Online grinding method of weld joint grinding and polishing robot

Abstract

The invention discloses an online grinding method of a weld joint grinding and polishing robot. The online grinding method comprises the following steps: 1, the relation among coordinates of a visualmeasurement unit, coordinates of the robot and coordinates of a grinding wheel is calibrated; 2, communication among the robot, a visual system and a PC is established; 3, a benchmark and a contour benchmark of the visual system are established; 4, a robot movement starting point is created, and the grinding wheel is moved to the structural part weld joint grinding and polishing starting point; 5,a frequency converter adjusts the rotating speed of the grinding wheel, and the robot slowly gets close to the weld joint starting point; 6, the visual measurement unit recognizes the contour of theweld joint, processes the point cloud data and obtains a weld joint characteristic value; 7, the robot sends a signal of the current position, and the visual system feeds back feature point data extracted at the moment to the robot; 8, the robot is controlled to track the contour of the weld joint in real time, continuously sends a signal to the visual system, and the step 7 and the step 8 are repeated; and 9, the robot completes grinding and polishing operation of the weld joint and returns to the Home point.

Description

technical field [0001] The invention relates to a technology in the field of automatic on-line grinding of industrial robots, in particular to an on-line grinding method of a welding seam grinding and polishing robot. Background technique [0002] Metal welding forming technology is widely used in the forming process of various structural parts due to its advantages of good connection performance, high strength, less material consumption and simple process. After welding, welding burrs, convex marks, uneven weld bead and other phenomena greatly reduce the connection strength between workpieces, and their fatigue ability also decreases. Therefore, in order to improve its performance after welding, it is particularly important to perform grinding and polishing treatment on the welding area after welding. At present, most of them use traditional manual grinding and polishing. Manual operation has problems such as low efficiency, unstable grinding and polishing quality, and hig...

AI Technical Summary

Problems solved by technology

[0003] Aiming at the occurrence of the above problems, the present invention proposes an online grinding method of a welding seam grinding and polishing robot. The robot body is equipped with a welding seam tracking system, the laser line scans the welding seam, the visual measurement unit recognizes the welding seam contour, and extracts the height characteristics of the welding seam During the grinding process, the visual system continuously sends the coordinates of the weld feature points to the robot, realizing the real-time adjustment of the trajectory and height during the grinding process, and overcoming the cumbersome, time-consuming, and labor-intensive problems in the process of obtaining the trajectory through traditional trial teaching. , to achieve the real sense of intelligent grinding and polishing

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