Off-line programming system and method of optical visual sensor with linear structure for welding robot

Abstract

The invention relates to an off-line programming system and method of an optical visual sensor with a linear structure for a welding robot. The system comprises a sensor model, a robot model, a process control rule base, a graphic editing interface, an operation sequence module and a programming information output, wherein the sensor model is used for simulating a sensor imaging process to acquire a view model and simultaneously completing detection view substantiation to be convenient for user graphic programming; the robot model is used for simulating the single-point motion of the robot and providing communication interface information of connecting sensor input signals; the process control rule base is used for providing process feature extraction rules for different welding tasks andcontrol command related information of processes; the graphic editing interface is used for interactive graphic programming between a user and a system; the operation sequence module is used for saving the information of a series of detection points, wherein the information comprises single-point motion commands, process compensation control commands, process feature extraction rules and imaging signal model information; and the programming information output is used for outputting the program text of the robot and the configuration information text of the sensor system.

Description

technical field

[0001] The invention relates to a system and method in the technical field of intelligent welding robots, in particular to an off-line programming system and method for a line structured light vision sensor for a welding robot. Background technique

[0002] Robot off-line programming technology and information sensing technology are two important components of intelligent robot welding.

[0003] In order to meet the increasingly complex needs of welding production, the off-line programming technology of welding robots has been developed to replace the early on-site teaching methods. Especially when combined with welding design CAD technology, the programming efficiency of robots is greatly improved. However, in order to ensure the final welding effect, strict and stable welding operation site conditions are required in the specific implementation, so the lack of "flexibility" during welding shows obvious shortcomings. However, in the actual arc welding proce...

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