A method and system for cleaning rod hole corrosion

Abstract

The application relates to a rod hole rust cleaning method and system, and relates to the field of laser rust removal technology, which comprises the following steps: collecting rod images on a preset cleaning workbench to perform feature analysis, so as to determine a rod type and hole parameters, the hole parameters comprising a hole center position and a hole area; performing analysis according to the hole center position, the hole area and a cleaning direction of a preset linkage laser group, so as to determine a hole cleaning path and a hole cleaning blind spot area; performing calculation according to the hole cleaning blind spot area and a preset laser rotation range, so as to determine a compensation angle; instructing the preset linkage laser group to clean the rod hole according to the hole cleaning path, and performing compensation cleaning on the hole cleaning blind spot area according to the compensation angle; and instructing the preset cleaning workbench to discharge the rod after rust removal. The application has the effect of improving the paint removal efficiency of different rod holes.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of laser rust removal, in particular to a rod hole rust cleaning method and system. BACKGROUND

[0002] In the steering transmission mechanism of the rail vehicle, the rod is often used for transmission. In order to reduce the hidden troubles such as rust and crack in the use process of the rod, periodic flaw detection needs to be performed on the position of the rod where the bearing force is large.

[0003] In the related art, the rod is in a rectangular strip shape, and a hole is formed at both ends. The hole is used for embedding and installing a bearing or other rotating parts. Before flaw detection, the paint layer coated on the surface and the hole of the rod needs to be removed to reduce the influence on the accuracy in the flaw detection process. Before paint removal, the laser is arranged at the corresponding position, so that the laser can perform laser paint removal on the surface to be detected.

[0004] In the related art, due to different specifications of the rod, the position and size of the hole are changed, so that in the continuous paint removal operation of different rods, the paint removal operation needs to be stopped and the position of the paint removal laser needs to be adjusted, and the overall paint removal efficiency is low. SUMMARY

[0005] In order to improve the paint removal efficiency of the hole of different rods, the present application provides a rod hole rust cleaning method and system.

[0006] In the first aspect, the present application provides a rod hole rust cleaning method, which adopts the following technical scheme:

[0007] A rod hole rust cleaning method, comprising:

[0008] Collecting the image of the rod on the preset cleaning workbench to perform feature analysis, so as to determine the rod type and hole parameters. The hole parameters include the hole center position and the hole area.

[0009] According to the hole center position, the hole area and the cleaning direction of the preset linkage laser group, the hole cleaning path and the hole cleaning blind spot area are analyzed.

[0010] According to the hole cleaning blind spot area and the preset laser rotation range, the compensation angle is calculated.

[0011] The preset linkage laser group is instructed to move according to the hole cleaning path, so as to perform circumferential rotation cleaning on the inner wall of the rod hole, and perform compensation cleaning on the hole cleaning blind spot area according to the compensation angle.

[0012] The preset cleaning workbench is instructed to unload and stack the rod after rust removal.

[0013] By adopting the technical scheme, when a rod piece of a type to be replaced is needed to be rusted, the hole parameter analysis can be performed through the image, so that the corresponding hole cleaning path and the corresponding hole cleaning blind area are adjusted, and the linkage laser group can rust the two holes of the rod piece according to the hole cleaning path and the compensation angle, without the need to stop adjusting the position of the laser, which helps to improve the working efficiency of rusting different types of rod pieces.

[0014] Optionally, when the rod piece after the cycle rusting is discharged and stacked, the method further comprises the following steps of:

[0015] marking the type of the rod piece as a previous rod piece type, and collecting a replacement rod piece image of the replacement rod piece;

[0016] analyzing a replacement rod piece type of the replacement rod piece image and comparing the replacement rod piece type with the previous rod piece type;

[0017] when the replacement rod piece type is different from the previous rod piece type, analyzing based on the replacement rod piece image to determine a current cleaning path and a current cleaning blind area;

[0018] replacing the hole cleaning path and the hole cleaning blind area of the previous rod piece based on the current cleaning path and the current cleaning blind area.

[0019] By adopting the technical scheme, when the rod piece completes the hole cleaning, the image analysis is performed on the replacement rod piece, and the comparison of the rod piece type is performed, so that whether the rod piece of a new type is replaced in the continuous rusting operation is analyzed, and the hole cleaning path and the hole cleaning blind area of the corresponding rod piece type are updated, so that the replaced rod piece can be accurately rusted on the inner wall of the hole.

[0020] Optionally, the determination of the current cleaning path comprises the following steps of:

[0021] comparing a cross-sectional area of a laser head of the preset linkage laser group in a preset cleaning insertion direction with a hole area;

[0022] when the cross-sectional area of the laser head is smaller than the hole area, performing path analysis on a cleaning position of the linkage laser group and a hole center position to determine a movable path;

[0023] performing calculation analysis based on a preset moving time cost strategy to determine a moving time cost;

[0024] searching according to the moving time cost to determine a moving path corresponding to a minimum moving time cost;

[0025] updating the moving path as the current cleaning path.

[0026] By adopting the technical scheme, the laser head and the hole area are compared and analyzed, when the hole area does not hinder the insertion of the laser head, the moving time cost of the movable path is calculated, the movable path corresponding to the minimum moving time cost is found out, and the time consumption of the linkage laser group when moving along the moving path is reduced.

[0027] Optionally, the expression used by the moving time cost strategy when performing calculation and analysis is as follows:

[0028] ;

[0029] ;

[0030] Among them, represents the moving time cost value, represents the positioning and calibration time consumption weight coefficient of the laser cleaning head, represents the laser positioning and calibration power consumption, represents the laser cleaning time consumption mean value of the first movable path, represents the laser cleaning time consumption of the hole position a, represents the laser cleaning time consumption of the hole position b, is the moving time consumption influence weight coefficient.

[0031] By adopting the technical scheme, the influence of the laser moving path on the moving time cost is calculated, the moving path with the minimum influence is found out, the linkage laser group can reduce the time consumption when moving along the corresponding moving path, and the cleaning work efficiency is improved.

[0032] Optionally, the rod hole is cleaned, and the method comprises the following steps:

[0033] Analyzing the hole contour features of the rod image to determine the hole contour parameters, the hole contour parameters comprising a hole contour type and a hole contour trajectory;

[0034] When the hole contour type is inconsistent with the preset circular contour type, matching the rod surface rust type in the preset laser cleaning database with the basic cleaning laser wavelength;

[0035] Indicating the preset linkage laser group to perform laser cleaning on the hole inner wall corresponding to the hole contour trajectory according to the basic cleaning laser wavelength, and collecting the minimum distance between the laser head rotation process and the hole inner wall corresponding to the hole contour trajectory;

[0036] When the corresponding distance of the minimum distance increases or decreases, the laser wavelength of the preset laser linkage group is reduced or increased.

[0037] By adopting the technical scheme, when the profile track of the hole is irregular and the minimum distance between the laser head and the inner wall of the hole changes, the wavelength of the laser is adjusted to increase or decrease the intensity of the laser, thereby reducing the influence degree of the distance change on the laser rust cleaning, and the effectiveness of rust cleaning of the irregular hole is improved.

[0038] Optionally, when the hole profile type is inconsistent with the preset circular profile type, the method further comprises:

[0039] The hole profile track is compared with the normal profile track in the preset profile track database, and when the hole profile track is a normal profile track, the turning point of the hole profile track is analyzed to determine the turning track line segment;

[0040] The track curvature analysis is performed based on the turning track line segment, and when the track curvature is greater than the preset interference curvature, the turning track line segment corresponding to the track curvature is marked as a wavelength adjustment track;

[0041] The minimum acquisition frequency corresponding to the track curvature in the preset acquisition frequency database is matched, and the acquisition is performed at the minimum distance according to the minimum acquisition frequency.

[0042] By adopting the technical scheme, the track curvature corresponding to the turning track line segment in the hole profile is analyzed, the turning track line segment with a larger track curvature is marked, and the corresponding minimum acquisition frequency is matched, so that the acquisition frequency can be reduced when the minimum distance between the laser head and the inner wall of the hole is acquired, and the reliability of the acquired minimum distance is not easily affected.

[0043] Optionally, when the hole profile parameter is determined, the method further comprises:

[0044] The number of turning track line segments of the hole profile track is analyzed, and when the number of turning track line segments is greater than the preset basic turning track number, the curvature average of the turning track line segment is calculated;

[0045] The average laser wavelength, the laser scanning angular velocity, and the scanning number corresponding to the curvature average in the preset special-shaped track cleaning database are matched based on the curvature average;

[0046] When the inner wall of the hole is cleaned, the preset linkage laser group is instructed to clean the turning track line segment according to the average laser wavelength, the laser scanning angular velocity, and the scanning number.

[0047] By adopting the technical scheme, the curvature average of the turning track line segment is calculated when the number of turning track line segments is large, and the corresponding average laser wavelength, laser scanning angular velocity, and scanning number are matched, so that the linkage laser group does not need to frequently adjust the laser wavelength when scanning and cleaning the inner wall of the hole, thereby reducing the time consumption of adjustment, and the rust removal efficiency is improved.

[0048] Optionally, when the preset linkage laser group moves according to the hole cleaning path to perform circumferential rotation cleaning on the inner wall of the rod hole and performs compensation cleaning on the hole cleaning blind spot area according to the compensation angle, the following steps are included:

[0049] Step 1. Hole cleaning sorting is performed on the direction of the rod hole conveyed to the preset cleaning workbench to determine the first cleaning hole and the second cleaning hole.

[0050] Step 2. The first linkage laser in the preset linkage laser group is instructed to clean the first cleaning hole according to the laser rotation range and then move out of the first cleaning hole.

[0051] Step 3. The second linkage laser in the preset linkage laser group is instructed to compensate clean the first cleaning hole according to the compensation angle and the hole cleaning path and then move out of the first cleaning hole.

[0052] The first linkage laser and the second linkage laser are instructed to perform the steps 1 to 3 cyclically to clean the second cleaning hole.

[0053] By adopting the above technical solution, the first linkage laser and the second linkage laser clean the first cleaning hole and the second cleaning hole in sequence and clean the hole cleaning blind spot according to the compensation angle, so that the first linkage laser and the second linkage laser can complete the fast rust removal work on the two holes in turn.

[0054] In a second aspect, the application provides a laser rust removal and cleaning system for rod holes, which adopts the following technical solution:

[0055] A laser rust removal and cleaning system for rod holes includes:

[0056] An acquisition module collects images of the rod on the preset cleaning workbench for feature analysis to determine the rod model and hole parameters, the hole parameters including the hole center position and the hole area.

[0057] An analysis module analyzes the hole center position, the hole area, and the cleaning direction of the preset linkage laser group to determine the hole cleaning path and the hole cleaning blind spot area.

[0058] A compensation angle is determined by calculating the hole cleaning blind spot area and the preset laser rotation range.

[0059] A processing module instructs the preset linkage laser group to move according to the hole cleaning path to perform circumferential rotation cleaning on the inner wall of the rod hole and to perform compensation cleaning on the hole cleaning blind spot area according to the compensation angle.

[0060] The preset cleaning workbench is instructed to stack the rod after rust removal.

[0061] By adopting the technical scheme, when a rod piece of a type to be rust-removed is replaced, the hole parameter analysis is performed on the rod piece image, so as to adjust the corresponding hole cleaning path and analyze the corresponding hole cleaning blind spot area, so that the linkage laser group can perform rust-removal on the two holes of the rod piece according to the hole cleaning path and the compensation angle, without the need to stop and adjust the position of the laser, which helps to improve the working efficiency of rust-removal of rod pieces of different types.

[0062] In summary, the present application has at least one of the following beneficial technical effects:

[0063] 1. When a rod piece of a type to be rust-removed is replaced, the hole parameter analysis is performed on the rod piece image, so as to adjust the corresponding hole cleaning path and analyze the corresponding hole cleaning blind spot area, so that the linkage laser group can perform rust-removal on the two holes of the rod piece according to the hole cleaning path and the compensation angle, without the need to stop and adjust the position of the laser, which helps to improve the working efficiency of rust-removal of rod pieces of different types;

[0064] 2. When the rod piece is completed hole cleaning, the image analysis is performed on the replaced rod piece, and the rod piece type is compared, so as to analyze whether a new type of rod piece is replaced in the continuous rust-removal operation, and update the hole cleaning path and the hole cleaning blind spot area of the corresponding rod piece type, so as to accurately perform the hole inner wall rust-removal on the replaced rod piece;

[0065] 3. The influence of the laser movement path on the calculation of the movement time cost is considered, so as to find out the movement path with the minimum influence, so that the linkage laser group can reduce the time consumption when moving according to the corresponding movement path, which helps to improve the cleaning efficiency. BRIEF DESCRIPTION OF DRAWINGS

[0066] Figure 1 is a method flowchart of steps S100 to S104 in the present application.

[0067] Figure 2 is a method flowchart of steps S200 to S203 in the present application.

[0068] Figure 3 is a method flowchart of steps S300 to S304 in the present application.

[0069] Figure 4 is a method flowchart of steps S400 to S403 in the present application.

[0070] Figure 5 is a method flowchart of steps S500 to S502 in the present application.

[0071] Figure 6 is a method flowchart of steps S600 to S602 in the present application.

[0072] Figure 7 is the method flowchart of steps S700 to S703 in the present application.

[0073] Figure 8 is the overall structure schematic diagram of the rod rust removal assembly line in the present application.

[0074] Figure 9 is the partial structure schematic diagram of the rod hole cleaning device in the present application.

[0075] Legend: 1, rod rust removal and cleaning assembly line; 2, clamping robot; 3, laser cleaning device; 31, conveying mechanism; 32, linkage laser group; 321, first linkage laser; 322, second linkage laser; 33, cleaning workbench; 34, clamping tool. DETAILED DESCRIPTION

[0076] In order to make the purpose, technical scheme and advantages of the present application more clear, the following will combine the drawings of the specification and the examples to further describe the present application in detail. It should be understood that the specific examples described herein are only used to explain the present application, and are not used to limit the present application. Figures 1-9 The present application will be further described in detail below with reference to the drawings of the specification and the examples. It should be understood that the specific examples described herein are only used to explain the present application, and are not used to limit the present application.

[0077] The embodiments of the present application will be further described in detail below with reference to the drawings of the specification.

[0078] The rod hole rust cleaning method disclosed in the embodiments of the present application analyzes the image of the rod on the cleaning workbench to determine the hole center position and hole area of different types of rods, so as to analyze the hole cleaning path and hole cleaning blind area when the linkage laser group performs hole cleaning, and instructs the linkage laser group to clean, so that it is not necessary to stop adjusting the position of the laser, which helps to improve the work efficiency of hole rust removal for different rods.

[0079] Referring to Figure 1 , the method flowchart of the rod hole rust cleaning method comprises the following steps:

[0080] Step S100: collecting the image of the rod on the preset cleaning workbench for feature analysis to determine the rod model and hole parameters, the hole parameters including the hole center position and the hole area.

[0081] The cleaning workbench is a platform for placing and clamping the rod, which is provided with a corresponding conveying mechanism. The conveying mechanism cooperates with the motor and the conveying belt to convey the rod to the preset area for cleaning. The image acquisition camera is provided on the cleaning workbench in advance, and the rod is photographed to define the photographed image as the rod image.

[0082] Wherein, it is needed to be further explained that the rod images corresponding to different rods have different image features, and these image features are recorded and pre-stored in the rod model database, and the corresponding rod model and hole parameters are stored, so that when the rod image is input, the corresponding hole parameters can be output through feature recognition comparison, wherein the hole parameters include the hole center position and the hole area on the rod. Since the relative position of the rod is determined when the conveying mechanism moves the rod to the specified area, the position of the hole center on the corresponding rod model can be known.

[0083] Step S101: analyzing according to the hole center position, the hole area and the cleaning direction of the preset linkage laser group to determine the hole cleaning path and the hole cleaning blind spot area.

[0084] The linkage laser includes a first linkage laser and a second linkage laser, and the two linkage lasers can move to the required position as needed to clean the rust area in the hole. The cleaning direction is the laser cleaning direction when the linkage laser cleans the inner wall of the hole. After the hole center position and the hole area are known, the moving path is connected according to the corresponding coordinate position of the linkage laser and the hole center position, so that the route of the linkage laser when reaching the corresponding hole for cleaning can be suppressed. The route is defined as the hole cleaning path, which includes the corresponding moving path of the first linkage laser and the second linkage laser.

[0085] In addition, it is needed to be explained that the first linkage laser and the second linkage laser clean the inner wall of the hole according to the circumferential rotation angle when moving, and the rotation angle has an upper limit, and the maximum rotation angle of the first linkage laser and the second linkage laser can be complementary, so that when the first linkage laser and the second linkage laser clean two holes on the rod, each hole needs to be cleaned in turn, that is, after the first linkage laser is pre-cleaned, the second linkage laser cleans the hole again for secondary cleaning, so that the circumferential inner wall of the hole is fully cleaned. The residual inner wall area after the first linkage laser is cleaned is defined as the hole cleaning blind spot area.

[0086] Step S102: calculating according to the hole cleaning blind spot area and the preset laser rotation range to determine the compensation angle.

[0087] The difference between the rotation angle corresponding to the hole cleaning blind spot area and the upper limit of the rotation angle of the laser is calculated, and the obtained difference is defined as the compensation angle.

[0088] Step S103: instructing the preset linkage laser group to move according to the hole cleaning path to clean the circumferential inner wall of the rod hole, and cleaning the hole cleaning blind spot area according to the compensation angle.

[0089] The first linkage laser and the second linkage laser in the linkage laser group are instructed to move to the hole center position according to the hole cleaning path, perform hole inner wall laser rust removal according to the corresponding laser rotation range, and enable the second linkage laser to perform laser rust removal on the hole cleaning blind area according to the compensation angle, thereby improving the comprehensiveness of rust removal and cleaning.

[0090] Step S104: instructing the preset cleaning workbench to stack the rust-removed rod pieces.

[0091] By performing steps S100 to S104, when the rod pieces for cleaning holes are replaced with different models, the hole parameter analysis can be performed through images, so that the corresponding hole cleaning path and the corresponding hole cleaning blind area are analyzed, and the linkage laser group can perform rust removal on the two holes of the rod piece according to the hole cleaning path and the compensation angle, without the need to stop adjusting the position of the laser, which helps to improve the work efficiency of rust removal of different models of rod pieces.

[0092] Reference Figure 2 When the rod pieces after the cycle rust removal are stacked, the method further comprises the following steps:

[0093] Step S200: mark the rod piece model of the stacked rod piece as the previous rod piece model, and collect the replacement rod piece image of the replacement rod piece.

[0094] By taking an image of the rod piece that has not been cleaned after the rod piece cleaning is completed, and defining it as a replacement rod piece image, subsequent image analysis of the rod piece that has not been cleaned can be facilitated.

[0095] Step S201: analyze the replacement rod piece model of the replacement rod piece image and compare it with the previous rod piece model.

[0096] By analyzing the features of the replacement rod piece image, the replacement rod piece model is obtained and compared with the previous rod piece model, so as to determine whether the rod piece is of the same type.

[0097] Step S202: when the replacement rod piece model is different from the previous rod piece model, analyze the replacement rod piece image to determine the current cleaning path and the current cleaning blind area.

[0098] When the replacement rod piece model is different from the previous rod piece model, it indicates that the first linkage laser and the second linkage laser cannot perform rust removal on the hole inner wall according to the previous movement path, so the replacement rod piece image is analyzed again to plan a new current cleaning path and a current cleaning blind area.

[0099] Step S203: replace the hole cleaning path and the hole cleaning blind area of the previous rod piece based on the current cleaning path and the current cleaning blind area.

[0100] According to the updated current cleaning path and the current cleaning blind area, the replacement update is performed, so that the subsequent linkage laser can effectively remove rust on the inner wall of the hole.

[0101] By performing steps S200 to S103, when the rod completes the hole cleaning, the replacement rod is analyzed by image analysis, and the rod model is compared, so as to analyze whether the rod of a new model is replaced in the continuous rust removal operation, and the hole cleaning path and the hole cleaning blind area corresponding to the rod model are updated, so as to accurately remove the rust on the inner wall of the replaced rod.

[0102] Referring to Figure 3 , when determining the current cleaning path, it includes:

[0103] Step S300: comparing the cross-sectional area of the laser head of the preset linkage laser group in the preset cleaning insertion direction with the hole area.

[0104] By comparing and analyzing the hole area and the cross-sectional area of the laser head, it can be known whether the laser head is convenient to insert from the center position of the hole and rotate to remove rust on the inner wall.

[0105] Step S301: when the cross-sectional area of the laser head is smaller than the hole area, the cleaning position of the linkage laser group and the center position of the hole are analyzed to determine the movable path.

[0106] When the cross-sectional area of the laser head is smaller than the hole area, it means that the laser head can be conveniently inserted into the center position in the hole for inner wall rust removal. At this time, the center position of the hole and the corresponding first linkage laser and second linkage laser in the linkage laser group are connected by path planning to determine a plurality of different moving paths and define as movable paths.

[0107] Step S302: calculating and analyzing based on the preset moving time cost strategy to determine the moving time cost.

[0108] The moving time cost strategy is a calculation strategy of the time cost value required when the first linkage laser and the second linkage laser in the linkage laser group move along the moving path. The specific calculation method is further detailed in the subsequent steps. The purpose of calculating the moving time cost is to analyze the path with the minimum cost value, so as to reduce the adjustment time and improve the rust removal efficiency.

[0109] Step S303: searching according to the moving time cost to determine the moving path corresponding to the minimum moving time cost.

[0110] By finding the minimum moving time cost, which is defined as the minimum moving time cost, the path corresponding to the minimum moving time cost is compared, so as to be called subsequently.

[0111] The expression used in the calculation and analysis of the moving time cost strategy is as follows:

[0112]

[0113]

[0114] wherein represents the moving time cost value, represents the positioning calibration time consumption weight coefficient of the laser cleaning head, represents the laser positioning calibration power consumption, represents the average laser cleaning time consumption of the th movable path, represents the laser cleaning time consumption at hole position a, represents the laser cleaning time consumption at hole position b, is the moving time consumption influence weight coefficient.

[0115] Step S304: updating the moving path to the current cleaning path.

[0116] The moving path with the minimum moving time cost is replaced and updated to the current cleaning path, so that the time consumption of the linkage laser when moving to the hole center position is the shortest.

[0117] By performing steps S300 to S304, the laser head and the hole area are compared and analyzed, and when the hole area does not hinder the insertion of the laser head, the moving time cost of the movable path is calculated, so as to find the moving path corresponding to the minimum moving time cost, which helps to reduce the time consumption of the linkage laser group when moving according to the moving path.

[0118] Referring to Figure 4 , the cleaning of the rod hole comprises:

[0119] Step S400: analyzing the hole contour feature of the rod image to determine the hole contour parameter, and the hole contour parameter comprises a hole contour type and a hole contour trajectory.

[0120] The hole contour feature is the image feature of the hole contour. By comparing and analyzing the rod image and the hole contour feature, the contour type and the hole contour trajectory of the hole can be known, and the hole contour trajectory and the hole contour type are combined into the hole contour parameter for use. The hole contour type has multiple types, such as a circular contour, an elliptical contour, a long-waisted contour, and a special-shaped contour type.

[0121] Step S401: when the hole contour type is inconsistent with the preset circular contour type, matching the rod surface rust type in the preset laser cleaning database to the basic cleaning laser wavelength. ​​

[0122] When the hole profile type is a circular profile type, the interval distance of the laser head when cleaning the inner wall of the hole is the same, so that the laser wavelength used by the laser head does not need to be adjusted to have the same cleaning effect, and the non-circular profile type will cause inconsistency in distance, so that the larger rod will cause the cleaning effect to be different due to the laser wavelength. In addition, the rust type represents different rust degree types, including slight rust, moderate rust, and severe rust, and different degrees of rust need to be cleaned using different laser wavelengths. Therefore, a cleaning database is established in advance, different rust types and corresponding basic cleaning laser wavelengths are stored in the database, when the rust type is input, the corresponding laser wavelength is matched and output, and is defined as the basic cleaning laser wavelength, which represents the basic laser wavelength that can clean the corresponding rust type.

[0123] Step S402: instructing the preset laser group to clean the inner wall of the hole corresponding to the hole profile trajectory according to the basic cleaning laser wavelength, and collecting the minimum distance between the inner wall of the hole where the hole profile trajectory is located and the laser head during rotation.

[0124] When the laser group is adjusted according to the corresponding basic cleaning laser wavelength, the rust on the hole inner wall profile is removed, and by collecting the angle of the laser head rotation, the minimum distance between the inner wall cleaned by the laser head and the corresponding hole inner wall and the laser head can be known. The distance is defined as the minimum distance.

[0125] Step S403: When the corresponding distance of the minimum distance increases or decreases, the laser wavelength of the preset laser group is reduced or increased.

[0126] When the minimum distance changes, the wavelength of the laser is adjusted so that the laser head can maintain good rust cleaning effect when facing different distance hole inner walls, and the hole inner wall surface will not be damaged due to the high cleaning energy of the laser.

[0127] By executing steps S400 to S403, the profile trajectory and profile type of the hole are analyzed when cleaning the hole, and when the profile trajectory is irregular and the minimum distance between the laser head and the hole inner wall changes, the wavelength of the laser is adjusted to increase or decrease the intensity of the laser, thereby reducing the influence of the distance change on the laser rust cleaning, which helps to improve the effectiveness of rust cleaning for irregular holes.

[0128] Reference Figure 5 When the hole profile type and the preset circular profile type are inconsistent, it also includes:

[0129] Step S500: comparing the hole profile trajectory with the normal profile trajectory in the preset profile trajectory database, when the hole profile trajectory is a normal profile trajectory, performing turning point analysis on the hole profile trajectory to determine the turning trajectory line segment.

[0130] By analyzing the turning point position of the hole profile, the circular trajectory segment is defined as a normal profile trajectory, and the non-circular trajectory segment is defined as a turning trajectory line segment, so as to facilitate subsequent analysis and calling when adjusting the laser wavelength.

[0131] Step S501: performing trajectory curvature analysis based on the turning trajectory line segment, when the trajectory curvature is greater than the preset interference curvature, marking the turning trajectory line segment corresponding to the trajectory curvature as a wavelength adjustment trajectory.

[0132] The trajectory curvature represents the curvature of the line segment corresponding to the hole inner wall, and the interference curvature represents the curvature when the turning line trajectory is large. When the curvature is larger, the adjustment of the laser wavelength is more complex. By marking the turning line trajectory with a trajectory curvature greater than the interference curvature and defining it as a wavelength adjustment trajectory, subsequent further analysis and calling are facilitated.

[0133] Step S502: matching the minimum collection frequency corresponding to the trajectory curvature in the preset collection frequency database, and collecting according to the minimum collection frequency when the minimum distance is collected.

[0134] The minimum collection frequency represents the collection frequency of the distance between the laser head and the profile inner wall when the laser head is rusted. When the minimum distance is collected at the minimum collection frequency, the distance change can be captured in time, the collection accuracy is not easily affected, and the running memory consumption caused by the large number of collection times can be reduced.

[0135] By performing steps S500 to S502, the trajectory curvature corresponding to the turning trajectory line segment in the hole profile is analyzed, the turning trajectory line segment with large trajectory curvature is marked, and the corresponding minimum collection frequency is matched, so that when the minimum distance between the laser head and the hole inner wall is collected, the collection times can be reduced, and the minimum distance reliability of the collection is not easily affected.

[0136] Referring to Figure 6 , when determining the hole profile parameters, further comprising:

[0137] Step S600: analyzing the number of turning trajectory line segments of the hole profile trajectory, when the number of turning trajectory line segments is greater than the preset basic turning trajectory number, calculating the curvature mean value of the turning trajectory line segment.

[0138] The basic number of turning trajectories represents the number of turning trajectory segments, and the number of turning trajectories that do not need to be adjusted frequently is the wavelength of the laser. The number of values is set in advance by the staff according to the time required. In addition, when the number of turning trajectory segment is greater than the preset basic number of turning trajectories, the average curvature of the turning trajectory polyline segment is calculated for further analysis.

[0139] Step S601: Based on the average curvature, match the corresponding average laser wavelength, laser scanning angular velocity and scanning times in the preset special-shaped trajectory cleaning database.

[0140] The average laser wavelength, laser scanning angular velocity and scanning times are matched parameters when rust removal does not require high laser power based on the average curvature. Different average curvatures have corresponding cleaning parameters. By pre-establishing a special-shaped trajectory cleaning database, different average laser wavelengths, laser scanning angular velocities and scanning times are stored in the database and associated with the corresponding average curvature. When the average curvature is input, the corresponding average laser wavelength, laser scanning angular velocity and scanning times can be matched and output.

[0141] Step S602: When cleaning the inner wall of the hole, instruct the preset linkage laser group to clean the turning trajectory polyline segment according to the average laser wavelength and the laser scanning angular velocity and the scanning times.

[0142] Based on the average laser wavelength, laser scanning angular velocity and scanning times obtained by matching and querying, the turning trajectory polyline segment is cleaned by laser.

[0143] By executing steps S600 to S602, the average curvature is calculated when the number of polyline trajectory segments is large, and the corresponding average laser wavelength, laser scanning angular velocity and scanning times are matched, so that the linkage laser group can not need to adjust the laser wavelength frequently when scanning and cleaning the inner wall of the hole, thereby reducing the time-consuming of adjustment and helping to improve the rust removal efficiency.

[0144] Reference Figure 7 When the preset linkage laser group moves according to the hole cleaning path to perform circumferential rotation cleaning on the inner wall of the hole of the rod member and performs compensation cleaning on the blind area of the hole cleaning according to the compensation angle, the following steps are included:

[0145] Step S700: Sort the direction of the rod hole conveyed to the preset cleaning workbench to determine the first cleaning hole and the second cleaning hole.

[0146] Step S701: instruct the first linkage laser in the preset linkage laser group to clean the first cleaning hole according to the laser rotation range, and then move out of the first cleaning hole.

[0147] Step S702: instructing the second linkage laser in the preset linkage laser group to move to the outside of the first cleaning hole after compensating and cleaning the first cleaning hole according to the compensation angle and the hole cleaning path.

[0148] Step S703: instructing the first linkage laser and the second linkage laser to cycle steps 1 to 3 to rust removal of the second cleaning hole.

[0149] By executing steps S700 to S703, the first linkage laser and the second linkage laser clean the first cleaning hole and the second cleaning hole in a sequence to compensate for the blind spot of the hole cleaning, so that the first linkage laser and the second linkage laser can complete the fast rust removal of the two holes in turn.

[0150] It should be noted that the above rod hole rust cleaning method is applied to a rod hole cleaning device. Before cleaning the rod hole, the other surfaces of the rod need to be cleaned and locally detected. When the rod does not have a failure problem, the hole is cleaned and subsequently detected.

[0151] Referring to Figure 8 and Figure 9 , in the rod rust cleaning assembly line 1, the work station discharge port adjacent to one side of the hole laser cleaning device 3 is provided with a clamping robot 2. The clamping robot 2 clamps and conveys the rod to the laser cleaning device 3. The laser cleaning device 3 includes a conveying mechanism 31 and a linkage laser group 32. The linkage laser group 32 includes a first linkage laser 321 and a second linkage laser 322. The first linkage laser 321 and the second linkage laser 322 are arranged at intervals. The transmission mechanism is a transmission belt. The transmission belt is provided with a cleaning workbench 33. The cleaning workbench 33 is fixedly provided with a clamping tool 34. The clamping tool 34 is used for placing and clamping the rod, so that the rod is not easy to shake, and the probability of affecting the laser rust removal effect due to shaking during laser cleaning is reduced.

[0152] Based on the same inventive concept, the embodiments of the present application provide a rod hole laser rust removal and cleaning system, comprising:

[0153] An acquisition module collects rod images on a preset cleaning workbench for feature analysis to determine a rod model and hole parameters, including a hole center position and a hole area.

[0154] An analysis module analyzes the hole center position, the hole area, and the cleaning direction of the preset linkage laser group to determine a hole cleaning path and a hole cleaning blind spot area.

[0155] A compensation angle is determined according to the hole cleaning blind spot area and a preset laser rotation range.

[0156] The processing module instructs the preset linkage laser group to move according to a hole cleaning path, so as to perform circumferential rotation cleaning on the inner wall of the hole of the rod, and perform compensation cleaning on a blind area of the hole according to a compensation angle.

[0157] The preset cleaning workbench is instructed to stack the rod after rust removal.

[0158] Those skilled in the art can clearly understand that, for the convenience and brevity of description, only the division of the above functional modules is exemplified, and in actual application, the above functions can be completed by different functional modules according to needs, that is, the internal structure of the system is divided into different functional modules to complete all or part of the functions described above. The specific working process of the system and the unit described above can refer to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0159] The embodiment of the application provides a computer readable storage medium, which stores a computer program capable of being loaded by a processor and executing a rod hole rust cleaning method.

[0160] The computer storage medium includes, for example, a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and various media capable of storing program codes.

[0161] Based on the same inventive concept, the embodiment of the application provides an intelligent terminal, which comprises a memory and a processor, and the memory stores a computer program capable of being loaded by the processor and executing a rod hole rust cleaning method.

[0162] Those skilled in the art can clearly understand that, for the convenience and brevity of description, only the division of the above functional modules is exemplified, and in actual application, the above functions can be completed by different functional modules according to needs, that is, the internal structure of the system is divided into different functional modules to complete all or part of the functions described above. The specific working process of the system and the unit described above can refer to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0163] The above are preferred embodiments of the application, and are not intended to limit the protection scope of the application, and any feature disclosed in the specification (including the abstract and the drawings) can be replaced by other equivalent or similar purpose replacement features, unless specifically described. That is, unless specifically described, each feature is only an example of a series of equivalent or similar features.

Claims

1. A method for cleaning rust from rod holes, characterized in that: include: Collect images of rods on a pre-set cleaning workbench and perform feature analysis to determine the rod model and hole parameters, including the hole center position and hole area; Analyze the hole center position, hole area and cleaning direction of the preset linkage laser group to determine the hole cleaning path and hole cleaning blind spot area; Calculate based on the hole cleaning blind spot area and the preset laser rotation range to determine the compensation angle; Instruct the preset linked laser group to move along the hole cleaning path to perform circumferential rotation cleaning on the inner wall of the rod hole, and perform compensation cleaning on the blind spot area of ​​the hole cleaning according to the compensation angle; Cleaning of rod holes includes: Analyze the hole profile features of the rod image to determine the hole profile parameters, which include the hole profile type and the hole profile trajectory; When the hole profile type is inconsistent with the preset circular profile type, the basic cleaning laser wavelength of the rod surface rust type in the preset laser cleaning database is matched; Instruct the preset linked laser group to perform laser cleaning on the inner wall of the hole corresponding to the hole contour trajectory according to the basic cleaning laser wavelength, and collect the minimum distance between the laser head and the inner wall of the hole where the hole contour trajectory is located during the rotation process; When the corresponding distance of the minimum spacing increases or decreases, the laser wavelength of the preset laser linkage group is reduced or increased; When the hole contour type is inconsistent with the preset circular contour type, it also includes: Comparing the hole contour trajectory with the normal contour trajectory in the preset contour trajectory database, and when the hole contour trajectory is the normal contour trajectory, performing turning point analysis on the hole contour trajectory to determine the turning trajectory segment; Performing trajectory curvature analysis based on the turning trajectory segment, when the trajectory curvature is greater than the preset interference curvature, marking the turning trajectory segment corresponding to the trajectory curvature as the wavelength adjustment trajectory; Match the minimum acquisition frequency corresponding to the trajectory curvature in the preset acquisition frequency database, and perform acquisition at the minimum acquisition frequency when acquiring the minimum spacing; When determining the hole profile parameters, also include: Analyze the number of turning trajectory segments of the hole contour trajectory, and when the number of turning trajectory segments is greater than the preset number of basic turning trajectories, calculate the mean curvature of the turning trajectory broken line segments; Based on the curvature mean matching preset special-shaped trajectory, the corresponding mean laser wavelength, laser scanning angular velocity and scanning times in the database are cleaned; When cleaning the inner wall of the hole, instruct the preset linked laser group to clean the turning trajectory broken line segment according to the average laser wavelength, laser scanning angular velocity and number of scans; Instruct the preset cleaning workbench to stack the rust-removed rods.

2. The rod hole rust cleaning method according to claim 1, characterized in that: When the rods after cyclic rust removal are cut and stacked, the following steps are also included: Marking the rod model of the blanked rod as the previous rod model, and collecting a replacement rod image of the replacement rod; Analyze the replacement member model of the replacement member image and compare it with the previous member model; When the replacement rod model is different from the previous rod model, analysis is performed based on the replacement rod image to determine the current cleaning path and the current cleaning blind spot area; The hole cleaning path and hole cleaning blind spot area of ​​the previous rod are replaced based on the current cleaning path and the current cleaning blind spot area.

3. The rod hole rust cleaning method according to claim 2, characterized in that: Determining the current cleaning path includes: Comparing the cross-sectional area of ​​the laser head of the preset linkage laser group in the preset cleaning insertion direction with the hole area; When the cross-sectional area of ​​the laser head is smaller than the hole area, the cleaning position of the linked laser group and the center position of the hole are analyzed to determine the movable path; Perform calculation and analysis based on the preset movement duration cost strategy to determine the movement duration cost; Search according to the moving time cost to determine the moving path corresponding to the minimum moving time cost; Update the moving path to the current cleaning path.

4. The rod hole rust cleaning method according to claim 3, characterized in that: The expression used in the calculation and analysis of the travel time cost strategy is as follows: ； ； in represents the cost of moving time, The weight coefficient of time consumption for positioning and calibration of laser cleaning head, Indicates the power consumption of laser positioning calibration, Indicates the The average laser cleaning time of the movable paths is: Indicates the laser cleaning time at hole position a. Indicates the laser cleaning time of hole position b, The weight coefficient of the moving time.

5. The rod hole rust cleaning method according to claim 1, characterized in that: The preset linked laser group moves along the hole cleaning path to perform circumferential rotation cleaning on the inner wall of the rod hole and compensates for the blind spot area of ​​the hole cleaning according to the compensation angle, including the following steps: Step 1: sorting the holes of the rods on a preset cleaning workbench in a direction of hole cleaning to determine the first cleaning hole and the second cleaning hole; Step 2: instructing the first linked laser in the preset linked laser group to clean the first cleaning hole according to the laser rotation range and then move to the outside of the first cleaning hole; Step 3, instructing the second linkage laser in the preset linkage laser group to perform compensation cleaning on the first cleaning hole according to the compensation angle and the hole cleaning path, and then move to the outside of the first cleaning hole; Instruct the first linkage laser and the second linkage laser to cycle steps 1 to 3 to remove rust from the second cleaning hole.

6. A laser rust removal and cleaning system for rod holes, which is cleaned by using the rod hole rust cleaning method according to any one of claims 1 to 5, characterized in that: include: The acquisition module collects images of the rods on the preset cleaning workbench and performs feature analysis to determine the rod model and hole parameters, including the hole center position and hole area; The analysis module analyzes the hole center position, hole area and cleaning direction of the preset linkage laser group to determine the hole cleaning path and hole cleaning blind spot area; Calculate based on the hole cleaning blind spot area and the preset laser rotation range to determine the compensation angle; The processing module instructs the preset linked laser group to move along the hole cleaning path to perform circumferential rotation cleaning on the inner wall of the rod hole and to perform compensation cleaning on the blind spot area of ​​the hole cleaning according to the compensation angle; Instruct the preset cleaning workbench to stack the rust-removed rods.

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