A scraping adaptive control method for eliminating defects of a machine tool guide roller component

Abstract

The application discloses a kind of for machine tool guide roller component flaw elimination skiving adaptive control method, it is related to mechanical processing field, including: in the midpoint of the cutting edge of the two sides of scraper, red mark point is set;Forming processing allowable error, forming the reference variation angle and characteristic number of rotating roller;Step one: using main camera to obtain main image, using sub-camera to obtain sub-image;Step two: at least one flaw part is identified in main image, and skiving line segment is formed on flaw part;Step three: forming the movement control route of scraper;When scraper completes movement control route, repeat step one to step three, when the number of times of rotating roller is rotated is equal to characteristic number, skiving operation is completed.The overall surface of the guide roller to be processed is flaw-eliminated by setting main camera and sub-camera, forming reference variation angle and characteristic number and forming the movement control route of scraper, and the effect of elimination is guaranteed.

Description

Technical Field

[0001] This invention relates to the field of machining, and more specifically to an adaptive scraping control method for eliminating defects in machine tool guide roller components. Background Technology

[0002] A guide roller is a mechanical component that guides mechanical elements in linear motion. It generally consists of two parts: a guide surface and a sliding surface. The guide surface guides the linear motion, while the sliding surface bears the load. The principle of the guide roller is that the sliding surface contacts the mechanical element, generating sliding friction to prevent deviation and achieve the guiding function. Defects in guide roller components mainly refer to insufficient surface flatness due to inadequate machining precision. These defects are typically identified using images. However, because images are two-dimensional and the guide roller surface is uniformly colored, subtle defects are difficult to identify. Furthermore, since the guide roller surface is curved, even if defects are identified, it is difficult to deduce their precise location from the image, thus limiting the potential for improvement in scraping effectiveness. Summary of the Invention

[0003] To solve the above-mentioned technical problems, an adaptive scraping control method for eliminating defects in machine tool guide roller components is provided. This technical solution solves the problems mentioned in the background art.

[0004] To achieve the above objectives, the technical solution adopted by the present invention is as follows: An adaptive scraping control method for defect elimination in machine tool guide roller components includes: Obtain the scraper for scraping operations, determine the blade of the scraper, and set red markers at the midpoints of the blades on both sides of the scraper. Two rotating rollers are used to fix the guide roller to be processed. A main camera and a secondary camera are set at the location of the guide roller to be processed. During the scraping process, the blade of the scraper is kept horizontal and perpendicular to the central axis of the rotating roller. The scraper is set on the upper side of the guide roller to be processed. Based on historical processing data, the allowable processing error is determined, and based on the allowable processing error, the reference variation angle and characteristic number of the rotating roller are determined. Step 1: Rotate the two rotating rollers by an angle equal to the reference angle. After rotation, use the main camera to capture the main image and the secondary camera to capture the secondary image. Step 2: Identify at least one defective part in the main image, form a scraping line segment on the defective part, identify the location of the blade in the main image as the first blade point, and in the sub-image, take the location of the red marked point as the second blade point; Step 3: Based on the first and second cutting edge points, form the movement control path of the scraper, and control the movement of the scraper according to the movement control path; When the scraper completes the movement control path, repeat steps one to three. When the number of times the rotating roller is rotated equals the number of characteristic rotations, the scraping operation is completed.

[0005] Preferably, setting red markers at the midpoints of the blades on both sides of the scraper includes the following steps: The two sides of the scraper are designated as the first side and the second side, respectively. A red mark is placed at the midpoint of the blade on the first side and at the midpoint of the blade on the second side.

[0006] Preferably, the step of fixing the guide roller to be processed using two rotating rollers and setting the main camera and the secondary camera at the location of the guide roller to be processed includes the following steps: The center of one end of the rotating roller is fixed to the output end of the cylinder. The cylinder controls the two rotating rollers to fix the guide roller to be processed from both ends. The central axes of the rotating roller and the guide roller to be processed are on the same straight line. The cylinder is installed at the center of the output end of the motor. The horizontal plane passing through the central axis of the rotating roller is used as the feature plane. Within the feature plane, a perpendicular line is drawn through the central axis of the guide roller to be processed, passing through the midpoint of the central axis of the guide roller to be processed, to obtain the feature line. Move the scraper to the position furthest away from the guide roller to be processed; Set the main camera on the feature line, with the main camera facing the guide roller to be processed and the shooting direction of the main camera coinciding with the feature line. Move the main camera on the feature line. When the image captured by the main camera includes the guide roller to be processed and the scraper, the position setting of the main camera is completed. A secondary camera is set up on the straight line of the central axis of the rotating roller, facing the guide roller to be processed. The shooting direction of the secondary camera coincides with the straight line of the central axis of the rotating roller. The secondary camera is moved along the straight line of the central axis of the rotating roller. When the image captured by the secondary camera includes the guide roller to be processed and the scraper, the position setting of the secondary camera is completed.

[0007] Preferably, the process tolerance is formed by the following steps: At least one qualified guide roller is obtained in advance as a sample guide roller, and two rotating rollers are used to fix the sample guide roller. The surfaces at both ends of the sample guide roller are each taken as end faces, and the center of the end face is taken as a preset point to obtain the target processing radius of the end face in advance. With twice the target processing radius as the radius and a preset point as the center, generate a preset circle in the plane where the end face is located; At least one sample point is uniformly selected on the preset circle. A sample line perpendicular to the end face is drawn through the sample point. The part of the sample line between the two end faces is taken as the sample line segment. At least one sampling point is uniformly selected on the sample line segment. At the sampling point, an ultrasonic ranging device is used to measure the distance to obtain the sampling distance. The ultrasonic ranging device is perpendicular to the central axis of the sample guide roller. The average of the absolute values ​​of the difference between the sampling distance generated by the sample guide roller and the target processing radius is taken to obtain the sample error of the sample guide roller. The maximum value of the sample error of at least one sample guide roller is taken as the allowable processing error.

[0008] Preferably, the reference variation angle and characteristic number of forming the rotating roller include the following steps: Using the angle constraint equation, the angle constraint value is calculated. Dividing 360 degrees by the angle constraint value yields the characteristic value. The smallest integer greater than the characteristic value is taken as the characteristic number. Dividing 360 degrees by the characteristic number yields the reference variation angle. The angle constraint equation is as follows: , Where R is the target machining radius, M is the angle limit value, and N is the machining allowable error.

[0009] Preferably, identifying at least one defective portion in the main image includes the following steps: The pixel value of the guide roller in the image is taken as the guide roller pixel value. The pixel value of the main image that is equal to the guide roller pixel value is taken as the guide roller pixel. The guide roller pixels are aggregated to obtain the guide roller region. Take the pixel at the top edge of the main image as the top pixel, draw a perpendicular line from the top pixel down to the top edge of the main image as the direction line, and take the point where the direction line first intersects the guide roller area as the target point. The distance between the target point and the upper pixel on the same directional line is used as the preliminary distance. The actual target length of the guide roller is divided by the length of the guide roller area to obtain the main ratio. The main ratio is multiplied by the preliminary distance to obtain the first distance. The average value of the first distance is taken to obtain the reference distance. If the difference between the first distance and the reference distance exceeds the processing allowable error, the target point of the first distance will be generated as the defect point. Adjacent defect points will be aggregated to obtain at least one defect line. The left end of the blemish line is designated as the first blemish, and the right end as the second blemish. The closed area formed by connecting the first and second blemishes with the blemish line is considered the blemish portion.

[0010] Preferably, forming the scraping line segment on the defective portion includes the following steps: The line connecting the first and second flaws is taken as the scraping line segment.

[0011] Preferably, identifying the location of the blade in the main image as the first blade point includes the following steps: The pixel values ​​of the pixels in the image that represent the blade are taken as the blade pixel values. The pixels in the main image that have pixel values ​​equal to the blade pixel values ​​are taken as blade pixels. The blade pixels are then aggregated to obtain the blade region. The pixels on the outline of the blade region are taken as blade points, and the blade point located at the bottom of the blade region is taken as the first blade point.

[0012] Preferably, the movement control path for forming the scraper includes the following steps: Form a secondary movement route; In the main image, the scraping line segments are numbered sequentially from left to right, and the total number of scraping line segments is denoted as T; Using the upward direction of the left edge of the main image as the z-axis, the rightward direction of the bottom edge of the main image as the y-axis, and the bottom left corner of the main image as the origin, a yz coordinate system is established, and the coordinates of the points in the main image are modeled using the yz coordinate system. Subtract the coordinates of the first blade point from the coordinates of the first flaw point of the first scraping segment to obtain the principal vector. Multiply the principal vector by the principal proportion to obtain the principal target vector. The maximum value of the actual thickness of the defective part is obtained in advance as a reference value. (0, n) is used as the first vector and (0, -n) is used as the second vector. Subtracting the coordinates of the first flaw from the coordinates of the second flaw in the i-th scraping segment and multiplying by the principal proportion yields the i-th scraping vector, where i takes values ​​from 1, 2, ..., T-1. Subtract the coordinates of the second flaw point of the i-th scraped line segment from the coordinates of the first flaw point of the (i+1)-th scraped line segment, and then multiply the result by the principal proportion to obtain the i-th movement vector. The i-th scraping vector, the first vector, the i-th movement vector, and the second vector are sequentially combined and arranged to form the i-th movement path; The i-th movement path is arranged in order of its number to obtain the comprehensive path; Subtract the coordinates of the first flaw from the coordinates of the second flaw of the Tth scraping segment, and multiply the result by the principal proportion to obtain the Tth scraping vector; The secondary movement route, the primary target vector, the integrated path, and the T-th scraping vector are sequentially combined to obtain the movement control route.

[0013] Preferably, forming the secondary movement route includes the following steps: The direction of movement parallel to the feature line towards the right of the secondary camera is designated as the positive direction, and the direction of movement parallel to the feature line towards the left of the secondary camera is designated as the negative direction. Divide twice the target processing radius by the diameter of the guide roller to be processed in the sub-image to obtain the sub-proportion. Take the center of the guide roller to be processed in the sub-image as the sub-center, and take the straight line passing through the sub-center and perpendicular to the bottom edge of the sub-image as the reference straight line. The distance from the second edge point to the reference line is taken as the second distance. The second distance is multiplied by the secondary proportion to obtain the secondary distance. If the second edge point is to the left of the reference line, the secondary distance and the positive and negative directions are combined to form the secondary movement route. If the second edge point is to the right of the reference line, the secondary distance and the negative secondary direction are combined to form the secondary movement route. If the second edge point is on the reference line, the secondary movement route is an empty route.

[0014] Compared with the prior art, the beneficial effects of the present invention are as follows: By setting up a main camera and a secondary camera, establishing a reference angle and feature count, and creating a scraper movement control path, the system can accurately determine the location of defects on the top of the guide roller being processed by capturing images from the main and secondary cameras. It can then specifically create a scraper movement control path to eliminate these defects, ensuring the surface meets processing accuracy requirements. Furthermore, by continuously rotating the guide roller, defects can be eliminated from the entire surface of the roller, guaranteeing effective removal. Attached Figure Description

[0015] Figure 1 This is a flowchart illustrating the scraping adaptive control method for defect elimination in machine tool guide roller components according to the present invention. Figure 2 This is a flowchart illustrating the process of using two rotating rollers to fix the guide roller to be processed, and setting a main camera and a secondary camera at the location of the guide roller to be processed in this invention. Figure 3 This is a schematic diagram of the process for forming the allowable processing error according to the present invention; Figure 4 This is a schematic diagram of the process of identifying at least one defective part in the main image according to the present invention; Figure 5 This is a schematic diagram of the process of identifying the location of the blade in the main image as the first blade point according to the present invention. Figure 6 This is a schematic diagram of the flow control path for forming the scraper according to the present invention; Figure 7 This is a schematic diagram of the process for forming the secondary movement path according to the present invention; Figure 8 This is a schematic diagram illustrating the angle constraint equation of the present invention. Detailed Implementation

[0016] The following description is intended to disclose the invention and enable those skilled in the art to implement it. The preferred embodiments described below are merely examples, and other obvious variations will occur to those skilled in the art.

[0017] Reference Figure 1 As shown, an adaptive scraping control method for defect elimination in machine tool guide roller components includes: Obtain the scraper for scraping operations, determine the blade of the scraper, and set red markers at the midpoints of the blades on both sides of the scraper. Two rotating rollers are used to fix the guide roller to be processed. A main camera and a secondary camera are set at the location of the guide roller to be processed. During the scraping process, the blade of the scraper is kept horizontal and perpendicular to the central axis of the rotating roller. The scraper is set on the upper side of the guide roller to be processed. Based on historical processing data, the allowable processing error is determined, and based on the allowable processing error, the reference variation angle and characteristic number of the rotating roller are determined. Step 1: Rotate the two rotating rollers by an angle equal to the reference angle. After rotation, use the main camera to capture the main image and the secondary camera to capture the secondary image. Step 2: Identify at least one defective part in the main image, form a scraping line segment on the defective part, identify the location of the blade in the main image as the first blade point, and in the sub-image, take the location of the red marked point as the second blade point; Step 3: Based on the first and second cutting edge points, form the movement control path of the scraper, and control the movement of the scraper according to the movement control path; When the scraper completes the movement control path, repeat steps one to three. When the number of times the rotating roller is rotated equals the number of characteristic rotations, the scraping operation is completed.

[0018] The surface defects of the guide roller to be processed are caused by the previous processing. Some of these defects are quite obvious, while others are very subtle. Since the surface color of the guide roller to be processed is uniform, it is difficult to identify them using conventional two-dimensional images. Even if the defects are identified, it is difficult to determine their exact location because the guide roller to be processed appears flat in the image, but the actual surface is curved. In addition, during scraping, the blade needs to be within the cutting plane at the defect location, but the cutting plane is different at different locations on the surface of the guide roller to be processed. Therefore, the angle of the blade needs to be adjusted, which increases the workload. The depth of the blade scraping depends on the actual condition of the defect. Therefore, the actual condition of the defect needs to be identified. As a result, the entire scraping process is very complex, and the effect is uncertain. To avoid the problems mentioned above, another defect elimination and control method is proposed in the following section, and the elimination effect is guaranteed. Since it is a scraping operation, this solution only removes the protruding parts of the guide roller surface to be processed. The recessed parts of the guide roller to be processed are not treated and need to be eliminated by supplementation, which is obviously not the focus of this solution.

[0019] Setting red markers at the midpoint of both blades on the scraper involves the following steps: The two sides of the scraper are designated as the first side and the second side, respectively. A red mark is placed at the midpoint of the blade on the first side and at the midpoint of the blade on the second side.

[0020] Red markers are easy to identify in images, reducing the workload of identification.

[0021] Reference Figure 2 As shown, the process involves fixing the guide roller to be processed using two rotating rollers, and setting up a main camera and a secondary camera at the location of the guide roller to be processed, including the following steps: The center of one end of the rotating roller is fixed to the output end of the cylinder. The cylinder controls the two rotating rollers to fix the guide roller to be processed from both ends. The central axes of the rotating roller and the guide roller to be processed are on the same straight line. The cylinder is installed at the center of the output end of the motor. The horizontal plane passing through the central axis of the rotating roller is used as the feature plane. Within the feature plane, a perpendicular line is drawn through the central axis of the guide roller to be processed, passing through the midpoint of the central axis of the guide roller to be processed, to obtain the feature line. Move the scraper to the position furthest away from the guide roller to be processed; Set the main camera on the feature line, with the main camera facing the guide roller to be processed and the shooting direction of the main camera coinciding with the feature line. Move the main camera on the feature line. When the image captured by the main camera includes the guide roller to be processed and the scraper, the position setting of the main camera is completed. A secondary camera is set up on the straight line of the central axis of the rotating roller, facing the guide roller to be processed. The shooting direction of the secondary camera coincides with the straight line of the central axis of the rotating roller. The secondary camera is moved along the straight line of the central axis of the rotating roller. When the image captured by the secondary camera includes the guide roller to be processed and the scraper, the position setting of the secondary camera is completed.

[0022] The main camera acquires images from the front of the guide roller to be processed, while the secondary camera is positioned near one end of the guide roller, directly facing its end face, i.e., the circular side. Thus, the location of defects can be determined through composite analysis of the two images. At the same time, the placement of the main and secondary cameras ensures that the guide roller and the scraper are always in the captured images, thereby allowing for adjustment of the blade position.

[0023] Reference Figure 3As shown, the process for determining the allowable machining tolerance includes the following steps: At least one qualified guide roller is obtained in advance as a sample guide roller, and two rotating rollers are used to fix the sample guide roller. The surfaces at both ends of the sample guide roller are each taken as end faces, and the center of the end face is taken as a preset point to obtain the target processing radius of the end face in advance. With twice the target processing radius as the radius and a preset point as the center, generate a preset circle in the plane where the end face is located; At least one sample point is uniformly selected on the preset circle. A sample line perpendicular to the end face is drawn through the sample point. The part of the sample line between the two end faces is taken as the sample line segment. At least one sampling point is uniformly selected on the sample line segment. At the sampling point, an ultrasonic ranging device is used to measure the distance to obtain the sampling distance. The ultrasonic ranging device is perpendicular to the central axis of the sample guide roller. The average of the absolute values ​​of the difference between the sampling distance generated by the sample guide roller and the target processing radius is taken to obtain the sample error of the sample guide roller. The maximum value of the sample error of at least one sample guide roller is taken as the allowable processing error.

[0024] The sampling distance measurement is the distance from the sample point to the nearest point on the surface of the sample guide roller. If the surface of the sample guide roller is error-free, the sampling distance must be equal to the target processing radius. Due to the existence of error, the sampling distance is different from the target processing radius. Thus, the sample error of the sample guide roller can be obtained, and its maximum value can be used as the allowable processing error.

[0025] Reference Figure 8 As shown, the steps for forming the reference variation angle and characteristic number of the rotating roller include: Using the angle constraint equation, the angle constraint value is calculated. Dividing 360 degrees by the angle constraint value yields the characteristic value. The smallest integer greater than the characteristic value is taken as the characteristic number. Dividing 360 degrees by the characteristic number yields the reference variation angle. The angle constraint equation is as follows: , Where R is the target machining radius, M is the angle limit value, and N is the machining allowable error.

[0026] During scraping, the cutting edge scrapes at the cutting plane at the scraping position, and the scraping is performed on the top of the guide roller to be processed. The scraping is approximately along the central axis of the guide roller to be processed. The scraping is completed by rotating the guide roller to be processed multiple times. It is easy to know that the smaller the angle of each rotation, the higher the scraping accuracy, but this will also lead to an increase in workload. Therefore, it is necessary to select the maximum angle that meets the accuracy requirements. Thus, an angle constraint equation is formed, and the angle constraint value is calculated using the angle constraint equation. The principle is as follows: In Figure 8 Only two adjacent points, C and B, are marked. After multiple rotations, C and B will reach the top of the guide roller to be processed and be scraped. For easier observation, [the text is incomplete]. Figure 8 The distance between C and B is set to be relatively large, but in reality they are very close. CD and BD are both tangents, so it is easy to know that the interior of ABCD will not be scraped. If there is a protruding defect between C and B that extends beyond ABCD, then after scraping, the remaining defect will still fill the part of ABCD that extends beyond the guide roller to be processed, with the maximum thickness at ED. Therefore, as long as the length of ED is equal to the allowable processing error, it is easy to obtain the angle limit equation based on geometric relationships. Thus, the angle limit value can be solved. Since the angle limit value multiplied by the characteristic value equals 360 degrees, and the characteristic number multiplied by the reference change angle also equals 360 degrees, the angle limit value multiplied by the characteristic value equals the characteristic number multiplied by the reference change angle. However, since the characteristic value is less than the characteristic number, the angle limit value is greater than the reference change angle. Since the smaller the rotation angle, the higher the accuracy, and scraping after rotation according to the angle limit value meets the accuracy requirements, scraping after rotation according to the reference change angle also meets the accuracy requirements.

[0027] Reference Figure 4 As shown, identifying at least one defective portion in the main image includes the following steps: The pixel value of the guide roller in the image is taken as the guide roller pixel value. The pixel value of the main image that is equal to the guide roller pixel value is taken as the guide roller pixel. The guide roller pixels are aggregated to obtain the guide roller region. Take the pixel at the top edge of the main image as the top pixel, draw a perpendicular line from the top pixel down to the top edge of the main image as the direction line, and take the point where the direction line first intersects the guide roller area as the target point. The distance between the target point and the upper pixel on the same directional line is used as the preliminary distance. The actual target length of the guide roller is divided by the length of the guide roller area to obtain the main ratio. The main ratio is multiplied by the preliminary distance to obtain the first distance. The average value of the first distance is taken to obtain the reference distance. If the difference between the first distance and the reference distance exceeds the processing allowable error, the target point of the first distance will be generated as the defect point. Adjacent defect points will be aggregated to obtain at least one defect line. The left end of the blemish line is designated as the first blemish, and the right end as the second blemish. The closed area formed by connecting the first and second blemishes with the blemish line is considered the blemish portion.

[0028] Since the scraping is performed on the top of the guide roller to be processed, the resulting defect lines are all on the upper part of the guide roller to be processed. Here, the resulting defect lines are partially raised and partially recessed. Based on the formation method of the subsequent scraping line segments, the raised parts are scraped off, while the recessed parts need to be supplemented, which is not within the scope of this technical solution and is therefore ignored.

[0029] Creating scraping lines on defective areas includes the following steps: The line connecting the first and second flaws is taken as the scraping line segment.

[0030] Reference Figure 5 As shown, identifying the location of the blade in the main image, and using it as the first cutting edge point, involves the following steps: The pixel values ​​of the pixels in the image that represent the blade are taken as the blade pixel values. The pixels in the main image that have pixel values ​​equal to the blade pixel values ​​are taken as blade pixels. The blade pixels are then aggregated to obtain the blade region. The pixels on the outline of the blade region are taken as blade points, and the blade point located at the bottom of the blade region is taken as the first blade point.

[0031] The first and second cutting points are used to determine the position of the cutting edge, and then the position of the scraper is adjusted according to its relative position with the defective part, so as to complete the scraping.

[0032] Reference Figure 6 As shown, forming the movement control path of the scraper includes the following steps: Form a secondary movement route; In the main image, the scraping line segments are numbered sequentially from left to right, and the total number of scraping line segments is denoted as T; Using the upward direction of the left edge of the main image as the z-axis, the rightward direction of the bottom edge of the main image as the y-axis, and the bottom left corner of the main image as the origin, a yz coordinate system is established, and the coordinates of the points in the main image are modeled using the yz coordinate system. Subtract the coordinates of the first blade point from the coordinates of the first flaw point of the first scraping segment to obtain the principal vector. Multiply the principal vector by the principal proportion to obtain the principal target vector. The maximum value of the actual thickness of the defective part is obtained in advance as a reference value. (0, n) is used as the first vector and (0, -n) is used as the second vector. Subtracting the coordinates of the first flaw from the coordinates of the second flaw in the i-th scraping segment and multiplying by the principal proportion yields the i-th scraping vector, where i takes values ​​from 1, 2, ..., T-1. Subtract the coordinates of the second flaw point of the i-th scraped line segment from the coordinates of the first flaw point of the (i+1)-th scraped line segment, and then multiply the result by the principal proportion to obtain the i-th movement vector. The i-th scraping vector, the first vector, the i-th movement vector, and the second vector are sequentially combined and arranged to form the i-th movement path; The i-th movement path is arranged in order of its number to obtain the comprehensive path; Subtract the coordinates of the first flaw from the coordinates of the second flaw of the Tth scraping segment, and multiply the result by the principal proportion to obtain the Tth scraping vector; The secondary movement route, the primary target vector, the integrated path, and the T-th scraping vector are sequentially combined to obtain the movement control route.

[0033] Here, the scraper moves according to the movement control route, that is, it moves sequentially according to the secondary movement route, the main target vector, the comprehensive path and the Tth scraping vector. It cannot merge the vectors and then move according to the merged vector. The vector is determined by the direction and the movement distance. The movement direction and distance in the secondary movement route are both determined, so they are equivalent to vectors. The secondary movement path is set so that the midpoint of the blade and the top of the guide roller to be processed are in the same vertical plane; The main target vector, the integrated path, and the Tth scraping vector are set to scrape the top of the guide roller to be processed. Here, the main target vector moves the blade to the first defect point of the first scraping line segment, and the i-th scraping vector scrapes the defect part corresponding to the i-th scraping vector. If the defect part is concave downward, it will not affect the scraping effect. The i-th moving vector moves the blade from the second defect point of the i-th scraping line segment to the first defect point of the (i+1)-th scraping line segment. In order to avoid the scraping of the surface of the guide roller to be processed by linear movement, the first vector and the second vector are added. The sum of the first vector, the i-th moving vector, and the second vector is equal to the i-th moving vector. Therefore, the actual effect is the same as the i-th moving vector. However, after it is lifted, it will not contact the defect part, and therefore will not contact the non-defect part. Therefore, it will not produce an uncontrollable scraping effect. Secondly, the device controlling the scraper movement uses the XYz coordinate system. Here, the z-axis is vertical, and therefore consistent with the z-axis used for coordinate modeling in the main image. However, the y-axis in the main image is different from the y-axis in the XYz coordinate system. Therefore, the parameters of the vector generated in the movement control path cannot be directly used in the device controlling the scraper movement and need to be converted into vectors in the XYz coordinate system. The secondary movement path is located in the secondary image, and the direction of the plane where the secondary image is located is determined. Therefore, the directions of the negative secondary direction and the positive secondary direction in the secondary image are also determined in space and will not change. Taking the negative secondary direction as an example, the angle between the negative secondary direction and the X-axis, Y-axis and z-axis in the XYz coordinate system can be obtained in advance. Therefore, the components of the negative secondary direction vector on the X-axis, Y-axis and z-axis can be calculated, thereby obtaining its vector in the XYz coordinate system. Then, the device controlling the scraper movement can move the scraper according to this vector. The vector generated by the main image can be decomposed into the sum of the y-axis and z-axis components, denoted as G and H respectively. Since the orientation of the plane where the main image is located is determined, the spatial orientation of the y-axis and z-axis is also determined. Therefore, the angles between the y-axis and the X-axis, Y-axis, and z-axis in the XYz coordinate system can be obtained in advance, as well as the angles between the z-axis and the X-axis, Y-axis, and z-axis in the XYz coordinate system. Thus, the components of G in the X-axis, Y-axis, and z-axis in the XYz coordinate system, and the components of H in the X-axis, Y-axis, and z-axis in the XYz coordinate system can be obtained. The components on the same axis are superimposed and combined into a new vector in the order of X-axis, Y-axis, and z-axis. The new vector is the vector generated by the main image represented by the XYz coordinate system. Therefore, the device that controls the movement of the scraper can move the scraper according to this vector. The size difference between the image and the actual size was taken into account when generating the vectors, as stated in the scheme and will not be explained further.

[0034] Reference Figure 7 As shown, forming a secondary movement route includes the following steps: The direction of movement parallel to the feature line towards the right of the secondary camera is designated as the positive direction, and the direction of movement parallel to the feature line towards the left of the secondary camera is designated as the negative direction. Divide twice the target processing radius by the diameter of the guide roller to be processed in the sub-image to obtain the sub-proportion. Take the center of the guide roller to be processed in the sub-image as the sub-center, and take the straight line passing through the sub-center and perpendicular to the bottom edge of the sub-image as the reference straight line. The distance from the second edge point to the reference line is taken as the second distance. The second distance is multiplied by the secondary proportion to obtain the secondary distance. If the second edge point is to the left of the reference line, the secondary distance and the positive and negative directions are combined to form the secondary movement route. If the second edge point is to the right of the reference line, the secondary distance and the negative secondary direction are combined to form the secondary movement route. If the second edge point is on the reference line, the secondary movement route is an empty route.

[0035] An empty route is a route in which no movement takes place.

[0036] Furthermore, this solution also proposes a storage medium storing a computer-readable program, which, when invoked, executes the aforementioned adaptive scraping control method for eliminating defects in machine tool guide roller components.

[0037] It is understandable that the storage medium can be a magnetic medium, such as a floppy disk, hard disk, or magnetic tape; an optical medium, such as a DVD; or a semiconductor medium, such as a solid-state drive (SSD).

[0038] In summary, the advantages of this invention are as follows: by setting a main camera and a secondary camera, forming a reference change angle and feature count, and forming a scraper movement control path, the images captured by the main camera and the secondary camera can accurately determine the location of defects on the top of the guide roller to be processed, and a targeted scraper movement control path can be formed to eliminate defects on the top of the guide roller to be processed, ensuring that the surface after elimination meets the processing accuracy requirements. At the same time, by continuously rotating the guide roller to be processed, defects can be eliminated on the entire surface of the guide roller to be processed, ensuring the elimination effect.

[0039] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claimed invention. The scope of protection claimed by the appended claims and their equivalents is defined.

Claims

1. A scraping adaptive control method for defect elimination in machine tool guide roller components, characterized in that, include: Obtain the scraper for scraping operations, determine the blade of the scraper, and set red markers at the midpoints of the blades on both sides of the scraper. Two rotating rollers are used to fix the guide roller to be processed. A main camera and a secondary camera are set at the location of the guide roller to be processed. During the scraping process, the blade of the scraper is kept horizontal and perpendicular to the central axis of the rotating roller. The scraper is set on the upper side of the guide roller to be processed. Based on historical processing data, the allowable processing error is determined, and based on the allowable processing error, the reference variation angle and characteristic number of the rotating roller are determined. Step 1: Rotate the two rotating rollers by an angle equal to the reference angle. After rotation, use the main camera to capture the main image and the secondary camera to capture the secondary image. Step 2: Identify at least one defective part in the main image, form a scraping line segment on the defective part, identify the location of the blade in the main image as the first blade point, and in the sub-image, take the location of the red marked point as the second blade point; Step 3: Based on the first and second cutting edge points, form the movement control path of the scraper, and control the movement of the scraper according to the movement control path; When the scraper completes the movement control path, repeat steps one to three. When the number of times the rotating roller is rotated equals the number of characteristic rotations, the scraping operation is completed.

2. The scraping adaptive control method for defect elimination of machine tool guide roller components according to claim 1, characterized in that, Setting red markers at the midpoints of the blades on both sides of the scraper includes the following steps: The two sides of the scraper are designated as the first side and the second side, respectively. A red mark is placed at the midpoint of the blade on the first side and at the midpoint of the blade on the second side.

3. The scraping adaptive control method for defect elimination of machine tool guide roller components according to claim 2, characterized in that, The process of fixing the guide roller to be processed using two rotating rollers and setting up the main camera and the secondary camera at the location of the guide roller to be processed includes the following steps: The center of one end of the rotating roller is fixed to the output end of the cylinder. The cylinder controls the two rotating rollers to fix the guide roller to be processed from both ends. The central axes of the rotating roller and the guide roller to be processed are on the same straight line. The cylinder is installed at the center of the output end of the motor. The horizontal plane passing through the central axis of the rotating roller is used as the feature plane. Within the feature plane, a perpendicular line is drawn through the central axis of the guide roller to be processed, passing through the midpoint of the central axis of the guide roller to be processed, to obtain the feature line. Move the scraper to the position furthest away from the guide roller to be processed; Set the main camera on the feature line, with the main camera facing the guide roller to be processed and the shooting direction of the main camera coinciding with the feature line. Move the main camera on the feature line. When the image captured by the main camera includes the guide roller to be processed and the scraper, the position setting of the main camera is completed. A secondary camera is set up on the straight line of the central axis of the rotating roller, facing the guide roller to be processed. The shooting direction of the secondary camera coincides with the straight line of the central axis of the rotating roller. The secondary camera is moved along the straight line of the central axis of the rotating roller. When the image captured by the secondary camera includes the guide roller to be processed and the scraper, the position setting of the secondary camera is completed.

4. The scraping adaptive control method for defect elimination of machine tool guide roller components according to claim 3, characterized in that, The process tolerance is formed by the following steps: At least one qualified guide roller is obtained in advance as a sample guide roller, and two rotating rollers are used to fix the sample guide roller. The surfaces at both ends of the sample guide roller are each taken as end faces, and the center of the end face is taken as a preset point to obtain the target processing radius of the end face in advance. With twice the target processing radius as the radius and a preset point as the center, generate a preset circle in the plane where the end face is located; At least one sample point is uniformly selected on the preset circle. A sample line perpendicular to the end face is drawn through the sample point. The part of the sample line between the two end faces is taken as the sample line segment. At least one sampling point is uniformly selected on the sample line segment. At the sampling point, an ultrasonic ranging device is used to measure the distance to obtain the sampling distance. The ultrasonic ranging device is perpendicular to the central axis of the sample guide roller. The average of the absolute values ​​of the difference between the sampling distance generated by the sample guide roller and the target processing radius is taken to obtain the sample error of the sample guide roller. The maximum value of the sample error of at least one sample guide roller is taken as the allowable processing error.

5. The scraping adaptive control method for defect elimination of machine tool guide roller components according to claim 4, characterized in that, The reference variation angle and characteristic number of forming the rotating roller include the following steps: Using the angle constraint equation, the angle constraint value is calculated. Dividing 360 degrees by the angle constraint value yields the characteristic value. The smallest integer greater than the characteristic value is taken as the characteristic number. Dividing 360 degrees by the characteristic number yields the reference variation angle. The angle constraint equation is as follows: ， Where R is the target machining radius, M is the angle limit value, and N is the machining allowable error.

6. The scraping adaptive control method for defect elimination of machine tool guide roller components according to claim 5, characterized in that, The process of identifying at least one defective portion in the main image includes the following steps: The pixel value of the guide roller in the image is taken as the guide roller pixel value. The pixel value of the main image that is equal to the guide roller pixel value is taken as the guide roller pixel. The guide roller pixels are aggregated to obtain the guide roller region. Take the pixel at the top edge of the main image as the top pixel, draw a perpendicular line from the top pixel down to the top edge of the main image as the direction line, and take the point where the direction line first intersects the guide roller area as the target point. The distance between the target point and the upper pixel on the same directional line is used as the preliminary distance. The actual target length of the guide roller is divided by the length of the guide roller area to obtain the main ratio. The main ratio is multiplied by the preliminary distance to obtain the first distance. The average value of the first distance is taken to obtain the reference distance. If the difference between the first distance and the reference distance exceeds the processing allowable error, the target point of the first distance will be generated as the defect point. Adjacent defect points will be aggregated to obtain at least one defect line. The left end of the blemish line is designated as the first blemish, and the right end as the second blemish. The closed area formed by connecting the first and second blemishes with the blemish line is considered the blemish portion.

7. The scraping adaptive control method for defect elimination of machine tool guide roller components according to claim 6, characterized in that, The process of forming scraping lines on the defective portion includes the following steps: The line connecting the first and second flaws is taken as the scraping line segment.

8. The scraping adaptive control method for defect elimination of machine tool guide roller components according to claim 7, characterized in that, The process of identifying the location of the blade in the main image as the first blade point includes the following steps: The pixel values ​​of the pixels in the image that represent the blade are taken as the blade pixel values. The pixels in the main image that have pixel values ​​equal to the blade pixel values ​​are taken as blade pixels. The blade pixels are then aggregated to obtain the blade region. The pixels on the outline of the blade region are taken as blade points, and the blade point located at the bottom of the blade region is taken as the first blade point.

9. The scraping adaptive control method for defect elimination of machine tool guide roller components according to claim 8, characterized in that, The movement control path for forming the scraper includes the following steps: Form a secondary movement route; In the main image, the scraping line segments are numbered sequentially from left to right, and the total number of scraping line segments is denoted as T; Using the upward direction of the left edge of the main image as the z-axis, the rightward direction of the bottom edge of the main image as the y-axis, and the bottom left corner of the main image as the origin, a yz coordinate system is established, and the coordinates of the points in the main image are modeled using the yz coordinate system. Subtract the coordinates of the first blade point from the coordinates of the first flaw point of the first scraping segment to obtain the principal vector. Multiply the principal vector by the principal proportion to obtain the principal target vector. The maximum value of the actual thickness of the defective part is obtained in advance as a reference value. (0, n) is used as the first vector and (0, -n) is used as the second vector. Subtracting the coordinates of the first flaw from the coordinates of the second flaw in the i-th scraping segment and multiplying by the principal proportion yields the i-th scraping vector, where i takes values ​​from 1, 2, ..., T-1. Subtract the coordinates of the second flaw point of the i-th scraped line segment from the coordinates of the first flaw point of the (i+1)-th scraped line segment, and then multiply the result by the principal proportion to obtain the i-th movement vector. The i-th scraping vector, the first vector, the i-th movement vector, and the second vector are sequentially combined and arranged to form the i-th movement path; The i-th movement path is arranged in order of its number to obtain the comprehensive path; Subtract the coordinates of the first flaw from the coordinates of the second flaw in the Tth scraping segment, and multiply by the principal proportion to obtain the Tth scraping vector; The secondary movement route, the primary target vector, the integrated path, and the T-th scraping vector are sequentially combined to obtain the movement control route.

10. The scraping adaptive control method for defect elimination of machine tool guide roller components according to claim 9, characterized in that, The formation of the secondary movement route includes the following steps: The direction of movement parallel to the feature line towards the right of the secondary camera is designated as the positive direction, and the direction of movement parallel to the feature line towards the left of the secondary camera is designated as the negative direction. Divide twice the target processing radius by the diameter of the guide roller to be processed in the sub-image to obtain the sub-proportion. Take the center of the guide roller to be processed in the sub-image as the sub-center, and take the straight line passing through the sub-center and perpendicular to the bottom edge of the sub-image as the reference straight line. The distance from the second edge point to the reference line is taken as the second distance. The second distance is multiplied by the secondary proportion to obtain the secondary distance. If the second edge point is to the left of the reference line, the secondary distance and the positive and negative directions are combined to form the secondary movement route. If the second edge point is to the right of the reference line, the secondary distance and the negative secondary direction are combined to form the secondary movement route. If the second edge point is on the reference line, the secondary movement route is an empty route.

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