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Robot welding seam online grinding system based on laser vision guidance

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Abstract

Uneven surface quality usually occurs when grinding welds offline, which results non-uniform stress and then would damage the workpiece. In this paper, the robotic welding seam online grinding system based on laser vision sensor was proposed and built. A weld seam tracking software was developed and the data online interaction method of grinding system based on XML (Extensible Markup Language) file was applied. Firstly, hand-eye calibration model was built to convert data in the robot coordinate system. Then the weld profile information was extracted and stored in the data buffer area, and the coordinates of the robotic grinding point were transmitted through the self-developed weld grinding software. Finally, the vision system and the self-made grinding system were integrated at the end of the robot. The experiments were conducted to verify the reliability and practicality of this system and the proposed data interaction online method.

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Funding

This work was supported by the Special project of National Independent Innovation Demonstration Zone of Chang-Zhu-Tan [grant number 2017XK2302], the Natural Science Foundation of Hunan Province (Grant Number. 2018JJ3165).

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Authors and Affiliations

  1. Hunan Provincial Key Laboratory of High Efficiency and Precision Machining of Difficult to Machine Material, Hunan University of Science and Technology, Xiangtan, 411201, Hunan, China

    Jimin Ge, Zhaohui Deng, Zhongyang Li, Wei Li, Lishu Lv & Tao Liu

  2. Intelligent Manufacturing Institute, Hunan University of Science and Technology, Xiangtan, 411201, Hunan, China

    Jimin Ge, Zhaohui Deng, Zhongyang Li, Wei Li, Lishu Lv & Tao Liu

Authors
  1. Jimin Ge
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  2. Zhaohui Deng
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  3. Zhongyang Li
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  4. Wei Li
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  5. Lishu Lv
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  6. Tao Liu
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Contributions

Jimin Ge: conceptualization, investigation, writing-original draft, writing-review and editing.

Zhaohui Deng: writing-review and editing, and funding acquisition.

Zhongyang Li: writing-review and editing.

Wei Li: review and editing.

Lishu Lv: review and editing.

Tao Liu: review and editing.

Corresponding author

Correspondence to Zhaohui Deng.

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This article does not contain any studies with human participants or animals performed by any of the authors.

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The authors declare no competing interests.

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Ge, J., Deng, Z., Li, Z. et al. Robot welding seam online grinding system based on laser vision guidance. Int J Adv Manuf Technol 116, 1737–1749 (2021). https://doi.org/10.1007/s00170-021-07433-4

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  • DOI: https://doi.org/10.1007/s00170-021-07433-4

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