G-series high-speed train white body multi-robot cooperative grinding control method, device and system

Abstract

The invention relates to the technical field of industrial robot grinding machining and specifically discloses a G-series high-speed train white body multi-robot cooperative grinding control method. The method comprises the steps that a scanning image of a G-series high-speed train white body is obtained, and all high point defect areas are obtained according to the scanning image; robot trajectories for defect grinding are generated according to all the high point defect areas; the robot trajectories for defect grinding are sent to a system control cabinet; grinding workshop sections of the G-series high-speed train white body are obtained; overall grinding paths of the G-series high-speed train white body are determined according to the grinding workshop sections; overall grinding control signals are generated according to the overall grinding paths; and the overall grinding control signals are sent to the system control cabinet. The invention further discloses a G-series high-speedtrain white body multi-robot cooperative grinding control device and system. According to the G-series high-speed train white body multi-robot cooperative grinding control method provided by the invention, grinding units and the grinding workshop sections of robots are determined by reasonably planning the grinding paths, and it is guaranteed that putty on the G-series high-speed train white bodyis ground in place and grinding requirements are met.

Description

technical field [0001] The present invention relates to the technical field of industrial robot grinding, in particular to a high-speed rail body-in-white multi-robot collaborative grinding control method, a high-speed rail body-in-white multi-robot collaborative grinding control device, and a high-speed rail body-in-white multi-robot collaborative grinding control device comprising the high-speed rail body-in-white multi-robot collaborative grinding control device Multi-robot collaborative grinding system. Background technique [0002] In recent years, the mileage of my country's high-speed rail construction has continued to grow rapidly, and there is also a stronger demand for the production of high-speed rail bodies. How to quickly and efficiently meet market demand, reduce production costs, improve the level of intelligent manufacturing, and realize industrial upgrading are problems that major locomotive manufacturers must face. [0003] In the process of car body produ...

AI Technical Summary

Problems solved by technology

For the grinding operation of large-scale components such as high-speed rail body-in-white, due to its large size range and changeable shape, and due to uneven force and lack of experience in manual application of putty, the application of putty in some areas is uneven and has a large fluctuation range, and There are also many local defects of smearing such as fine edges visible to the naked eye left by many smearing tools

Images