Design And Implementation Of Control System Of Billet Surface Defect Marking Robot

Steel is widely used in shipbuilding,vehicle manufacturing,aerospace and other industrial manufacturing fields covering "sea,land and air".With the development of technology,the most concerning issue in the steel industry has shifted from the issue of steel production to the issue of steel quality.But the surface defects of the billet can only be reduced but not eradicated,so it is an important means to improve the quality of the billet to find and remove the defects in time.Because most surface cracks cannot be directly observed by human eyes,it is impossible to accurately locate the location of cracks during finishing.At present,most Chinese iron and steel enterprises still use artificial visual detection and artificial marking of cracks to help repair and locate the cracks.Manual marking is no longer applicable with the improvement of product quality requirements and speed.But due to the late start of our country compared to foreign developed countries,we are faced with the problems of backward research equipment technology,low degree of intelligence,high price of imported equipment and so on,which seriously restricts our competitiveness in high-end iron and steel products.Therefore,aiming at the artificial visual crack marking between inspection and finishing operations,this paper designs a set of control system of billet surface defect marking robot,which can replace the manual marking scheme used in current factories.The main research contents of this paper are as follows:1.The structure and electrical system of an industrial robot for marking billet surface defects are designed in this paper.The robot can automatically detect and mark billet surface defects without supervision.2.In this paper,vibration isolation marking pen is designed to reduce the impact of vibration on the mechanical arm and effectively extend the life of the equipment in view of the vibration generated by the billet during transportation.3.Using the detection scheme of fluorescent magnetic particle flaw detection combined with the three-dimensional reconstruction of the billet,defects can be accurately marked.4.The optimized design of control strategy based on multi-sensor fusion makes the positioning of defects in 3D space more accurate than that of using3 D camera alone.The successful application of the robot in a steel manufacturing enterprise proves that the system of the billet surface defect marking robot can complete the automatic marking work unsupervised,and has the ability to replace manual marking.