基于模型匹配的机器人焊缝自适应校正打磨系统开发与应用  

Development and application of robot weld adaptive correction grinding system based on model matching

作　　者：胡明 胡祥涛 湛红晖 HU Ming;HU Xiangtao;ZHAN Honghui(School of Electrical Engineering and Automation,Anhui University,Hefei 230601,China;HUST-WUXI Research Institute,Wuxi 214100,China)

机构地区：[1]安徽大学电气工程与自动化学院,合肥230601 [2]华中科技大学无锡研究院,无锡214100

出　　处：《现代制造工程》2025年第1期42-49,共8页Modern Manufacturing Engineering

基　　金：国家自然科学基金项目(52175210);江淮前沿技术协同创新中心追梦基金项目(2023-ZM01Z009)。

摘　　要：针对目前机器人焊缝打磨过程中,由于工件制造误差、定位装夹误差等导致机器人打磨轨迹偏离实际工件焊缝,造成打磨质量一致性差问题,研发了一种基于点云模型特征匹配的机器人焊缝打磨轨迹自适应校正系统。该系统利用双目面结构光相机扫描工件特征区域,获取工件真实形貌,与标准点云模板进行匹配,得到实际工件坐标系的偏差转换矩阵,应用到机器人主程序实现焊缝打磨初始点的快速引导以及打磨轨迹的在线自适应校正。最后,以高铁转向架为对象开展了实验研究,实验结果表明该系统具有良好的焊缝打磨轨迹自动校正性能和稳定性。In view of the problem that the robot grinding trajectory deviates from the actual workpiece weld due to the manufacturing error of the workpiece and the positioning and clamping error in the current robot weld grinding process,resulting in poor consistency of grinding quality,an adaptive correction system of the robot weld grinding trajectory based on the feature matching of the point cloud model was developed.The system uses the surface structure light camera to scan the feature area of the workpiece to obtain the real morphology of the workpiece,matches with the standard point cloud template,and obtains the deviation conversion matrix of the actual workpiece coordinate system,which is applied to the robot master program to realize the rapid guidance of the initial point of welding grinding and the online adaptive correction of the grinding track.Finally,the experimental results show that the system has good performance of automatic correction and stability.

关 键 词：焊缝打磨 离线编程 双目面结构光 点云匹配 自适应校正 

分 类 号：TH164[机械工程—机械制造及自动化]