PCA-based robot wire drawing high-speed railway white vehicle body workpiece accurate calibration method

Abstract

The invention provides a PCA-based robot wire drawing high-speed railway white vehicle body workpiece accurate calibration method. The method comprises the following steps of firstly, acquiring 3D point cloud information of a workpiece relative to robot body geodetic coordinates through robot tail end clamping scanning equipment; determining a point cloud boundary value by using a principal component analysis method, and generating a bounding box to determine the actual size of the workpiece to be machined; and finally adopting a point cloud dimensionality reduction simplification method and adichotomy method which meet machining precision requirements to quickly determine the position of the machined workpiece, providing a calibration strategy suitable for a robot to calibrate the largeworkpiece to be machined, and finally realizing accurate calibration of the robot wire drawing high-speed railway white vehicle body workpiece. By means of the method, the defect that the calibrationprecision generated by a traditional robot demonstrator calibration method is low can be effectively overcome, the calibration error caused by the installation error of the large workpiece can be eliminated, and the speed and accuracy of calibrating the large workpiece can be greatly improved.

Description

technical field [0001] The invention belongs to the technical field of automatic processing of industrial robots, and relates to a calibration method during processing, in particular to a PCA-based precise calibration method for robot wire drawing high-speed rail body-in-white workpieces. Background technique [0002] Wire drawing is currently a popular non-painted metal surface treatment technology. Combining it with robot technology and applying it to the surface processing of high-speed rail body-in-white can effectively improve the surface texture of the car body and reduce the damage caused by traditional chemical coating methods. Environmental pollution is an advanced car body manufacturing process. During the wire drawing process of the high-speed rail body-in-white robot, accurate calibration of the workpiece coordinate system is the premise to achieve the effect of precision wire drawing. The Chinese invention patent application with the application number 20161001...

AI Technical Summary

Problems solved by technology

[0003] Aiming at the lack of calibration accuracy of the workpiece coordinate system in the existing technology in the process of solving the robot processing of large and complex components, the present invention proposes a principal component analysis (PCA) method based on point clouds to improve the workpiece calibration accuracy of the robot wire drawing high-speed rail body-in-white

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