用于钣金孔加工的视觉检测与自动打磨系统  

Visual inspection and automatic grinding system for sheet metal hole machining

作　　者：金作徽 易建业 谢晖 JIN Zuohui;YI Jianye;XIE Hui(Jihua Laboratry,Foshan 528000,CHN;Dajie Intelligent Technology(Guangdong)Co.,Ltd.,Foshan 528000,CHN)

机构地区：[1]季华实验室,广东佛山528000 [2]大捷智能科技(广东)有限公司,广东佛山528000

出　　处：《制造技术与机床》2024年第8期84-89,共6页Manufacturing Technology & Machine Tool

基　　金：季华实验室项目基金(X210181TB210);佛山市科技创新项目(1920001000041)。

摘　　要：为了解决钣金零件加工中的孔边缘质量检测和毛刺去除自动化的问题,研究了如何利用机器视觉技术对钣金件的冲孔质量进行快速检测的方法,以及视觉引导电动打磨头对毛刺边缘自动打磨的解决方案。首先,通过采集有加工缺陷的钣金孔数字图像,利用OpenCV视觉软件库设计了图像处理检测算法,实现了对钣金孔的中心点定位和边缘毛刺检测;其次,研究了冲孔毛刺边缘的视觉引导自动打磨方法,对机械手进行了视觉标定和网络通讯测试,实现了机械手的引导和自动打磨运动路径的控制;再次,利用C#设计的上位机控制软件对图像处理、通讯控制和视觉引导自动打磨等功能进行了集成;最后,以六轴工业机械手为核心,搭载视觉检测装置和自动打磨装置,完成了系统搭建。经过试验测试,系统的毛刺检出率和打磨合格率分别达到了85.7%和100%,初步具备了进行工业生产的能力,并且系统具有轻量智能化和高度集成化的特点,可以广泛地应用在各类钣金零件的加工质量检测和边缘自动打磨等生产场景。In order to solve the problems of hole edge quality detection and burr removal automation in the processing of sheet metal parts,the method of rapid detection of punching quality of sheet metal parts by using machine vision technology and the solution of automatic grinding of burr edge by vision-guided electric grinding head are studied.Firstly,the digital images of sheet metal holes with machining defects are collected,and the image processing detection algorithm is designed by using OpenCV vision software library to realize the center point positioning and edge burr detection of sheet metal holes.Secondly,the vision guided automatic grinding method for the burr edge of the punching hole is studied,the vision calibration and network communication test of the manipulator are carried out,and the guidance of the manipulator and the control of the automatic grinding motion path are realized.Then,the PC control software designed by C#is used to integrate the functions of image processing,communication control and visual guidance automatic grinding.Finally,with the six-axis industrial manipulator as the core,the visual inspection device and automatic grinding device are carried out,and the system is completed.After the test,the burr detection rate and grinding qualified rate of the system reached 85.7%and 100%,respectively,and the system has preliminary capacity for industrial production,and the system has the characteristics of light weight,intelligence and high integration,which can be widely used in production scenarios such as processing quality detection and automatic edge grinding of various sheet metal parts.

关 键 词：视觉检测 自动打磨 工业机械手 系统集成 钣金加工 

分 类 号：TP391.4[自动化与计算机技术—计算机应用技术] TP241.2[自动化与计算机技术—计算机科学与技术]