Research on Automatic Grinding System for Longitudinal Weld of Engine Elbow Pipes Based on Machine Vision and Force Control
A series of pipes with different sizes are made of two parts welded in the middle.Nowadays,the inner wall welds of pipes are mostly ground manually,which has some problems such as different grinding quality and standard,low efficiency and high labor intensity.An automatic grinding system based on machine vision technology and force control is designed and implemented in this paper.The industrial camera modules are used to take images of both end faces of the pipes,and the coordinates of starting posi-tion of welds on both end faces are obtained by image processing algorithms.Then,the grinding trajectories of the robotic arm are adjusted according to the coordinates,which is equipped with a floating spindle to keep the grinding force constant and compensate the irregular area of the weld so as to realize the adaptive grinding adjustments based on position control and force control.The test results show that the overall grinding qualification rate of the system is 96.03％,and the grinding efficiency is improved by 95.90％compared with manual grinding.The system can finish the automatic grinding with less manual participa-tion and intervention,has good stability and flexibility,and allows the pipes to have a certain deformation.
weld grindingmachine visionrobotic armforce control
万方数据
维普
