摘要
为了提高铸件打磨效率,对打磨机器人做了深层次的研究.打磨机器人能够自动识别铸件复杂形状,使得打磨更精准.以曲面工件为试验对象研究其设计理念,首先,采用三维轮廓扫描仪测量工件的点云数据,通过比较原始工件的点云数据和有焊缝凸凹形状的工件的点云数据,提取形状特征,使用有理B样条曲线拟合,生成实际工件的CAD模型,导入到离线编程软件,自动生成打磨轨迹.为了验证打磨轨迹的正确性,先采用离线仿真的方法模拟打磨过程,然后将仿真的打磨轨迹上传到打磨系统对实际工件进行打磨,提高打磨的精度.
Abstract
In order to improve the efficiency of casting grinding,a deep research on grinding robot was done.The grinding robot can automatically recognize the complex shape of the casting,making the grinding more accurate.The design concept of the curved workpiece was studied as the test object.First,the point cloud data of the workpiece was measured by using a 3D profile scanner.The shape features were extracted by comparing the point cloud data of the original workpiece with the point cloud data of the workpiece with the shape of the weld convex and concave,and the CAD model of the actual workpiece was generated by using rational B-spline curve fitting,which was imported into the offline programming software.Automatically generate grinding track.In order to verify the correct-ness of the grinding track,the off-line simulation method was first used to simulate the grinding process,and then the simulated grind-ing track was uploaded to the grinding system for grinding the actual workpiece to improve the grinding accuracy.
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