Welding seam polishing method and device and readable storage medium

Abstract

The invention provides a weld joint polishing method and device and a readable storage medium. The method comprises the steps that a to-be-polished weld joint is obtained; adjusting the postures of the grinding robot and the electric control unit, so that the welding seam starting point of the to-be-ground welding seam and the base metal in the radius range of the grinding wheels on the two sides of the welding seam are within the corresponding view range of the 3D camera; collecting weld joint data of the whole weld joint to be polished and plane data of the base metal through a 3D camera; an area needing to be polished is screened out according to Z-axis information in the weld joint data, and flatness information of the base metal is calculated according to the plane data of the base metal; areas needing to be polished are collected, and polishing path planning and polishing angle setting are conducted in combination with flatness information of the base metal; and the planned polishing path and the corresponding polishing angle are sent to a robot control cabinet. According to the method, the device and the readable storage medium, the problems that an existing welding seam polishing method is low in overall polishing precision, and base metal is prone to being damaged in the polishing process can be solved.

Description

Technical Field

[0001] The present invention relates to the field of grinding technology, and in particular to a weld grinding method, a weld grinding device and a readable storage medium. Background Art

[0002] At present, the grinding process can be divided into milling, grinding, and polishing from coarse to fine, and can be widely used in bathroom, auto parts, furniture, medical equipment, military industry, communications, lamps, building hardware and other industries, among which weld grinding belongs to grinding. The current grinding methods are mainly divided into manual grinding and non-manual grinding, among which non-manual grinding includes production line grinding and robot grinding. The existing robot grinding mainly helps the robot plan the motion trajectory for the grinding of standard parts through manual teaching, and changes the parameters such as the grinding angle and rotation speed of the grinding wheel through programming to ensure that the robot can complete the grinding of the grinding parts placed in a fixed position.

[0003] However, the existing robot-based weld grinding method, on the one hand, has low overall grinding accuracy because the current teaching grinding robot cannot perform precise grinding according to the height of the grinding workpiece; on the other hand, the teaching grinding robot usually performs weld grinding work through preset points, which leads to the problem of easily damaging the base material during the grinding process. Summary of the invention

[0004] The technical problem to be solved by the present invention is to provide a weld grinding method, device and readable storage medium in view of the above-mentioned deficiencies in the prior art, so as to solve the problems that the overall grinding accuracy of the existing weld grinding method is not high and the base material is easily damaged during the grinding process.

[0005] In a first aspect, the present invention provides a method for welding seam grinding, the method comprising:

[0006] Obtaining a weld to be ground;

[0007] Adjust the posture of the grinding robot and the electronic control unit so that the starting point of the weld to be ground and the parent material within the grinding wheel radius on both sides of the weld are within the corresponding field of view of the 3D camera;

[0008] Collecting weld data of the entire weld to be ground and plane data of the parent material through a 3D camera;

[0009] Filtering out the area that needs to be polished according to the Z-axis information in the weld data, and calculating the flatness information of the base material according to the plane data of the base material;

[0010] Gather the areas that need to be polished, and plan the polishing path and set the polishing angle based on the flatness information of the parent material;

[0011] The planned grinding path and the corresponding grinding angle are sent to the robot control cabinet, so that the robot control cabinet sends corresponding instructions to control the grinding robot to complete the corresponding weld grinding work.

[0012] Further, the step of obtaining the weld to be polished specifically includes:

[0013] Determine whether there are welds on the polished parts that have not been completely polished;

[0014] In response to the presence of an unfinished weld on the grinding piece, the weld to be ground is obtained from the unfinished weld.

[0015] Furthermore, the 3D camera is based on a line structured light mode, and before collecting the weld data of the entire weld to be polished and the plane data of the parent material through the 3D camera, the method further includes:

[0016] The sampling points and sampling intervals of the 3D camera line structured light are set according to the polishing requirements.

[0017] Furthermore, the collecting of the weld data of the entire weld to be polished and the plane data of the parent material by means of a 3D camera specifically includes:

[0018] While ensuring the consistency of the depth of field of the 3D camera, the 3D camera is controlled by the electronic control unit to scan the entire weld to be ground and the parent material within the grinding wheel radius on both sides of the weld, so as to collect the weld data of the entire weld to be ground and the plane data of the parent material.

[0019] Further, the step of selecting the area to be polished according to the Z-axis information in the weld data specifically includes:

[0020] The Z-axis information in the collected weld data is screened according to the height information required for grinding, the coordinates that need to be polished by the grinding robot are screened out, and the area that needs to be polished is obtained.

[0021] Furthermore, the areas to be polished are grouped together, and polishing path planning and polishing angle setting are performed in combination with the flatness information of the base material, specifically including:

[0022] The areas to be polished are grouped together, with the direction from the weld start point to the end point as the x-axis direction, the weld width as the y-axis, and the weld height as the z-axis, and the polishing path planning is performed for the grouped polishing areas along the x-axis direction;

[0023] The grinding angle is set according to the planned grinding path in combination with the flatness information of the base material, wherein the grinding angle can ensure that the grinding wheel is level with the base material in the grinding area.

[0024] Furthermore, the method further comprises:

[0025] Set the grinding height of the non-grinding area passed by the grinding path during the process to increase the Z-axis height;

[0026] The grinding height of the non-grinding area is sent to the robot control cabinet.

[0027] In a second aspect, the present invention provides a device for welding seam grinding, comprising:

[0028] A weld acquisition module, used for acquiring the weld to be ground;

[0029] A posture adjustment module, connected to the weld acquisition module, is used to adjust the posture of the grinding robot and the electronic control unit so that the weld starting point of the weld to be ground and the parent material within the grinding wheel radius range on both sides of the weld are within the corresponding field of view of the 3D camera;

[0030] A data acquisition module, connected to the posture adjustment module, for acquiring weld data of the entire weld to be ground and plane data of the parent material through a 3D camera;

[0031] A screening and calculation module, connected to the data acquisition module, for screening out the area to be polished according to the Z-axis information in the weld data, and calculating the flatness information of the base material according to the plane data of the base material;

[0032] A path angle planning module, connected to the screening calculation module, is used to group the areas that need to be polished, and perform polishing path planning and polishing angle setting in combination with the flatness information of the parent material;

[0033] The weld grinding module is connected to the path angle planning module and is used to send the planned grinding path and the corresponding grinding angle to the robot control cabinet, so that the robot control cabinet sends corresponding instructions to control the grinding robot to complete the corresponding weld grinding work.

[0034] In a third aspect, the present invention provides a device for weld grinding, comprising a memory and a processor, wherein the memory stores a computer program, and the processor is configured to run the computer program to implement the weld grinding method described in the first aspect.

[0035] In a fourth aspect, the present invention provides a computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the weld grinding method described in the first aspect is implemented.

[0036] The weld grinding method, device and readable storage medium provided by the present invention. First, the weld to be ground is obtained; and the posture of the grinding robot and the electronic control unit is adjusted so that the weld starting point of the weld to be ground and the parent material within the grinding wheel radius on both sides of the weld are within the corresponding field of view of the 3D camera; then the weld data of the entire weld to be ground and the plane data of the parent material are collected by the 3D camera; then the area to be ground is screened out according to the Z-axis information in the weld data, and the flatness information of the parent material is calculated according to the plane data of the parent material; finally, the areas to be ground are grouped, and the grinding path is planned and the grinding angle is set in combination with the flatness information of the parent material; then the planned grinding path and the corresponding grinding angle are sent to the robot control cabinet, so that the robot control cabinet sends corresponding instructions to control the grinding robot to complete the corresponding weld grinding work. The present invention uses 3D machine vision to identify the weld excess height on the weld to be polished, screens out the area that needs to be polished, and sets the grinding path and grinding angle of the grinding wheel according to the area that needs to be polished and the flatness information of the parent material around the polishing area, which can further improve the grinding accuracy and guide the grinding robot to complete the welding work while ensuring that the parent material is not damaged. This solves the problem that the overall grinding accuracy of the existing weld grinding method is not high and the parent material is easily damaged during the grinding process. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 This is a flow chart of a weld grinding method according to Embodiment 1 of the present invention;

[0038] Figure 2 Schematic diagram of the connection method of the polishing robot, the electronic control unit and the 3D camera according to an embodiment of the present invention;

[0039] Figure 3 A schematic diagram of a polishing path planning according to an embodiment of the present invention;

[0040] Figure 4 It is a structural diagram of a weld grinding system according to an embodiment of the present invention;

[0041] Figure 5 This is a schematic structural diagram of a weld grinding device according to Embodiment 2 of the present invention;

[0042] Figure 6 This is a structural schematic diagram of a weld grinding device according to Example 3 of the present invention. DETAILED DESCRIPTION

[0043] In order to enable those skilled in the art to better understand the technical solution of the present invention, the embodiments of the present invention will be further described in detail below with reference to the accompanying drawings.

[0044] It should be understood that the specific embodiments and drawings described herein are only used to explain the present invention rather than to limit the present invention.

[0045] It can be understood that, in the absence of conflict, the various embodiments of the present invention and the various features in the embodiments can be combined with each other.

[0046] It can be understood that, for the convenience of description, the drawings of the present invention only show the parts related to the present invention, while the parts irrelevant to the present invention are not shown in the drawings.

[0047] It can be understood that each unit and module involved in the embodiments of the present invention may correspond to only one physical structure, or may be composed of multiple physical structures, or multiple units and modules may be integrated into one physical structure.

[0048] It can be understood that the terms "first", "second", etc. in the embodiments of the present invention are used to distinguish different objects, or to distinguish different processing of the same object, rather than to describe a specific order of objects.

[0049] It can be understood that, without conflict, the functions and steps marked in the flowcharts and block diagrams of the present invention may occur in an order different from that marked in the drawings.

[0050] It is understood that the flowcharts and block diagrams of the present invention illustrate the possible architectures, functions, and operations of the systems, devices, equipment, and methods according to the various embodiments of the present invention. Each box in the flowchart or block diagram may represent a unit, module, program segment, or code, which contains executable instructions for implementing the specified functions. Moreover, each box or combination of boxes in the block diagram and flowchart may be implemented by a hardware-based system that implements the specified functions, or may be implemented by a combination of hardware and computer instructions.

[0051] It can be understood that the units and modules involved in the embodiments of the present invention can be implemented by software or hardware. For example, the units and modules can be located in a processor.

[0052] Application Overview

[0053] The existing robot-based weld grinding method has the following technical problems during the grinding process:

[0054] 1. Teaching the grinding robot to perform grinding work through preset points is likely to damage the base material

[0055] The teaching robot completes the grinding by presetting the grinding points. This grinding method requires the grinding wheel to move along the weld path and grind all the relevant areas of the weld to meet the grinding requirements. In actual work, the method of grinding the entire weld path is prone to scratches on the surface of the parent material, and if the weld is lower than the weldment, it is also easy to damage the parent material.

[0056] 2. The current teaching grinding robot cannot perform precise grinding according to the height of the grinding workpiece

[0057] The existing teaching grinding robot can only grind the entire weld at a fixed angle using an angle wheel grinder at a fixed height standard, and it does not accurately cut in and grind the area that needs to be polished, so the overall grinding accuracy is not high.

[0058] In response to the above technical problems, the idea of ​​this application is to provide a weld grinding method, device and readable storage medium, which uses 3D machine vision to identify the weld residual height on the weld to be ground, screens out the area that needs to be ground, and sets the grinding path and grinding angle of the grinding wheel according to the area that needs to be ground and the flatness information of the parent material around the grinding area, which can further improve the grinding accuracy and guide the grinding robot to complete the welding work while ensuring that the parent material is not damaged. This solves the problem that the overall grinding accuracy of the existing weld grinding method is not high and the parent material is easily damaged during the grinding process.

[0059] Embodiment 1:

[0060] This embodiment provides a method for welding seam grinding, such as Figure 1 As shown, the method includes:

[0061] Step S101: Obtain the weld to be polished.

[0062] It should be noted that the weld grinding method provided in this embodiment is targeted at weld grinding scenarios, and combines the existing weld coordinate information of the teaching robot, the application of line structured light and 3D camera machine vision, and a six-axis robot (hereinafter referred to as the grinding robot) to accurately identify the grinding points, plan the grinding line diameter, and guide the grinding robot to complete high-precision welding work. Among them, the connection method between the grinding robot and the electronic control unit and the 3D camera can be as follows Figure 2 As shown, the grinding robot may include a base (1), a joint 1 (2), a waist connecting rod (3), a joint 2 (4), an upper arm connecting rod (5), a joint 3 (6), a rear section connecting rod of the forearm (7), a joint 4 (8), a front section connecting rod of the forearm (9), a joint 5 (10), a wrist connecting rod (11), a joint 6 (12), and a grinding wheel (13). A bracket (16) is added to the wrist connecting rod (11) of the grinding robot to connect a 3D camera (15). An electric control unit (17) is provided at the corresponding connection to control the rotation of the 3D camera and the structured light generator, so as to facilitate scanning of the weld data of the weld to be ground in the grinding workpiece (18) on the workbench (19) and the plane data of the base material, so as to ensure accurate identification of the point information to be ground during the data reading process.

[0063] It should be noted that the teaching robot is an improvement on the robot so that it has a teaching function. The six-axis robot is the basis of the improvement and belongs to a type of industrial robot. The present invention is aimed at the six-axis robot but uses the teaching data of the teaching robot and does not directly use the teaching robot.

[0064] Optionally, obtaining the weld to be polished specifically includes:

[0065] Determine whether there are welds on the polished parts that have not been completely polished;

[0066] In response to the presence of an unfinished weld on the grinding piece, the weld to be ground is obtained from the unfinished weld.

[0067] In this embodiment, taking the steel plate as an example, it is possible to first determine whether there are multiple welds that need to be polished based on the starting and ending point information of the teaching robot polishing the weld. If there are multiple welds on the steel plate, it is then determined based on the initial weld information whether there are welds on the steel plate that have not been polished. If all are completed, the entire process ends. If there are welds that have not been polished, the welds to be polished are obtained in sequence from the welds that have not been polished.

[0068] Step S102: adjusting the postures of the grinding robot and the electronic control unit so that the starting point of the weld to be ground and the parent material within the grinding wheel radius range on both sides of the weld are within the corresponding field of view of the 3D camera.

[0069] In this embodiment, the grinding robot and the electronic control unit can be controlled according to the weld starting point, process point, and end point coordinate information stored in the teaching information so that the base material within the grinding wheel radius range at the weld starting point and on both sides of the weld is within the corresponding field of view of the 3D camera.

[0070] Step S103: collecting the weld data of the entire weld to be polished and the plane data of the base material through a 3D camera.

[0071] Optionally, the 3D camera is based on a line structured light mode, and before collecting the weld data of the entire weld to be polished and the plane data of the parent material through the 3D camera, the method further includes:

[0072] The sampling points and sampling intervals of the 3D camera line structured light are set according to the polishing requirements.

[0073] In this embodiment, in order to further avoid error factors, the present invention uses line structured light as the light source of the 3D camera. The 3D camera based on the line structured light mode is composed of an optical projector, a camera, and a computer system to form a structured light three-dimensional vision system. The system projects a light beam to the object. The light bar is modulated due to the change in the depth of the object surface and possible gaps. The light bar is distorted and discontinuous in the image. The degree of distortion is proportional to the depth. The three-dimensional information of the object surface is obtained from the distorted light bar image information. When the relative position between the optical projector and the camera is constant, the three-dimensional shape contour of the object surface can be reproduced by the distorted two-dimensional light bar image coordinates.

[0074] In this embodiment, the 3D camera includes a structured light emitter, which can set the number and spacing of lateral sampling points of the line structured light according to the width of the polished weld, and then set the vertical height sampling reference point information according to the polishing requirements. The polishing requirements include flatness, weld excess height, weld height and other information.

[0075] Optionally, the collecting of weld data of the entire weld to be polished and plane data of the parent material by a 3D camera specifically includes:

[0076] While ensuring the consistency of the depth of field of the 3D camera, the 3D camera is controlled by the electronic control unit to scan the entire weld to be ground and the parent material within the grinding wheel radius on both sides of the weld, so as to collect the weld data of the entire weld to be ground and the plane data of the parent material.

[0077] In this embodiment, by controlling the electronic control unit and the grinding robot, while ensuring that the depth of field of the 3D camera remains unchanged, that is, the distance between the 3D camera and the weld remains unchanged, the structured light emitter emits line structured light to scan the entire weld to be ground and the parent material within the radius of the grinding wheel on both sides of the weld. The 3D camera collects weld data and surrounding parent material plane data from the starting point to the end point of the weld.

[0078] Step S104: Filter out the area that needs to be polished according to the Z-axis information in the weld data, and calculate the flatness information of the base material according to the plane data of the base material.

[0079] Specifically, the Z-axis information in the collected weld data can be screened according to the height information required for grinding (i.e., the weld height), the coordinates that need to be polished by the grinding robot can be screened out, the area that needs to be polished can be obtained, and the flatness of the collected parent material data on both sides of the weld can be calculated.

[0080] Step S105: The areas to be polished are grouped together, and the polishing path is planned and the polishing angle is set in combination with the flatness information of the base material.

[0081] Optionally, the step of grouping the areas to be polished and planning the polishing path and setting the polishing angle in combination with the flatness information of the base material specifically includes:

[0082] The areas to be polished are grouped together, with the direction from the weld start point to the end point as the x-axis direction, the weld width as the y-axis, and the weld height as the z-axis, and the polishing path planning is performed for the grouped polishing areas along the x-axis direction;

[0083] The grinding angle is set according to the planned grinding path in combination with the flatness information of the base material, wherein the grinding angle can ensure that the grinding wheel is level with the base material in the grinding area.

[0084] In this embodiment, the schematic diagram of the grinding path planning can be as follows: Figure 3 As shown, the x-axis direction is from the starting point to the end point of the weld, the y-axis direction is the weld width, and the z-axis direction is the weld height. The path planning is performed along the x-axis direction for the selected areas that need to be polished, that is, two adjacent polishing areas are connected by a straight line and used as the movement trajectory of the grinding wheel.

[0085] Step S106: sending the planned grinding path and the corresponding grinding angle to the robot control cabinet, so that the robot control cabinet sends corresponding instructions to control the grinding robot to complete the corresponding weld grinding work.

[0086] In this embodiment, the precise grinding path and the grinding angle information of the corresponding grinding wheel are sent to the robot control cabinet, and then the robot control cabinet sends corresponding instructions to control the grinding robot to perform the grinding work.

[0087] Optionally, the method further comprises:

[0088] Set the grinding height of the non-grinding area passed by the grinding path during the process to increase the Z-axis height;

[0089] The grinding height of the non-grinding area is sent to the robot control cabinet.

[0090] In this embodiment, the non-grinding area along the path during the path moving process can be avoided by increasing the Z-axis height.

[0091] The present invention uses line structured light as a light source, identifies the weld residual height on the weld through 3D machine vision, guides the grinding wheel based on the spatial coordinates of 3D machine vision, plans the grinding path and grinding angle, and can further improve the grinding accuracy. It can guide the robot to complete the grinding of the weld while ensuring that the parent material is not damaged.

[0092] In a specific embodiment, the weld grinding method may include the following steps:

[0093] 1. Determine whether there are welds that have not been polished. If yes, proceed to the next step. If not, end the process.

[0094] 2. Set the line structured light sampling points and sampling intervals according to the polishing requirements;

[0095] 3. Adjust the posture of the grinding robot and the electronic control unit so that the base material within the radius of the grinding wheel at the starting point of the weld and on both sides of the weld is within the corresponding field of view of the 3D camera;

[0096] 4. By controlling the electronic control unit, the line structured light and 3D camera are used to scan and sample the entire weld and the parent material within the radius of the grinding wheel on both sides of the weld under the condition of consistent depth of field;

[0097] 5. Use the Z-axis information to filter the collected data, select the area that needs to be polished, and calculate the flatness information of the parent material;

[0098] 6. Gather the areas that need to be polished, and consider the flatness of the base material to plan the polishing path and set the angle;

[0099] 7. Send precise coordinates to the robot control cabinet, and then the robot control cabinet sends instructions to control the grinding wheel to complete the corresponding grinding work.

[0100] The present invention uses machine vision to accurately correct the existing grinding path and guide the grinding robot to complete the task, thereby avoiding the adverse effects of traditional teaching grinding robots on components during the weld grinding process.

[0101] In another specific embodiment, the weld grinding method is applied to Figure 4 The weld grinding system shown in the figure comprises a 3D camera (15), a gateway (20), a visual server (21), a computing server (22), a robot control cabinet (23), a grinding robot (24), and an electronic control unit (17), wherein the visual server (21) and the computing server (22) can be provided together or independently, and the weld grinding method can include the following steps:

[0102] 1. Based on the starting and ending information of the weld being polished by the teaching robot, determine whether there are multiple welds that need to be polished. In the case where there are multiple welds on the polishing workpiece (such as a steel plate), the computing server (22) determines whether there are welds on the steel plate that have not been polished based on the initial weld information. If all are completed, the entire process ends, otherwise proceed to step 2.

[0103] 2. Presetting weld parameters: The 3D camera (15) includes a structured light emitter. Through the visual server (21), the number and spacing of horizontal sampling points of the line structured light are set according to the width of the weld to be polished, and the sampling reference point information of the vertical height is set according to the polishing requirements.

[0104] 3. Camera position adjustment: According to the weld start point, process point, and end point coordinate information stored in the teaching information, the grinding robot (24) and the electronic control unit (17) are controlled to make the base material within the radius of the grinding wheel (13) at the weld start point and both sides of the weld within the corresponding field of view of the 3D camera (15);

[0105] 4. Weld data collection: By controlling the electronic control unit (17) and the grinding robot (24), while ensuring that the depth of field of the 3D camera (15) remains unchanged, that is, the distance between the 3D camera and the weld remains unchanged, the structured light emitter emits line structured light to scan the entire weld and the parent material within the radius of the grinding wheel (13) on both sides of the weld. The 3D camera (15) collects weld data and surrounding parent material plane data from the starting point to the end point of the weld.

[0106] 5. Weld data cleaning: The computing server (22) screens the Z-axis information of the collected weld data based on the height information required for grinding (i.e., weld height), selects the coordinates that need to be ground by the robot, and calculates the flatness of the collected parent material data on both sides of the weld.

[0107] 6. Grinding path planning: The computing server (22) collects all coordinates that need to be polished, from the starting point to the end point of the weld as the x-axis direction, the weld width as the y-axis, and the weld height as the z-axis, and plans the path along the x-axis direction for the area that needs to be polished selected according to step 5, that is, two adjacent polishing areas are connected in a straight line and used as the movement trajectory of the grinding wheel (13). The non-polishing area passed by during the path can be avoided by increasing the Z-axis height. At the same time, combined with the collected parent material flatness information within the radius of the grinding wheel (13) on both sides of the weld, the grinding angle is adjusted by ensuring that the grinding wheel is level with the parent material in the polishing area.

[0108] 7. Implementation of precise grinding: The computing server (22) sends the precise grinding path and the corresponding grinding angle information of the grinding wheel (13) to the robot control cabinet (23), and then the robot control cabinet (23) sends corresponding instructions to control the grinding robot (24) to perform the grinding work.

[0109] The weld grinding method provided by the embodiment of the present invention first obtains the weld to be ground; and adjusts the postures of the grinding robot and the electronic control unit so that the weld starting point of the weld to be ground and the parent material within the grinding wheel radius range on both sides of the weld are within the corresponding field of view of the 3D camera; then the weld data of the entire weld to be ground and the plane data of the parent material are collected by the 3D camera; then the area to be ground is screened out according to the Z-axis information in the weld data, and the flatness information of the parent material is calculated according to the plane data of the parent material; finally, the areas to be ground are grouped, and the grinding path is planned and the grinding angle is set in combination with the flatness information of the parent material; then the planned grinding path and the corresponding grinding angle are sent to the robot control cabinet, so that the robot control cabinet sends corresponding instructions to control the grinding robot to complete the corresponding weld grinding work. The present invention uses 3D machine vision to identify the weld excess height on the weld to be polished, screens out the area that needs to be polished, and sets the grinding path and grinding angle of the grinding wheel according to the area that needs to be polished and the flatness information of the parent material around the polishing area, which can further improve the grinding accuracy and guide the grinding robot to complete the welding work while ensuring that the parent material is not damaged. This solves the problem that the overall grinding accuracy of the existing weld grinding method is not high and the parent material is easily damaged during the grinding process.

[0110] Embodiment 2:

[0111] like Figure 5 As shown, this embodiment provides a weld grinding device, which is used to perform the above-mentioned weld grinding method, including:

[0112] A weld acquisition module 11, used for acquiring the weld to be polished;

[0113] The posture adjustment module 12 is connected to the weld acquisition module 11 and is used to adjust the posture of the grinding robot and the electronic control unit so that the weld starting point of the weld to be ground and the parent material within the grinding wheel radius range on both sides of the weld are within the corresponding field of view of the 3D camera;

[0114] A data acquisition module 13, connected to the posture adjustment module 12, for acquiring weld data of the entire weld to be ground and plane data of the parent material through a 3D camera;

[0115] A screening and calculation module 14, connected to the data acquisition module 13, is used to screen out the area that needs to be polished according to the Z-axis information in the weld data, and calculate the flatness information of the base material according to the plane data of the base material;

[0116] The path angle planning module 15 is connected to the screening calculation module 14 and is used to group the areas that need to be polished and perform polishing path planning and polishing angle setting in combination with the flatness information of the base material;

[0117] The weld grinding module 16 is connected to the path angle planning module 15, and is used to send the planned grinding path and the corresponding grinding angle to the robot control cabinet, so that the robot control cabinet sends corresponding instructions to control the grinding robot to complete the corresponding weld grinding work.

[0118] Furthermore, the weld acquisition module 11 specifically includes:

[0119] A judging unit, used for judging whether there is an unfinished weld on the grinding part;

[0120] The selection unit is used for obtaining the weld to be ground from the weld that has not been finished grinding in response to the weld that has not been finished grinding on the grinding piece.

[0121] Furthermore, the 3D camera is based on a line structured light mode, and the device further comprises:

[0122] The setting module is used to set the sampling points and sampling intervals of the 3D camera line structured light according to the polishing requirements.

[0123] Furthermore, the data acquisition module 13 is specifically used for:

[0124] While ensuring the consistency of the depth of field of the 3D camera, the 3D camera is controlled by the electronic control unit to scan the entire weld to be ground and the parent material within the grinding wheel radius on both sides of the weld, so as to collect the weld data of the entire weld to be ground and the plane data of the parent material.

[0125] Furthermore, the screening calculation module 14 includes:

[0126] The grinding area acquisition unit is used to filter the Z-axis information in the collected weld data according to the height information required for grinding, filter out the coordinates that need to be polished by the grinding robot, and obtain the area that needs to be polished.

[0127] Furthermore, the path angle planning module 15 specifically includes:

[0128] The path planning unit is used to group the areas that need to be polished, with the direction from the weld start point to the end point as the x-axis direction, the weld width as the y-axis, and the weld height as the z-axis, and to perform polishing path planning for the grouped polishing areas along the x-axis direction;

[0129] The angle planning unit is used to set the grinding angle according to the planned grinding path combined with the flatness information of the base material, wherein the grinding angle can ensure that the grinding wheel is level with the flatness of the base material in the grinding area.

[0130] Furthermore, the device also includes:

[0131] The grinding height setting module is used to set the grinding height of the non-grinding area passed by the grinding path during the process, so as to increase the Z-axis height;

[0132] The grinding height sending module is used to send the grinding height of the non-grinding area to the robot control cabinet.

[0133] Embodiment 3:

[0134] refer to Figure 6 This embodiment provides a device for weld grinding, including a memory 21 and a processor 22. The memory 21 stores a computer program, and the processor 22 is configured to run the computer program to execute the weld grinding method in Example 1.

[0135] The memory 21 is connected to the processor 22. The memory 21 may be a flash memory, a read-only memory or other memory. The processor 22 may be a central processing unit or a single-chip microcomputer.

[0136] Embodiment 4:

[0137] This embodiment provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the weld grinding method in the above-mentioned embodiment 1 is implemented.

[0138] The computer-readable storage medium includes volatile or non-volatile, removable or non-removable media implemented in any method or technology for storing information (such as computer-readable instructions, data structures, computer program modules or other data). Computer-readable storage media include, but are not limited to, RAM (Random Access Memory), ROM (Read-Only Memory), EEPROM (Electrically Erasable Programmable read only memory), flash memory or other memory technology, CD-ROM (Compact Disc Read-Only Memory), digital versatile disk (DVD) or other optical disk storage, magnetic cassettes, magnetic tapes, magnetic disk storage or other magnetic storage devices, or any other medium that can be used to store the desired information and can be accessed by a computer.

[0139] In summary, the weld grinding method, device and readable storage medium provided by the embodiments of the present invention first obtain the weld to be ground; and adjust the posture of the grinding robot and the electronic control unit so that the weld starting point of the weld to be ground and the parent material within the grinding wheel radius on both sides of the weld are within the corresponding field of view of the 3D camera; then the weld data of the entire weld to be ground and the plane data of the parent material are collected by the 3D camera; then the area to be ground is filtered out according to the Z-axis information in the weld data, and the flatness information of the parent material is calculated according to the plane data of the parent material; finally, the areas to be ground are grouped, and the grinding path is planned and the grinding angle is set in combination with the flatness information of the parent material; then the planned grinding path and the corresponding grinding angle are sent to the robot control cabinet, so that the robot control cabinet sends corresponding instructions to control the grinding robot to complete the corresponding weld grinding work. The present invention uses 3D machine vision to identify the weld excess height on the weld to be polished, screens out the area that needs to be polished, and sets the grinding path and grinding angle of the grinding wheel according to the area that needs to be polished and the flatness information of the parent material around the polishing area, which can further improve the grinding accuracy and guide the grinding robot to complete the welding work while ensuring that the parent material is not damaged. This solves the problem that the overall grinding accuracy of the existing weld grinding method is not high and the parent material is easily damaged during the grinding process.

[0140] It is to be understood that the above embodiments are merely exemplary embodiments used to illustrate the principles of the present invention, but the present invention is not limited thereto. For those skilled in the art, various modifications and improvements can be made without departing from the spirit and essence of the present invention, and these modifications and improvements are also considered to be within the scope of protection of the present invention.

Claims

1. A method for welding seam grinding, characterized in that: The method comprises: Obtaining a weld to be ground; Adjust the posture of the grinding robot and the electronic control unit so that the starting point of the weld to be ground and the parent material within the grinding wheel radius on both sides of the weld are within the corresponding field of view of the 3D camera; Collecting weld data of the entire weld to be ground and plane data of the parent material through a 3D camera; Filtering out the area that needs to be polished according to the Z-axis information in the weld data, and calculating the flatness information of the base material according to the plane data of the base material; Gather the areas that need to be polished, and plan the polishing path and set the polishing angle based on the flatness information of the parent material; The planned grinding path and the corresponding grinding angle are sent to the robot control cabinet, so that the robot control cabinet sends corresponding instructions to control the grinding robot to complete the corresponding weld grinding work.

2. The method according to claim 1, characterized in that The step of obtaining the weld to be polished specifically includes: Determine whether there are welds on the polished parts that have not been completely polished; In response to the presence of an unfinished weld on the grinding piece, the weld to be ground is obtained from the unfinished weld.

3. The method according to claim 1, characterized in that The 3D camera is based on a line structured light mode. Before collecting the weld data of the entire weld to be polished and the plane data of the parent material through the 3D camera, the method further includes: The sampling points and sampling intervals of the 3D camera line structured light are set according to the polishing requirements.

4. The method according to claim 1, characterized in that: The collecting of the weld data of the entire weld to be polished and the plane data of the parent material by the 3D camera specifically includes: While ensuring the consistency of the depth of field of the 3D camera, the 3D camera is controlled by the electronic control unit to scan the entire weld to be ground and the parent material within the grinding wheel radius on both sides of the weld, so as to collect the weld data of the entire weld to be ground and the plane data of the parent material.

5. The method according to claim 1, characterized in that The step of selecting the area to be polished according to the Z-axis information in the weld data specifically includes: The Z-axis information in the collected weld data is screened according to the height information required for grinding, the coordinates that need to be polished by the grinding robot are screened out, and the area that needs to be polished is obtained.

6. The method according to claim 1, characterized in that The above mentioned process of grouping the areas to be polished and planning the polishing path and setting the polishing angle in combination with the flatness information of the base material specifically includes: The areas to be polished are grouped together, with the direction from the weld start point to the end point as the x-axis direction, the weld width as the y-axis, and the weld height as the z-axis, and the polishing path planning is performed for the grouped polishing areas along the x-axis direction; The grinding angle is set according to the planned grinding path in combination with the flatness information of the base material, wherein the grinding angle can ensure that the grinding wheel is level with the base material in the grinding area.

7. The method according to claim 6, characterized in that The method further comprises: Set the grinding height of the non-grinding area passed by the grinding path during the process to increase the Z-axis height; The grinding height of the non-grinding area is sent to the robot control cabinet.

8. A device for welding seam grinding, characterized in that: include: A weld acquisition module, used for acquiring the weld to be ground; A posture adjustment module, connected to the weld acquisition module, is used to adjust the posture of the grinding robot and the electronic control unit so that the weld starting point of the weld to be ground and the parent material within the grinding wheel radius range on both sides of the weld are within the corresponding field of view of the 3D camera; A data acquisition module, connected to the posture adjustment module, for acquiring weld data of the entire weld to be ground and plane data of the parent material through a 3D camera; A screening and calculation module, connected to the data acquisition module, for screening out the area to be polished according to the Z-axis information in the weld data, and calculating the flatness information of the base material according to the plane data of the base material; A path angle planning module, connected to the screening calculation module, is used to group the areas that need to be polished, and perform polishing path planning and polishing angle setting in combination with the flatness information of the parent material; The weld grinding module is connected to the path angle planning module and is used to send the planned grinding path and the corresponding grinding angle to the robot control cabinet, so that the robot control cabinet sends corresponding instructions to control the grinding robot to complete the corresponding weld grinding work.

9. A device for welding seam grinding, characterized in that: The method comprises a memory and a processor, wherein a computer program is stored in the memory, and the processor is configured to run the computer program to implement the weld grinding method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the weld grinding method according to any one of claims 1 to 7 is implemented.

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