Intelligent chamfering equipment based on visual inspection and execution method thereof
The intelligent chamfering equipment, which combines visual inspection and multi-line laser collaboration, solves the problems of adaptability and hole wall chamfering in automated equipment, enabling efficient and precise steel plate chamfering operations and improving equipment intelligence and processing quality consistency.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2026-02-28
- Publication Date
- 2026-03-27
AI Technical Summary
Existing automated chamfering equipment is not highly intelligent, making it difficult to adapt to different types of steel plates and unable to effectively handle through holes on steel plates. Manual chamfering operations are inefficient and produce inconsistent quality.
The intelligent chamfering equipment based on vision inspection is adopted, which combines a gantry frame, a vision inspection unit and a multi-line laser emitter to achieve the recognition and precise positioning of the overall contour of the steel plate. The chamfering tool solves the problem of chamfering the hole wall through a split structure, and improves the processing quality by using vision tracking and path correction technology.
It has achieved high-precision and high-efficiency autonomous chamfering of steel plates, improved the intelligence and adaptability of the equipment, and enhanced the efficiency and quality consistency of chamfering operations.
Smart Images
Figure CN121732897A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of shipbuilding technology, specifically to an intelligent chamfering device based on vision inspection and its execution method. Background Technology
[0002] In the shipbuilding process, the cut steel plates need to be beveling to remove burrs and sharp edges, preventing paint cracking during subsequent painting processes, which would affect the corrosion resistance of the workpiece and ensure safe production. Therefore, beveling is a critical process in shipbuilding.
[0003] Currently, a combination of manual and automated beveling equipment is commonly used to ensure efficient beveling of large batches of steel plates. However, existing automated beveling equipment generally suffers from low levels of intelligence, making it difficult to adapt to different types of steel plates. This results in frequent adjustments to the beveling method for various shapes of steel plates. Furthermore, due to their large size, automated beveling equipment cannot effectively beveling certain special locations, such as the walls of through holes in steel plates. While manual beveling is flexible, its efficiency is far lower than that of automated equipment, and the beveling quality is greatly affected by worker experience, making consistency difficult to guarantee.
[0004] Therefore, it is necessary to provide a vision-based intelligent chamfering device and its execution method to solve the above-mentioned technical problems. Summary of the Invention
[0005] The purpose of this invention is to address the shortcomings of existing technologies by providing a vision-based intelligent chamfering device and its execution method, so as to achieve high-precision and high-efficiency autonomous chamfering of the free edges and hole walls of steel plates.
[0006] To achieve the above objectives, the technical solution adopted by the present invention is as follows:
[0007] A vision-based intelligent chamfering device includes a gantry frame slidably mounted on a guide rail. An execution terminal, movable along its crossbeam, is mounted on the gantry frame. The execution terminal can drive the lower components to rise and fall. A worktable is located below the gantry frame to support and fix the steel plate to be processed. A chamfering head is mounted at the bottom of the execution terminal, with a chamfering cutter detachably connected to its bottom end. A vision inspection unit is located at the bottom of the chamfering head, including a mounting fence, a comprehensive mounting base, a transverse line laser emitter, a longitudinal line laser emitter, a CCD camera, and a monitoring camera. Multiple line-scan vision detectors are arranged along the crossbeam direction on the outer side of the gantry frame to scan the steel plate on the worktable to obtain an overall contour image.
[0008] Preferably, the mounting fence is installed around the bottom of the chamfering machine head; the integrated mounting base is a horizontally arranged L-shaped shell structure, fixed to the side of the mounting fence facing the length direction of the worktable, including a transverse section and a longitudinal section, the longitudinal section being consistent with the width direction of the worktable, and the transverse section being consistent with the length direction of the worktable; the longitudinal line laser emitter is set at the end of the longitudinal section, the transverse line laser emitter is set at the end of the transverse section, and the CCD camera is set at the bend of the integrated mounting base; the monitoring camera is set on the mounting fence and aligned with the chamfering tool.
[0009] Preferably, the horizontal line laser emitter and the vertical line laser emitter project horizontal line lasers and vertical line lasers respectively into the field of view of the CCD camera, and the horizontal line lasers and the vertical line lasers are arranged perpendicularly to each other.
[0010] Preferably, the chamfering tool includes a tool holder detachably connected to the chamfering head. The chamfering head drives the tool holder to rotate. A tool bar is connected to the lower end of the tool holder. The tool bar is connected to an upper positioning plate with a disc-shaped structure. The bottom surface of the upper positioning plate has a cavity. An upper mounting seat is provided inside the cavity. Multiple upper blades are detachably mounted on the upper mounting seat. A lower mounting seat with a columnar structure is detachably connected below the upper positioning plate. Multiple protrusions are provided on the side wall of the lower mounting seat. Multiple lower blades are detachably mounted on each protrusion. The diameter of the lower mounting seat is smaller than the diameter of the upper positioning plate so that the lower mounting seat can extend into the through hole in the steel plate to chamfer the hole wall.
[0011] Preferably, the tool bar passes sequentially through the upper positioning plate, the upper mounting base, and the lower mounting base and extends below the lower mounting base, with the bottom end of the tool bar fixed to the lower mounting base by a locking nut.
[0012] An execution method using a vision-based intelligent chamfering device includes the following steps:
[0013] Step 1: Place the steel plate to be processed on the workbench and fix it in place;
[0014] Step 2: Control the gantry frame to move along the guide rail, and use multiple line-scan vision detectors to scan the steel plate on the worktable to obtain the outline and position image data of the steel plate.
[0015] Step 3: Process the acquired image data, extract the contour features of the steel plate, and match them with the preset part model database to identify the location of the free edge of the steel plate that needs to be chamfered.
[0016] Step 4: Based on the identified free edge positions, plan the chamfering path;
[0017] Step 5: Control the execution terminal to move the chamfering tool to the starting point and move according to the chamfering path, while simultaneously chamfering the edges of the steel plate using the chamfering tool;
[0018] Step 6: After the chamfering is completed, control the execution terminal to move the chamfering tool away from the steel plate and lift the chamfered steel plate off the worktable.
[0019] Preferably, in step two, point cloud graphics of the steel plate are acquired by multiple line-scan visual detectors, and the outline and position image data of the steel plate are extracted accordingly; the acquired image data are transmitted to the data processing unit via a data cable or wireless network; in the data processing unit, the image data is preprocessed, including image enhancement, noise reduction and edge detection.
[0020] Preferably, in step three, the GEN data recognition algorithm is used to extract features from the preprocessed image data to identify the shape, contour lines and size information of the parts, and these feature information are converted into digital model data; the extracted part feature data is matched with a preset standard part model database, and the type, posture and free edge position of the parts are determined by comparative analysis.
[0021] Preferably, in step five, during the chamfering process, the transverse or longitudinal line laser emitter is selectively activated according to the current direction of the processed edge, so that the projected line laser intersects with the edge to be processed. The image is captured in real time by a CCD camera for visual tracking to assist in path correction. When chamfering the hole wall of a through hole on a steel plate, the transverse and longitudinal line laser emitters are activated simultaneously, so that the transverse and longitudinal line lasers are projected into the hole wall at an intersection. The image is captured by a CCD camera to determine the actual center position of the hole. The execution terminal is controlled to move the chamfering tool to directly above the hole and lower it so that the lower mounting base extends into the hole to perform chamfering processing on the hole wall.
[0022] Preferably, in step five, the image of the chamfering tool is also captured in real time by a monitoring camera to determine the tool's posture; when it is detected that the tool tilts due to excessive force exceeding the safe range and the tilt angle exceeds a preset threshold, the control execution terminal stops moving and issues an alarm.
[0023] Compared with the prior art, the present invention has the following advantages:
[0024] 1. By combining multiple line-scan vision detectors set on the outside of the gantry with a vision inspection unit set at the bottom of the chamfering machine head, coarse identification of the overall outline of the steel plate and precise positioning and tracking of the processed edges are achieved. This solves the problem that traditional automated equipment cannot autonomously identify different types of steel plates, and greatly improves the intelligence and adaptability of the equipment.
[0025] 2. By arranging the transverse and longitudinal line laser emitters in an L-shape at both ends of the integrated mounting base, the projected line lasers intersect perpendicularly. During the chamfering process, the corresponding line laser can be selectively activated for visual tracking based on the direction of the processed edge. This effectively replaces the traditional small robotic arm and avoids the problems of small load capacity, poor stability, and high cost associated with robotic arms.
[0026] 3. The chamfering tool adopts a split structure of upper positioning plate and lower mounting base, and the diameter of the lower mounting base is smaller than that of the upper positioning plate, which allows the tool to extend into the through hole in the steel plate to chamfer the hole wall, solving the problem that existing automated equipment cannot effectively chamfer the hole wall.
[0027] 4. Through the collaborative work of the line scan vision detector and the vision inspection unit, the entire process from overall steel plate recognition to precise edge positioning is automated, which significantly improves the efficiency of chamfering operations and the consistency of processing quality. Attached Figure Description
[0028] Figure 1 This is a schematic diagram of the structure of the present invention;
[0029] Figure 2 yes Figure 1 Enlarged view of point A in the middle;
[0030] Figure 3 This is a schematic diagram of the chamfering tool;
[0031] Among them, 1-Gantry frame, 2-Workbench, 3-Beveling machine head, 4-Mounting fence, 5-Comprehensive mounting base, 6-Horizontal line laser emitter, 7-Vertical line laser emitter, 8-CCD camera, 9-Monitoring camera, 10-Beveling tool, 1001-Upper positioning plate, 1002-Upper blade, 1003-Lower mounting base, 1004-Lower blade Detailed Implementation
[0032] The present invention will be further illustrated below with reference to the accompanying drawings and specific embodiments. It should be understood that these embodiments are for illustrative purposes only and not for limiting the scope of the invention. After reading this invention, any modifications of the invention in various equivalent forms by those skilled in the art will fall within the scope defined by the appended claims.
[0033] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "setting," "connection," "fixed connection," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Unless otherwise explicitly limited, those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.
[0034] In this invention, terms such as "upper," "lower," "bottom," and "top" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are merely relational terms determined for the convenience of describing the structural relationship of the various components or elements of this invention, and do not specifically refer to any component or element in this invention, and should not be construed as limiting this invention.
[0035] like Figures 1 to 3 As shown in the figure, an intelligent chamfering device based on vision detection provided by this embodiment of the invention includes a gantry frame 1 slidably mounted on a guide rail. An execution terminal is mounted on the gantry frame and can move along its crossbeam, driving the lower components to rise and fall. A worktable 2 is mounted below the gantry frame to support and fix the steel plate to be processed. Electromagnets or pads can be mounted on the worktable to attract and fix the steel plate. A chamfering head 3 is mounted at the bottom of the execution terminal, and a chamfering cutter 10 is detachably connected to its bottom end. The chamfering head can be floating, employing a hydraulic or mechanical floating structure. When the chamfering cutter contacts the steel plate and the thrust exceeds the safe range, the cutter can swing in any direction, providing buffering and protection. This floating principle is prior art and will not be elaborated further here.
[0036] A vision inspection unit is installed at the bottom of the chamfering machine head. The vision inspection unit includes a mounting fence 4, a comprehensive mounting base 5, a transverse line laser emitter 6, a longitudinal line laser emitter 7, a CCD camera 8, and a monitoring camera 9. The mounting fence surrounds the bottom of the chamfering machine head. The comprehensive mounting base is a horizontally arranged L-shaped shell structure, fixed to the side of the mounting fence facing the length of the worktable, and includes a transverse section and a longitudinal section. The longitudinal section is aligned with the width of the worktable, and the transverse section is aligned with the length of the worktable. The longitudinal line laser emitter is located at the end of the longitudinal section, and the transverse line laser emitter is located at the end of the transverse section. The CCD camera is located at the bend of the comprehensive mounting base. The monitoring camera is mounted on the mounting fence and aligned with the chamfering tool. The transverse and longitudinal line laser emitters project transverse and longitudinal line lasers respectively into the field of view of the CCD camera, and the transverse and longitudinal line lasers are perpendicularly intersecting each other.
[0037] Multiple line scan vision detectors 11 are arranged along the crossbeam direction on the outside of the gantry frame. Each line scan vision detector is used to scan the steel plate on the worktable to obtain an overall contour image.
[0038] The chamfering cutter 10 includes a shank detachably connected to a chamfering head, which drives the shank to rotate. A cutter bar is connected to the lower end of the shank, and the cutter bar is connected to a disc-shaped upper positioning plate 1001. The bottom surface of the upper positioning plate has a cavity, inside which is an upper mounting seat. Multiple upper blades 1002 are detachably mounted on the upper mounting seat. A cylindrical lower mounting seat 1003 is detachably connected below the upper positioning plate. Multiple protrusions are provided on the side wall of the lower mounting seat, and multiple lower blades 1004 are detachably mounted on each protrusion. The diameter of the lower mounting seat is smaller than the diameter of the upper positioning plate, allowing the lower mounting seat to extend into a through hole in the steel plate for chamfering the hole wall. The cutter bar passes sequentially through the upper positioning plate, the upper mounting seat, and the lower mounting seat, extending below the lower mounting seat. The bottom end of the cutter bar is fixed to the lower mounting seat by a locking nut. The double-nut structure improves the connection's strength.
[0039] This invention also provides an execution method for the above-described vision-based intelligent chamfering device, comprising the following steps:
[0040] Step 1: Using a crane and manual labor, the steel plate to be processed is placed on a pad or electromagnet on the workbench and fixed by electromagnet attraction. Step 2: The gantry crane moves along the guide rail, and multiple line-scan vision detectors scan the steel plate on the workbench to obtain point cloud graphics. Based on this, the outline and position image data of the steel plate are extracted. The acquired image data is transmitted to the data processing unit via data cable or wireless network. In the data processing unit, the image data is preprocessed, including image enhancement, noise reduction, and edge detection. Image enhancement aims to improve the contrast and clarity of the image for better identification of part features; noise reduction removes noise interference from the image; edge detection is used to extract the contour information of the part. Step 3: The GEN data recognition algorithm is used to extract features from the preprocessed image data, identifying the shape, outline, and size information of the part, and converting this feature information into digital model data. The extracted part feature data is matched with a preset standard part model database. Through comparative analysis, the type, posture, and position information of the part are determined, thereby accurately locating the free edge position of the part that needs to be ground. Step 4: Based on the identified free edge position and shape of the part, and combined with the manually set grinding process, the corresponding grinding path is automatically generated. After the path is planned, technicians can optimize and check the generated chamfering path to determine if there are any path overlaps, collisions, or unreasonable turns. Path parameters can be manually adjusted to make the grinding path smoother and more efficient. Step 5: The control execution terminal moves the chamfering tool to the starting point and follows the chamfering path, simultaneously chamfering the edges of the steel plate. During the chamfering process, depending on the direction of the current edge being processed, either the transverse or longitudinal line laser emitter is selectively activated to ensure the projected line laser intersects with the edge to be processed. A CCD camera captures images in real time for visual tracking to assist in path correction. When chamfering the walls of through holes on a steel plate, both the transverse and longitudinal line laser emitters are activated simultaneously. The transverse and longitudinal line lasers are projected crosswise into the hole wall. A CCD camera captures images to determine the actual center position of the hole. The execution terminal then moves the chamfering tool directly above the hole and lowers it so that the lower mounting base extends into the hole to chamfer the wall. Furthermore, during the chamfering process, a monitoring camera captures real-time images of the chamfering tool to determine its posture. If the tool is detected to tilt due to excessive force exceeding a safe range, and the tilt angle exceeds a preset threshold, the execution terminal stops moving and issues an alarm. Step Six: After chamfering is complete, the execution terminal moves the chamfering tool away from the steel plate, de-energizes the electromagnet, and then, with manual assistance and a crane, lifts the chamfered steel plate off the worktable.
[0041] The foregoing description illustrates and describes preferred embodiments of the present invention. As previously stated, it should be understood that the present invention is not limited to the forms disclosed herein and should not be construed as excluding other embodiments. It can be used in various other combinations, modifications, and environments, and can be altered within the scope of the inventive concept described herein through the foregoing teachings or techniques or knowledge in related fields. Any modifications and variations made by those skilled in the art that do not depart from the spirit and scope of the present invention should be within the protection scope of the appended claims.
Claims
1. A visual inspection-based intelligent chamfering device, characterized in that: The system includes a gantry frame slidably mounted on a guide rail. An execution terminal, movable along its crossbeam, is mounted on the gantry frame. The execution terminal can drive the lower components to rise and fall. A worktable is located below the gantry frame to support and fix the steel plate to be processed. A chamfering head is mounted at the bottom of the execution terminal, with a chamfering tool detachably connected to its bottom end. A vision inspection unit is located at the bottom of the chamfering head, including a mounting fence, a comprehensive mounting base, a transverse line laser emitter, a longitudinal line laser emitter, a CCD camera, and a monitoring camera. Multiple line-scan vision detectors are arranged along the crossbeam direction on the outer side of the gantry frame to scan the steel plate on the worktable to obtain an overall contour image.
2. The intelligent chamfering device based on vision detection according to claim 1, characterized in that: The mounting fence is installed around the bottom of the chamfering machine head; the integrated mounting base is a horizontally arranged L-shaped shell structure, fixed to the side of the mounting fence facing the length direction of the worktable, including a transverse section and a longitudinal section. The longitudinal section is consistent with the width direction of the worktable, and the transverse section is consistent with the length direction of the worktable; the longitudinal line laser emitter is set at the end of the longitudinal section, the transverse line laser emitter is set at the end of the transverse section, and the CCD camera is set at the bend of the integrated mounting base; the monitoring camera is set on the mounting fence and aligned with the chamfering tool.
3. The intelligent chamfering device based on vision detection according to claim 2, characterized in that: The horizontal line laser emitter and the vertical line laser emitter project horizontal line lasers and vertical line lasers respectively into the field of view of the CCD camera, and the horizontal line lasers and the vertical line lasers are arranged perpendicularly to each other.
4. The intelligent chamfering device based on vision detection according to claim 1, characterized in that: The chamfering tool includes a tool holder detachably connected to a chamfering head. The chamfering head drives the tool holder to rotate. A tool bar is connected to the lower end of the tool holder, and the tool bar is connected to an upper positioning plate with a disc-shaped structure. The bottom surface of the upper positioning plate has a cavity, and an upper mounting seat is provided inside the cavity. Multiple upper blades are detachably mounted on the upper mounting seat. A lower mounting seat with a cylindrical structure is detachably connected below the upper positioning plate. Multiple protrusions are provided on the side wall of the lower mounting seat, and multiple lower blades are detachably mounted on each protrusion. The diameter of the lower mounting seat is smaller than the diameter of the upper positioning plate, so that the lower mounting seat can extend into a through hole in the steel plate to chamfer the hole wall.
5. The intelligent chamfering device based on vision detection according to claim 4, characterized in that: The tool bar passes through the upper positioning plate, the upper mounting base and the lower mounting base in sequence and extends to the bottom of the lower mounting base. The bottom end of the tool bar is fixed to the bottom of the lower mounting base by a locking nut.
6. A method for executing the intelligent chamfering device based on visual detection as described in any one of claims 1-5, characterized in that, Includes the following steps: Step 1: Place the steel plate to be processed on the workbench and fix it in place; Step 2: Control the gantry frame to move along the guide rail, and use multiple line-scan vision detectors to scan the steel plate on the worktable to obtain the outline and position image data of the steel plate. Step 3: Process the acquired image data, extract the contour features of the steel plate, and match them with the preset part model database to identify the location of the free edge of the steel plate that needs to be chamfered. Step 4: Based on the identified free edge positions, plan the chamfering path; Step 5: Control the execution terminal to move the chamfering tool to the starting point and move according to the chamfering path, while simultaneously chamfering the edges of the steel plate using the chamfering tool; Step 6: After the chamfering is completed, control the execution terminal to move the chamfering tool away from the steel plate and lift the chamfered steel plate off the worktable.
7. The execution method of the intelligent chamfering device based on visual detection according to claim 6, characterized in that: In step two, point cloud graphics of the steel plate are acquired through multiple line-scan visual detectors, and the outline and position image data of the steel plate are extracted accordingly. The acquired image data is transmitted to the data processing unit via a data cable or wireless network. In the data processing unit, the image data is preprocessed, including image enhancement, noise reduction and edge detection.
8. The execution method of the intelligent chamfering device based on visual detection according to claim 6, characterized in that: In step three, the GEN data recognition algorithm is used to extract features from the preprocessed image data, identify the shape, contour lines and size information of the parts, and convert these feature information into digital model data. The extracted part feature data is matched with a preset standard part model database, and the type, posture and free edge position of the parts are determined through comparative analysis.
9. The execution method of the intelligent chamfering device based on vision detection according to claim 6, characterized in that: In step five, during the chamfering process, the transverse or longitudinal line laser emitter is selectively activated based on the direction of the current edge being processed, so that the projected line laser intersects with the edge to be processed. A CCD camera is used to acquire images in real time for visual tracking to assist in path correction. When chamfering the hole wall of a through hole on a steel plate, the transverse and longitudinal line laser emitters are activated simultaneously, so that the transverse and longitudinal line lasers are projected into the hole wall at an intersection. A CCD camera is used to acquire images to determine the actual center position of the hole. The execution terminal is controlled to move the chamfering tool directly above the hole and lower it so that the lower mounting base extends into the hole to perform chamfering processing on the hole wall.
10. The execution method of the intelligent chamfering device based on visual detection according to claim 6, characterized in that: In step five, images of the chamfering tool are captured in real time by a monitoring camera to determine the tool's posture. When it is detected that the tool tilts due to excessive force exceeding the safe range and the tilt angle exceeds a preset threshold, the control execution terminal stops moving and issues an alarm.