System and method for automatic generation for path points of welding robot

A welding robot and automatic generation technology, applied in welding equipment, auxiliary welding equipment, welding/cutting auxiliary equipment, etc., can solve the problems of time-consuming, complex algorithm, and unsatisfactory binocular stereo vision accuracy, so as to improve work efficiency, The effect of reducing workload

Active Publication Date: 2016-06-15
INST OF AUTOMATION CHINESE ACAD OF SCI
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Problems solved by technology

Simple binocular stereo vision is not ideal in terms of accuracy, and the algorithm is more complicated and time-consuming

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  • System and method for automatic generation for path points of welding robot
  • System and method for automatic generation for path points of welding robot
  • System and method for automatic generation for path points of welding robot

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Embodiment Construction

[0031] The technical problems solved by the embodiments of the present invention, the technical solutions adopted and the technical effects achieved are clearly and completely described below in conjunction with the accompanying drawings and specific embodiments. Apparently, the described embodiments are only some of the embodiments of the present application, not all of them. Based on the embodiments in the present application, all other equivalent or obviously modified embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention. Embodiments of the invention can be embodied in many different ways as defined and covered by the claims.

[0032] It should be noted that, in the following description, many specific details are given for the convenience of understanding. It may be evident, however, that the present invention may be practiced without these specific details.

[0033] It should be no...

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Abstract

The invention discloses a system and a method for automatic generation for the path points of a welding robot. The system comprises a robot body, a controller, an RGB-D sensor and an upper computer, wherein the robot body is a six-degree-of-freedom welding robot, and comprises a welding torch; the controller is used for controlling movement of the robot body; the RGB-D sensor is fixed on a mechanical arm of the robot, and used for acquiring an RGB image and a depth image of a weldment, and conveying the RGB image and the depth image to the upper computer; the upper computer is used for processing the RGB image and the depth image of the weldment, extracting a weld edge of the weldment, calculating path point information according to the weld edge, and then sending the path point information to the controller, so as to control the tail end of the welding torch to move along the path points. Through the system and the method, which are disclosed by the embodiment of the invention, automatic generation for the path points of a space curve weld is realized, the workload of workers is reduced, and the working efficiency of the robot is improved.

Description

technical field [0001] The embodiments of the present invention relate to the technical field of robot automation, in particular to a system and method for automatically generating waypoints for a welding robot. Background technique [0002] The goal of the welding robot is to enable the end of the welding torch to accurately walk through the center of the weld to complete the welding operation. In actual production, a common practice is for workers to manipulate the robot through the teaching box to make it walk the target path and record the path points passed, and specify the passing speed and passing accuracy of this series of path points through programming, and reproduce the robot. The robot can complete the welding work when programming. However, due to the irregularity of the weldment itself, even the same batch of weldments seldom realizes a program to weld each weldment without modification. This makes robot teaching more time-consuming and cumbersome. [0003] ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B23K37/00
CPCB23K37/00
Inventor 景奉水李婧李恩
Owner INST OF AUTOMATION CHINESE ACAD OF SCI
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