电焊机2026，Vol.56Issue(6)：129-135,7.DOI:10.7512/j.issn.1001-2303.2026.06.16
机器人管端焊缝智能打磨工作站研制
Development of the Intelligent Grinding Workstation for the Welds at the Pipe Ends of Robots
李洪涛 1秦伟涛 1付傲 1周坤 1白硕 1张晴 1王玥瑶1
作者信息
- 1. 中国机械总院集团哈尔滨焊接研究所有限公司,黑龙江 哈尔滨 150028
- 折叠
摘要
Abstract
To address the high geometric complexity,poor multi-material adaptability,and insufficient dynamic optimization of process parameters in end weld seams,as well as the low efficiency and poor quality consistency of manual grinding,a ro-botic intelligent grinding workstation was developed based on visual sensor technology.This workstation integrates a three-dimensional structured light beam vision sensor and a laser displacement distance sensor to create a multimodal perception system.It achieves sub-millimeter-level three-dimensional reconstruction of weld seam morphology using structured light stripe projection(point cloud density≥2 000 points/cm2)and compensates for pipe ellipticity errors with laser distance data(compensation accuracy±0.05 mm),thereby improving the overall detection accuracy to 0.1 mm(a 60%improvement over single-sensor solutions).It solves the problem of adaptive tracking of complex surfaces;a secondary positioning trajectory algorithm was proposed,which enhances trajectory tracking accuracy to±0.08 mm.The research has overcome key tech-nologies such as multi-source information fusion and the construction of a process knowledge base,providing theoretical support and equipment paradigms for the intelligent upgrade of the pipeline manufacturing industry.It realizes intelligent recognition,precise tracking,and grinding of weld seams.关键词
视觉传感器/柔性化/自动控制/打磨/机器人Key words
vision sensor/flexibility/automatic control/grinding/robot分类
矿业与冶金引用本文复制引用
李洪涛,秦伟涛,付傲,周坤,白硕,张晴,王玥瑶..机器人管端焊缝智能打磨工作站研制[J].电焊机,2026,56(6):129-135,7.
