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Curve welding seam welding technology based on line structured light

A line-structured light and curve technology, which is applied in welding equipment, auxiliary welding equipment, welding/cutting auxiliary equipment, etc., can solve problems that cannot meet welding quality and requirements, and achieve high robustness, real-time performance, accurate positioning, The effect of high welding precision

Inactive Publication Date: 2017-02-22
NANJING UNIV OF TECH
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  • Summary
  • Abstract
  • Description
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AI Technical Summary

Problems solved by technology

For curved welds, the simple pose interpolation trajectory planning algorithm can no longer meet the strict welding quality and requirements, and it is necessary to change the position and posture of the welding torch in real time according to the included angle of the workpiece side

Method used

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  • Curve welding seam welding technology based on line structured light
  • Curve welding seam welding technology based on line structured light
  • Curve welding seam welding technology based on line structured light

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Embodiment Construction

[0026] Such as figure 1 Shown is a flow chart of the automatic welding technology for curved seams facing oblique pipes based on line structured light. The implementation of the present invention will be further described below according to the drawings and specific examples:

[0027] Step 1: Adjust the six-degree-of-freedom industrial robot to drive the industrial camera and the line structured light sensor on the end of the machine, so that the structured light band illuminates the position S 1 At , use an industrial camera to take pictures of the light band on the curved weld seam, and keep taking pictures until S n At , 6 images are taken in the demonstration, that is, S 6 place. And the captured digital image is transmitted to the image processor.

[0028] Step 2: Perform image processing on the captured curve weld image, the specific process is as follows:

[0029] Step 2-1, filter the image:

[0030] Step 2-1-1, Median filtering: select a 3*3 filtering template to ...

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Abstract

The invention discloses a curve welding seam welding technology based on line structured light and oriented to an oblique crossed tube. According to the method, machine version and robot kinematics are combined very well, so that the problems that the process of obtaining curve welding seam feature points is not flexible, and a curve track model are difficult to establish are solved. The curve welding seam welding technology comprises the following steps of: firstly, controlling a six-degree-of-freedom robot, enabling a robot end to drive an industrial camera to shoot a curve welding seam image with the line structured light; and then, carrying out a series of image pre-treatment and feature point extraction work to obtain space coordinates of all feature points of a curve welding seam, and fitting through a B sample curve, and finally obtaining a smooth space curve. Besides, the gesture of a welding gun can be changed in real time according to included angles at the two sides of a workpiece when the welding gun is used for welding a curve, so that the welding process and welding requirements are improved better.

Description

[0001] Technical field [0002] The invention belongs to the technical field of industrial automation welding, and relates to a curved weld seam detection technology guided by line structured light, in particular to a trajectory planning method capable of changing the attitude of a welding torch in real time according to the included angle of the side of a workpiece. Background technique [0003] With the continuous development of industrial automation, automated welding has become the mainstream of the development of automobile, ship and other production enterprises. Therefore, it has received extensive attention and attention from people. At present, most of the automated welding based on line structured light guided by machine vision is mainly based on linear weld detection, while for curved weld welding, the determination of weld feature points is generally determined by teaching methods. , this method to obtain process machinery cannot meet the needs of automated product...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B23K37/00
CPCB23K37/00
Inventor 范明洋嵇保健洪磊
Owner NANJING UNIV OF TECH
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