Robot welding seam online grinding system based on laser vision guidance

Uneven surface quality usually occurs when grinding welds offline, which results non-uniform stress and then would damage the workpiece. In this paper, the robotic welding seam online grinding system based on laser vision sensor was proposed and built. A weld seam tracking software was developed and the data online interaction method of grinding system based on XML (Extensible Markup Language) file was applied. Firstly, hand-eye calibration model was built to convert data in the robot coordinate system. Then the weld profile information was extracted and stored in the data buffer area, and the coordinates of the robotic grinding point were transmitted through the self-developed weld grinding software. Finally, the vision system and the self-made grinding system were integrated at the end of the robot. The experiments were conducted to verify the reliability and practicality of this system and the proposed data interaction online method.