Lightweight steel frame and steel mesh polishing device and method

Abstract

The present application relates to the technical field of building material processing, in particular to a light steel frame steel net polishing device and method. The light steel frame steel net polishing device comprises a workbench, a conveying part arranged on the workbench and used for conveying the light steel frame steel net, a polishing part installed on the workbench and used for polishing the light steel frame steel net in the horizontal direction with the coordinates, height and orientation fixed, an image processing part installed above the conveying part and used for shooting the end of the light steel frame steel net and the hoisting surface to obtain a shooting image, a position sensing part used for sensing the light steel frame steel net on the conveying part, a height sensing part used for sensing the upper surface height of the light steel frame steel net, and a controller used for controlling the conveying and polishing. The present application can automatically complete the detection and polishing of the light steel frame steel net, and improves the polishing quality and efficiency.

Description

Technical Field

[0001] This invention relates to the field of building material processing technology, specifically to a lightweight steel frame and steel mesh grinding device and method. Background Technology

[0002] A suspended ceiling is an additional layer installed between the roof and the floor slab to cover or decorate the ceiling of a room. Suspended ceilings can make a room appear taller and larger, and can also change the atmosphere of a room. Suspended ceiling materials can include wood, plasterboard, mineral wool cloth, metal mesh, aluminum panels, and many others. Different ceiling materials and styles can be chosen depending on different design needs and usage scenarios. Generally speaking, modern minimalist style ceilings use simple lines and clean designs, while European classical style ceilings emphasize details and carvings. The selection and use of a suspended ceiling requires consideration of aesthetics, practicality, and safety, so careful consideration should be given when choosing ceiling materials and usage methods.

[0003] This is a supplementary method to address existing ceiling hoisting issues in decoration construction. Due to increasingly demanding design requirements and complex designs, improper ceiling hanger placement is common, with excessively large spacing or hangers needing to be removed when encountering equipment. This uneven stress can lead to deformation later on, severely impacting the ceiling's lifespan and even causing collapse. Furthermore, the variety and size of decorative hoisting components make installation cumbersome.

[0004] A lifting plane can be formed by using a lightweight steel frame and steel mesh, but welding of the lightweight steel frame and steel mesh is prone to causing burrs and welding protrusions, resulting in an uneven lifting plane or improper assembly. Summary of the Invention

[0005] To solve the above-mentioned technical problems, the present invention provides a lightweight steel frame mesh grinding device for grinding lightweight steel frame mesh, the lightweight steel frame mesh grinding device comprising:

[0006] A workbench, forming a platform structure, is used to support and place the aforementioned lightweight steel frame and steel space frame. This lightweight steel frame and steel space frame is suitable as a support structure for installing complex suspended ceilings. The lightweight steel frame and steel space frame mainly consists of a steel frame and a steel mesh. The steel frame and steel mesh are welded to form a lifting plane. Hanging rods are welded to the welded surface of the lifting plane, with the welding points primarily located at the ends of the lightweight steel frame and steel space frame and on the lifting plane, facilitating seamless assembly of the various lifting planes. Generally, for the same building, the length of the hanging rods is the same, meaning the lifting plane is a horizontal plane; special cases are not elaborated here. The grinding positions of the lightweight steel frame and steel space frame grinding device are at the ends of the lightweight steel frame and steel space frame and the edges of the lifting plane. Lightweight steel frame steel space frame is a rectangular frame welded from square tubes. The welding points are mainly concentrated at the ends of the lightweight steel frame steel space frame. Then, the edges of the wire mesh are welded to the rectangular frame. This will cause unevenness at the welding points of the lightweight steel frame steel space frame, and the lifting surface of the lightweight steel frame steel space frame needs to be ground.

[0007] The workbench is equipped with a conveyor for transporting the lightweight steel frame mesh. Since the lightweight steel frame mesh grinding device grinds the ends and sides of the mesh, the lifting rods of the mesh need to be positioned downwards, with the top surface of the mesh frame as the lifting surface. The conveyor structure is existing technology and will not be described in detail here.

[0008] The grinding tool, mounted on the workbench, is used to grind light steel frames and steel space frames in a horizontal, fixed-coordinate, fixed-height, and directional manner.

[0009] An image processing unit, which can be mounted on a support frame, is used to capture images of the ends and lifting surfaces of the lightweight steel frame / space frame. This image processing unit can be a high-definition camera, a video camera, or a 3D camera. The lifting drive mechanism allows for the installation of lightweight steel frames / space frames of various heights, offering a wide range of applications and strong adaptability.

[0010] A position sensor, mounted on the workbench, is used to sense the lightweight steel frame / steel space frame on the conveyor and send a sensing signal. The position of the position sensor can correspond to the height of the lightweight steel frame / steel space frame; specific details will not be elaborated here.

[0011] The height sensor can be installed on the support frame to sense the height H of the upper surface of the lightweight steel frame and steel space frame. The height sensor can be a laser rangefinder, which can detect and obtain the height of the lightweight steel frame and steel space frame. This is existing technology and will not be described in detail here.

[0012] The controller, which can be mounted on the workbench or controlled from the background, can work with a conveyor, image processing unit, lifting drive unit, bidirectional grinding unit, clamping unit, and position sensor. The controller controls the conveyor to move at a preset conveying speed v. The position sensor detects the position of the lightweight steel frame, and the height sensor detects the height H0 of the lightweight steel frame. The image processing unit captures an image of the lightweight steel frame being conveyed. A first coordinate system is established, and the captured image is embedded into this system. The captured image is analyzed to obtain the coordinates (x, y) of the welding protrusion. The conveyor is then controlled to move S'+y, at which point it stops. The grinding unit moves laterally to the x-coordinate position and grinds the welding protrusion.

[0013] Preferably, a reference line is provided on the conveyor belt surface to facilitate the placement and positioning of the lightweight steel frame and steel mesh frame, and to ensure that the long side of the lightweight steel frame and steel mesh frame is consistent with the conveying direction of the conveyor belt, thereby facilitating operation.

[0014] Preferably, the grinding component may include a support frame, which is mounted on a workbench for supporting and installing parts. The support frame may be a gantry structure, with both ends fixedly connected to the sides of the workbench; other structures are also possible, but will not be elaborated here. A mounting platform can be lifted and lowered on the support frame. The mounting platform may be a rectangular plate structure or a frame structure. A lifting drive component is mounted on the support frame, with its output end connected to the mounting platform for driving its lifting and lowering. The lifting drive component may be a hydraulic rod, an electric telescopic rod, or a motor and lead screw structure. The motor is mounted on the support frame, and two lead screw structures are provided, rotatably mounted within a groove structure. Both ends of the mounting platform are nested within the lead screw structure, keeping the mounting platform horizontal. The motor and lead screw structure are connected via belt drive, allowing synchronous driving of both ends of the mounting platform; details are not elaborated here. A bidirectional grinding component is mounted on the mounting platform for grinding the ends and lifting surfaces of lightweight steel frame steel mesh structures. The bidirectional grinding component requires a right-angle turn to grind the ends and sides of the lightweight steel frame and steel space frame, as well as the perimeter of the hoisting surface.

[0015] Preferably, the support frame has a vertical groove structure on its inner side at one end, and the end of the mounting platform is slidably nested in the groove structure, thereby guiding the sliding of the mounting platform. A vertical optical axis is fixedly installed inside the groove structure, and a linear bearing is fixedly installed at the end of the mounting platform. The linear bearing is slidably nested on the optical axis, which allows the mounting platform to slide smoothly, keeps the mounting platform in a horizontal state, and facilitates height control.

[0016] Preferably, the bidirectional grinding component may include a robotic arm, a rotating mounting platform, and a grinding component. The structure of the robotic arm can be designed as needed, and is currently in the prior art, so it will not be described in detail here. The rotating mounting platform is rotatably mounted on the robotic arm and is used to support and mount the grinding component. The structure of the rotating mounting platform can be designed according to the installation requirements of the grinding component. The grinding component is fixedly mounted on the rotating mounting platform, and its specific structure is currently in the prior art, so it will not be described in detail here. One end of the steering drive is rotatably mounted on the robotic arm, and the other end is rotatably connected to the rotating mounting platform. The steering drive is used to drive the rotating mounting platform to rotate, so that the grinding surface of the grinding component is perpendicular or parallel to the horizontal plane. The rotation of the rotating mounting platform can be controlled according to the extension and retraction of the steering drive. The output of the steering drive corresponds one-to-one with the rotation angle of the rotating mounting platform, and the specific corresponding values ​​can be calibrated in advance, so they will not be described in detail here. A lateral drive component, mounted on a support frame, is used to drive the bidirectional grinding part to move laterally. The bottom of the mounting platform can have a lateral sliding groove, within which a sliding table is slidably nested. A steering drive component can be mounted on the sliding table. In this case, the lateral drive component can consist of a motor and a lead screw. The lead screw is rotatably positioned within the sliding groove, and the motor output shaft is coaxially and fixedly connected to the lead screw. Driven by the motor, the lead screw rotates, thereby completing the lateral drive of the bidirectional grinding part.

[0017] Preferably, the support frame can be equipped with a horizontal coordinate calibrator, which can be a pressure sensor or an infrared sensor. It can be installed at the central axis or end of the support frame, depending on the coordinate system being constructed. The optimal location is at the end of the support frame, using this point as the horizontal coordinate. Other designs are not excluded, but will not be elaborated here. When the bidirectional grinding component moves to the position of the horizontal coordinate calibrator, the calibrator senses and calibrates the position of the bidirectional grinding component. Based on this, the horizontal position of the bidirectional grinding component is determined by the output of the horizontal drive component. Alternatively, the horizontal drive component can also be a chain structure, but will not be elaborated here.

[0018] Preferably, the lightweight steel frame and steel mesh grinding device further includes clamping components installed on the worktable for positioning the lightweight steel frame and steel mesh on the conveyor. Two clamping components are provided and fixedly installed on opposite sides of the conveyor, clamping the lightweight steel frame and steel mesh in the middle position of the conveyor, thus completing the position correction and fixation of the lightweight steel frame and steel mesh. A clamping lifting drive is provided to drive the clamping components to rise and fall, facilitating adjustment of the clamping height.

[0019] Preferably, the clamping component may include a mounting frame, which can be raised and lowered intelligently by a clamping and lifting drive component; details are not elaborated here. A sliding seat is slidably mounted on the mounting frame, and a push-pull component is fixedly mounted on the mounting frame, with its output end fixedly connected to the sliding seat. Driven by the push-pull component, the sliding seat slides to clamp the lightweight steel frame / steel space frame. A slide rail, a telescopic sliding rod structure, can be fixedly mounted on the mounting frame. The sliding seat is connected to the slide rail, ensuring stable sliding of the sliding seat. A clamping block is elastically connected to the clamping surface of the sliding seat. By setting the clamping block, the lightweight steel frame / steel space frame can be buffered, preventing damage. The clamping block is fixedly connected to one end of the optical shaft, and a linear bearing is fixedly mounted at the corresponding position on the sliding seat. The linear bearing is slidably nested on the optical shaft, and a spring is nested on the optical shaft, positioned between the clamping block and the sliding seat, thus providing a buffering effect. The sliding seat is equipped with a sensing optical fiber, which can sense the sliding of the optical axis and send a stop signal to the clamping component. The specific details are not elaborated here.

[0020] Preferably, the image processing unit takes a picture of the lightweight steel frame / steel space frame being transported on the conveyor to obtain an image. The method for obtaining the image includes: calculating the transport time. Where S is the installation distance between the position sensor and the image processing unit, and v is the conveying speed of the conveyor. The controller controls the image processing unit to start photographing the lightweight steel frame on the conveyor from t1 to t0 after the position sensor receives the detection signal, and then stops photographing after the conveyor has traveled a distance L + S + vt0, thus obtaining the image. Here, t is the deviation time value, which can be determined according to the performance of the conveyor and the image processing unit, generally in the range of .-s, which will not be elaborated here. L is the length of the lightweight steel frame. This method obtains a set of image frames of the lightweight steel frame. This method can minimize the use of the image processing unit, avoid the occupation of useless data, reduce memory usage, and ensure the accuracy of image acquisition, avoiding errors and omissions. The image frame set is then filtered to obtain the captured images.

[0021] Preferred: The image selection method includes: obtaining end images of the lightweight steel frame / steel space frame, including images of both the front and rear ends. The standard for obtaining the end images is that the edge of the lightweight steel frame / steel space frame is in the middle of the image, i.e., the shooting point and the end plane of the lightweight steel frame / steel space frame are on the same plane. Then, the image segmentation length l is calculated. The method for obtaining the image segmentation length l may specifically include: obtaining the effective image width l' based on the performance of the image processing device, which needs to be determined based on the performance and height H of the image processing device; the specific values ​​are not elaborated here. Then, the segmentation value n is calculated using a further method, where the image segmentation length l = L / n. Then, images with segmentation lengths l / 2, l, ..., l / 2, n+ are obtained. These images are then stitched together to obtain the captured image; the specific stitching process is not elaborated here.

[0022] Preferred method: The specific method for obtaining the coordinates of welding protrusions at the ends of the lightweight steel frame includes: Since the image processing component is on the plane of the end of the lightweight steel frame, and the plane containing the lightweight steel frame is a line, the image is then implanted into a second coordinate system. The origin and abscissa of the second coordinate system coincide with the origin and abscissa of the first coordinate system. The height y of each coordinate in each image is then calculated, and it is determined whether the height y is greater than a preset grinding height value. If so, the coordinate is determined to be an end welding protrusion. For obtaining the coordinates of welding protrusions on the hoisting surface of the lightweight steel frame, this method may include illuminating the lightweight steel frame with a light source at an inclined angle. Therefore, this light source can be fixed or adjustable, details of which are not elaborated here. With the inclined light source, the illumination intensity on the top surface of the lightweight steel frame is significantly weaker than the light source intensity. When welding protrusions exist, the projected area of ​​the welding protrusion is large, the illumination intensity is high, and the grayscale value of the welding protrusion is large. Based on this, the welding protrusion can be accurately separated. Then, the captured image is analyzed to obtain the grayscale value of each coordinate in the image, and the coordinates with grayscale values ​​greater than a preset standard grayscale value are extracted as the welding protrusions on the top surface. The preset standard grayscale value can be determined according to the light source intensity, tilt angle, welding point material, etc., which will not be elaborated here.

[0023] This invention also proposes a method for grinding lightweight steel frame mesh, comprising the following steps:

[0024] S1. The transported item is transported at a preset transport speed v.

[0025] S2. The position sensor detects the position of the lightweight steel frame and the height sensor detects the height H0 of the lightweight steel frame and the steel space frame.

[0026] S4. The image processing unit takes a picture of the lightweight steel frame and steel space frame being transported on the conveyor to obtain a captured image.

[0027] S5. Construct a first coordinate system and embed the captured image into the coordinate system.

[0028] S6. Analyze the captured images to obtain the coordinates (x, y) of the welding protrusion.

[0029] S7. Control the conveyor to move S'+y, then stop the conveyor from moving.

[0030] S8. Move the grinding part laterally to the x-coordinate position and grind the welding protrusions.

[0031] The technical effects and advantages of this invention are as follows: This invention can automatically complete the inspection and grinding of lightweight steel frame and steel space frame, realize automated grinding process, and improve grinding quality and grinding efficiency. Attached Figure Description

[0032] Figure 1 This is a three-dimensional structural diagram of a lightweight steel frame and steel mesh grinding device proposed in this invention.

[0033] Figure 2 This is a top view schematic diagram of a lightweight steel frame and steel mesh grinding device proposed in this invention.

[0034] Figure 3 for Figure 2 A partial sectional view of the structure at section AA.

[0035] Figure 4 This is a three-dimensional structural diagram of the bidirectional grinding component in a lightweight steel frame and steel mesh grinding device proposed in this invention.

[0036] Figure 5 This is a three-dimensional structural diagram of the clamping component in a lightweight steel frame and steel mesh grinding device proposed in this invention.

[0037] Figure 6 This is a schematic flowchart of a method for grinding lightweight steel frame mesh proposed in this invention.

[0038] Explanation of reference numerals in the attached drawings: 1. Worktable; 2. Conveyor; 3. Support frame; 4. Lifting drive; 5. Image processing component; 6. Mounting platform; 7. Bidirectional grinding component; 8. Clamping component; 9. Position sensing component; 10. Robotic arm; 11. Steering drive; 12. Rotating mounting platform; 13. Grinding component; 14. Sliding table; 15. Mounting bracket; 16. Slide rail; 17. Push-pull component; 18. Sliding seat; 19. Spring; 20. Clamping block; 21. Optical axis. Detailed Implementation

[0039] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments. The embodiments of the present invention are given for illustrative and descriptive purposes only, and are not intended to be exhaustive or to limit the invention to the forms disclosed. Many modifications and variations will be apparent to those skilled in the art. The embodiments were chosen and described to better illustrate the principles and practical application of the invention, and to enable those skilled in the art to understand the invention and design various embodiments with various modifications suitable for a particular purpose.

[0040] Example 1

[0041] refer to Figure 1 This embodiment proposes a lightweight steel frame mesh grinding device for grinding lightweight steel frame mesh. The lightweight steel frame mesh grinding device includes:

[0042] Workbench 1 forms a platform structure for supporting and placing the aforementioned lightweight steel frame and steel space frame. This lightweight steel frame and steel space frame is suitable as a support structure for complex suspended ceiling installations. The lightweight steel frame and steel space frame mainly consists of a steel frame and a steel mesh. The steel frame and steel mesh are welded to form a lifting plane. Hanging rods are welded to the welded surface of the lifting plane, with the welding points primarily located at the ends of the lightweight steel frame and steel space frame and on the lifting plane, facilitating seamless assembly of the various lifting planes. Generally, for the same building, the length of the hanging rods is the same, meaning the lifting plane is a horizontal plane; special cases are not elaborated here. The grinding positions of the lightweight steel frame and steel space frame grinding device are at the ends of the lightweight steel frame and steel space frame and the edges of the lifting plane. The lightweight steel frame / steel space frame is a rectangular frame welded from square tubing. The welding points are mainly concentrated at the ends of the lightweight steel frame / steel space frame, and then the edges of the wire mesh are welded to the rectangular frame. This results in unevenness at the welding points, requiring grinding of the lifting surface of the lightweight steel frame / steel space frame. Workbench 1 can be a rectangular platform structure; its specific structure will not be detailed here.

[0043] The workbench 1 is equipped with a conveyor 2, which is used to convey the lightweight steel frame mesh. Since the lightweight steel frame mesh grinding device grinds the ends and sides of the lightweight steel frame mesh, the lifting rods of the lightweight steel frame mesh need to face downwards, and the lifting surface of the lightweight steel frame mesh frame should be the top surface. The structure of the conveyor 2 is existing technology and will not be described in detail here. To facilitate the placement of the lightweight steel frame mesh frame, reference lines can be set on the conveyor surface of the conveyor 2, thereby facilitating the placement and positioning of the lightweight steel frame mesh frame, ensuring that the long side of the lightweight steel frame mesh frame is aligned with the conveying direction of the conveyor 2, thus facilitating operation.

[0044] A support frame 3, mounted on the workbench 1, is used to support and install components. The support frame 3 can be a gantry structure, with both ends fixedly connected to the sides of the workbench 1; other structures are also possible, but will not be detailed here. A mounting platform 6 is vertically mounted on the support frame 3. The mounting platform 6 can be a rectangular plate structure or a frame structure. A vertical groove structure is formed on the inner side of the end of the support frame 3, and the end of the mounting platform 6 slides within the groove structure, guiding its sliding motion. A vertical optical axis is fixedly installed inside the groove structure, and a linear bearing is fixedly installed at the end of the mounting platform 6. The linear bearing slides within the optical axis, allowing the mounting platform 6 to slide smoothly and maintain a horizontal position for easy height control. A lifting drive 4 is mounted on the support frame 3, and its output end is connected to the mounting platform 6 to drive its lifting and lowering. The lifting drive component 4 can be a hydraulic rod, an electric telescopic rod, or a motor and lead screw structure. The motor is mounted on the support frame 3. Two lead screw structures are provided and rotatably mounted within the groove structure. The two ends of the mounting platform 6 are nested in the lead screw structure to keep the mounting platform 6 horizontal. The motor and the lead screw structure are connected by belt drive, so that the two ends of the mounting platform 6 are driven synchronously. Specific details are not elaborated here. A bidirectional grinding component 7 is mounted on the mounting platform 6 and is used to grind the ends and lifting surfaces of the lightweight steel frame and steel space frame. The bidirectional grinding component 7 needs to rotate at a right angle to grind the sides of the ends of the lightweight steel frame and steel space frame and the perimeter of the lifting surface. The bidirectional grinding component 7 may include: a robotic arm 10, a rotating mounting platform 12, and a grinding component 13. The structure of the robotic arm 10 can be designed as needed, and is currently existing technology, which is not elaborated here. The rotating mounting platform 12 is rotatably mounted on the robotic arm 10. The rotating mounting platform 12 supports and mounts the grinding part 13. The structure of the rotating mounting platform 12 can be designed according to the installation requirements of the grinding part 13. The grinding part 13 is fixedly mounted on the rotating mounting platform 12. The specific structure of the grinding part 13 is existing technology and will not be described in detail here. One end of the steering drive component 11 is rotatably mounted on the robotic arm 10, and the other end of the steering drive component 11 is rotatably connected to the rotating mounting platform 12. The steering drive component 11 drives the rotating mounting platform 12 to rotate, so that the grinding surface of the grinding part 13 is perpendicular or parallel to the horizontal plane. The rotation of the rotating mounting platform 12 can be controlled according to the extension and retraction of the steering drive component 11. The output of the steering drive component 11 corresponds one-to-one with the rotation angle of the rotating mounting platform 12. The specific corresponding values ​​can be calibrated in advance and will not be described in detail here. A transverse drive component is mounted on the support frame 3 to drive the bidirectional grinding component 7 to move laterally. The bottom of the mounting platform 6 can be provided with a transverse sliding groove, and a sliding table 14 is slidably nested inside the sliding groove. The steering drive component 11 can be mounted on the sliding table 14.The lateral drive component can consist of a motor and a lead screw. The lead screw is rotatably mounted in a sliding groove, and the motor output shaft is coaxially and fixedly connected to the lead screw. Driven by the motor, the lead screw rotates, thereby completing the lateral drive of the bidirectional grinding component 7. A horizontal coordinate calibrator can be installed on the support frame 3. This calibrator can be a pressure sensor or an infrared sensor, which can be installed at the central or end position of the support frame 3. The design needs to be based on the coordinate system being constructed. Its optimal position is at the end of the support frame 3, with this point used as the horizontal coordinate 0. Other designs are not excluded, but will not be elaborated here. When the bidirectional grinding component 7 reaches the position of the horizontal coordinate calibrator, the calibrator senses and calibrates the position of the bidirectional grinding component 7. Based on this, the lateral position of the bidirectional grinding component 7 is determined by the output of the lateral drive component. Alternatively, the lateral drive component can also be a chain structure, but will not be elaborated here.

[0045] Image processing unit 5, which can be mounted on support frame 3, is used to capture images of the ends and lifting surfaces of the lightweight steel frame / steel space frame. Image processing unit 5 can be a high-definition camera, video camera, or 3D camera. The lifting drive unit 4 allows for the installation of lightweight steel frames / steel space frames of various heights, offering a wide range of applications and strong adaptability.

[0046] Position sensor 9, installed on workbench 1, is used to sense the lightweight steel frame and steel mesh frame on conveyor 2 and send a sensing signal. The position of the position sensor 9 can correspond to the height of the lightweight steel frame and steel mesh frame; specific details will not be elaborated here.

[0047] Clamping components 8, installed on the workbench 1, are used to position the lightweight steel frame / steel mesh frame on the conveyor 2. Two clamping components 8 are provided, fixedly installed on opposite sides of the conveyor 2. The two clamping components 8 clamp the lightweight steel frame / steel mesh frame, thereby clamping it in the middle position of the conveyor 2, thus completing the position correction and fixation of the lightweight steel frame / steel mesh frame. A clamping lifting drive is used to drive the clamping components 8 to rise and fall, facilitating adjustment of the clamping height. The clamping component 8 may include a mounting frame 15, which can be raised and lowered intelligently through the clamping lifting drive; details are not elaborated here. A sliding seat 18 is slidably mounted on the mounting frame 15, and a push-pull component 17 is fixedly mounted on the mounting frame 15. The output end of the push-pull component 17 is fixedly connected to the sliding seat 18. Driven by the push-pull component 17, the sliding seat 18 slides to clamp the lightweight steel frame / steel space frame. A slide rail 16, a telescopic sliding rod structure, can be fixedly mounted on the mounting bracket 15. The sliding seat 18 is connected to the slide rail 16, ensuring stable sliding of the sliding seat 18. A clamping block 20 is elastically connected to the clamping surface of the sliding seat 18. By setting the clamping block 20, the lightweight steel frame / steel space frame can be buffered and clamped, preventing damage. The clamping block 20 is fixedly connected to one end of the optical axis 21. A linear bearing is fixedly mounted at a corresponding position on the sliding seat 18, slidingly nested on the optical axis 21. A spring 19 is nested on the optical axis 21 and positioned between the clamping block 20 and the sliding seat 18, thus providing a buffering effect. A sensing optical fiber is provided on the sliding seat 18. The sensing optical fiber can sense the sliding of the optical axis 21 and send a stop signal to the clamping component 8. Specific details are not elaborated here.

[0048] The height sensor can be installed on the support frame 3 to sense the height H of the upper surface of the lightweight steel frame steel space frame. The height sensor can be a laser rangefinder, which can detect and obtain the height of the lightweight steel frame steel space frame. This is existing technology and will not be described in detail here.

[0049] The controller can be mounted on the workbench 1 or controlled from the background. The controller can communicate with the conveyor 2, image processing unit 5, lifting drive unit 4, bidirectional grinding unit 7, clamping unit 8, and position sensing unit 9. The controller controls the conveyor 2 to move at a preset conveying speed v. The preset conveying speed can be determined based on the friction of the conveyor 2 and the production cycle, and is generally 0.2 m / s to 2 m / s; specific details are not elaborated here. We place the lightweight steel frame / steel mesh frame on the conveyor 2, ensuring that the long side of the frame is parallel to the conveying direction of the conveyor 2. As the conveyor 2 moves, the frame approaches the support frame 3. The position sensor 9 detects the position of the frame and sends a signal. Then, the height sensor detects the height H0 of the frame and calculates the processing foundation height H = H0 + H', where H' is the processing height difference, typically 0.1-0.5m, depending on the installation parameters of the bidirectional grinding component 7. The controller then controls the lifting drive 4 to drive the bidirectional grinding component 7 to the processing foundation height H. The specific operation process is not detailed here. The image processing component 5 captures an image of the lightweight steel frame / steel mesh frame conveyed on the conveyor 2. The control process may include calculating the conveying time. Where S is the installation distance between the position sensor 9 and the image processing unit 5, and v is the transmission speed of the conveyor 2, the controller controls the image processing unit 5 to start shooting the lightweight steel frame on the conveyor 2 from t1-t0 after the position sensor 9 receives the detection signal, and then stops shooting at t1+t0 after the conveyor 2 has traveled a distance L, thus obtaining the image. Here, t0 is the deviation time value, which can be determined according to the performance of the conveyor 2 and the image processing unit 5, generally 0.1-1s, and will not be elaborated here. L is the length of the lightweight steel frame. This allows for the acquisition of a set of image frames of the lightweight steel frame. This method minimizes the use of the image processing unit 5, avoids the occupation of useless data, reduces memory usage, and ensures the accuracy of image acquisition, avoiding errors and omissions. The image frame set is then filtered to obtain the captured image. The specific screening process may include: obtaining end images of the lightweight steel frame and steel space frame, including images of both the front and rear ends. The standard for obtaining these images is that the edge of the lightweight steel frame and steel space frame is located in the middle of the image, i.e., the shooting point and the end plane of the lightweight steel frame and steel space frame are on the same plane. Then, the image segmentation length l is calculated. The method for obtaining the image segmentation length l may specifically include: obtaining the effective image width l' based on the performance of the image processing device 5, which needs to be determined based on the performance and height H of the image processing device 5; the specific values ​​are not elaborated here. Then, the segmentation value n is calculated using a further method. The image segmentation length l = L / n. Then, images with segmentation lengths l / 2, l, ..., l / 2, n+1 are selected. For example, if the length of the lightweight steel frame is 2m and the image segmentation length l is 0.5m, then at lengths of 0m, 0.5m, 1m, 1.5m, and 2m on the lightweight steel frame, the controller selects images at positions 50m, 0.5m, 1m, 1.5m, and 2m from the image frame set for image processing. These images are then stitched together to obtain the captured image. The specific stitching process is not detailed here. The controller constructs a first coordinate system, which is a planar coordinate system. This coordinate system can have the length of the lightweight steel frame as the ordinate, the width of the lightweight steel frame as the abscissa, and the corner of the lightweight steel frame as the origin. Other construction methods are also possible. The captured image is then embedded into this coordinate system. The controller analyzes the captured images to obtain the coordinates of the welding protrusions. Specifically, the method for obtaining the coordinates of the welding protrusions at the end of the lightweight steel frame includes: since the image processing component 5 is on the plane at the end of the lightweight steel frame, and the plane where the lightweight steel frame is located is a line, the image is then implanted into the second coordinate system. The origin and abscissa of the second coordinate system coincide with the origin and abscissa of the first coordinate system. Then, the height y of each coordinate in each image is calculated, and it is determined whether the height y is greater than a preset grinding height value. If so, the coordinate is determined to be the end welding protrusion.The method for obtaining the coordinates of welding protrusions on the hoisting surface of a lightweight steel frame or steel space frame can include illuminating the lightweight steel frame or steel space frame with a light source at an inclined angle. This inclined angle is generally 15-60° with the horizontal plane. Therefore, this light source can be fixed or adjustable, details of which will not be elaborated here. Due to the inclined angle, the light intensity on the top surface of the lightweight steel frame or steel space frame is significantly weaker than the light source intensity. When welding protrusions are present, the projected area of ​​the welding protrusions is large, resulting in high light intensity and a large grayscale value. Based on this, the welding protrusions can be accurately separated. Then, the captured image is analyzed to obtain the grayscale values ​​of each coordinate in the image. Coordinates with grayscale values ​​greater than a preset standard grayscale value are extracted as the top surface welding protrusions. The preset standard grayscale value can be determined based on the light source intensity, inclined angle, welding point material, etc., details of which will not be elaborated here. The coordinates of the welding protrusions at the ends and the top surface welding protrusions constitute the obtained welding protrusion coordinates (x, y). The controller controls the conveyor 2 to move S'+y, where S' is the installation distance between the position sensor 9 and the bidirectional grinding component 7. The controller stops the conveyor 2 and raises the clamping component 8 to align with H, clamping the lightweight steel frame. The controller controls the bidirectional grinding component 7 to move laterally to the x-coordinate position and grinds the welding protrusions. The grinding depth can reach H, details of which are not elaborated here. After grinding the welding protrusion, the controller releases the clamping component 8 and controls the conveyor 2 to move to the next welding protrusion, details of which are not elaborated here. For welding protrusions at the ends and top surface, the grinding direction of the bidirectional grinding component 7 is controlled to correspond to the ends and top surface, details of which are not elaborated here. This method can automatically complete the detection and grinding of the lightweight steel frame, achieving automated grinding processing and improving grinding quality and efficiency.

[0050] Example 2

[0051] This embodiment proposes a method for grinding lightweight steel frame mesh, including the following steps:

[0052] S1, the transporter 2 is transported at a preset transport speed v.

[0053] S2. The position sensor 9 senses the position of the lightweight steel frame and the height sensor senses the height H0 of the lightweight steel frame and the steel space frame.

[0054] S4. Image processing unit 5 takes a picture of the lightweight steel frame and steel space frame conveyed on the conveyor 2 to obtain a captured image.

[0055] S5. Construct a first coordinate system and embed the captured image into the coordinate system.

[0056] S6. Analyze the captured images to obtain the coordinates (x, y) of the welding protrusion.

[0057] S7, control the teleporter 2 to move S'+y, then the teleporter 2 stops moving.

[0058] S8. Move the grinding part laterally to the x-coordinate position and grind the welding protrusions.

[0059] Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. All other embodiments obtained by those skilled in the art and related fields based on the embodiments of the present invention without inventive effort should fall within the scope of protection of the present invention. Structures, devices, and operating methods not specifically described and explained in the present invention, unless otherwise specified or limited, shall be implemented according to conventional means in the art.

Claims

1. A lightweight steel frame and steel mesh grinding device, characterized in that, The aforementioned lightweight steel frame and steel mesh grinding device includes: A workbench; the workbench is equipped with a conveyor for conveying the lightweight steel frame mesh. The grinding component, mounted on the workbench, is used for grinding lightweight steel frames and steel space frames in a horizontal, fixed-coordinate, fixed-height, and directional manner. An image processing unit, installed above the conveyor, is used to capture images of the ends and lifting surfaces of the lightweight steel frame and steel space frame. Position sensing device, used for sensing the lightweight steel frame or steel space frame on the conveyor; A height sensor for sensing the height H of the upper surface of the lightweight steel frame steel space frame; The controller controls the conveyor to move at a preset conveying speed v; senses the position and height of the lightweight steel frame; an image processing unit takes a picture of the lightweight steel frame being conveyed on the conveyor; a first coordinate system is constructed, and the picture is inserted into the coordinate system; the picture is analyzed to obtain the coordinates (x, y) of the welding protrusion; the conveyor is controlled to stop moving based on the position and y of the lightweight steel frame; and the grinding component is moved laterally to the x-coordinate position based on the height and the grinding component grinds the welding protrusion. The method for acquiring images includes: calculating the transmission time t1=S / t, where S is the installation distance between the position sensor and the image processing unit, v is the transmission speed of the transmission unit, the controller controls the image processing unit to start capturing images of the lightweight steel frame on the transmission unit t1-t0 after the position sensor receives the detection signal, and then stops capturing images when the transmission distance L+S+vt0 is reached, where t is the deviation time value, L is the length of the lightweight steel frame, and an image frame set of the lightweight steel frame is obtained. The image frame set is then filtered to obtain the captured images. The image selection method includes: obtaining end images of the lightweight steel frame and steel grid structure from the image frame set, the end images including images of both the front and rear ends; then calculating the image segmentation length l, specifically including: obtaining the effective image width l' based on the performance of the image processing device; then calculating the segmentation value n using a further method, the image segmentation length l = L / n; then using image segmentation lengths l / 2, l, ..., l / 2, n+ images; and then stitching these images together to obtain the captured image. The welding bumps include end welding bumps and top welding bumps. The method for obtaining the coordinates of the end welding bumps includes: implanting the end image into a preset second coordinate system, the origin and abscissa of the second coordinate system coincide with the origin and abscissa of the first coordinate system, then calculating the height y of each coordinate in each image, and determining whether the height y is greater than a preset grinding height value. If so, the coordinate is determined to be the end welding bump. The welding bumps include end welding bumps and top welding bumps. The method for obtaining the coordinates of the end welding bumps includes: illuminating the lightweight steel frame with a light source at an inclined angle, then analyzing the captured image to obtain the grayscale values ​​of each coordinate in the image, and extracting coordinates with grayscale values ​​greater than a preset standard grayscale value as top welding bumps. The end welding bumps and top welding bumps constitute the welding bumps.

2. The lightweight steel frame and steel mesh grinding device according to claim 1, characterized in that, The grinding component includes a support frame, which is mounted on a workbench; a mounting platform is mounted on the support frame in a height-adjustable manner. The lifting drive is mounted on the support frame, and its output end is connected to the mounting platform to drive the mounting platform to lift. The bidirectional grinding component is mounted on the mounting platform to grind the ends of the lightweight steel frame and the hoisting surface.

3. The lightweight steel frame and steel mesh grinding device according to claim 2, characterized in that, The bidirectional grinding component includes: a robotic arm, a rotating mounting platform, and a grinding component; the rotating mounting platform is rotatably mounted on the robotic arm and is used to support and mount the grinding component; the grinding component is fixedly mounted on the rotating mounting platform; one end of a steering drive is rotatably mounted on the robotic arm, and the other end of the steering drive is rotatably connected to the rotating mounting platform, and the steering drive is used to drive the rotating mounting platform to rotate; the output of the steering drive corresponds one-to-one with the rotation angle of the rotating mounting platform; a lateral drive is mounted on a support frame and is used to drive the bidirectional grinding component to move laterally; a sliding groove is laterally opened at the bottom of the mounting platform, and a sliding platform is slidably nested inside the sliding groove, and the steering drive is mounted on the sliding platform.

4. The lightweight steel frame and steel mesh grinding device according to claim 1, characterized in that, The lightweight steel frame and steel mesh grinding device also includes clamping components, which are installed on the worktable and used to position the lightweight steel frame and steel mesh on the conveyor. Two clamping components are set and fixedly installed on the lateral sides of the conveyor. The two clamping components clamp the lightweight steel frame and steel mesh in the middle position of the conveyor. A clamping lifting drive is used to drive the clamping components to lift and lower.

5. The lightweight steel frame and steel mesh grinding device according to claim 4, characterized in that, The clamping component includes a mounting frame that is height-adjustable; a sliding seat is slidably mounted on the mounting frame, and a push-pull component is fixedly mounted on the mounting frame, with the output end of the push-pull component fixedly connected to the sliding seat; the sliding seat slidably clamps the lightweight steel frame / steel grid frame; a slide rail is fixedly mounted on the mounting frame, the slide rail being a telescopic sliding rod structure, and the sliding seat is connected to the slide rail; a clamping block is elastically connected to the clamping surface of the sliding seat; the clamping block is fixedly connected to one end of the optical axis, and a linear bearing is fixedly mounted at a corresponding position on the sliding seat, the linear bearing being slidably nested on the optical axis, and a spring being nested on the optical axis and positioned between the clamping block and the sliding seat; an optical fiber for sensing is mounted on the sliding seat.

6. A method for grinding lightweight steel frame mesh, characterized in that, The method for grinding lightweight steel frame mesh according to any one of claims 1-5 includes the following steps: S1. The conveyor is moved at a preset conveying speed v; S2. Sensing to obtain the position and height of the lightweight steel frame and steel space frame; S3. The image processing unit takes a picture of the lightweight steel frame and steel space frame being transported on the conveyor to obtain a captured image; S4. Construct a first coordinate system and embed the captured image into the coordinate system; S5. Analyze the captured images to obtain the coordinates (x, y) of the welding protrusions; S6. Based on the position and y of the lightweight steel frame and steel space frame obtained by sensing, the conveying component stops moving; S7. Based on the height, control the horizontal movement of the grinding part to the x-coordinate position, and grind the welding protrusions.

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