Abstract
If the grinding robot can automatically position and measure the machining target on the workpiece, it will significantly improve its machining efficiency and intelligence level. However, unfortunately, the current grinding robot cannot do this because of economic and precision reasons. This paper proposes a 3D vision system mounted on the robot’s fourth joint, which is used to detect the machining target of the grinding robot. Also, the hardware architecture and data processing method of the 3D vision system is described in detail. In the data processing process, we first use the voxel grid filter to preprocess the point cloud and obtain the feature descriptor. Then use fast library for approximate nearest neighbors (FLANN) to search out the difference point cloud from the precisely registered point cloud pair and use the point cloud segmentation method proposed in this paper to extract machining path points. Finally, the detection error compensation model is used to accurately calibrate the 3D vision system to transform the machining information into the grinding robot base frame. Experimental results show that the absolute average error of repeated measurements at different locations is 0.154 mm, and the absolute measurement error of the vision system caused by compound error is usually less than 0.25 mm. The proposed 3D vision system could easily integrate into an intelligent grinding system and may be suitable for industrial sites.
Highlights
Surface grinding is usually the last step in the manufacturing process of workpieces with high surface quality requirements
This paper proposes a 3D vision system for grinding robots, which is used to automatically detect the machining target on the workpiece and convert the machining information to the base frame of the grinding robot
The frame transformation matrix used to transform the machining information described in the scanner frame into the robot base frame is compensated
Summary
Surface grinding is usually the last step in the manufacturing process of workpieces with high surface quality requirements. Due to the manufacturing costs before the grinding process, any unqualified workpiece after grinding means increasing economic losses. It tends to increase the level of automation, the grinding of surfaces with complex geometries is mainly done manually [1,2]. Industrial robots make it ideal for grinding the workpiece’s surface [3,4,5,6,7]. Which can solve the processing problem when the machining target position changes, and can improve the machining efficiency and intelligent level of the grinding system
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