CN115592501A - Top cover brazing self-adaptive polishing method based on 3D line laser vision guidance - Google Patents
Top cover brazing self-adaptive polishing method based on 3D line laser vision guidance Download PDFInfo
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- CN115592501A CN115592501A CN202211238361.0A CN202211238361A CN115592501A CN 115592501 A CN115592501 A CN 115592501A CN 202211238361 A CN202211238361 A CN 202211238361A CN 115592501 A CN115592501 A CN 115592501A
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- line laser
- grinding
- industrial robot
- brazing
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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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- Mechanical Engineering (AREA)
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- Constituent Portions Of Griding Lathes, Driving, Sensing And Control (AREA)
Abstract
The invention discloses a top cover brazing self-adaptive grinding method based on 3D line laser visual guidance, wherein an industrial robot uses a three-point method to establish a 3D line laser camera and a force-controlled floating grinding device space coordinate system, the 3D line laser camera collects 3D point cloud of a welding bead of a roof brazing workpiece, an upper computer determines the shape and the outline of the welding bead to be ground and sends characteristic point coordinates of a grinding path to the industrial robot, the industrial robot carries the force-controlled floating grinding device to grind the welding bead, the grinding mode based on a fixed path is changed, the problem of poor welding bead grinding caused by welding bead position deviation is avoided, and the grinding quality is improved.
Description
Technical Field
The invention relates to the field of mechanical automation, in particular to a top cover brazing self-adaptive grinding method based on 3D line laser vision guidance.
Background
In recent years, as the guarantee capability of process equipment is improved, the laser welding process is more and more applied to the field of vehicle bodies. The laser brazing has the advantages of attractive appearance, high welding efficiency, uniform welding seam, high welding strength and the like, and the laser brazing process is widely applied to connection between the roof and the side wall of the automobile at present. During laser brazing, as brazing filler metal is filled in the joint of the roof and the side wall, a decoration strip does not need to be added after welding, and therefore polishing and grinding are needed to be carried out on a welding bead so as to improve the attractiveness. At present, a robot is mainly adopted to carry a polishing head to polish in a fixed track. Because the track of polishing is fixed, can't polish the track recognition, adjustment to the welding bead positional deviation that different body size deviations brought, consequently can cause the bad of effect of polishing, influence welding bead outward appearance.
Disclosure of Invention
Aiming at the problems in the prior art, the invention discloses a top cover brazing self-adaptive grinding method based on 3D line laser vision guidance, and the three-dimensional vision robot self-adaptive grinding based on line laser changes a grinding mode based on a fixed path, thereby solving the problem that the grinding track can not be identified due to welding bead position deviation caused by different body dimension deviation.
The technical scheme adopted for realizing the invention is as follows: the top cover brazing self-adaptive grinding method based on the 3D line laser vision guiding is characterized in that an upper computer 5 controls a 3D line laser camera 2 and a force control floating grinding device 3 which are installed at the six-axis tail end of an industrial robot 1 respectively through the industrial robot 1, and the top cover brazing self-adaptive grinding process based on the 3D line laser vision guiding comprises the following steps:
1) The industrial robot 1 establishes a 3D line laser camera 2 and a force control floating polishing device 3 space coordinate system by using a three-point method, calibrates the camera coordinate system and a point cloud space coordinate system, coincides the original points of the two coordinate systems, and sets the coordinate axis directions to be consistent, so that the coordinate values of the same point in the two coordinate systems are equal, establishes coordinate system equivalent relation, and calibrates the space positions of the 3D line laser camera 2 and the force control floating polishing device 3;
2) The upper computer 5 instructs the industrial robot 1 to carry the 3D line laser camera 2 to reach a specified welding bead scanning starting position of the roof brazing workpiece 4, and the industrial robot 1 sends a scanning permission instruction to the upper computer 5;
3) The upper computer 5 instructs the 3D line laser camera 2 to collect 3D point cloud of 4 weld beads of the car roof brazing workpiece, and scans and collects weld bead image information by a fixed track, so that the image collection point is consistent with a brazing welding track debugging position point, the collection density is 100 mm/point, and the scanned image information is sent to the upper computer 5;
4) The upper computer 5 receives the 3D point cloud of the 4 welding beads of the car roof brazing workpiece collected by the 3D line laser camera 2, performs algorithm processing to determine the shape and the outline of the welding beads to be polished, performs fitting according to the shape and the outline of the welding beads to generate polishing paths, and sends the feature point coordinates of the polishing paths to the industrial robot 1;
5) The industrial robot 1 receives and analyzes the coordinates of the polishing path feature points;
6) The industrial robot 1 carries the force control floating grinding device 3 to grind the welding bead of the car roof brazing workpiece 4 according to the coordinates of the characteristic points of the grinding path.
Further, in the step 4), the upper computer 5 receives the 3D point cloud of the welding bead of the roof brazing workpiece 4 acquired by the 3D line laser camera 2, and performs algorithm processing including: carrying out abnormal value elimination pretreatment on the 3D point cloud; performing welding bead extraction on the preprocessed image by using a BOLB operator; cutting the extracted welding bead image; and solving the coordinates of the central point according to each cutting block and connecting and fitting all the coordinates of the central point to obtain a polishing path.
Further, in the step 6), the industrial robot 1 carries the force control floating grinding device 3, sequentially polishes the characteristic points of the path until the path end point, the force control floating grinding device 3 is controlled to stop through a signal line, and after the welding bead is polished, the industrial robot 1 controls the force control floating grinding device 3 to stop through the signal line and feeds information of polishing completion back to the upper computer 5.
Further, the 3D line laser camera 2 communicates with the upper computer 5 through a network port.
The top cover brazing self-adaptive polishing method based on 3D line laser vision guidance has the beneficial effects that:
the utility model provides a top cap self-adaptation method of polishing of brazing based on 3D line laser vision guide, can realize that three-dimensional vision robot self-adaptation based on line laser polishes, has changed the mode of polishing based on fixed route to avoid because the bad problem of welding bead polishing that welding bead positional deviation brought, promoted the quality of polishing, reduced roof manual repair man-hour of brazing simultaneously.
Drawings
FIG. 1 is a schematic diagram of equipment adopted in a 3D line laser vision guidance-based top cover brazing adaptive grinding method;
FIG. 2 is a working principle diagram of a top cover brazing self-adaptive grinding method based on 3D line laser vision guidance;
FIG. 3 is a process flow diagram of a 3D line laser vision-guided based coping brazing adaptive grinding method;
in the figure: 1. the device comprises an industrial robot, a 2.3D line laser camera, a 3-force control floating polishing device, a 4-roof brazing workpiece and a 5-upper computer.
Detailed Description
The present invention will be described in further detail with reference to the accompanying fig. 1-3 and the specific embodiments described herein, which are provided for illustration only and are not intended to limit the invention.
As shown in the attached figure 1, the equipment adopted by the method for self-adaptive grinding of the top cover brazing based on the 3D line laser vision guidance comprises the following steps: industrial robot 1, 3D line laser camera 2, the unsteady grinding device 3 of force control and host computer 5 the six terminal installation 3D line laser camera 2 of industrial robot and the unsteady grinding device 3 of force control, industrial robot 1 and host computer pass through 5TCP communication and be connected, 3D line laser camera 2 communicate with host computer 5 through the net gape.
As shown in fig. 2-3, a top cover brazing self-adaptive grinding method based on 3D line laser vision guidance,
the industrial robot 1 establishes a 3D line laser camera 2 and a force control floating polishing device 3 space coordinate system by using a three-point method, calibrates the space positions of the 3D line laser camera 2 and the force control floating polishing device 3, simultaneously establishes a camera coordinate system and a point cloud space coordinate system by scanning a standard part, calibrates the two coordinate systems, coincides the original points of the two coordinate systems, and sets the coordinate axes in the same direction, so that the coordinate values of the same point in the two coordinate systems are equal, namely the coordinate system peer-to-peer relationship is established;
the 3D line laser cameras 2,3D line laser cameras 2 project a line laser to the surface of the weld bead to obtain reflection information of the line laser, so that the outline information of the weld bead to be measured, namely a point cloud graph, is calculated, and is used for scanning and acquiring image information of the weld bead by a fixed track and sending the scanned image information to the upper computer 5;
the force-controlled floating grinding device 3 maintains the constant downward pressure thereof in an external air pressure mode so as to ensure the constant grinding force, and the welding bead 4 is ground and polished by the edge of the grinding sheet in a mode of additionally installing the grinding sheet on the pneumatic grinding gun, so that the grinding sheet can be replaced;
the upper computer 5 is used for processing the scanned image, fitting the welding bead point cloud data into path coordinate data and sending the path coordinate data to the industrial robot 1, sending a start-stop instruction to the industrial robot 1, sending a scanning instruction to the 3D line laser camera 2 and sending pressure parameters to the force-controlled floating polishing device 3.
In the in-service use process, waiting to polish welding bead roof 4 and coming the material and placing in taking the region of polishing, industrial robot 1 is receiving host computer 5 and sending the start instruction after, carries 3D line laser camera 2, waits to polish welding bead 4 along fixed track scanning to send the point cloud data of gathering to host computer 5 and handle.
Specifically, the upper computer 5 sends a starting instruction, the industrial robot 1 carries a camera to reach a position of a pre-taught scanning starting point for waiting, meanwhile, the industrial robot 1 feeds back arrival position information to the upper computer, the upper computer 5 sends a scanning starting instruction to the camera at the moment, and meanwhile sends a continuous advancing instruction to the industrial robot 1. At this point the industrial robot 1 carries the 3D line laser camera 2, which has started scanning, to scan the weld bead.
The industrial robot 1 carries the 3D line laser camera 2 to move forward to the scanning track end point during scanning, and at the moment, the industrial robot 1 sends a scanning end instruction to the upper computer 5. And the 3D line laser camera 2 automatically stops scanning after the scanning time reaches a preset value, and the upper computer 5 configures the scanning speed and the scanning time for the 3D line laser camera 2.
The 3D line laser camera 2 sends scanned welding bead point cloud data to the upper computer 5, the upper computer 5 receives the data and then processes the point cloud data according to a set program to obtain a series of path coordinate values, and the coordinate values are sent to the industrial robot 1 to be received.
The performing algorithm processing on the 3D point cloud includes: carrying out abnormal value elimination pretreatment on the 3D point cloud; performing welding bead extraction on the preprocessed image by using a BOLB operator; cutting the extracted welding bead image; and solving the coordinates of the central point according to each cutting block and connecting and fitting all the coordinates of the central point to obtain a polishing path.
The upper computer 5 sends each point coordinate value on the grinding path to the industrial robot 1 for analysis, and the industrial robot 1 automatically generates a corresponding track and carries the force control floating grinding device 3 for grinding.
The industrial robot 1 advances to the starting point of the grinding path, controls the force-controlled floating grinding device 3 to start through a signal line, sequentially passes through the characteristic point of the grinding path until the end point of the path, controls the force-controlled floating grinding device 3 to stop through the signal line, and finishes grinding the welding bead;
the foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and improvements can be made without departing from the principle of the present invention, and these modifications and improvements should also be considered as the protection scope of the present invention.
Claims (4)
1. The top cover brazing self-adaptive grinding method based on the 3D line laser vision guiding is characterized in that an upper computer (5) controls a 3D line laser camera (2) and a force control floating grinding device (3) which are installed at the six tail ends of an industrial robot (1) through the industrial robot (1) respectively, and the top cover brazing self-adaptive grinding process based on the 3D line laser vision guiding comprises the following steps:
1) an industrial robot (1) establishes a space coordinate system of a 3D line laser camera (2) and a force control floating polishing device (3) by using a three-point method, the camera coordinate system and a point cloud space coordinate system are calibrated, the original points of the two coordinate systems are overlapped, the directions of coordinate axes are consistent, then the coordinate values of the same point in the two coordinate systems are equal, the coordinate system equivalent relation is established, and the space positions of the 3D line laser camera (2) and the force control floating polishing device (3) are calibrated;
2) The upper computer (5) instructs the industrial robot (1) to carry the 3D line laser camera (2) to reach a specified welding bead scanning starting position of the car roof brazing workpiece (4), and the industrial robot (1) sends a scanning permission instruction to the upper computer (5);
3) The upper computer (5) instructs the 3D line laser camera (2) to collect 3D point cloud of a weld bead of a car roof brazing workpiece (4), scans and collects weld bead image information by a fixed track, ensures that the image collection point is consistent with a brazing welding track debugging position point, has the collection density of 100 mm/point, and sends the scanned image information to the upper computer (5);
4) The upper computer (5) receives a 3D point cloud acquired by the 3D line laser camera (2) and used for welding a welding bead of the car roof brazing workpiece (4), performs algorithm processing to determine the shape and the contour of the welding bead to be polished, performs fitting according to the shape and the contour of the welding bead to generate a polishing path, and sends characteristic point coordinates of the polishing path to the industrial robot (1);
5) The industrial robot (1) receives and analyzes the coordinates of the characteristic points of the polishing path;
6) The industrial robot (1) carries the force control floating grinding device (3) to grind the welding bead of the car roof brazing workpiece (4) according to the coordinates of the characteristic points of the grinding path.
2. The method for self-adaptive grinding of the roof brazing based on the 3D line laser visual guidance is characterized in that in the step 4), the upper computer (5) receives a 3D point cloud of a weld bead of a roof brazing workpiece (4) collected by a 3D line laser camera (2), and performs algorithm processing, wherein the algorithm processing comprises the following steps: carrying out abnormal value elimination pretreatment on the 3D point cloud; performing weld bead extraction on the preprocessed image by using a BOLB operator; cutting the extracted welding bead image; and solving the coordinates of the central point according to each cutting block and connecting and fitting all the coordinates of the central point to obtain a polishing path.
3. The method for self-adaptive grinding of the top cover brazing based on the 3D line laser visual guidance is characterized in that in the step 6), the industrial robot (1) carries the force-controlled floating grinding device (3), sequentially passes through the characteristic points of the grinding path until the end point of the path, the force-controlled floating grinding device (3) is controlled to stop through a signal line, and after the grinding of the welding bead is completed, the industrial robot (1) controls the force-controlled floating grinding device (3) to stop through the signal line and feeds the information of the completion of the grinding back to the upper computer (5).
4. The self-adaptive grinding method for the top cover brazing based on the 3D line laser visual guidance is characterized in that the 3D line laser camera (2) is communicated with the upper computer (5) through a net port.
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| CN202211238361.0A CN115592501A (en) | 2022-10-11 | 2022-10-11 | Top cover brazing self-adaptive polishing method based on 3D line laser vision guidance |
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