Weld joint recognizing and positioning method and device for weld joint grinding

Abstract

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.

Description

technical field [0001] The invention relates to the field of physics, in particular to measurement technology, in particular to a welding seam identification and positioning method and device for welding seam grinding. Background technique [0002] In the train manufacturing process, there are a large number of welds in the skin of the carbon steel train body. In order to relieve stress and improve the appearance, these welds need to be polished. At present, the grinding work is mainly manual grinding, which has a large workload, low efficiency, noise and dust pollution, and has certain health hazards to operators. Therefore, automatic grinding is an urgent need for the industry. In the prior art, a welding seam identification and positioning technology scheme using a laser line scanning scheme has been proposed, but the identification object is the edge of the base material with a neat and sharp edge before welding. At the same time, the grinding application also needs to ...

AI Technical Summary

Problems solved by technology

The optimized welding seam contour recognition and positioning method solves the problem that the car body skin welding seam is relatively low and short, is easily disturbed by welding slag, and affects the grinding effect, and improves the recognition accuracy and grinding precision

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