| As we all know,the coating process of the EMU is mainly to improve the surface quality and appearance of the aluminum alloy body.According to the new car body production painting process,there are many grinding processes in the production process,including rough grinding and fine grinding in putty grinding,and grinding after each painting.The car body transfer part is a curved surface,and the shape of the vehicle head is complex,and the physical model is different from the theoretical model after being processed by other processes.Therefore,there is a lack of an accurate data model when using robots for grinding,and the teaching method is obviously difficult to meet the production requirements in terms of precision and grinding efficiency.The existing putty sanding uses backward manual grinding and polishing operations.The grinding operation is time-consuming,laborious,and manual grinding can hardly guarantee the consistency of the grinding quality of the entire vehicle.In addition,long-term,high-intensity operating environments severely jeopardize the health and safety of technicians.Therefore,it is of great economic and social significance to study the robot grinding of high-speed iron body putties.To grind putty using robotic technology,you first need to identify the surface features of the defect area and obtain its digital model.Based on this,it is envisaged that by acquiring point cloud data of the surface defect area of the vehicle body and carrying out secondary development based on UG,the reconstruction of the point cloud surface of the defect area will be realized,and the tool path planning will be carried out accordingly,thus applied to the method of robotic putty polishing.Improved.1.This article first investigates the development situation,technical difficulties,and research status at home and abroad of the existing high-speed rail car body sanding according to the project’s reliance on the project.In view of the application of visual technology in robot processing,the point cloud reconstruction technology and point clouds are introduced.Tool path planning technology;2.Combining the UG secondary development basics and the Block UI Styler module,the key technologies of the point cloud reconstruction plug-in design are explained from the point cloud file reading,point cloud coordinate extraction and reconstruction function respectively;3.Analyze and compare existing tool path planning methods,including tool path topology,step and line spacing control algorithms.Select the smooth zigzag path as the topological structure of this topic,select the equal height error method as the step length control method of this topic.At the same time,a variable parameter method based on equal residual height calculation is proposed according to the method of equal residual height.Finally,the design of the tool path planning plugin and the general flow of tool path planning are explained.4.Analyze and compare the methods for determining different postures,and calculate the tool attitude at the tool location.Two different algorithms for the conversion of homogeneous matrices to quaternions are introduced,and the location file of the cutter location file is post-processed based on the program format of RAPID language,and it is converted into a processing code that the robot can recognize;5.For the function of the designed plug-in,use Geomagic Quality software to analyze the accuracy of the reconstructed surface.Robot Studio was used to simulate the processing code,and a local putty polishing experiment was performed on the robot to verify the feasibility of the tool path.6.To summarize the research content of this article and the achievements that have been made,and at the same time make suggestions and improvement measures on the inadequacies of the topic. |
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