基于视觉的毛坯件磨削路径规划方法

Vision-based Planning Method for Grinding Path of Blanks

以某型号刹车片支架为研究对象,对不规则曲线磨削路径规划进行了研究,提出了一种基于视觉的毛坯件磨削路径规划方法.分别对刹车片支架的毛坯件与标准工件图像进行图像处理,将等参数步长法与等弦高误差法相结合,对毛坯件与标准工件的一条边缘进行离散,且将得到的图像坐标系下的离散点变换至世界坐标系下.对世界坐标系下的离散点进行三次样条插值与拟合,通过对比确定毛刺部分,进而判断毛刺高度,确定磨削路径.所提出的基于视觉的毛坯件磨削路径规划方法为毛刺判别与不规则路径规划提供了解决方案,并为进一步实现机器人自动化磨削提供了技术支持.

A certain type of brake disc bracket was taken as the research object to study the planning of grinding path with irregular curve.A vision-based planning method for grinding path of blanks was proposed.The images of the blank piece and the standard workpiece of the brake disc bracket were respectively processed,and the isoparameter step method was combined with the chordal depth error method to discretize one edge of the blank piece and the standard workpiece and transform the discrete points obtained in the image coordinate system into the world coordinate system.Cubic spline interpolation and fitting were performed on discrete points in the world coordinate system,and the burr portion was determined by comparison,thereby the burr height and the grinding path could be determined.The proposed vision-based planning method for grinding path of blanks provides solutions for burr discrimination and irregular path planning,and provides technical support for further automated robotic grinding.