The invention relates to a weld joint recognizing and positioning device for weld joint
grinding. The device comprises a linear scanning
laser sensor and a
grinding head
assembly which are fixedly connected to a
tail end clamp of a
robot, a controller is connected with the
robot through a
control line, and an industrial
personal computer is connected with the linear scanning
laser sensor and the controller through
data lines. A weld joint recognizing and positioning method achieved by means of the device is characterized in that the
robot drives the linear scanning
laser sensor to conduct constant-speed linear scanning on the weld joint position of a vehicle body, multiple frames of weld joint contour data are obtained, the industrial
personal computer calculates weld joint and base metaldata, the position posture is converted into 6DOF coordinates, the robot calculates and generates a
grinding machining track according to the 6DOF coordinates, the grinding head
assembly is driven toexecute the
machining track, and weld joint grinding is carried out. According to the device and the method, the requirement for
welding joint recognition and positioning in grinding application is met, automatic
welding joint grinding is achieved, the problems that a vehicle body
skin welding joint is relatively low and short and is prone to being interfered by welding
slag, and consequently, thegrinding effect is affected are solved, and the recognition accuracy and the grinding precision are improved.