Research On Automatic Grinding Bit System Based On 3D Scanning Technology

With the advancement of technology and society,the work endangering human body is gradually replaced by industrial robots.PDC bit after laser cladding repair,need to grinding dressing,this paper as the research object,design a set of drill bit grinding dressing scheme.This paper mainly studies the coordinate fusion of dual robots,point cloud processing and acquisition of grinding area,grinding motion planning,and designs the lower machine,grinding path planning software,grinding system control software,to achieve centralized and automatic control of the project.The main contents of this research are as follows:1.A fast calibration and fusion algorithm for grinding robot and scanning robot is proposed.A calibration triangle with specificity was designed.By controlling the three positions of the grinding robot around the triangle and the three coordinate points scanned by the scanning robot,the transformation matrix between the scanner and the grinding robot was solved by using the three-point method,so that the data of the scanner could be used for the motion planning of the grinding robot.2.Based on the bit point cloud data obtained by scanner,the method of extracting the area to be polished is studied.The original point cloud data of the drill bit were obtained by3 d scanner,and the compound filtering method was used to denoise,ICP registration and splicing,and voxel filtering was simplified to obtain complete bit data with appropriate point cloud density and no interference points.The ICP algorithm is used to register the processed drill bit data with the standard model,and the data of the area to be ground is obtained through Boolean subtraction.3.Grinding motion planning is carried out by using point cloud data of grinding area.The point cloud data is encapsulated into STL files,and the model is cut into layers by using the isometric intercept plane method.The data points of each layer are screened by using the isometric step method to complete path planning.The normal vector corresponding to the path point was obtained by K neighborhood fitting,and the grinding head and the normal vector of the path point were overlaps to complete the robot attitude planning.B-spline curve interpolation is used to optimize the path,and the machining trajectory of the robot is obtained to complete the trajectory planning.4.The error range of the calibration method is obtained,the causes of the error are analyzed,and the feasible scheme to improve the accuracy is given.The control software of the system is tested to realize the single step and continuous control of the robot and the Angle control of the positioner.Bit scanning,data processing and planning of grinding path,using MATLAB simulation to verify the correctness of the path.