Sorting and grinding integrated machining production line, method and system for ship steel plate parts

Abstract

The invention discloses a ship steel plate part sorting and grinding integrated machining production line, method and system. The production line comprises a support, a first cross rod, a second cross rod, a first sliding rail, a second sliding rail, a sorting robot, a sorting table, a sorting visual camera, a sorting discharging tray, a grinding discharging tray, a ground rail, a grinding robot, an inverted pyramid table, a beveling robot and a beveling table; the first sliding rail and the second sliding rail are arranged on the support in parallel, the two ends of the first transverse rod and the two ends of the second transverse rod are slidably connected to the first sliding rail and the second sliding rail correspondingly, the sorting robot is slidably connected to the first transverse rod, and the sorting visual camera is arranged on the second transverse rod. The sorting table, the sorting discharging tray and the polishing discharging tray are arranged below the first transverse rod side by side to form three rows, the ground rail is arranged between the sorting discharging tray and the polishing discharging tray, the polishing robot is connected to the upper portion of the ground rail in a sliding mode, and the beveling robot and the beveling table are arranged on the side edge of the polishing discharging tray. The device integrates sorting and grinding and is high in efficiency.

Description

Technical Field

[0001] This invention relates to steel parts processing technology, and more particularly to an integrated processing production line, method and system for sorting and grinding ship steel plate parts. Background Technology

[0002] In the shipbuilding process, the cutting, sorting and grinding of steel plate parts are key processes. At present, many shipyards still rely heavily on manual operation in these processes. The typical operation process is as follows: after the parts are cut, they need to be manually transported and sorted or initially sorted by inefficient equipment; the sorted parts need to be transferred to the grinding station; the grinding process is mainly completed by workers using hand-held grinding tools. This manual operation mode has significant drawbacks: (1) Low efficiency: manual handling, sorting and grinding are slow and workers are prone to fatigue, which restricts the overall production efficiency. (2) Unstable quality: the quality of manual grinding depends on the experience and condition of the workers, and it is difficult to ensure consistency, especially in the grinding of complex contours or free edges.

[0003] Therefore, the industry urgently needs an integrated solution for shipyard plate cutting, sorting, and grinding that is efficient, stable, highly automated, and can overcome the limitations of existing site layouts, so as to significantly improve production efficiency, product quality, and reduce labor costs. Summary of the Invention

[0004] In view of the problems existing in the prior art, the purpose of this invention is to provide an automated integrated processing production line, method and system for sorting and grinding of ship steel plate parts.

[0005] To achieve the above-mentioned objectives, the present invention provides the following technical solution:

[0006] An integrated processing production line for sorting and grinding ship steel plate parts includes a support frame, a first crossbar, a second crossbar, a first slide rail, a second slide rail, a sorting robot, a sorting table, a sorting vision camera, a sorting unloading pallet, a grinding unloading pallet, a floor rail, a grinding robot, a chamfering frustum, a beveling robot, and a beveling table. The first and second slide rails are arranged parallel to each other on the support frame. The two ends of the first crossbar are slidably connected to the first and second slide rails, respectively. The two ends of the second crossbar are also slidably connected to the first and second slide rails, respectively. The sorting robot slides... The sorting vision system is connected to the first horizontal bar, and the sorting table, sorting unloading tray, and grinding unloading tray are arranged in three rows side by side. The sorting table and sorting unloading tray are distributed below the first horizontal bar and parallel to the first slide rail. The ground rail is set between the sorting unloading tray and the grinding unloading tray. The grinding robot is slidably connected above the ground rail. The grinding robot is equipped with a chamfered frustum. The beveling robot is set on the side of the grinding unloading tray, and the beveling platform is set on the side of the beveling robot.

[0007] Furthermore, the support includes two rows of vertical support columns, with the first slide rail and the second slide rail respectively fixed horizontally on one row of support columns.

[0008] Furthermore, the sorting robot is connected to the first crossbar via a slider or pulley.

[0009] Furthermore, the sorting robot is equipped with an electromagnetic crane at its bottom to attract parts when powered on.

[0010] Furthermore, the sorting and unloading tray includes several sub-trays, which are arranged side by side in a row and parallel to the sorting table.

[0011] Furthermore, the grinding and unloading tray includes several chamfered trays, which are arranged side by side in a row and are parallel to the sorting and unloading tray.

[0012] A method for integrated sorting and grinding of ship steel plate parts, based on the aforementioned integrated sorting and grinding production line for ship steel plate parts, specifically includes: The sorting vision camera captures images of the parts located on the sorting table; Compare the part images captured by the sorting vision camera with the parts on the design drawings to confirm the free edges, polished edges, chamfered edges, and corresponding polishing process information and beveling information of the parts on the current sorting table. Control the first horizontal bar and the sorting robot to move above the parts, and attract the parts, placing them in sequence on the sorting and unloading tray; Control the grinding robot to slide to the corresponding position of each part, and grind the parts at the corresponding positions on the sorting and unloading tray according to the corresponding grinding process information of the free edge and grinding edge of the part. Then, perform chamfering on the chamfering table. After grinding, place the parts on the grinding unloading tray. The beveling robot is controlled to move to the part on the grinding and unloading tray, pick up the part and place it on the beveling table, and beveling it on the beveling table according to the beveling cutting information. After cutting, it is placed back on the grinding and unloading tray.

[0013] Furthermore, the step of comparing the part images captured by the sorting vision camera with the parts on the design drawings to confirm the free edges and polished edges, polishing process information, and beveling information of the parts on the current sorting table specifically includes:

[0014] Extract the arrangement position, orientation, and location of the grinding edge of all parts on a steel plate from the nesting layout GEN file in the design drawings; Extract the detailed geometry of each part from the part GEN file in the design drawings; Based on the arrangement and orientation of the parts on a steel plate, compare the detailed geometry of each part to confirm the grinding edge of each part. The images of the parts captured by the sorting vision camera are compared with the detailed geometry of each part to identify the free edges and polished edges of the parts on the current sorting table. Based on the SPF file of the part in the design drawings, extract the processing requirements as grinding process information, and extract the edges of the part that need to be chamfered or blunted as chamfered edges. Based on the SPF file of the part in the design drawings, identify the edge of the part that needs to be beveled and generate bevel cutting information.

[0015] A sorting and grinding integrated processing system for ship steel plate parts, comprising the aforementioned integrated sorting and grinding production line for ship steel plate parts, and further comprising: The parts image acquisition module is used to acquire images of parts located on the sorting table captured by the sorting vision camera; The processing information confirmation module is used to compare the part images captured by the sorting vision camera with the parts on the design drawings to confirm the free edges, polished edges, chamfered edges, and corresponding polishing process information and beveling information of the parts on the current sorting table. The sorting robot control module is used to control the first crossbar and the sorting robot to move above the parts, and to pick up the parts and place them in sequence on the sorting tray. The grinding robot control module is used to control the grinding robot to slide to the corresponding position of each part, and to grind the parts at the corresponding positions on the sorting and unloading tray according to the corresponding grinding process information of the free edge and grinding edge of the part. The chamfering edge is chamfered on the chamfering table, and the part is placed on the grinding unloading tray after grinding is completed. The beveling robot control module is used to control the beveling robot to move to the part on the grinding and unloading tray, pick up the part and place it on the beveling table, and perform beveling on the beveling table according to the beveling cutting information. After cutting, the part is placed back on the grinding and unloading tray.

[0016] Furthermore, the processing information confirmation module includes: The layout information extraction unit is used to extract the arrangement position, orientation, and location of the grinding edge of all parts on a steel plate from the nesting layout GEN file in the design drawings. The part drawing extraction unit is used to extract the detailed geometry of each part from the part GEN file in the design drawings. The grinding edge extraction unit is used to identify the free edge and grinding edge of each part by comparing the detailed geometry of each part with the arrangement and orientation of the parts on a steel plate. The grinding edge confirmation unit is used to compare the part images captured by the sorting vision camera with the detailed geometry of each part to confirm the free edges and grinding edges of the parts on the current sorting table. The chamfering extraction unit is used to extract the processing requirements as grinding process information from the part SPF file in the design drawing, and to extract the part edges that need to be chamfered or blunted as chamfering edges. The bevel information extraction unit is used to identify the edge of the part that needs to be beveled based on the part SPF file in the design drawings and generate bevel cutting information.

[0017] Compared with the prior art, the beneficial effects of this invention are: 1. It integrates sorting and grinding, is fully automated, requires no manual handling, and is highly efficient; 2. Leapfrog growth in overall process efficiency, with parallel sorting and polishing achieving "zero waiting" collaboration: The combination of ground rail mobile polishing unit and near-field dynamic recognition technology has overturned the serial mode of "sorting-transfer-fixed station polishing". 3. The production method of the present invention, compared with pure visual discrimination, achieves accurate processing intention from the source by deeply integrating design and process data, avoiding the identification errors and efficiency bottlenecks caused by on-site interference such as steel plate deformation, lighting, and oil stains in visual methods, and fundamentally improves the accuracy, efficiency and automation level of chamfering and beveling analysis. 4. Improve process quality consistency: Based on design drawing data-driven adaptive grinding path optimization, the process parameters of free edge rough grinding and grinding-while-fine grinding are precisely matched with the design intent. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the integrated processing production line for sorting and grinding of ship steel plate parts provided in an embodiment of the present invention;

[0019] Figure 2 This is a schematic diagram of the integrated processing and production method for sorting and grinding of ship steel plate parts provided in an embodiment of the present invention. Detailed Implementation

[0020] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.

[0021] This invention provides an integrated processing production line for sorting and grinding ship steel plate parts, such as... Figure 1 As shown, the system includes a support frame 1, a first crossbar 2, a second crossbar 3, a first slide rail 4, a second slide rail 5, a sorting robot 6, a sorting table 7, a sorting vision camera 8, a sorting unloading tray 9, a grinding unloading tray 10, a floor rail 11, a grinding robot 12, a chamfering frustum 13, a beveling robot 14, and a beveling table 15. The first slide rail 4 and the second slide rail 5 are arranged parallel to each other on the support frame 1. The two ends of the first crossbar 2 are slidably connected to the first slide rail 4 and the second slide rail 5, respectively. The two ends of the second crossbar 3 are also slidably connected to the first slide rail 4 and the second slide rail 5, respectively. The sorting robot 6 slides... A sorting vision camera 8 is connected to the first crossbar 2, and a sorting table 7, a sorting unloading tray 9, and a grinding unloading tray 10 are arranged side by side in three columns. The sorting table 7 and the sorting unloading tray 9 are located below the first crossbar 2 and parallel to the first slide rail 4. A ground rail 11 is set between the sorting unloading tray 9 and the grinding unloading tray 10. A grinding robot 12 is slidably connected above the ground rail 11. A chamfered frustum 13 is set on the grinding robot 12. A beveling robot 14 is set on the side of the grinding unloading tray 10, and a beveling platform 15 is set on the side of the beveling robot 14. The support 1 includes two columns of vertical pillars, and the first slide rail 4 and the second slide rail 5 are respectively horizontally fixed on one column of pillars. The sorting robot 6 is connected to the first crossbar 2 by a slider or pulley. The bottom of the sorting robot 6 is equipped with an electromagnetic crane to pick up parts when powered on and to lower parts when not powered on. The sorting and unloading tray 9 includes several sub-trays arranged side by side in a row, parallel to the sorting table 7. The grinding and unloading tray 10 includes several chamfered sub-trays arranged side by side in a row, parallel to the sorting and unloading tray 9.

[0022] This invention also provides an integrated processing method for sorting and grinding ship steel plate parts. This method is based on the aforementioned integrated processing production line for sorting and grinding ship steel plate parts, such as... Figure 2 As shown, it specifically includes:

[0023] S201. The sorting vision camera takes pictures of the parts located on the sorting table.

[0024] The parts on the sorting table are formed after steel is cut, and they can be transported to the sorting table via roller conveyors.

[0025] S202. Compare the part images captured by the sorting vision camera with the parts on the design drawings to confirm the free edges, polished edges, chamfered edges, and corresponding polishing process information and beveling information of the parts on the current sorting table.

[0026] This step specifically includes: Extract the arrangement position, orientation, and location of the grinding edge of all parts on a steel plate from the nesting layout GEN file in the design drawings; Extract the detailed geometry of each part from the part GEN file in the design drawings; Based on the arrangement and orientation of the parts on a steel plate, compare the detailed geometry of each part to confirm the free edge and polished edge of each part. The images of the parts captured by the sorting vision camera are compared with the detailed geometry of each part to identify the free edges and polished edges of the parts on the current sorting table. Based on the SPF file of the part in the design drawings, extract the processing requirements as grinding process information, and extract the edges of the part that need to be chamfered or blunted as chamfered edges. Based on the SPF file of the part in the design drawings, identify the edge of the part that needs to be beveled and generate bevel cutting information.

[0027] S203. Control the first crossbar and the sorting robot to move above the parts, and attract the parts, placing them sequentially on the sorting and unloading tray.

[0028] Specifically, the picking and placing of parts is achieved by controlling the power supply to the electromagnetic crane at the bottom of the sorting robot. Each time multiple parts are picked up, the PLC logic controls the placement of parts onto the sorting trays, ensuring that each sub-tray contains at most one set of parts, preventing parts from being stacked and ensuring that the grinding information for each part is effective.

[0029] S204. Control the grinding robot to slide to the corresponding position of each part, and grind the parts at the corresponding positions on the sorting and unloading tray according to the corresponding grinding process information of the free edge and grinding edge of the part. Then, perform chamfering on the chamfering table. After grinding, place the parts on the grinding unloading tray.

[0030] The grinding robot is placed on a slide on a ground rail. The movement of the slide on the ground rail is achieved by an additional axis of the grinding robot, which is controlled by the grinding robot itself. After the grinding robot picks up a part, it controls the additional axis to move to the corresponding sub-pallet position and performs the grinding operation on the part during the movement, thus improving the efficiency of the grinding process.

[0031] S205. Control the beveling robot to move to the part on the grinding and unloading tray, grab the part and place it on the beveling table, and perform beveling on the beveling table according to the beveling cutting information. After cutting, place it back on the grinding and unloading tray.

[0032] Afterwards, the AGV trolley transports and places the grinding and cutting pallet containing the finished parts into the buffer area 16 to perform the subsequent processes.

[0033] This invention also provides an integrated processing and production system for sorting and grinding ship steel plate parts, including the aforementioned integrated processing and production line for sorting and grinding ship steel plate parts, and further comprising: The parts image acquisition module is used to acquire images of parts located on the sorting table captured by the sorting vision camera; The processing information confirmation module is used to compare the part images captured by the sorting vision camera with the parts on the design drawings to confirm the free edges, polished edges, chamfered edges, and corresponding polishing process information and beveling information of the parts on the current sorting table. The sorting robot control module is used to control the first crossbar and the sorting robot to move above the parts, and to pick up the parts and place them in sequence on the sorting tray. The grinding robot control module is used to control the grinding robot to slide to the corresponding position of each part, and to grind the parts at the corresponding positions on the sorting and unloading tray according to the corresponding grinding process information of the free edge and grinding edge of the part. The chamfering edge is chamfered on the chamfering table, and the part is placed on the grinding unloading tray after grinding is completed. The beveling robot control module is used to control the beveling robot to move to the part on the grinding and unloading tray, pick up the part and place it on the beveling table, and perform beveling on the beveling table according to the beveling cutting information. After cutting, the part is placed back on the grinding and unloading tray.

[0034] Furthermore, the processing information confirmation module includes: The layout information extraction unit is used to extract the arrangement position, orientation, and location of the grinding edge of all parts on a steel plate from the nesting layout GEN file in the design drawings. The part drawing extraction unit is used to extract the detailed geometry of each part from the part GEN file in the design drawings. The grinding edge extraction unit is used to identify the free edge and grinding edge of each part by comparing the detailed geometry of each part with the arrangement and orientation of the parts on a steel plate. The grinding edge confirmation unit is used to compare the part images captured by the sorting vision camera with the detailed geometry of each part to confirm the free edges and grinding edges of the parts on the current sorting table. The chamfering extraction unit is used to extract the processing requirements as grinding process information from the part SPF file in the design drawing, and to extract the part edges that need to be chamfered or blunted as chamfering edges. The bevel information extraction unit is used to identify the edge of the part that needs to be beveled based on the part SPF file in the design drawings and generate bevel cutting information.

[0035] It is worth noting that the various units and modules included in the above embodiments are only divided according to functional logic, but are not limited to the above division, as long as the corresponding functions can be achieved; in addition, the specific names of each functional unit are only for easy differentiation and are not used to limit the scope of protection of the present invention.

[0036] The embodiments described above are merely illustrative. The modules described as separate components may or may not be physically separate, and the components shown as modules may or may not be physical modules; that is, they may be located in one place or distributed across multiple network modules. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art will clearly understand that each implementation can be achieved using software plus necessary general-purpose hardware platforms, or it can be implemented solely through hardware, as long as the function or purpose can be achieved.

[0037] It should be understood that the embodiments and descriptions above are only the principles, main features and advantages of the present invention. Various changes and modifications can be made to the present invention without departing from the spirit and scope of the invention, and all such changes and modifications fall within the protection scope of the present invention.

Claims

1. An integrated processing production line for sorting and grinding ship steel plate parts, characterized in that, The system includes a support frame, a first crossbar, a second crossbar, a first slide rail, a second slide rail, a sorting robot, a sorting table, a sorting vision camera, a sorting unloading pallet, a grinding unloading pallet, a floor rail, a grinding robot, a chamfering frustum, a beveling robot, and a beveling table. The first and second slide rails are arranged parallel to each other on the support frame. The two ends of the first crossbar are slidably connected to the first and second slide rails, respectively. The two ends of the second crossbar are also slidably connected to the first and second slide rails, respectively. The sorting robot is slidably connected to the first crossbar. The sorting vision camera is mounted on the second crossbar. The sorting table, sorting unloading tray, and grinding unloading tray are arranged in three rows side by side. The sorting table and sorting unloading tray are located below the first crossbar and parallel to the first slide rail. The ground rail is located between the sorting unloading tray and the grinding unloading tray. The grinding robot is slidably connected above the ground rail. The grinding robot is equipped with a chamfered frustum. The beveling robot is located on the side of the grinding unloading tray, and the beveling platform is located on the side of the beveling robot.

2. The integrated processing production line for sorting and grinding ship steel plate parts according to claim 1, characterized in that, The support includes two rows of vertical pillars, and the first slide rail and the second slide rail are respectively fixed horizontally on one row of pillars.

3. The integrated processing production line for sorting and grinding ship steel plate parts according to claim 1, characterized in that, The sorting robot is connected to the first crossbar via a slider or pulley.

4. The integrated processing production line for sorting and grinding ship steel plate parts according to claim 1, characterized in that, The sorting robot is equipped with an electromagnetic crane at its bottom, which is used to pick up parts when powered on.

5. The integrated processing production line for sorting and grinding ship steel plate parts according to claim 1, characterized in that, The sorting and unloading tray includes several sub-trays, which are arranged side by side in a row and parallel to the sorting table.

6. The integrated processing production line for sorting and grinding ship steel plate parts according to claim 1, characterized in that, The grinding and unloading tray includes several chamfered trays arranged side by side in a row, parallel to the sorting and unloading tray.

7. A method for integrated sorting and grinding of ship steel plate parts, characterized in that, This method, based on the integrated sorting and grinding production line for ship steel plate parts as described in claim 1, specifically includes: The sorting vision camera captures images of the parts located on the sorting table; Compare the part images captured by the sorting vision camera with the parts on the design drawings to confirm the free edges, polished edges, chamfered edges, and corresponding polishing process information and beveling information of the parts on the current sorting table. Control the first horizontal bar and the sorting robot to move above the parts, and attract the parts, placing them in sequence on the sorting and unloading tray; Control the grinding robot to slide to the corresponding position of each part, and grind the parts at the corresponding positions on the sorting and unloading tray according to the corresponding grinding process information of the free edge and grinding edge of the part. Then, perform chamfering on the chamfering table. After grinding, place the parts on the grinding unloading tray. The beveling robot is controlled to move to the part on the grinding and unloading tray, pick up the part and place it on the beveling table, and beveling it on the beveling table according to the beveling cutting information. After cutting, it is placed back on the grinding and unloading tray.

8. The integrated processing and production method for sorting and grinding ship steel plate parts according to claim 7, characterized in that, The process of comparing the part images captured by the sorting vision camera with the parts on the design drawings to confirm the free edges, polished edges, chamfered edges, and corresponding polishing process information and beveling information of the parts on the current sorting table specifically includes: Extract the arrangement position, orientation, and location of the grinding edge of all parts on a steel plate from the nesting layout GEN file in the design drawings; Extract the detailed geometry of each part from the part GEN file in the design drawings; Based on the arrangement and orientation of the parts on a steel plate, compare the detailed geometry of each part to confirm the grinding edge of each part. The images of the parts captured by the sorting vision camera are compared with the detailed geometry of each part to identify the free edges and polished edges of the parts on the current sorting table. Based on the SPF file of the part in the design drawings, extract the processing requirements as grinding process information, and extract the edges of the part that need to be chamfered or blunted as chamfered edges. Based on the SPF file of the part in the design drawings, identify the edge of the part that needs to be beveled and generate bevel cutting information.

9. A sorting and grinding integrated processing and production system for ship steel plate parts, characterized in that, The integrated processing production line for sorting and grinding ship steel plate parts as described in claim 1 further includes: The parts image acquisition module is used to acquire images of parts located on the sorting table captured by the sorting vision camera; The processing information confirmation module is used to compare the part images captured by the sorting vision camera with the parts on the design drawings to confirm the free edges, polished edges, chamfered edges, and corresponding polishing process information and beveling information of the parts on the current sorting table. The sorting robot control module is used to control the first crossbar and the sorting robot to move above the parts, and to pick up the parts and place them in sequence on the sorting tray. The grinding robot control module is used to control the grinding robot to slide to the corresponding position of each part, and to grind the parts at the corresponding positions on the sorting and unloading tray according to the corresponding grinding process information of the free edge and grinding edge of the part. The chamfering edge is chamfered on the chamfering table, and the part is placed on the grinding unloading tray after grinding is completed. The beveling robot control module is used to control the beveling robot to move to the part on the grinding and unloading tray, pick up the part and place it on the beveling table, and perform beveling on the beveling table according to the beveling cutting information. After cutting, the part is placed back on the grinding and unloading tray.

10. The integrated processing and production system for sorting and grinding ship steel plate parts according to claim 9, characterized in that, The processing information confirmation module includes: The layout information extraction unit is used to extract the arrangement position, orientation, and location of free edges and grinding edges of all parts on a steel plate from the nesting layout GEN file in the design drawings. The part drawing extraction unit is used to extract the detailed geometry of each part from the part GEN file in the design drawings. The grinding edge extraction unit is used to identify the free edge and grinding edge of each part by comparing the detailed geometry of each part with the arrangement and orientation of the parts on a steel plate. The grinding edge confirmation unit is used to compare the part images captured by the sorting vision camera with the detailed geometry of each part to confirm the free edges and grinding edges of the parts on the current sorting table. The chamfering extraction unit is used to extract the processing requirements as grinding process information from the part SPF file in the design drawing, and to extract the part edges that need to be chamfered or blunted as chamfering edges. The bevel information extraction unit is used to identify the edge of the part that needs to be beveled based on the part SPF file in the design drawings and generate bevel cutting information.

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