A burr grinding method for high-strength powder metallurgy automobile structural parts

Abstract

The invention relates to the technical field of burr grinding, and discloses a burr grinding method for high-strength powder metallurgy automobile structural parts, aiming to ensure the thorough removal of burrs on the surface of structural parts through high-precision detection and removal strategies, thereby improving the quality of parts and the efficiency of subsequent processing; the method comprises the following steps: firstly, a high-precision camera is used to collect surface images, and a shadow area analysis is performed by setting a fill light to determine whether there are burrs; then, a three-dimensional model of the burrs is constructed by using computer vision technology, and the burrs are classified by a burr classification strategy; then, the burrs are removed by a dry ice blasting machine, and the blasting pressure is adjusted according to the size and distribution of the burrs to ensure the grinding effect; finally, an optimized blasting path is generated, and the blasting pressure is reasonably adjusted to ensure that all burrs on the target surface are effectively removed.

Description

Technical Field

[0001] The invention relates to the technical field of burr grinding, in particular to a burr grinding method for high-strength powder metallurgy automobile structural parts. Background Art

[0002] In the automotive manufacturing industry, high-strength powder metallurgy materials are widely used in the manufacture of structural parts due to their excellent mechanical properties and material utilization rate; however, due to the adhesion and sintering characteristics of material particles in the powder metallurgy process, burrs are easily generated on the product surface, which not only affects the mechanical strength of the parts, but may also have an adverse effect on assembly accuracy, fatigue performance and service life; therefore, efficient and accurate burr detection and removal methods have become a key issue in the industry; in the existing technology, burr detection mainly relies on manual visual inspection or low-precision imaging equipment; these methods have the problems of strong subjectivity, low efficiency and insufficient accuracy, especially when the burr size is small, it is difficult to achieve comprehensive and accurate detection; in addition, the existing processes mostly use a single removal solution, and cannot flexibly adjust the processing strategy according to the distribution of burrs on the material, which easily leads to incomplete removal or over-processing.

[0003] In summary, there is an urgent need for a burr grinding method for high-strength powder metallurgy automotive structural parts to improve the overall performance of burr treatment and reduce processing costs and environmental impacts. Summary of the invention

[0004] The present invention provides a burr grinding method for high-strength powder metallurgy automobile structural parts, which helps solve the problems mentioned in the above background technology.

[0005] The present invention provides the following technical solution: a burr grinding method for high-strength powder metallurgy automobile structural parts, specifically comprising:

[0006] Obtain automotive structural parts;

[0007] The automobile structural part is specifically a steel plate;

[0008] For each automotive structural part, check whether there are burrs on each surface according to the burr detection strategy, including:

[0009] Randomly select an automobile structural part and record it as the structural part to be tested;

[0010] For each surface of the structural part to be inspected, a high-precision camera is used to collect the surface image of the structural part to be inspected;

[0011] Obtain the surface of the structural part to be inspected for burr detection, which is recorded as the target surface;

[0012] Place the structure to be inspected on the inspection platform so that the target surface is parallel to the horizontal plane;

[0013] Get the geometric center of the target surface and record it as the target center;

[0014] The position directly above the target center and one meter away from the target center is recorded as the detection point;

[0015] Deploy high-precision cameras at detection points;

[0016] Adjust the focal length of the high-precision camera so that the image acquisition area of ​​the high-precision camera completely covers the target surface;

[0017] Get four vertices of the target surface and select any one vertex as the first vertex;

[0018] Starting from the first vertex, mark the remaining three vertices as the second vertex, the third vertex, and the fourth vertex in a clockwise direction;

[0019] The position directly above the first vertex and thirty centimeters away from the first vertex is recorded as fill light point No. 1, the position directly above the second vertex and thirty centimeters away from the second vertex is recorded as fill light point No. 2, the position directly above the third vertex and thirty centimeters away from the third vertex is recorded as fill light point No. 3, and the position directly above the fourth vertex and thirty centimeters away from the fourth vertex is recorded as fill light point No. 4.

[0020] Optionally, for each automobile structural part, detecting whether there are burrs on each surface thereof according to a burr detection strategy specifically includes:

[0021] Set fill lights with white light source at fill light point No. 1, fill light point No. 2, fill light point No. 3 and fill light point No. 4 respectively, which are recorded as fill light No. 1, fill light No. 2, fill light No. 3 and fill light No. 4 respectively;

[0022] Light up fill light No. 1, turn off fill light No. 2, fill light No. 3 and fill light No. 4, and use a high-precision camera to shoot the target surface at the same time to obtain image No. 1;

[0023] Light up the No. 2 fill light, turn off the No. 1 fill light, the No. 3 fill light and the No. 4 fill light, and use a high-precision camera to shoot the target surface at the same time to obtain the No. 2 image;

[0024] Light up fill light No. 3, turn off fill light No. 1, fill light No. 2 and fill light No. 4, and use a high-precision camera to shoot the target surface at the same time to obtain image No. 3;

[0025] Light up fill light No. 4, turn off fill light No. 1, fill light No. 2 and fill light No. 3, and use a high-precision camera to shoot the target surface at the same time to obtain image No. 4;

[0026] Determine whether there is a shadow area in the first image, the second image, the third image, and the fourth image;

[0027] If there is no shadow area in the first image, the second image, the third image and the fourth image, it is determined that there is no burr on the target surface;

[0028] If there are shadow areas in the first image, the second image, the third image, and the fourth image, it is determined that there are burrs on the target surface;

[0029] Obtaining shadow areas in the first image, the second image, the third image, and the fourth image;

[0030] The shadow area is the area caused by the burrs blocking the light;

[0031] A three-dimensional model of the burrs on the target surface is constructed based on the shadow areas in the first image, the second image, the third image and the fourth image in combination with computer vision technology.

[0032] Optionally, also include:

[0033] The burrs on the target surface are classified according to the burr classification strategy, specifically:

[0034] Setting an area threshold, wherein the area threshold is used to determine the category of burrs on the target surface, wherein the category is specifically a first category burr and a second category burr;

[0035] Obtaining a three-dimensional model of the burrs on the target surface;

[0036] For each burr on the target surface;

[0037] Obtain the contact area between the burr and the target surface, which is recorded as the judgment area;

[0038] If the determined area is ≤ the area threshold, the corresponding burr is classified as the second type of burr;

[0039] If the determined area is greater than the area threshold, the corresponding burr is classified as a first type of burr.

[0040] Optionally, also include:

[0041] Remove burrs on the target surface according to the burr removal strategy:

[0042] The testing phase includes:

[0043] For each burr with different contact area with the steel plate surface;

[0044] Obtain the contact area between it and the steel plate surface, recorded as the test area;

[0045] For a burr, use a dry ice blasting machine to remove the burr;

[0046] Aim the spray point of the dry ice blasting machine at the burr and gradually increase the spray pressure of the dry ice blasting machine;

[0047] Obtain the minimum spray pressure of the dry ice blasting machine corresponding to the burr removal and record it;

[0048] Through the above method, the minimum spray pressure of different dry ice blasting machines corresponding to different test areas of burrs is obtained by testing;

[0049] Select a position on the steel plate and record it as the test point;

[0050] Setting a quantity threshold and a reference radius, wherein the quantity threshold and the reference radius are used to select a test point;

[0051] The selection requirements of the test point are as follows: take the test point as the center, draw a circle with a radius equal to the reference radius, record it as the test circle area, and ensure that the number of the second type of burrs in the test circle area is greater than or equal to the reference threshold;

[0052] Control the spray pressure of the dry ice blasting machine to any minimum spray pressure, and aim the spray point of the dry ice blasting machine at the test point for spraying;

[0053] Obtain the elimination of the second type of burrs in the test circle area after blasting by the dry ice blasting machine and record it;

[0054] Reselect the test point and control the spray pressure of the dry ice blasting machine to be different from the spray pressure of the last test. Repeat the above steps to test and obtain the range of the blasting machine to eliminate the second type of burrs under different minimum spray pressures.

[0055] Select a position on the steel plate and record it as the auxiliary point;

[0056] Setting an auxiliary threshold and an auxiliary radius, wherein the auxiliary threshold and the auxiliary radius are used to select auxiliary points;

[0057] The selection requirements of the auxiliary point are: take the auxiliary point as the center, draw a circle with the radius of the auxiliary radius, record it as the auxiliary circle area, and ensure that the number of the second type of burrs in the auxiliary circle area is greater than or equal to the reference threshold;

[0058] The spray point of the dry ice blasting machine is aligned with the auxiliary point for spraying, and the spray pressure of the dry ice blasting machine is gradually increased. The minimum spray pressure of the dry ice blasting machine that can completely eliminate the second type of burrs in the auxiliary circular area is obtained through testing, and is recorded as the auxiliary pressure.

[0059] Optionally, removing burrs on the target surface according to the burr removal strategy further includes:

[0060] generating a blasting path, wherein the blasting path is a travel path of the dry ice blasting machine for removing the first type of burrs;

[0061] Acquire all first-category burrs on the target surface to form a first set;

[0062] For each burr in the first set, obtain the geometric center of the area where the burr contacts the target surface, and record them as the first position, the second position, ... the Ath position, respectively, where A refers to the total number of burrs in the first set;

[0063] The first position, the second position, ... the Ath position constitute a position set;

[0064] One of the positions in the optional position set is recorded as the starting point, the unselected position is taken as the first candidate point, and then a first candidate point is selected from the starting point as the first injection point;

[0065] Then the unselected position is used as the second candidate point, and then any second candidate point is selected from the first injection point as the third injection point;

[0066] Through the above steps, all positions are traversed to obtain a jet path passing through all positions;

[0067] Repeat the above steps to obtain all injection paths.

[0068] Optionally, removing burrs on the target surface according to the burr removal strategy further includes:

[0069] Choose any jet path;

[0070] According to the injection direction in the injection path, the path between the first position and the second position is recorded as the first sub-path, the path between the second position and the third position is recorded as the second sub-path, and the path between the A-1th position and the Ath position is recorded as the A-1th sub-path;

[0071] For each subpath, according to the jet direction, the position that the jet passes first is recorded as the starting point, and the position that the jet passes later is recorded as the end point;

[0072] For each sub-path, compare the test area of ​​the burr corresponding to the starting point, record it as the starting point area, and obtain the test area of ​​the burr corresponding to the end point, record it as the end point area;

[0073] The minimum injection pressure corresponding to the starting point area is obtained, which is recorded as the starting point pressure, and the minimum injection pressure corresponding to the end point is obtained, which is recorded as the end point pressure;

[0074] If the starting pressure is less than the end pressure, the dry ice blasting machine is controlled to increase the blasting pressure from the starting pressure to the end pressure on average during the process of moving from the starting point to the end point;

[0075] If the starting point pressure is greater than the end point pressure, the dry ice blasting machine is controlled to reduce the blasting pressure from the starting point pressure to the end point pressure on average during the process of moving from the starting point to the end point;

[0076] If the starting point pressure is equal to the end point pressure, the spraying pressure of the dry ice blasting machine is controlled to be kept at the starting point pressure during the process of moving from the starting point to the end point;

[0077] For a sub-path, the range of the dry ice blasting machine to eliminate the second type of burrs under the minimum blasting pressure is combined to obtain the number of the second type of burrs eliminated by the dry ice blasting machine in this sub-path;

[0078] For a blasting path, the total number of the second type of burrs eliminated by blasting all sub-paths of the dry ice blasting machine is obtained;

[0079] The jet path with the largest total number of eliminated second-type burrs is selected as the first jet path.

[0080] Optionally, removing burrs on the target surface according to the burr removal strategy further includes:

[0081] Obtain the second type of burrs remaining on the target surface after the dry ice blasting machine blasts according to the first blasting path;

[0082] Obtaining the geometric center of the area of ​​contact between each burr and the target surface, recording as the first auxiliary position, the second auxiliary position ... the Bth auxiliary position, where B is the number of the second type burrs remaining on the target surface;

[0083] The first auxiliary position, the second auxiliary position ... the Bth auxiliary position constitute a first auxiliary set;

[0084] A position in the first auxiliary set is selected as the center of the circle, and a circle is drawn with the radius being the auxiliary radius to form a first circular domain. The auxiliary positions in the first circular domain are removed from the first auxiliary set, and a position is selected again in the first auxiliary set as the center of the circle to form a second circular domain. The auxiliary positions in the second circular domain are drawn from the first auxiliary set.

[0085] By the above method, several circular domains are made so that these circular domains can completely cover the remaining second type burrs on the target surface;

[0086] Repeat the above steps to obtain the rounding method of all the remaining second-type burrs covering the target surface;

[0087] Select the minimum number of circular domains covering the remaining second type burrs on the target surface, and obtain the center of each circular domain, which are recorded as the first auxiliary circle center, the second auxiliary circle center, ... the Cth auxiliary circle center, where C refers to the minimum number of circular domains covering the remaining second type burrs on the target surface;

[0088] The dry ice blasting machine is controlled to use the auxiliary pressure as the blasting pressure to blast the first auxiliary circle center, the second auxiliary circle center, ... the Cth auxiliary circle center.

[0089] The present invention has the following beneficial effects:

[0090] 1. This burr grinding method for high-strength powder metallurgy automotive structural parts realizes accurate detection of burrs on the surface of automotive structural parts through high-precision cameras and multi-point fill-light technology; compared with traditional manual detection methods, this method significantly improves the efficiency and accuracy of detection through an automated system, avoiding errors and missed judgments caused by manual operation; the system uses multiple fill-light points to independently illuminate the surface of the workpiece, making the surface image acquisition more uniform, reducing the influence of factors such as shadows and reflections, thereby ensuring image quality and ensuring accurate identification of burrs; the high-precision detection of this method can detect surface burrs in a timely manner, avoiding the impact of subsequent production processes or product quality problems due to untimely treatment of burrs. In addition, the automated detection method reduces the burden of manual operation, improves the operating efficiency of the production line, and provides strong support for product quality control, reducing production delays and defective products caused by burr problems, and greatly improving the stability of the production process and the qualified rate of products.

[0091] 2. This burr grinding method for high-strength powder metallurgy automotive structural parts ensures the comprehensiveness and uniformity of image acquisition during burr detection by combining multi-point fill light and image acquisition technology; the independent control of each fill light point makes the light illumination at different angles more uniform, avoiding image quality problems caused by insufficient light or excessive reflection; by analyzing the shadow area of ​​each image, the system can accurately determine whether there are burrs on the target surface, and can further determine the severity of the burrs. Compared with the traditional single-light source lighting method, this multi-point fill-light method effectively improves the contrast of the image, making the burr detection more accurate; it can also avoid the phenomenon of overlapping shadows formed by multiple burrs under a single light source; this method can provide production personnel with timely and accurate burr detection information by acquiring and processing images at different angles in real time, reducing the judgment bias that may exist in traditional manual inspection; at the same time, the detection algorithm of the shadow area can accurately identify the light obstruction caused by burrs, thereby avoiding misjudgment and improving the reliability of burr identification; this method not only improves the degree of automation of product quality inspection, but also enables the production line to achieve efficient and accurate burr control, further optimizes production efficiency and reduces material waste.

[0092] 3. This burr grinding method for high-strength powder metallurgy automotive structural parts accurately classifies burrs by setting area thresholds, ensuring that different types of burrs can be treated differently; by classifying burrs into first-class burrs and second-class burrs, the system can evaluate the degree of influence on the surface quality of automotive structural parts according to the area of ​​the burrs, so as to formulate targeted treatment plans. This grading method can ensure that important and influential burrs are given priority during the burr removal process, while smaller burrs with less impact on quality can be processed through subsequent processes; this intelligent grading not only improves production efficiency, but also avoids excessive processing and reduces resource waste; in large-scale production, this method can effectively improve production efficiency because it reduces the complexity of manual judgment and processing of each burr and reduces labor costs; the application of this strategy can provide efficient and intelligent quality management support for production lines, optimize production processes, and enhance the overall competitiveness of products.

[0093] 4. This burr grinding method for high-strength powder metallurgy automotive structural parts achieves efficient and environmentally friendly burr removal through dry ice blasting technology; compared with traditional mechanical grinding or chemical deburring methods, dry ice blasting technology not only has higher efficiency, but also can avoid physical damage to the workpiece surface; the dry ice blasting machine can effectively remove burrs of different sizes and shapes by precisely controlling the blasting pressure and blasting position; through multiple tests, the minimum blasting pressure of different dry ice blasting machines corresponding to burrs in different test areas, the elimination of the second type of burrs in the test circle after the dry ice blasting machine blasting, and the minimum blasting pressure of the dry ice blasting machine that completely eliminates the second type of burrs in the auxiliary circle are obtained, providing data support for subsequent burr removal.

[0094] 5. A burr grinding method for high-strength powder metallurgy automotive structural parts obtains all first-class burrs on the target surface, and obtains all spray paths passing through all first-class burrs through path planning. For one spray path, by combining the data obtained from the test, the number of burrs that can be eliminated by dry ice blasting on each sub-path is analyzed, and the spray path that eliminates the largest number of burrs is selected as the first spray path. In this way, more small burrs can be eliminated as much as possible while eliminating all first-class burrs at one time, thereby ensuring the targeted and efficient removal of burrs, thereby improving the work efficiency of the overall production line and the product qualification rate.

[0095] 6. This burr grinding method for high-strength powder metallurgy automotive structural parts obtains the geometric center of the contact area between each burr and the target surface, and based on this, forms auxiliary sets such as the first auxiliary position and the second auxiliary position, and further covers the second type of burrs on all target surfaces by selecting multiple auxiliary circle centers and corresponding circular domains; then, the remaining second type of burrs on the target surface are covered by selecting the minimum number of circular domains, thereby further improving the efficiency of the blasting process. The selection of minimizing the number of circular domains means that the number of blasting times and the blasting area can be reduced without reducing the treatment effect, thereby optimizing the entire treatment process. This not only reduces the energy consumption of dry ice blasting, but also increases the speed of the entire deburring operation, significantly improving the overall work efficiency of the production line. BRIEF DESCRIPTION OF THE DRAWINGS

[0096] Figure 1 It is a schematic diagram of the process of the present invention. DETAILED DESCRIPTION

[0097] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0098] Example, see Figure 1 , a burr grinding method for high-strength powder metallurgy automobile structural parts, specifically comprising:

[0099] Obtain automotive structural parts;

[0100] The automobile structural part is specifically a steel plate;

[0101] For each automotive structural part, check whether there are burrs on each surface according to the burr detection strategy, including:

[0102] Randomly select an automobile structural part and record it as the structural part to be tested;

[0103] For each surface of the structural part to be inspected, a high-precision camera is used to collect the surface image of the structural part to be inspected;

[0104] Obtain the surface of the structural part to be inspected for burr detection, which is recorded as the target surface;

[0105] Place the structure to be inspected on the inspection platform so that the target surface is parallel to the horizontal plane;

[0106] Get the geometric center of the target surface and record it as the target center;

[0107] The position directly above the target center and one meter away from the target center is recorded as the detection point;

[0108] Deploy high-precision cameras at detection points;

[0109] Adjust the focal length of the high-precision camera so that the image acquisition area of ​​the high-precision camera completely covers the target surface;

[0110] Get four vertices of the target surface and select any one vertex as the first vertex;

[0111] Starting from the first vertex, mark the remaining three vertices as the second vertex, the third vertex, and the fourth vertex in a clockwise direction;

[0112] The position directly above the first vertex and thirty centimeters away from the first vertex is recorded as fill light point No. 1, the position directly above the second vertex and thirty centimeters away from the second vertex is recorded as fill light point No. 2, the position directly above the third vertex and thirty centimeters away from the third vertex is recorded as fill light point No. 3, and the position directly above the fourth vertex and thirty centimeters away from the fourth vertex is recorded as fill light point No. 4.

[0113] For each automobile structural part, detecting whether there are burrs on each surface thereof according to the burr detection strategy specifically includes:

[0114] Set fill lights with white light source at fill light point No. 1, fill light point No. 2, fill light point No. 3 and fill light point No. 4 respectively, which are recorded as fill light No. 1, fill light No. 2, fill light No. 3 and fill light No. 4 respectively;

[0115] Light up fill light No. 1, turn off fill light No. 2, fill light No. 3 and fill light No. 4, and use a high-precision camera to shoot the target surface at the same time to obtain image No. 1;

[0116] Light up the No. 2 fill light, turn off the No. 1 fill light, the No. 3 fill light and the No. 4 fill light, and use a high-precision camera to shoot the target surface at the same time to obtain the No. 2 image;

[0117] Light up fill light No. 3, turn off fill light No. 1, fill light No. 2 and fill light No. 4, and use a high-precision camera to shoot the target surface at the same time to obtain image No. 3;

[0118] Light up fill light No. 4, turn off fill light No. 1, fill light No. 2 and fill light No. 3, and use a high-precision camera to shoot the target surface at the same time to obtain image No. 4;

[0119] This burr grinding method for high-strength powder metallurgy automotive structural parts realizes accurate detection of burrs on the surface of automotive structural parts through high-precision cameras and multi-point fill-light technology; compared with traditional manual detection methods, this method significantly improves the efficiency and accuracy of detection through an automated system, avoiding errors and missed judgments caused by manual operation; the system uses multiple fill-light points to independently illuminate the surface of the workpiece, making the surface image acquisition more uniform, reducing the influence of factors such as shadows and reflections, thereby ensuring image quality and ensuring accurate identification of burrs; the high-precision detection of this method can detect surface burrs in a timely manner, avoiding the impact of subsequent production processes or product quality problems due to untimely treatment of burrs. In addition, the automated detection method reduces the burden of manual operation, improves the operating efficiency of the production line, and provides strong support for product quality control, reducing production delays and defective products caused by burr problems, and greatly improving the stability of the production process and the qualified rate of products;

[0120] Determine whether there is a shadow area in the first image, the second image, the third image, and the fourth image;

[0121] If there is no shadow area in the first image, the second image, the third image and the fourth image, it is determined that there is no burr on the target surface;

[0122] If there are shadow areas in the first image, the second image, the third image, and the fourth image, it is determined that there are burrs on the target surface;

[0123] Obtaining shadow areas in the first image, the second image, the third image, and the fourth image;

[0124] The shadow area is the area caused by the burrs blocking the light;

[0125] A three-dimensional model of the burrs on the target surface is constructed based on the shadow areas in the first image, the second image, the third image, and the fourth image in combination with computer vision technology;

[0126] The burr grinding method for high-strength powder metallurgy automotive structural parts ensures the comprehensiveness and uniformity of image acquisition during burr detection by combining multi-point fill light and image acquisition technology; the independent control of each fill light point enables more uniform light illumination at different angles, avoiding image quality problems caused by insufficient light or excessive reflection; by analyzing the shadow area of ​​each image, the system can accurately determine whether there are burrs on the target surface, and can further determine the severity of the burrs. Compared with the traditional single-light source lighting method, this multi-point fill-light method effectively improves the contrast of the image, making the burr detection more accurate; it can also avoid the phenomenon of overlapping shadows formed by multiple burrs under a single light source; this method can provide production personnel with timely and accurate burr detection information by acquiring and processing images at different angles in real time, reducing the judgment bias that may exist in traditional manual inspection; at the same time, the detection algorithm of the shadow area can accurately identify the light obstruction caused by burrs, thereby avoiding misjudgment and improving the reliability of burr identification; this method not only improves the degree of automation of product quality inspection, but also enables the production line to achieve efficient and accurate burr control, further optimizes production efficiency and reduces material waste.

[0127] Also includes:

[0128] The burrs on the target surface are classified according to the burr classification strategy, specifically:

[0129] Setting an area threshold, wherein the area threshold is used to determine the category of burrs on the target surface, wherein the category is specifically a first category burr and a second category burr;

[0130] Obtaining a three-dimensional model of the burrs on the target surface;

[0131] For each burr on the target surface;

[0132] Obtain the contact area between the burr and the target surface, which is recorded as the judgment area;

[0133] If the determined area is ≤ the area threshold, the corresponding burr is classified as the second type of burr;

[0134] If the determined area is greater than the area threshold, the corresponding burr is classified as the first type of burr;

[0135] This burr grinding method for high-strength powder metallurgy automotive structural parts accurately classifies burrs by setting area thresholds, ensuring that different types of burrs can be treated differently; by classifying burrs into first-class burrs and second-class burrs, the system can evaluate the degree of influence on the surface quality of automotive structural parts according to the area of ​​the burrs, so as to formulate targeted treatment plans. This grading method can ensure that important burrs with greater impact are given priority during burr removal, while smaller burrs with less impact on quality can be processed through subsequent processes; this intelligent grading not only improves production efficiency, but also avoids over-processing and reduces resource waste; in large-scale production, this method can effectively improve production efficiency because it reduces the complexity of manual judgment and processing of each burr and reduces labor costs; the application of this strategy can provide efficient and intelligent quality management support for production lines, optimize production processes, and enhance the overall competitiveness of products.

[0136] Also includes:

[0137] Remove burrs on the target surface according to the burr removal strategy:

[0138] The testing phase includes:

[0139] For each burr with different contact area with the steel plate surface;

[0140] Obtain the contact area between it and the steel plate surface, recorded as the test area;

[0141] For a burr, use a dry ice blasting machine to remove the burr;

[0142] Aim the spray point of the dry ice blasting machine at the burr and gradually increase the spray pressure of the dry ice blasting machine;

[0143] Obtain the minimum spray pressure of the dry ice blasting machine corresponding to the burr removal and record it;

[0144] Through the above method, the minimum spray pressure of different dry ice blasting machines corresponding to different test areas of burrs is obtained by testing;

[0145] Select a position on the steel plate and record it as the test point;

[0146] Setting a quantity threshold and a reference radius, wherein the quantity threshold and the reference radius are used to select a test point;

[0147] The selection requirements of the test point are as follows: take the test point as the center, draw a circle with a radius equal to the reference radius, record it as the test circle area, and ensure that the number of the second type of burrs in the test circle area is greater than or equal to the reference threshold;

[0148] Control the spray pressure of the dry ice blasting machine to any minimum spray pressure, and aim the spray point of the dry ice blasting machine at the test point for spraying;

[0149] Obtain the elimination of the second type of burrs in the test circle area after blasting by the dry ice blasting machine and record it;

[0150] Reselect the test point and control the spray pressure of the dry ice blasting machine to be different from the spray pressure of the last test. Repeat the above steps to test and obtain the range of the blasting machine to eliminate the second type of burrs under different minimum spray pressures.

[0151] Select a position on the steel plate and record it as the auxiliary point;

[0152] Setting an auxiliary threshold and an auxiliary radius, wherein the auxiliary threshold and the auxiliary radius are used to select auxiliary points;

[0153] The selection requirements of the auxiliary point are: take the auxiliary point as the center, draw a circle with the radius of the auxiliary radius, record it as the auxiliary circle area, and ensure that the number of the second type of burrs in the auxiliary circle area is greater than or equal to the reference threshold;

[0154] The spray point of the dry ice blasting machine is aligned with the auxiliary point for spraying, and the spray pressure of the dry ice blasting machine is gradually increased. The minimum spray pressure of the dry ice blasting machine that can completely eliminate the second type of burrs in the auxiliary circular area is obtained through testing, and is recorded as the auxiliary pressure;

[0155] The burr grinding method for high-strength powder metallurgy automobile structural parts realizes efficient and environmentally friendly burr removal through dry ice blasting technology; compared with traditional mechanical grinding or chemical deburring methods, dry ice blasting technology not only has higher efficiency, but also can avoid physical damage to the workpiece surface; the dry ice blasting machine can effectively remove burrs of different sizes and shapes by accurately controlling the blasting pressure and blasting position; through multiple tests, the minimum blasting pressure of different dry ice blasting machines corresponding to burrs in different test areas, the elimination of the second type of burrs in the test circle after the dry ice blasting machine blasting, and the minimum blasting pressure of the dry ice blasting machine that completely eliminates the second type of burrs in the auxiliary circle are obtained, which provides data support for subsequent burr removal.

[0156] The step of removing burrs on the target surface according to the burr removal strategy further includes:

[0157] generating a blasting path, wherein the blasting path is a travel path of the dry ice blasting machine for removing the first type of burrs;

[0158] Acquire all first-category burrs on the target surface to form a first set;

[0159] For each burr in the first set, obtain the geometric center of the area where the burr contacts the target surface, and record them as the first position, the second position, ... the Ath position, respectively, where A refers to the total number of burrs in the first set;

[0160] The first position, the second position, ... the Ath position constitute a position set;

[0161] One of the positions in the optional position set is recorded as the starting point, the unselected position is taken as the first candidate point, and then a first candidate point is selected from the starting point as the first injection point;

[0162] Then the unselected position is used as the second candidate point, and then any second candidate point is selected from the first injection point as the third injection point;

[0163] Through the above steps, all positions are traversed to obtain a jet path passing through all positions;

[0164] Repeat the above steps to obtain all injection paths.

[0165] The step of removing burrs on the target surface according to the burr removal strategy further includes:

[0166] Choose any jet path;

[0167] According to the injection direction in the injection path, the path between the first position and the second position is recorded as the first sub-path, the path between the second position and the third position is recorded as the second sub-path, and the path between the A-1th position and the Ath position is recorded as the A-1th sub-path;

[0168] For each subpath, according to the jet direction, the position that the jet passes first is recorded as the starting point, and the position that the jet passes later is recorded as the end point;

[0169] For each sub-path, compare the test area of ​​the burr corresponding to the starting point, record it as the starting point area, and obtain the test area of ​​the burr corresponding to the end point, record it as the end point area;

[0170] The minimum injection pressure corresponding to the starting point area is obtained, which is recorded as the starting point pressure, and the minimum injection pressure corresponding to the end point is obtained, which is recorded as the end point pressure;

[0171] If the starting pressure is less than the end pressure, the dry ice blasting machine is controlled to increase the blasting pressure from the starting pressure to the end pressure on average during the process of moving from the starting point to the end point;

[0172] If the starting point pressure is greater than the end point pressure, the dry ice blasting machine is controlled to reduce the blasting pressure from the starting point pressure to the end point pressure on average during the process of moving from the starting point to the end point;

[0173] If the starting point pressure is equal to the end point pressure, the spraying pressure of the dry ice blasting machine is controlled to be kept at the starting point pressure during the process of moving from the starting point to the end point;

[0174] For a sub-path, the range of the dry ice blasting machine to eliminate the second type of burrs under the minimum blasting pressure is combined to obtain the number of the second type of burrs eliminated by the dry ice blasting machine in this sub-path;

[0175] For a blasting path, the total number of the second type of burrs eliminated by blasting all sub-paths of the dry ice blasting machine is obtained;

[0176] Select the jet path with the largest total number of eliminated second-type burrs as the first jet path;

[0177] The burr grinding method for high-strength powder metallurgy automobile structural parts obtains all first-class burrs on the target surface, and obtains all the spraying paths passing through all the first-class burrs through path planning. For one spraying path, the number of burrs that can be eliminated by dry ice spraying on each sub-path is analyzed by combining the data obtained by the test, and the spraying path with the largest number of burrs eliminated is selected as the first spraying path. In this way, more small burrs can be eliminated as much as possible under the premise of eliminating all the first-class burrs at one time, thereby ensuring the pertinence and efficiency of burr removal, thereby improving the working efficiency and product qualification rate of the overall production line.

[0178] The step of removing burrs on the target surface according to the burr removal strategy further includes:

[0179] Obtain the second type of burrs remaining on the target surface after the dry ice blasting machine blasts according to the first blasting path;

[0180] Obtaining the geometric center of the area of ​​contact between each burr and the target surface, recording as the first auxiliary position, the second auxiliary position ... the Bth auxiliary position, where B is the number of the second type burrs remaining on the target surface;

[0181] The first auxiliary position, the second auxiliary position ... the Bth auxiliary position constitute a first auxiliary set;

[0182] A position in the first auxiliary set is selected as the center of the circle, and a circle is drawn with the radius being the auxiliary radius to form a first circular domain. The auxiliary positions in the first circular domain are removed from the first auxiliary set, and a position is selected again in the first auxiliary set as the center of the circle to form a second circular domain. The auxiliary positions in the second circular domain are drawn from the first auxiliary set.

[0183] By the above method, several circular domains are made so that these circular domains can completely cover the remaining second type burrs on the target surface;

[0184] Repeat the above steps to obtain the rounding method of all the remaining second-type burrs covering the target surface;

[0185] Select the minimum number of circular domains covering the remaining second type burrs on the target surface, and obtain the center of each circular domain, which are recorded as the first auxiliary circle center, the second auxiliary circle center, ... the Cth auxiliary circle center, where C refers to the minimum number of circular domains covering the remaining second type burrs on the target surface;

[0186] Controlling the dry ice blasting machine to blast the first auxiliary circle center, the second auxiliary circle center, ... the Cth auxiliary circle center with the auxiliary pressure as the blasting pressure;

[0187] This burr grinding method for high-strength powder metallurgy automotive structural parts obtains the geometric center of the contact area between each burr and the target surface, and based on this, forms auxiliary sets such as the first auxiliary position and the second auxiliary position, and further covers the second type of burrs on all target surfaces by selecting multiple auxiliary circle centers and corresponding circular domains; then, the remaining second type burrs on the target surface are covered by selecting the minimum number of circular domains, thereby further improving the efficiency of the blasting process. The selection of minimizing the number of circular domains means that the number of blasting times and the blasting area can be reduced without reducing the treatment effect, thereby optimizing the entire treatment process. This not only reduces the energy consumption of dry ice blasting, but also increases the speed of the entire deburring operation, significantly improving the overall work efficiency of the production line.

[0188] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0189] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A burr grinding method for high-strength powder metallurgy automobile structural parts, characterized in that: Specifically include: Obtain automotive structural parts; The automobile structural part is specifically a steel plate; For each automotive structural part, check whether there are burrs on each surface according to the burr detection strategy, including: Randomly select an automobile structural part and record it as the structural part to be tested; For each surface of the structural part to be inspected, a high-precision camera is used to collect the surface image of the structural part to be inspected; Obtain the surface of the structural part to be inspected for burr detection, which is recorded as the target surface; Place the structure to be inspected on the inspection platform so that the target surface is parallel to the horizontal plane; Get the geometric center of the target surface and record it as the target center; The position directly above the target center and one meter away from the target center is recorded as the detection point; Deploy high-precision cameras at detection points; Adjust the focal length of the high-precision camera so that the image acquisition area of ​​the high-precision camera completely covers the target surface; Get four vertices of the target surface and select any one vertex as the first vertex; Starting from the first vertex, mark the remaining three vertices as the second vertex, the third vertex, and the fourth vertex in a clockwise direction; The position directly above the first vertex and thirty centimeters away from the first vertex is recorded as fill light point No. 1, the position directly above the second vertex and thirty centimeters away from the second vertex is recorded as fill light point No. 2, the position directly above the third vertex and thirty centimeters away from the third vertex is recorded as fill light point No. 3, and the position directly above the fourth vertex and thirty centimeters away from the fourth vertex is recorded as fill light point No.

4.

2. The burr grinding method for high-strength powder metallurgy automobile structural parts according to claim 1, characterized in that: For each automobile structural part, detecting whether there are burrs on each surface thereof according to the burr detection strategy specifically includes: Set fill lights with white light source at fill light point No. 1, fill light point No. 2, fill light point No. 3 and fill light point No. 4 respectively, which are recorded as fill light No. 1, fill light No. 2, fill light No. 3 and fill light No. 4 respectively; Light up fill light No. 1, turn off fill light No. 2, fill light No. 3 and fill light No. 4, and use a high-precision camera to shoot the target surface at the same time to obtain image No. 1; Light up the No. 2 fill light, turn off the No. 1 fill light, the No. 3 fill light and the No. 4 fill light, and use a high-precision camera to shoot the target surface at the same time to obtain the No. 2 image; Light up fill light No. 3, turn off fill light No. 1, fill light No. 2 and fill light No. 4, and use a high-precision camera to shoot the target surface at the same time to obtain image No. 3; Light up fill light No. 4, turn off fill light No. 1, fill light No. 2 and fill light No. 3, and use a high-precision camera to shoot the target surface at the same time to obtain image No. 4; Determine whether there is a shadow area in the first image, the second image, the third image, and the fourth image; If there is no shadow area in the first image, the second image, the third image and the fourth image, it is determined that there is no burr on the target surface; If there are shadow areas in the first image, the second image, the third image, and the fourth image, it is determined that there are burrs on the target surface; Obtaining shadow areas in the first image, the second image, the third image, and the fourth image; The shadow area is the area caused by the burrs blocking the light; A three-dimensional model of the burrs on the target surface is constructed based on the shadow areas in the first image, the second image, the third image and the fourth image in combination with computer vision technology.

3. The burr grinding method for high-strength powder metallurgy automobile structural parts according to claim 2, characterized in that: Also includes: The burrs on the target surface are classified according to the burr classification strategy, specifically: Setting an area threshold, wherein the area threshold is used to determine the category of burrs on the target surface, wherein the category is specifically a first category burr and a second category burr; Obtaining a three-dimensional model of the burrs on the target surface; For each burr on the target surface; Obtain the contact area between the burr and the target surface, which is recorded as the judgment area; If the determined area is ≤ the area threshold, the corresponding burr is classified as the second type of burr; If the determined area is greater than the area threshold, the corresponding burr is classified as a first type of burr.

4. The burr grinding method for high-strength powder metallurgy automobile structural parts according to claim 3, characterized in that: Also includes: Remove burrs on the target surface according to the burr removal strategy: The testing phase is as follows: For each burr with different contact area with the steel plate surface; Obtain the contact area between it and the steel plate surface, recorded as the test area; For a burr, use a dry ice blasting machine to remove the burr; Aim the spray point of the dry ice blasting machine at the burr and gradually increase the spray pressure of the dry ice blasting machine; Obtain the minimum spray pressure of the dry ice blasting machine corresponding to the burr removal and record it; Through the above method, the minimum spray pressure of different dry ice blasting machines corresponding to different test areas of burrs is obtained by testing; Select a position on the steel plate and record it as the test point; Setting a quantity threshold and a reference radius, wherein the quantity threshold and the reference radius are used to select a test point; The selection requirements of the test point are as follows: take the test point as the center, draw a circle with a radius equal to the reference radius, record it as the test circle area, and ensure that the number of the second type of burrs in the test circle area is greater than or equal to the reference threshold; Control the spraying pressure of the dry ice blasting machine to any minimum spraying pressure, and align the spraying point of the dry ice blasting machine with the test point for spraying; Obtain the elimination of the second type of burrs in the test circle area after blasting by the dry ice blasting machine and record it; Reselect the test point and control the spray pressure of the dry ice blasting machine to be different from the spray pressure of the last test. Repeat the above steps to test and obtain the range of the blasting machine to eliminate the second type of burrs under different minimum spray pressures. Select a position on the steel plate and record it as the auxiliary point; Setting an auxiliary threshold and an auxiliary radius, wherein the auxiliary threshold and the auxiliary radius are used to select auxiliary points; The selection requirements of the auxiliary point are: take the auxiliary point as the center, draw a circle with the radius of the auxiliary radius, record it as the auxiliary circle area, and ensure that the number of the second type of burrs in the auxiliary circle area is greater than or equal to the reference threshold; The spray point of the dry ice blasting machine is aligned with the auxiliary point for spraying, and the spray pressure of the dry ice blasting machine is gradually increased. The minimum spray pressure of the dry ice blasting machine that can completely eliminate the second type of burrs in the auxiliary circular area is obtained through testing, and is recorded as the auxiliary pressure.

5. The burr grinding method for high-strength powder metallurgy automobile structural parts according to claim 4, characterized in that: The step of removing burrs on the target surface according to the burr removal strategy further includes: generating a blasting path, wherein the blasting path is a travel path of the dry ice blasting machine for removing the first type of burrs; Acquire all first-category burrs on the target surface to form a first set; For each burr in the first set, obtain the geometric center of the area where the burr contacts the target surface, and record them as the first position, the second position, ... the Ath position, respectively, where A refers to the total number of burrs in the first set; The first position, the second position, ... the Ath position constitute a position set; One of the positions in the optional position set is recorded as the starting point, the unselected position is taken as the first candidate point, and then a first candidate point is selected from the starting point as the first injection point; Then the unselected position is used as the second candidate point, and then any second candidate point is selected from the first injection point as the third injection point; Through the above steps, all positions are traversed to obtain a jet path passing through all positions; Repeat the above steps to obtain all injection paths.

6. The burr grinding method for high-strength powder metallurgy automobile structural parts according to claim 5, characterized in that: The step of removing burrs on the target surface according to the burr removal strategy further includes: Choose any jet path; According to the injection direction in the injection path, the path between the first position and the second position is recorded as the first sub-path, the path between the second position and the third position is recorded as the second sub-path, and the path between the A-1th position and the Ath position is recorded as the A-1th sub-path; For each subpath, according to the jet direction, the position that the jet passes first is recorded as the starting point, and the position that the jet passes later is recorded as the end point; For each sub-path, compare the test area of ​​the burr corresponding to the starting point, record it as the starting point area, and obtain the test area of ​​the burr corresponding to the end point, record it as the end point area; The minimum injection pressure corresponding to the starting point area is obtained, which is recorded as the starting point pressure, and the minimum injection pressure corresponding to the end point is obtained, which is recorded as the end point pressure; If the starting pressure is less than the end pressure, the dry ice blasting machine is controlled to increase the blasting pressure from the starting pressure to the end pressure on average during the process of moving from the starting point to the end point; If the starting point pressure is greater than the end point pressure, the dry ice blasting machine is controlled to reduce the blasting pressure from the starting point pressure to the end point pressure on average during the process of moving from the starting point to the end point; If the starting point pressure is equal to the end point pressure, the spraying pressure of the dry ice blasting machine is controlled to be kept at the starting point pressure during the process of moving from the starting point to the end point; For a sub-path, the range of the dry ice blasting machine to eliminate the second type of burrs under the minimum blasting pressure is combined to obtain the number of the second type of burrs eliminated by the dry ice blasting machine in this sub-path; For a blasting path, the total number of the second type of burrs eliminated by blasting all sub-paths of the dry ice blasting machine is obtained; The jet path with the largest total number of eliminated second-type burrs is selected as the first jet path.

7. The burr grinding method for high-strength powder metallurgy automobile structural parts according to claim 6, characterized in that: The step of removing burrs on the target surface according to the burr removal strategy further includes: Obtain the second type of burrs remaining on the target surface after the dry ice blasting machine blasts according to the first blasting path; Obtaining the geometric center of the area of ​​contact between each burr and the target surface, recording as the first auxiliary position, the second auxiliary position ... the Bth auxiliary position, where B is the number of the second type burrs remaining on the target surface; The first auxiliary position, the second auxiliary position ... the Bth auxiliary position constitute a first auxiliary set; A position in the first auxiliary set is selected as the center of the circle, and a circle is drawn with the radius being the auxiliary radius to form a first circular domain. The auxiliary positions in the first circular domain are removed from the first auxiliary set, and a position is selected again in the first auxiliary set as the center of the circle to form a second circular domain. The auxiliary positions in the second circular domain are drawn from the first auxiliary set. By the above method, several circular domains are made so that these circular domains can completely cover the remaining second type burrs on the target surface; Repeat the above steps to obtain the rounding method of all the remaining second-type burrs covering the target surface; Select the minimum number of circular domains covering the remaining second type burrs on the target surface, and obtain the center of each circular domain, which are recorded as the first auxiliary circle center, the second auxiliary circle center, ... the Cth auxiliary circle center, where C refers to the minimum number of circular domains covering the remaining second type burrs on the target surface; The dry ice blasting machine is controlled to use the auxiliary pressure as the blasting pressure to blast the first auxiliary circle center, the second auxiliary circle center, ... the Cth auxiliary circle center.

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