the gap feature depth range; acquiring the mud layer detection face image when the inner cylinder moves to the burr face.

6. A beam plate deburring system applied to a beam short bottom beam composite production line, characterized in that, The method comprises: The acquisition module is configured to acquire the punching information, the mud layer detection face image, the first wide-angle image and the second wide-angle image. The memory is configured to store a program of a control method of a beam plate deburring method applied to a cross beam and short bottom beam composite production line according to any one of claims 1 to 5; the program in the memory can be loaded and executed by the processor, and the control method of the beam plate deburring method applied to the cross beam and short bottom beam composite production line according to any one of claims 1 to 5 is implemented.

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