机器人管端焊缝智能打磨工作站研制OA

To address the high geometric complexity,poor multi-material adaptability,and insufficient dynamic optimization of process parameters in end weld seams,as well as the low efficiency and poor quality consistency of manual grinding,a ro-botic intelligent grinding workstation was developed based on visual sensor technology.This workstation integrates a three-dimensional structured light beam vision sensor and a laser displacement distance sensor to create a multimodal perception system.It achieves sub-millimeter-level three-dimensional reconstruction of weld seam morphology using structured light stripe projection(point cloud density≥2 000 points/cm2)and compensates for pipe ellipticity errors with laser distance data(compensation accuracy±0.05 mm),thereby improving the overall detection accuracy to 0.1 mm(a 60%improvement over single-sensor solutions).It solves the problem of adaptive tracking of complex surfaces;a secondary positioning trajectory algorithm was proposed,which enhances trajectory tracking accuracy to±0.08 mm.The research has overcome key tech-nologies such as multi-source information fusion and the construction of a process knowledge base,providing theoretical support and equipment paradigms for the intelligent upgrade of the pipeline manufacturing industry.It realizes intelligent recognition,precise tracking,and grinding of weld seams.