Core flash self-adaptive cleaning robot workstation with online detection function

Abstract

The core flash self-adaptive cleaning robot workstation with the online detection function comprises a support, a cantilever, manipulators and shearing parts, the support is connected with the middle of the cantilever, the manipulators are arranged at the two ends of the cantilever respectively, the shearing parts are arranged at the ends of the manipulators, and the shearing parts are used for cutting off flashes on a core; a plurality of rotating seats are arranged on the support, image sensors are connected into the rotating seats, the image sensors collect and recognize edge images of a mold core and transmit the images to an analysis module, and the analysis module judges whether the edges of the images are connected with flashes or not and transmits a result to a control module. And the control module controls the manipulator and the shearing part to operate according to the analysis result to cut off the flash. The trimming device replaces a manual hand-held cutting device to process the trimmings. And on the basis of the existing production conditions, the yield is increased, and the production efficiency in unit time is improved.

Description

Technical Field

[0001] This invention relates to a core flash adaptive cleaning robot workstation with online detection function, belonging to the field of cutting technology. Background Technology

[0002] A core, also called a sand core or clay core, is a filler material used to shape the internal cavity of a casting. It includes three types: internal sand cores, external cores, and supplementary sand cores. It is formed into a fixed shape within the mold. If the mold does not close properly, flash will form at the edge of the core. This flash must be inspected, cut, and cleaned before the core can be used to manufacture the casting. Currently, flash is removed using handheld cutting devices. However, this method relies on manual labor, making it difficult to increase speed and output. Therefore, how to automatically detect and clean flash in cores is a technical problem that urgently needs to be solved by those skilled in the art. Summary of the Invention

[0003] To overcome the above-mentioned shortcomings, the purpose of this invention is to provide a core flash adaptive cleaning robot workstation with online detection function.

[0004] To achieve the above objectives, the technical solution adopted by this invention is: a core flash adaptive cleaning robot workstation with online detection function, including a support, a cantilever, a robotic arm, and a shearing part. The support is connected to the middle of the cantilever, and a robotic arm is provided at both ends of the cantilever. A shearing part is provided at the end of the robotic arm, which is used to cut off the flash on the core. The support is provided with several rotating seats, and image sensors are connected to the rotating seats. The image sensors collect and identify the edge images of the core and transmit the images to the analysis module. The analysis module determines whether there are flashes connected to the edges of the images and transmits the results to the control module. The control module controls the robotic arm and the shearing part to operate according to the analysis results to cut off the flashes.

[0005] The invention is further configured such that: the shearing part includes a housing, a motor, a mounting bracket, a transmission rod, a connecting rod, a drive rod, and a cutting tool; the housing is fixedly connected to the end of the robot arm; the motor is fixedly connected inside the housing via the mounting bracket; an L-shaped transmission rod is connected to the output shaft of the motor; the end of the transmission rod is rotatably connected to one end of the connecting rod; the other end of the connecting rod is fixedly connected to the drive rod; a sliding groove is provided on the outer wall of the housing; an elongated groove is provided in the side wall of the housing; the middle part of the drive rod passes through the elongated groove; and the end is fixedly connected to the cutting tool; the cutting tool slides up and down in the sliding groove.

[0006] The invention is further configured such that: the core is placed on the upper surface of the conveyor, the upper surface of the conveyor is provided with a plurality of rollers, the plurality of rollers are driven by a chain, the interior of the conveyor has a cavity, the cavity is provided with a ramp, and a collection box is provided at the lowest end of the ramp.

[0007] The invention is further configured such that: the analysis module divides the image into several blocks according to a preset setting, identifies hue, saturation, brightness, and wavelength, and blocks with a change range of less than a preset threshold are designated as surface regions, while blocks with a change range greater than the preset threshold are designated as edge regions. The blocks in the edge regions are assigned coordinates in a rectangular coordinate system, and fitted to a straight line y=ax+b using the least squares method. If the distance from the block in the edge region to the standard line is greater than a threshold, the control module controls the operation of the robotic arm and the shearing part according to the analysis results, and the shearing part cuts along the standard line.

[0008] The invention is further configured such that: the hue, saturation, brightness, and wavelength of the block are denoted as H, S, V, and M, respectively; if Hn+1 / HN > threshold one, Sn+1 / SN > threshold one, Vn+1 / VN > threshold one, and Mn+1 / Mn > threshold one, then the analysis module determines that the change amplitude is greater than threshold one; otherwise, it determines that the change amplitude is less than threshold one; the distance from point P(x0, y0) of the block in the edge region to the standard line y=ax+b is... .

[0009] A further feature of the present invention is that several sides of the core are illuminated by lights of different colors.

[0010] Compared with existing technologies, the advantages of this invention are as follows: The image sensor is driven to rotate to the target angle, facing the edge of the core. The image sensor acquires and identifies the edge image of the core and transmits the image to the analysis module. The analysis module determines whether there is flash at the edge of the image and transmits the result to the control module. The control module controls the robotic arm and the shearing unit to operate based on the analysis result, removing the flash. This replaces the manual hand-held cutting device for handling flash. Based on existing production conditions, it increases output and improves production efficiency per unit time. Attached Figure Description

[0011] Figure 1 This is a schematic diagram of the structure of a core flash adaptive cleaning robot workstation with online detection function, as shown in a preferred embodiment of the present invention.

[0012] Figure 2 This is a schematic diagram of the shear section;

[0013] Figure 3 This is a schematic diagram of the three-dimensional structure of the shear section.

[0014] In the diagram: 1. Support; 2. Cantilever; 3. Robotic arm; 4. Shearing unit; 5. Core; 6. Flash; 7. Conveyor; 8. Roller; 9. Ramp; 10. Collection box; 11. Chain; 12. Image sensor; 13. Rotary seat; 41. Housing; 42. Motor; 43. Mounting bracket; 44. Transmission rod; 45. Long oval groove; 46. Connecting rod; 47. Drive rod; 48. Slide; 49. Cutting tool. Detailed Implementation

[0015] The preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings, so that the advantages and features of the present invention can be more easily understood by those skilled in the art, thereby providing a clearer and more explicit definition of the scope of protection of the present invention.

[0016] See appendix Figure 1-3 As shown, the adaptive cleaning robot workstation for core flash with online detection function in this embodiment includes a support 1, a cantilever 2, a robotic arm 3, and a shearing part 4. The support 1 is connected to the middle of the cantilever 2. A robotic arm 3 is provided at both ends of the cantilever 2, and a shearing part 4 is provided at the end of the robotic arm 3. The shearing part 4 is used to cut off the flash 6 on the core 5. The support 1 is provided with several rotating seats 13, and image sensors 12 are connected to the rotating seats 13. The image sensors 12 collect and identify the edge images of the core 5 and transmit the images to the analysis module. The analysis module determines whether there is flash 6 connected to the edge of the image and transmits the result to the control module. The control module controls the robotic arm 3 and the shearing part 4 to operate according to the analysis result to cut off the flash 6. The image sensor 12 can be a CCD camera or a TCS3200 color sensor.

[0017] Specifically, the shearing unit 4 includes a housing 41, a motor 42, a mounting bracket 43, a transmission rod 44, a connecting rod 46, a drive rod 47, and a cutter 49. The housing 41 is fixedly connected to the end of the robot arm 3. The motor 42 is fixedly connected to the inside of the housing 41 through the mounting bracket 43. An L-shaped transmission rod 44 is connected to the output shaft of the motor 42. The end of the transmission rod 44 is rotatably connected to one end of the connecting rod 46, and the other end of the connecting rod 46 is fixedly connected to the drive rod 47. A sliding groove 48 is provided on the outer side wall of the housing 41, and an elongated groove 45 is provided in the side wall of the housing 41. The middle part of the drive rod 47 passes through the elongated groove 45, and the end is fixedly connected to the cutter 49. The cutter 49 slides up and down in the sliding groove 48.

[0018] To facilitate the collection of debris from the cut flash 6, the present invention is further configured as follows: the core 5 is placed on the upper surface of the conveyor 7, and the upper surface of the conveyor 7 is provided with several rollers 8. The rollers 8 drive the core 5 to move to the center of the conveyor 7 and stop. After the flash 6 is cut off, the rollers 8 drive the core 5 to the next station. The rollers 8 are driven by a chain 11. The conveyor 7 has a cavity inside, and a ramp 9 is provided in the cavity. A collection box 10 is provided at the lowest end of the ramp 9. The debris from the flash 6 moves downward along the ramp 9 until it enters the collection box 10.

[0019] The invention is further configured such that: the analysis module divides the image into several blocks according to a preset setting, identifies hue, saturation, brightness, and wavelength, and blocks with a change range of less than a preset threshold are designated as surface regions, while blocks with a change range greater than the preset threshold are designated as edge regions. The blocks in the edge regions are assigned coordinates in a rectangular coordinate system, and fitted to a straight line y=ax+b using the least squares method. If the distance from the block in the edge region to the standard line is greater than a threshold, the control module controls the operation of the robotic arm 3 and the shearing part 4 according to the analysis results, and the shearing part 4 cuts along the standard line.

[0020] Specifically, the hue, saturation, brightness, and wavelength of the block are denoted as H, S, V, and M, respectively. If H... n+1 / HN>Threshold 1, S n+1 / SN>Threshold 1, V n+1 / VN>Threshold 1, and M n+1 / M n If the threshold is one, the analysis module determines that the change amplitude is greater than the threshold; otherwise, it determines that the change amplitude is less than the threshold. The distance from point P(x0, y0) of the edge region block to the standard line y=ax+b is... .

[0021] Several sides of the core 5 are illuminated by lights of different colors. The core 5 reflects different colors of light to the image sensor 12.

[0022] In summary, the method of using the adaptive cleaning robot workstation with online detection function for core flash shown in this invention is as follows: The image sensor 12 is driven to rotate to the target angle by the rotating seat 13, facing the edge of the core 5. The image sensor 12 collects and identifies the edge image of the core 5 and transmits the image to the analysis module. The analysis module determines whether there is flash 6 connected to the edge of the image and transmits the result to the control module. The control module controls the operation of the robot arm 3 and the shearing part 4 according to the result of the analysis module until the shearing part 4 moves to the edge of the core 5 and cuts off the flash 6. This replaces the manual hand-held cutting device for handling flash. Based on the existing production conditions, the output is increased and the production efficiency per unit time is improved. The motor 42 is started, which drives the transmission rod 44 to rotate. One end of the connecting rod 46 is rotatably connected to the transmission rod 44, and the other end drives the elongated groove 45 and the slide 48 to move. Since the slide 48 is constrained by the cutter 49, it can only move up and down in the cutter 49, and finally the flash 6 is cut off. Several rollers 8 are driven by a chain 11. The rollers 8 drive the core 5 to move to the center of the conveyor 7 and stop. After the flash 6 is removed, the rollers 8 drive the core 5 to the next station. The conveyor 7 has a cavity inside, and a ramp 9 is set in the cavity. A collection box 10 is set at the lowest end of the ramp 9. The debris of the flash 6 moves down the ramp 9 until it enters the collection box 10. Adjacent blocks with a change range greater than a preset threshold one are designated as edge regions. Using mathematical modeling, a standard line y=ax+b is constructed. If the distance from the edge region block to the standard line is greater than a threshold two, the control module controls the robot 3 and the shearing part 4 to operate according to the analysis results. The shearing part 4 cuts along the standard line. The edge of the core 5, i.e., the standard line, is accurately identified and judged. The calculation methods for the change range and distance are specifically given.

[0023] The above embodiments are only for illustrating the technical concept and features of the present invention. Their purpose is to enable those skilled in the art to understand the content of the present invention and implement it. All equivalent changes or modifications made in accordance with the spirit and essence of the present invention should be covered within the protection scope of the present invention.

Claims

1. A core flash adaptive cleaning robot workstation with online detection function, comprising a support (1), a cantilever (2), a robot arm (3), and a shearing part (4), wherein the support (1) is connected to the middle of the cantilever (2), and a robot arm (3) is provided at both ends of the cantilever (2), and a shearing part (4) is provided at the end of the robot arm (3), the shearing part (4) being used to cut off the flash (6) on the core (5); characterized in that, The bracket (1) is provided with several rotating seats (13), and an image sensor (12) is connected in the rotating seat (13). The image sensor (12) collects and identifies the edge image of the core (5), and transmits the image to the analysis module. The analysis module determines whether there is a flash (6) connected to the edge of the image, and transmits the result to the control module. The control module controls the operation of the robot (3) and the shearing part (4) according to the analysis result to cut off the flash (6).

2. The core flash adaptive cleaning robot workstation with online detection function according to claim 1, characterized in that, The shearing unit (4) includes a housing (41), a motor (42), a mounting bracket (43), a transmission rod (44), a connecting rod (46), a drive rod (47), and a cutter (49). The housing (41) is fixedly connected to the end of the robot (3). The motor (42) is fixedly connected inside the housing (41) through the mounting bracket (43). An L-shaped transmission rod (44) is connected to the output shaft of the motor (42). The end of the transmission rod (44) is rotatably connected to one end of the connecting rod (46), and the other end of the connecting rod (46) is fixedly connected to the drive rod (47). A sliding groove (48) is provided on the outer side wall of the housing (41), and an elongated groove (45) is provided in the side wall of the housing (41). The middle part of the drive rod (47) passes through the elongated groove (45), and the end is fixedly connected to the cutter (49). The cutter (49) slides up and down in the sliding groove (48).

3. The core flash adaptive cleaning robot workstation with online detection function according to claim 2, characterized in that, The core (5) is placed on the upper surface of the conveyor (7). Several rollers (8) are provided on the upper surface of the conveyor (7). The rollers (8) are driven by a chain (11). The conveyor (7) has a cavity inside. A ramp (9) is provided in the cavity. A collection box (10) is provided at the lowest end of the ramp (9).

4. The core flash adaptive cleaning robot workstation with online detection function according to claim 3, characterized in that, The analysis module divides the image into several blocks according to a preset setting, identifies the hue, saturation, brightness and wavelength, and sets the blocks with a change range of less than a preset threshold one as surface regions, and sets the blocks with a change range of greater than the preset threshold one as edge regions. The blocks in the edge regions are assigned coordinates in a rectangular coordinate system and fitted into a straight line y=ax+b using the least squares method. If the distance from the block in the edge region to the standard line is greater than the threshold two, the control module controls the operation of the robot (3) and the shearing part (4) according to the analysis results, and the shearing part (4) cuts along the standard line.

5. The core flash adaptive cleaning robot workstation with online detection function according to claim 4, characterized in that, The hue, saturation, brightness, and wavelength of the block are denoted as H, S, V, and M, respectively. If H n+1 / HN>Threshold 1, S n+1 / SN>Threshold 1, V n+1 / VN>Threshold 1, and M n+1 / M n If the threshold is one, the analysis module determines that the change amplitude is greater than the threshold; otherwise, it determines that the change amplitude is less than the threshold. The distance from point P(x0, y0) of the edge region block to the standard line y=ax+b is... .

6. The core flash adaptive cleaning robot workstation with online detection function according to claim 5, characterized in that, Several sides of the core (5) are illuminated by lights of different colors.

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