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Robot welding path autonomous planning method based on 3D point cloud data

A technology of robotic welding and point cloud data, applied in welding equipment, manipulators, arc welding equipment, etc., can solve problems such as unavailability of welding paths, inability of robot programs to meet on-site production requirements, inconsistency, etc. The effect of cloud data simplification and workload reduction

Active Publication Date: 2019-09-13
XIHUA UNIV
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Problems solved by technology

However, due to various situations such as workpiece manufacturing errors and on-site placement and positioning, the actual weld seam is inconsistent with the CAD model, or even has a large deviation or deviation, which makes the welding path planned offline unavailable, and the generated robot program cannot meet the on-site production Require

Method used

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  • Robot welding path autonomous planning method based on 3D point cloud data
  • Robot welding path autonomous planning method based on 3D point cloud data
  • Robot welding path autonomous planning method based on 3D point cloud data

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Embodiment

[0051] In this embodiment, the workpieces to be welded with straight fillet welds and the workpieces to be welded with arc fillet welds are described:

[0052] like figure 1 As shown, a robot welding path autonomous planning method based on 3D point cloud data, including the following steps:

[0053] a. Obtain the original 3D point cloud data of the weld shape of the workpiece, and preprocess the original 3D point cloud data;

[0054] b. According to the weld seam features of the workpiece, build a scale CAD model with the same features, and convert the feature surface information of the scale CAD model into 3D point cloud data;

[0055] c. Local registration operation is performed on the 3D point cloud data of the scale CAD model and the 3D point cloud data of the preprocessed workpiece weld shape;

[0056] d. According to the local registration results, continuous feature search is performed to obtain complete workpiece weld information;

[0057] e. Extract the welding po...

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Abstract

The invention discloses a robot welding path autonomous planning method based on 3D point cloud data. The robot welding path autonomous planning method comprises the following steps of acquiring the original three-dimensional cloud data of a workpiece weld profile, and preprocessing the original three-dimensional cloud data; according to the workpiece weld characteristics, constructing ruler CAD models with the same characteristics, and converting characteristic surface information of ruler CAD models as three-dimensional point cloud data; performing local registration operation on the three-dimensional point cloud data of the ruler CAD models and the three-dimensional point cloud data generated after the workpiece weld profile is preprocessed; according to the local registration operation, performing continuous characteristic searching, thereby obtaining complete workpiece weld information; extracting weld position and posture information marked in the complete workpiece weld information; and processing the extracted weld position and posture information, and planning the robot welding path. The self-adaptability of robot welding can be improved, and the workload of scene teachingand off-line programming of operating staff can be remarkably reduced.

Description

technical field [0001] The invention relates to the technical field of robot welding, in particular to an autonomous planning method for robot welding paths based on 3D point cloud data. Background technique [0002] Arc welding uses the arc as the energy-carrying beam, and connects different components by melting the welding wire, which is a low-cost and high-efficiency manufacturing technology. With the transformation of the national economic development mode, under the background of the transformation and upgrading of the manufacturing industry, the demand for automation, flexibility and intelligence of welding production is very strong. [0003] In welding production, offline programming software is usually used to plan paths and generate robot programs through CAD models. However, due to various situations such as workpiece manufacturing errors and on-site placement and positioning, the actual weld seam is inconsistent with the CAD model, or even has a large deviation ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B23K9/095B25J9/16
CPCB23K9/0953B25J9/1664
Inventor 罗世强杨昌明刘渝王宇郑克峰杨忠瑞杜承宗
Owner XIHUA UNIV
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