CN111993200B - Welding seam identification and positioning method and device for welding seam polishing - Google Patents
Welding seam identification and positioning method and device for welding seam polishing Download PDFInfo
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- CN111993200B CN111993200B CN202010825510.8A CN202010825510A CN111993200B CN 111993200 B CN111993200 B CN 111993200B CN 202010825510 A CN202010825510 A CN 202010825510A CN 111993200 B CN111993200 B CN 111993200B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B9/00—Machines or devices designed for grinding edges or bevels on work or for removing burrs; Accessories therefor
- B24B9/02—Machines or devices designed for grinding edges or bevels on work or for removing burrs; Accessories therefor characterised by a special design with respect to properties of materials specific to articles to be ground
- B24B9/04—Machines or devices designed for grinding edges or bevels on work or for removing burrs; Accessories therefor characterised by a special design with respect to properties of materials specific to articles to be ground of metal, e.g. skate blades
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B49/00—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation
- B24B49/12—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation involving optical means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B51/00—Arrangements for automatic control of a series of individual steps in grinding a workpiece
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Abstract
The utility model provides a welding seam discernment positioner for welding seam is polished, includes that the line of fixed connection on the terminal anchor clamps of robot sweeps laser sensor and polishes the head subassembly, and the robot is connected through the control line to the controller, and the industrial computer is swept laser sensor and controller through data line and is connected. The welding seam identification and positioning method realized by the device utilizes the robot to drive the linear scanning laser sensor to perform uniform linear scanning on the welding seam position of the vehicle body, so as to obtain multi-frame welding seam profile data, the industrial personal computer calculates the welding seam and base metal data, converts the position posture into 6DOF coordinates, the robot calculates and generates a grinding track according to each 6DOF coordinate, and drives the grinding head assembly to execute the machining track to grind the welding seam. The welding line automatic grinding device meets the requirement for identifying and positioning the welding line in the grinding application, realizes automatic grinding of the welding line, solves the problems that the welding line of the car body skin is relatively low and short, is easily interfered by welding slag and influences the grinding effect, and improves the identification accuracy and the grinding precision.
Description
Technical Field
The invention relates to the field of physics, in particular to a measurement technology, and specifically relates to a weld joint identification and positioning method and device for weld joint polishing.
Background
In the production and manufacturing process of the train, the carbon steel train body skin has a large number of welding seams, and the welding seams need to be polished for stress relief and appearance improvement. At present, manual polishing is mainly performed by polishing by manpower, the workload is high, the efficiency is low, noise and dust pollution are caused, certain health hazards are caused to operating personnel, and therefore the realization of automatic polishing is an urgent need of the industry. The technical scheme of the weld joint identification and positioning adopting the laser line scanning scheme is provided in the prior art, but the identification object is the edge of the base metal with a neat and sharp edge before welding, and because the shape of the weld joint is changed after welding, and the heights and widths of the weld joints with different welding parameters are different, and meanwhile, the grinding application also needs to acquire the information of the position, the angle, the position, the height and the like of the base metal to adjust the posture and the grinding parameters of a grinding tool, so the technical scheme of the weld joint identification and positioning in the existing welding application cannot be directly applied to the grinding of the weld joint.
Disclosure of Invention
The invention aims to provide a welding seam recognition and positioning device for welding seam polishing, which adopts a welding seam positioning and recognition technology meeting polishing application requirements to process welding seam pose and parent metal form data acquired by a linear scanning laser sensor, meets the requirements on welding seam recognition and positioning in polishing application, and realizes automatic polishing of welding seams. The optimized welding seam contour recognition and positioning method solves the problems that the welding seam of the car body skin is relatively low and short, is easily interfered by welding slag and influences the polishing effect, and improves the recognition accuracy and the polishing precision.
The invention discloses a welding seam recognition and positioning device for welding seam polishing, which comprises an industrial personal computer, a robot, a controller, a line scanning laser sensor and a polishing head component, wherein the line scanning laser sensor and the polishing head component are fixedly connected on a robot end clamp, the robot is connected with the controller through a control line, the industrial personal computer is connected with the line scanning laser sensor and the controller through a data line, the controller controls the robot to drive the line scanning laser sensor to do linear motion according to a scanning track, the line scanning laser sensor collects multi-frame welding seam profile and parent metal shape data and transmits the data to the industrial personal computer, the industrial personal computer analyzes and integrates the welding seam profile and the parent metal shape data, calculates and generates an executable 6DOF coordinate of the robot and transmits the 6DOF coordinate to the controller, and the controller generates a polishing track according to the 6DOF coordinate, and controlling the robot to drive the polishing head assembly to polish the welding seam.
Further, the robot is a six-axis robot.
The invention also provides a welding line identification and positioning method for welding line polishing, which comprises the following steps: the method comprises the following steps: establishing a tool number of the line scanning laser sensor on the robot, calibrating a TCP point of the tool and the coordinate direction of the tool, enabling a coordinate origin and a coordinate axis to be completely coincided with a measurement coordinate origin and a coordinate axis, and presetting a scanning track and an operation speed of the robot according to the position range of a welding seam; step two: starting the robot, calculating according to the running speed to obtain the scanning frame rate of the line scanning laser sensor, executing a scanning track by the robot, and performing uniform linear scanning on the position of a welding seam of the vehicle body by the line scanning laser sensor to obtain multi-frame welding seam outline data; step three: the linear scanning laser sensor sends the welding seam profile data of each frame to an industrial personal computer, the industrial personal computer calculates the welding seam position of each frame and morphological parameters of a welding seam and a base metal, and converts the position posture into a 6DOF coordinate under a robot coordinate; step four: the robot generates a grinding track according to each 6DOF coordinate calculation given by the industrial personal computer, and drives the grinding head assembly to execute the machining track to grind the welding seam.
Further, the method comprises the following welding seam positioning process: the line scanning laser sensor is arranged along the y-axis direction, and the scanning result is a plurality of groups of x and z profile data which are equidistant along the y-axis; performing multi-thread processing on the obtained data set, wherein each thread performs single-frame contour data processing; after the operation, the overall process obtains a plurality of groups of welding seam positions along the y axis and polishing parameter data; carrying out validity judgment and continuity judgment on the welding seam identification result along the y-axis direction; splicing a plurality of groups of continuous results along the y axis to obtain final data of the whole welding line and position data of a welding head and a welding tail; compensating an abnormal value point between the welding head and the welding tail; and (4) performing coordinate transformation on the coordinate points of the positions of the welding seams, transforming the coordinates of the sensors into robot coordinates, and generating the coordinates { X, Y, Z, A, B and C } of all the motion track points of the robot. Specifically, a, B, and C are attitude angle values in a 6DOF coordinate system, i.e., a roll angle, a pitch angle, and a yaw angle, which are known to those skilled in the art and will not be described herein.
Further, the single-frame contour data processing step includes: the method comprises the following steps: filtering the single-frame contour data acquired by the line scanning laser sensor; step two: carrying out first-order derivation on the filtered contour point set to obtain a slope on each coordinate; step three: filtering the slope again to obtain a contour slope set; step four: deleting the region with the overlarge slope; step five: performing first-order derivation on the contour slope set to obtain a positive and negative curve value of each point; step six: determining all continuous intervals with curvature values larger than a given positive threshold value as a weld edge; step seven: establishing a plurality of characteristic points in each interval, generating left and right end point pairing items of a welding line for the characteristic points in different intervals, searching the pairing item with the maximum welding line height for all the pairing items according with the width and height characteristics, and searching the position of the maximum curvature value in the curvature threshold value area where the left and right end points of the pairing item with the maximum height are located; step eight: and calculating related polishing parameters of the welding seam through the left end point and the right end point of the welding seam.
The working principle of the invention is as follows: the robot carries out uniform linear scanning on a welding line on a vehicle body skin according to a preset linear scanning laser sensor scanning track to obtain multi-welding profile and parent metal form data, the industrial personal computer analyzes and integrates the collected data, a 6DOF coordinate executable by the robot is finally generated through a welding line positioning and single-frame profile data processing method, the controller generates a polishing processing track according to the 6DOF coordinate, and the robot is controlled to drive a polishing head assembly to complete welding line polishing.
Compared with the prior art, the invention has positive and obvious effect. The invention adopts the welding seam positioning and identifying technology which meets the requirements of the polishing application, meets the requirements of welding seam identification and positioning in the polishing application, and realizes the automatic polishing of the welding seam. The optimized welding seam contour recognition and positioning method solves the problems that the welding seam of the car body skin is relatively low and short, is easily interfered by welding slag and influences the polishing effect, and improves the recognition accuracy and the polishing precision.
Drawings
Fig. 1 is a schematic view of the structure of the apparatus of the present invention.
Fig. 2 is a schematic flow chart of the weld joint identification and positioning method in the present invention.
FIG. 3 is a flow chart of a single-frame contour processing method according to the present invention.
Detailed Description
Example 1:
as shown in figure 1, the welding seam recognition and positioning device for welding seam polishing comprises an industrial personal computer 1, a robot 2, a controller 3, a line scanning laser sensor 4 and a polishing head assembly 5, wherein the line scanning laser sensor 4 and the polishing head assembly 5 are fixedly connected to a clamp 201 at the tail end of the robot 2, the robot 2 is connected with the controller 3 through a control line, the industrial personal computer 1 is connected with the line scanning laser sensor 4 and the controller 3 through a data line, the controller 3 controls the robot 2 to drive the line scanning laser sensor 4 to do linear motion according to a scanning track, the line scanning laser sensor 4 collects multi-frame welding seam 7 outline and parent metal 6 shape data and transmits the data to the industrial personal computer 1, the industrial personal computer 1 analyzes and integrates the welding seam 7 outline and the parent metal 6 shape data, calculates and generates 6DOF coordinates executable by the robot 2 and transmits the 6DOF coordinates to the controller 3, the controller 3 generates a polishing track according to the 6DOF coordinate, and controls the robot 2 to drive the polishing head assembly 5 to polish the welding seam 7.
Further, the robot 2 is a six-axis robot.
As shown in fig. 2 and fig. 3, the invention further provides a method for identifying and positioning a weld joint by using the device, which comprises the following steps:
the method comprises the following steps: establishing a tool number of the linear scanning laser sensor 4 on the robot 2, calibrating a TCP point of the tool and the coordinate direction of the tool, enabling the coordinate origin and the coordinate axis to be completely coincided with the measurement coordinate origin and the coordinate axis, and presetting a scanning track and an operation speed of the robot 2 according to the position range of the welding seam 7;
step two: starting the robot 2, calculating according to the running speed to obtain the scanning frame rate of the line scanning laser sensor 4, executing a scanning track by the robot 2, and performing uniform linear scanning on the position of a welding seam 7 of the vehicle body by the line scanning laser sensor 4 to obtain multi-frame welding seam profile data;
step three: the linear scanning laser sensor 4 sends the welding seam outline data of each frame to the industrial personal computer 1, the industrial personal computer 1 calculates the welding seam position of each frame and the morphological parameters of the welding seam 7 and the parent metal 6, and converts the position posture into a 6DOF coordinate under a robot 2 coordinate;
step four: the robot 2 generates a polishing track according to each 6DOF coordinate calculation given by the industrial personal computer 1, and the robot 2 drives the polishing head assembly 5 to execute the processing track to polish the welding seam.
Further, the welding seam identification and positioning method comprises the following welding seam positioning process: the line scanning laser sensor 4 moves along the direction of the y axis, and the scanning result is a plurality of groups of x and z profile data which are equidistant along the y axis; performing multi-thread processing on the obtained data set, wherein each thread performs single-frame contour data processing; after the operation, the overall process obtains a plurality of groups of welding seam 7 positions along the y axis and polishing parameter data; the effectiveness judgment and continuity judgment are carried out on the identification result of the welding seam 7 along the y-axis direction; splicing a plurality of groups of continuous results along the y axis to obtain final data of the whole welding seam 7 and position data of a welding head and a welding tail; compensating an abnormal value point between the welding head and the welding tail; coordinates of the coordinate points of the positions of the respective welding lines 7 are transformed from sensor coordinates to robot coordinates, and coordinates { X, Y, Z, A, B, C } of the motion locus points of the robot 2 are generated.
Further, the single-frame contour data processing step includes:
the method comprises the following steps: filtering the single-frame profile data acquired by the line scanning laser sensor 4;
step two: carrying out first-order derivation on the filtered contour point set to obtain a slope on each coordinate;
step three: filtering the slope again to obtain a contour slope set;
step four: deleting the region with the overlarge slope;
step five: carrying out first-order derivation on the contour slope set to obtain a positive and negative curvature value of each point;
step six: determining all continuous intervals with curvature values greater than a given positive threshold value as the edges of a weld seam 7;
step seven: establishing a plurality of feature points in each interval, generating a pairing item of left and right end points of a welding line 7 for the feature points in different intervals, searching the pairing item of the maximum height of the welding line 7 for all the pairing items according with the width and height features, and searching the position of the maximum curvature value in the curvature threshold value area of the left and right end points of the pairing item of the maximum height.
Judging the welding seam, and simultaneously meeting the following conditions: there are a pair of consecutive intervals of positive curvature and the x-distance of the two sets conforms to the normal weld width (indicating that the pair of curvatures may be the left and right ends of the weld). Of the pair of positive values, there must be a continuous set of negative values characterizing the weld apex as having a downward curve to the right along X. The pair of positive curvatures and the negative curvature form a weld joint, which satisfies the characteristics of a normal weld joint. This is the set of data for which the weld height is highest throughout the scan profile;
step eight: and calculating related grinding parameters of the welding seam 7 through the left end point and the right end point of the welding seam 7.
Claims (1)
1. A welding seam identification and positioning method for welding seam grinding is characterized by comprising the following steps:
the method comprises the following steps: establishing a tool number of a linear scanning laser sensor on a robot, calibrating a TCP point of the tool and the coordinate direction of the tool, completely coinciding an origin of coordinates and a coordinate axis with a measured origin of coordinates and the coordinate axis, and presetting a scanning track and a running speed of the robot according to the position range of a welding seam;
step two: starting the robot, calculating according to the running speed to obtain the scanning frame rate of the line scanning laser sensor, executing a scanning track by the robot, and performing uniform linear scanning on the position of a welding seam of the vehicle body by the line scanning laser sensor to obtain multi-frame welding seam outline data;
step three: the linear scanning laser sensor sends the welding seam outline data of each frame to an industrial personal computer, the industrial personal computer calculates the welding seam position of each frame and morphological parameters of a welding seam and a base metal, and the position posture is converted into a 6DOF coordinate under a robot coordinate;
step four: the robot generates a grinding track according to each 6DOF coordinate calculation given by an industrial personal computer, and drives a grinding head assembly to execute the machining track to grind the welding seam;
the method also comprises the following welding seam positioning process: the line scanning laser sensor is arranged along the y-axis direction, and the scanning result is a plurality of groups of x and z profile data which are equidistant along the y-axis; performing multi-thread processing on the obtained data set, wherein each thread performs single-frame contour data processing; after the operation, the overall process obtains a plurality of groups of welding seam positions along the y axis and polishing parameter data; carrying out validity judgment and continuity judgment on the welding seam identification result along the y-axis direction; splicing a plurality of groups of continuous results along the y axis to obtain final data of the whole welding line and position data of a welding head and a welding tail; compensating an abnormal value point between the welding head and the welding tail; coordinate transformation is carried out on the coordinate points of the positions of all welding seams, the coordinates of the sensors are transformed into robot coordinates, and coordinates { X, Y, Z, A, B and C } of all robot motion track points are generated; a, B and C are attitude angle values in a 6DOF coordinate system, namely a rolling angle, a pitching angle and a yawing angle;
the single-frame contour data processing step comprises the following steps:
the method comprises the following steps: filtering the single-frame contour data acquired by the line scanning laser sensor;
step two: carrying out first-order derivation on the filtered contour point set to obtain a slope on each coordinate;
step three: filtering the slope again to obtain a contour slope set;
step four: deleting the region with the overlarge slope;
step five: carrying out first-order derivation on the contour slope set to obtain a positive and negative curvature value of each point;
step six: determining all continuous intervals with curvature values larger than a given positive threshold value as a possible weld edge;
step seven: establishing a plurality of characteristic points in each positive threshold continuous interval, generating left and right end points of a welding line for the characteristic points in different intervals to be paired, searching a pairing item with the maximum welding line height for all pairing items according with the width and height characteristics, searching the position of the maximum curvature value in the curvature area where the maximum height pairing item is located, and setting the position as the left and right end points of the welding line;
step eight: and calculating related polishing parameters of the welding seam through the left end point and the right end point of the welding seam.
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| CN113275949A (en) * | 2021-05-07 | 2021-08-20 | 山东英信计算机技术有限公司 | Workpiece weld grinding method, terminal equipment and grinding control assembly |
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| JPH0760641A (en) * | 1993-08-31 | 1995-03-07 | Hitachi Constr Mach Co Ltd | Grinding robot and welding bead end point part grinding method |
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