中国机械工程2024，Vol.35Issue(7)：1253-1262,1268,11.DOI:10.3969/j.issn.1004-132X.2024.07.013
基于点云的机器人焊缝自动化磨削系统与方法
Automated Grinding System and Method for Robotic Weld Seams Based on Point Cloud
摘要
Abstract
Service life and dynamic performance of structural components were affected by the ac-curacy and surface consistency of weld grinding.Currently,weld grinding mainly relied on manual or trajectory teaching methods,which had problems such as poor uniformity,low efficiency and high cost.So,a point cloud-based automated grinding system for robotic weld seams was proposed.A quadratic streamlining method for weld seam point cloud was proposed to obtain the global informa-tion of the weld seam surfaces accurately,and the weld seam width,height,and centerline features were extracted based on the distances between sampling points and neighborhood center of gravity points.The errors of height and width of the extracted weld seams are as 0.09 mm and 0.2 mm respec-tively,and the minimum residual height of the weld seams after grinding is as 0.17 mm,and the vlaue of surface roughness Ra is up to 0.498 μm.关键词
焊缝/机器人磨削/点云/特征提取Key words
weld seam/robotic grinding/point cloud/feature extraction分类
矿业与冶金引用本文复制引用
葛吉民,邓朝晖,王水仙,卓荣锦,刘伟,陈曦..基于点云的机器人焊缝自动化磨削系统与方法[J].中国机械工程,2024,35(7):1253-1262,1268,11.基金项目
国家自然科学基金(U23A20634) （U23A20634）
湖南省市联合基金(2021JJ50116) （2021JJ50116）
