Path planning method of steel rail welding joint grinding robot

• Main Authors: ZHANG CHUNLIANG, WU WENQIANG, XIE JIALIANG, LI JIALONG, ZHU HOUYAO
• Format: Patent
• Language: Chinese; English
• Published: 13.11.2018
• Subjects: CONTROLLING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS; GRINDING; MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; PERFORMING OPERATIONS; PHYSICS; POLISHING; REGULATING; SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES; TRANSPORTING

The invention relates to a welded joint grinding technology of a high-speed train steel rail, especially to a path planning method of a steel rail welding joint grinding robot. Workblank setting is carried out on a steel rail model; cross section making is carried out on the steel rail model by using an equal-interval offset method; data point extraction is carried out on an intersected curve formed by the steel rail model and the cross section; normal vector information of the data points are calculated; the data point with normal vector information calculated are ranked; and a motion trajectory is generated based on the ranked data points. According to the invention, the robot system is able to generate a grinding motion trajectory automatically based on surface position data and data collected by the laser sensor, so that high-efficiency and high-precision grinding is realized. 本发明涉及高铁钢轨焊缝修磨技术，尤其涉及钢轨焊缝修磨机器人路径规划方法，首先对钢轨模型进行毛坯设置，利用等距偏置方法对钢轨模型作横截面，再对钢轨模型与横截面形成的交叉曲线提取出数据点；求取数据点的法矢量信息；对已求取法矢量信息的数据点进行排序；根据已排好序的数