Robot Rail Weld Grinding System Based On Multi-sensor Information

With the development of high-speed rail industry,it is a trend to use industrial robots to polish seamless rail welds instead of manual ones.The problems such as the complex information of the weld morphology of seamless rail,the low efficiency of manual grinding,and the bad working environment,a set of welding seam grinding system was established to replace the manual grinding of seamless rail welds,so as to improve the welding seam grinding efficiency of seamless rail and reduce the labor cost.This system is based on industrial robot,combining with machine vision technology and point cloud processing technology.the position recognition and feature information extraction of rail weld are carried out,and the path of seamless rail weld grinding is generated.Relevant research work includes:(1)Using the basic theory of robot kinematics,analyze the D-H motion parameters of NACHISRA166-01 robot,and establish its mathematical model of forward and inverse kinematics.The mathematical model of forward and inverse kinematics of the robot will lay the foundation for the robot to find the joint angle of the robot based on the rail weld feature information.(2)Building a multi-sensor information measurement system to collect data on the position information and morphological characteristics of seamless rail welds(3)For the image data obtained by industrial cameras,an improved adaptive threshold Canny algorithm is applied to identify and extract the three-dimensional position information of the rail welds in space.At the same time,the point cloud processing technology is used to process the point cloud of the weld obtained by the two-dimensional laser sensor to extract the feature information of the weld topography.(4)Design of robot grinding system for seamless rail welding of high-speed rail.Applying the modular idea,the system is designed into different functional modules.Through the program interface,different functional modules are connected to integrate a complete system.Based on the complex shape of seamless rail welds of high-speed rail,the single sensor information acquisition can not meet the project requirements.This paper has a certain reference role in the realization of fully automatic robotic grinding of rail welds with the assistance of exploring multi-sensor information.