Robot welding track autonomous programming system and method based on vision sensing

A robot welding and visual sensing technology, applied in welding equipment, auxiliary welding equipment, welding/cutting auxiliary equipment, etc., can solve the problems of precision influence, difficulty in meeting efficiency and precision, etc., to improve manufacturing flexibility and avoid man-machine connection. The effect of mixing jobs and improving programming efficiency

Inactive Publication Date: 2018-08-28
TSINGHUA UNIV TIANJIN HIGH END EQUIP RES INST LUOYANG ADVANCED MFG IND RES & DEV BASE
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AI Technical Summary

Problems solved by technology

The former is essentially an online teaching method, which requires artificially moving markers for point-by-point teaching, and requires the operator to stay in the robot workspace
Although the latter can solve the problem of interference between the robot's trajectory and the processing environment and workpiece, it is still based on an accurate model to generate the robot's trajectory, and the accuracy is affected by actual production conditions.
The existing welding robot trajectory generation method is still difficult to meet the dual requirements of efficiency and accuracy

Method used

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  • Robot welding track autonomous programming system and method based on vision sensing
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  • Robot welding track autonomous programming system and method based on vision sensing

Examples

Experimental program
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Effect test

Embodiment 1

[0031] see figure 2 , image 3 and Figure 4 , an autonomous programming method of robot welding trajectory based on visual sensing is used for automatic welding of T-shaped plate fillet welds, including the following steps:

[0032] System calibration: calibrate the 3DH parameters of the industrial robot to determine the robot base coordinate system, calibrate the industrial robot end effector 9TCP to determine the robot end coordinate system, and then obtain the transformation matrix between the robot base coordinate system and the robot end coordinate system [R( δ), T(δ)] (where R is the rotation matrix, T is the translation matrix, and δ is the robot joint angle vector), and the coordinates of TCP in the end coordinate system of the robot [L x , L y , L z ]. The position coordinates of TCP in the robot base coordinate system can be calculated according to [R(δ), T(δ)]·[L x , L y , L z ,1] T calculated;

[0033] Visual scanning: According to the scanning program,...

Embodiment 2

[0039] see figure 2 , Figure 5 and Figure 6 , an autonomous programming method of robot welding trajectory based on visual sensing is used for automatic welding of 90-degree intersecting pipes, including the following steps:

[0040] System calibration: calibrate the 3DH parameters of the industrial robot to determine the robot base coordinate system, calibrate the end effector TCP of the industrial robot to determine the robot end coordinate system, and then obtain the transformation matrix between the robot base coordinate system and the robot end coordinate system [R( δ), T(δ)] (where R is the rotation matrix, T is the translation matrix, and δ is the robot joint angle vector), and the coordinates of TCP in the end coordinate system of the robot [L x , L y , L z ]. The position coordinates of TCP in the robot base coordinate system can be calculated according to [R(δ), T(δ)]·[L x , L y , L z ,1] T calculated;

[0041] Visual scanning: according to the scanning ...

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Abstract

The invention relates to a robot welding track autonomous programming system and method based on vision sensing. The system and the method can be widely applied to the field of automatic welding. According to the system and the method, at first, a vision scanning method is utilized for obtaining a three-dimensional model of the appearance of a workpiece to be welded; then by means of preprocessingand point could fitting of scanned data, the characteristic face is obtained; the equation of a path to be welded is obtained by means of the intersecting line of the characteristic face, the weldingtrack is generated automatically. According to the system and the method, welding teaching-free programming is achieved, the method has an obvious advantage compared with an existing online teachingmethod, the system and the method have high adaptability to workpieces of different shape characteristics, the flexible requirement of production practicality is met, man-machine combined operation isavoided, and the production efficiency and the safety are improved.

Description

technical field [0001] The invention relates to an autonomous programming system and method of robot welding trajectory based on vision sensing, which can be widely used in the field of automatic welding. Background technique [0002] With the increasing automation and intelligence of the manufacturing industry, robot welding has received more and more attention. Before welding, the position, posture, moving speed, and trajectory of the welding torch held by the end of the welding robot are planned. Repeat the memorized motion path during operation to ensure the welding quality. [0003] At present, there are mainly two methods of trajectory planning for welding robots: offline programming and online teaching: offline programming is to realize the actual processing path planning based on the CAD model through the accurate robot model, tool coordinate system and workpiece coordinate system model, and to calibrate the robot. , tooling accuracy, and processing environment cali...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B23K37/00
CPCB23K37/00
Inventor 邹怡蓉刘佳君吴哲明马明星李培旭
Owner TSINGHUA UNIV TIANJIN HIGH END EQUIP RES INST LUOYANG ADVANCED MFG IND RES & DEV BASE
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