Long nozzle inserting arm deformation detection device based on 2D automatic mechanical arm and use method of long nozzle inserting arm deformation detection device

Abstract

The invention relates to the field of pouring nozzles for metal casting, in particular to a long nozzle inserting arm deformation detection device based on a 2D automatic mechanical arm and a using method of the long nozzle inserting arm deformation detection device. The long nozzle insertion arm deformation detection device based on the 2D automatic manipulator comprises a full-automatic manipulator (1), and is characterized by further comprising a camera (2), a calculation controller (3) and a master controller (4), the electric signal output end of the camera (2) is connected with the calculation controller (3) through a camera signal conversion device (5), the calculation controller (3) is connected with the master controller (4) through a control signal line (6), and the master controller (4) is connected with the full-automatic manipulator (1). And the master controller (4) is connected with the full-automatic manipulator (1) through a signal line. The use method of the long nozzle insertion arm deformation detection device based on the 2D automatic manipulator is characterized by being implemented according to the following steps in sequence: S1, determining a standard; s2, shooting an actual contour; and S3, calculating the offset. The method is accurate in detection and convenient to position.

Description

Technical Field

[0001] The present invention relates to the field of pouring nozzles for metal casting, and in particular to a deformation detection device for a long nozzle insert arm based on a 2D automatic manipulator and a method for using the same. Background Art

[0002] The manipulator arm of the long shroud of the continuous casting machine is prone to deformation during use. The shroud arm has been in a high-temperature baking state. As the use cycle increases, it will produce certain deformation, which will affect the success rate of the manipulator installing the shroud and the accuracy of the manipulator's automatic positioning of the long shroud.

[0003] During the implementation of a certain project, the robot arm was in a high-temperature environment for a long time and had to withstand a downward force of approximately 700 kg. Every time the arm was used in a furnace, the mechanical size of the arm would change by one dimension. With the use of about 20 furnaces per day, the deformation became increasingly larger. Finally, when the arm was installed, the robot arm could not move to the calculated nozzle position.

[0004] The current method is to frequently replace the insert arm to ensure that the deformation of the insert arm is within a certain range, thereby reducing the impact of equipment deformation on automatic positioning, which will increase production costs; the second method is to use manual operation to perform long-water installation operations when positioning is inaccurate, which will greatly affect the degree of automation of the automatic manipulator and increase the burden on the operator. Summary of the Invention

[0005] In order to overcome the defects of the prior art and provide a metal casting auxiliary equipment with accurate detection and convenient positioning, the present invention discloses a long nozzle insert arm deformation detection device based on a 2D automatic manipulator and a use method thereof.

[0006] The present invention achieves the purpose of the invention through the following technical solutions: A long nozzle arm deformation detection device based on a D automatic manipulator includes a fully automatic manipulator and is characterized in that it also includes a camera, a computing controller and a main controller. The electrical signal output end of the camera is connected to the computing controller through a camera signal conversion device, the computing controller is connected to the main controller through a control signal line, and the main controller is connected to the fully automatic manipulator through a signal line.

[0007] The device for detecting deformation of a long nozzle arm based on a D-type automatic manipulator is characterized in that: the camera signal conversion device includes a GigE interface and a PCI bus, the camera is provided with a GigE interface, the GigE interface is connected to the PCI bus via a signal line, and the PCI bus is connected to the computing controller via a signal line; The communication protocol for the control signal line uses the Opc protocol; The calculation controller uses an industrial controller and the main controller uses a PLC.

[0008] The method for using the D-type automatic manipulator-based long shroud arm deformation detection device is characterized by being implemented in the following steps in sequence: S. Determine the standard: Determine the coordinates of the camera, determine the coordinates of a fixed point, and determine the standard circular profile of the nozzle when it is on the fixed point, that is, the standard posture P; S. Photographing the Actual Contour: When replacing the nozzle, the arm of the fully automatic manipulator moves the nozzle to the fixed point. The camera photographs the nozzle at the fixed point. The computing controller uses a visual edge fitting algorithm to fit the actual elliptical contour of the nozzle in the photograph and sends the actual elliptical contour to the computing controller. S. Calculate the offset: The calculation controller calculates the deformation of each angle between the actual elliptical contour and the standard circular contour, and calculates the postures P and P of the elliptical contour and the marked circular contour in the coordinate system of the camera. Since the posture range of the system is known when it is set up, it is sufficient to select a posture within the range from the postures generated by the two elliptical projections corresponding to the same circle, thereby obtaining the actual posture P of the water outlet in the camera coordinate system. The actual posture P and the standard posture P are compared to obtain the offset posture ΔP of the water outlet. The calculation controller sends the offset posture ΔP to the main controller, and the main controller controls the fully automatic manipulator to perform the water outlet replacement operation according to the coordinate offset determined by the offset posture ΔP.

[0009] The method for using the long nozzle arm deformation detection device based on the D automatic manipulator is characterized in that: when S, the edge fitting algorithm uses the Canny method or the Laplacian method.

[0010] When installing a nozzle, simply ensuring the recognition accuracy of the calibration plate does not guarantee that the nozzle will be installed accurately. The error caused by the mechanical deformation of the insert arm during use must be calibrated to ensure the accuracy of subsequent installation. When the fully automatic manipulator replaces the nozzle, the present invention first uses the insert arm to move the nozzle to a fixed coordinate, and then uses a preset camera to shoot the nozzle shape at a preset angle, calculates the difference between the actual position and the preset position, and calculates the deformation of the long nozzle insert arm through the visual system, thereby obtaining the deviation value of the long nozzle center on the x-axis and y-axis caused by the deformation, and sends it to the control system, which completes the correction of the coordinates of the fully automatic manipulator through the control system.

[0011] The present invention has the following beneficial effects: It can automatically compensate for coordinate deviations caused by deformation during equipment use, greatly improving the automation level of the fully automatic manipulator and laying a solid foundation for unmanned continuous casting machines. The present invention can be directly implanted into the original visual system and is easy to modify; The present invention greatly increases the service life of the manipulator arm, saves production costs, reduces the workload of operators, and improves the stability of the equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 It is a structural schematic diagram of the present invention, Figure 2 Flowchart of the present invention when used. DETAILED DESCRIPTION

[0013] The present invention is further illustrated below by means of specific examples. Example

[0014] A 2D automatic manipulator-based long nozzle arm deformation detection device includes a fully automatic manipulator 1, a camera 2, a calculation controller 3 and a main controller 4, such as Figure 1 As shown, the specific structure is: The electrical signal output end of the camera 2 is connected to the calculation controller 3 through the camera signal conversion device 5, the calculation controller 3 is connected to the main controller 4 through the control signal line 6, and the main controller 4 is connected to the full-automatic manipulator 1 through the signal line.

[0015] In this embodiment: the camera signal conversion device 5 includes a GigE interface 51 and a PCI bus 52. The camera 2 is provided with a GigE interface 51, the GigE interface 51 is connected to the PCI bus 52 via a signal line, and the PCI bus 52 is connected to the computing controller 3 via a signal line; The communication protocol of control signal line 6 is Opc protocol; The calculation controller 3 uses an industrial controller, and the main controller 4 uses a PLC.

[0016] When this embodiment is used, Figure 2 As shown, follow the steps below: S1 Determine the standard: Determine the coordinates of the camera 2, determine the coordinates of a fixed point, and determine the standard circular contour of the nozzle at the fixed point, that is, the standard posture P0; S2. Capturing the Actual Contour: When replacing the nozzle, the arm of the fully automatic manipulator 1 moves the nozzle to the fixed point. The camera 2 captures the nozzle at the fixed point. The computing controller 3 uses a visual edge fitting algorithm to fit the actual elliptical contour of the nozzle in the nozzle photo. The edge fitting algorithm uses the Canny method or the Laplacian method, and the actual elliptical contour is sent to the computing controller 3. S3. Calculate the offset: The calculation controller 3 calculates the deformation of each angle between the actual elliptical contour and the standard circular contour, and calculates the postures P2 and P1 of the elliptical contour and the marked circular contour in the coordinate system of the camera 2. Since the posture range of the system is known when it is set up, it is sufficient to select a posture within the range from the postures generated by the two elliptical projections corresponding to the same circle, thereby obtaining the actual posture P of the water outlet in the coordinate system of the camera 2, and comparing the actual posture P with the standard posture P0 to obtain the offset posture ΔP of the water outlet. The calculation controller 3 sends the offset posture ΔP to the main controller 4, and the main controller 4 controls the fully automatic manipulator 1 to perform the water outlet replacement operation according to the coordinate offset determined by the offset posture ΔP.

Claims

1. A 2D automatic manipulator-based shroud arm deformation detection device, comprising a fully automatic manipulator (1), characterized by: The system also includes a camera (2), a computing controller (3) and a master controller (4); the electrical signal output end of the camera (2) is connected to the computing controller (3) via a camera signal conversion device (5); the computing controller (3) is connected to the master controller (4) via a control signal line (6); and the master controller (4) is connected to the fully automatic manipulator (1) via a signal line.

2. The 2D automatic manipulator-based shroud arm deformation detection device according to claim 1, characterized in that: The camera signal conversion device (5) includes a GigE interface (51) and a PCI bus (52). The camera (2) is provided with the GigE interface (51). The GigE interface (51) is connected to the PCI bus (52) via a signal line. The PCI bus (52) is connected to the computing controller (3) via a signal line. The communication protocol of the control signal line (6) is the Opc protocol; The calculation controller (3) is an industrial controller, and the main controller (4) is a PLC.

3. The method for using the 2D automatic manipulator-based shroud arm deformation detection device according to claim 1 or 2, characterized in that: Follow the steps below: S1. Determine the standard: determine the coordinates of the camera (2), determine the coordinates of a fixed point, and determine the standard circular contour of the nozzle at the fixed point, ie, the standard posture P0; S2. Photographing the actual contour: When replacing the nozzle, the arm of the fully automatic manipulator (1) moves the nozzle to the fixed point, the camera (2) photographs the nozzle at the fixed point, and the computing controller (3) fits the actual elliptical contour of the nozzle in the photo of the nozzle using an edge fitting algorithm in vision, and sends the actual elliptical contour to the computing controller (3); S3. Calculate the offset: The calculation controller (3) calculates the deformation of each angle between the actual elliptical contour and the standard circular contour, calculates the postures P2 and P1 of the elliptical contour and the marked circular contour in the coordinate system of the camera (2), thereby obtaining the actual posture P of the water outlet in the coordinate system of the camera (2), compares the actual posture P with the standard posture P0, and obtains the offset posture ΔP of the water outlet. The calculation controller (3) sends the offset posture ΔP to the main controller (4), and the main controller (4) controls the fully automatic manipulator (1) to implement the water outlet replacement operation according to the coordinate offset determined by the offset posture ΔP.

4. The method for using the 2D automatic manipulator-based shroud arm deformation detection device according to claim 3, characterized in that: In S2, the edge fitting algorithm uses the Canny method or the Laplacian method.

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