公开(公告)号：US20230191521A1

公开(公告)日：2023-06-22

申请号：US17981126

申请日：2022-11-04

Applicant: DALIAN UNIVERSITY OF TECHNOLOGY

Inventor： Te LI ,  Tian LAN ,  Haibo LIU ,  Yuhang GE ,  Qile BO ,  Kuo LIU ,  Xingjian LIU ,  Xu LI ,  Yongqing WANG

IPC: B23K9/028

CPC classification number: B23K9/0284

Abstract: The present invention relates to a process method for conformal processing of a cylindrical shell inner weld seam by a special mobile robot, a laser scanner is used to scan a cylindrical shell inner weld seam to obtain point cloud data of a contour of a weld seam area first. Weld seam feature identification is carried out to each generatrix, and misidentified generatrices are filtered out to obtain weld seam left and right boundaries. An ideal weld seam processing contour is generated conformally according to the appearance of the weld seam area, weld seam coarse grinding is carried out after correction and compensation, and weld seam contour information after coarse grinding is obtained by scanning after the coarse grinding is completed. Process parameters of the grinding are controlled according to an actual weld seam contour, and weld seam fine grinding is carried out to obtain a smooth weld seam contour.