3D curve welding seam autonomous demonstration method for welding robot based on linear structure light perception

Abstract

The invention discloses a 3D curve welding seam autonomous demonstration method for a welding robot based on linear structure light perception. The 3D curve welding seam autonomous demonstration method comprises the steps that relevant parameters are determined and scanned, and an orderly point cloud model of a weldment is generated in a scanned mode; the orderly point cloud model of the weldmentis subjected to preprocessing filtering; then, feature extracting and positioning are conducted on the cross section of a welding seam, corresponding welding seam point pose coordinate systems are obtained, and a welding seam point pose coordinate system sequence is formed; the welding seam point pose coordinate system sequence is combined with welding operation technological parameters to form awelding gun pose coordinate system sequence; and a robot welding operation motion path is generated according to the welding gun pose coordinate system sequence. The 3D curve welding seam autonomous demonstration method has the 3D welding seam feature extracting and modeling capabilities, precise 3D positioning of a complex space curve welding seam is achieved, demonstration intelligent programming of welding of small-batch, multi-variety and nonstandard workpieces can be achieved, the welding precision and quality are improved, and the 3D curve welding seam autonomous demonstration method hasquite important economic value and application prospects in the field of application of welding robots.

Description

technical field [0001] The invention relates to the technical field of advanced manufacturing industries such as industrial robot welding applications, and in particular to a method for autonomous teaching of 3D curve weld seams for welding robots based on line structured light perception. Background technique [0002] As one of the important components of industrial robot applications, the welding application of industrial robots requires the ability to use relevant algorithms under the condition of software and hardware collaboration to realize the extraction of weld seams and generate robot motion paths to form robot system control commands for welding work. Among them, the effectiveness, versatility, and scalability of the robot welding operation implementation method are important evaluation indicators for industrial robot welding applications. [0003] The traditional welding operation implementation methods can be divided into two types: manual teaching implementation...

AI Technical Summary

Problems solved by technology

[0005] Purpose of the invention: In order to overcome the existing technical defects, solve the problem of low speed and low precision of robot weld seam extraction based on line structured light perception, especially for small batch, multi-variety, non-standard workpiece welding operations where teaching is relatively difficult. To solve many problems, provide a method for autonomous teaching of 3D curve welds for welding robots based on line-structured light perception, so as to realize the effectiveness, high precision and high speed of industrial robot welding operations

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