The application discloses a kind of self-adapting
polishing system and method of
single type deflection reach
stacker girder, comprising: line sweep
laser sensor, flexible tooling, controller,
polishing robot end;
Polishing method is: collecting girder
laser scanning data and analysis, obtain girder
pose data and adjust girder to standard
pose according to girder
pose data;Scan girder surface under standard pose, respectively obtain the deflection deformation of girder surface, the appearance of weld surface;And according to the appearance of weld surface, obtain weld width, height data and automatically adjust
polishing processing parameters;
Polishing trajectory is generated based on adjusted polishing
processing parameters for controlling polishing
robot end;The application is by integrating workpiece pose adjustment
algorithm, polishing trajectory guiding
algorithm and
laser line sweep sensing technology, to solve adaptive polishing problem, improve artificial polishing effect, to realize the
automation of adaptive polishing process with deflection deformation girder guiding and improve the environmental problem caused by polishing.