A method of robot deburring based on 3D laser scanner

Abstract

The invention belongs to the field of automatic processing, and particularly discloses a robot deburring method based on a 3D laser scanner. The method comprises the following steps that a robot grabsa debugging workpiece to move in the visual field range of the 3D laser scanner according to a preset track to obtain a contour point cloud data Pri of the debugging workpiece; the debugging workpiece moves to the position of a tool for teaching programming to obtain a deburring track point coordinates Pj; a to-be-cleaned workpiece is grabbed to move in the visual field range of the 3D laser scanner to obtain a point cloud data Pwi of the to-be-cleaned workpiece in the same manner; the Pri and the Pwi are converted into a robot tail end coordinate system, and a position deviation matrix T andan attitude deviation matrix R are registered to obtain; the Pj is corrected by utilizing T and R, and the corrected deburring track point coordinates Pj' is obtained; and the robot clamps the to-be-cleaned workpiece to move relative to the tool to achieve deburring treatment according to the Pj'. The method has the advantages that the automation degree is high, the consistency of the parts afterdeburring is good, the deburring efficiency and the percent of pass are improved, and the pollution to the environment caused by the dust is reduced.

Description

technical field [0001] The invention belongs to the field of automatic processing, and more specifically relates to a method for cleaning robot burrs based on a 3D laser scanner. Background technique [0002] Casting products are widely used in the fields of automobiles, motorcycles, aerospace and construction machinery. After the parts are cast, they must be cleaned of burrs. The burrs of the castings not only affect the subsequent clamping of the workpiece, but also reduce the appearance quality of the parts. At present, Casting deburring is mainly carried out by hand-held pneumatic grinding head. Manual deburring not only has low efficiency, poor part consistency, high labor cost, but also causes great harm to the operator. Industrial robots have good flexibility, can meet workpieces of different sizes, have high processing efficiency, and low cost. Therefore, it is the future development trend to use industrial robots instead of manual deburring. [0003] However, there...

AI Technical Summary

Problems solved by technology

[0003] However, the upper and lower molds of the casting mold have gaps on the joint surface, and the mold has been worn for a long time, and burrs appear on the parting surface of the casting

Using industrial robots to teach and program deburring, using a fixed program to control the robot obviously cannot meet the requirements. There are under-cut or over-cut phenomena in the deburring parts, resulting in the scrapping of castings. Due to the existence of burrs, castings are installed on the fixture with deviation. When robot deburring is used, the deviation value must be fed back to the robot control system to adjust the trajectory of the robot deburring program

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