激光清洗机器人系统设计
朱学刚
(四川大学 机械工程学院,四川 成都 610065)
摘要:设计了一套激光清洗机器人系统,利用三维激光扫描技术采集工件表面点云信息,规划激光清洗路径,以工业机器人带动激光器完成工件表面清洗。构建了系统硬件框架,包括扫描模块、运动模块、清洗模块、控制模块。研究了采集数据处理方法,对原始数据进行坐标转换、点云滤波等操作以获取工件表面三维点云数据,根据点云数据与激光清洗模板规划机器人清洗路径。在此基础上开发了系统软件程序,实现系统集成控制,并利用RobotStudio实现清洗过程仿真监测。通过实验实现了激光扫描、清洗的自动化运行,验证了系统的可行性。
关键词:激光清洗;三维激光扫描;机器人;路径规划
中图分类号:TP242.2 文献标志码:A doi:10.3969/j.issn.1006-0316.2020.08.010
文章编号:1006-0316 (2020) 08-0060-06
System Design of Laser Cleaning Robot
ZHU Xuegang
( School of Mechanical Engineering, Sichuan University, Chengdu 610065, China )
Abstract:We designed a laser cleaning robot system, using 3D laser scanning technology to collect the surface point cloud information of the workpiece, planning the laser cleaning path, and cleaning the workpiece with the laser device installed on the industrial robot. The system hardware framework includes modules of scan, motion, clean and control. The data processing method was studied. Coordinate transformation, point cloud filtering and other operations were carried out on the original data to obtain 3D point cloud data of the workpiece surface. The robot cleaning path was planned according to the point cloud data and the laser cleaning template. On this basis, the system software program was developed to realize the integrated control of the system. The simulation monitoring of the cleaning process was carried out by using Robot Studio. Experiments show that the automatic operation of laser scanning and cleaning is realized and the feasibility of the system is verified.
Key words:laser cleaning;3D laser scanning;robot;path planning
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收稿日期:2020-05-26
作者简介:朱学刚(1991-),男,甘肃张掖人,硕士研究生,主要研究方向为工业机器人应用,E-mail:seanzhu926@163.com。
 

 

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