摘要
采煤机在检修过程中,截割头本体实际形状一般容易偏离名义形状,焊接过程中需要实时评估截齿架相对于截割头本体侧面的位置,以提升截齿架与截割头本体的焊接精度。本研究基于三维视觉机器人系统,提出了截齿架相对于采煤机截割头本体侧面位置的非接触式测量方法。通过KUKA VisionTech视觉系统的摄像机获得测量图像,建立了图像变换的数学模型,在此基础上利用Matlab软件对图像进行分析,实现截齿架到截割头侧面的距离分布的自适应在线测量。最后通过搭建机器人实验平台验证了所提非接触式测量方法的有效性。
During the maintenance of shearer,the actual shape of the cutting head body is generally easy to deviate from the nominal shape.During the welding process,it is necessary to evaluate the position of the pick frame relative to the side of the cut⁃ting head body in real time to improve the welding accuracy of the pick frame and the cutting head body.Based on the 3D vision robot system,a non-contact measurement method for the side position of the pick holder relative to the shearer cutting head is pro⁃posed in this study.The measuring image is obtained through the camera of KUKA VisionTech vision system,and the mathemat⁃ical model of image transformation is established.On this basis,the image is analyzed using Matlab software,and the adaptive online measurement of the distance distribution between the pick holder and the side of the cutting head is realized.Finally,a ro⁃bot experimental platform is built to verify the effectiveness of the proposed non-contact measurement method.
作者
牛聪
王宏奇
刘品潇
NIU Cong;WANG Hongqi;LIU Pinxiao(Yellow River Conservancy Technical Institute,He’nan Kaifeng 475004,China;Kaifeng Technician College,He’nan Kaifeng 475000,China;Nanyang Institute of Technology,He’nan Nanyang 473004,China)
出处
《机械设计与制造》
北大核心
2025年第7期11-15,共5页
Machinery Design & Manufacture
基金
2021年河南省教育厅产学合作协同育人项目(21A620012)—面向机器人建图自主性的深度强化学习研究。
关键词
截齿架
截割头
视觉系统
非接触式测量
Pick Frame
Cutting Head
Visual System
Non-Contact Measurement
