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
CN110227876AActive Publication Date: 2019-09-13XIHUA UNIV
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
XIHUA UNIV
Publication Date
2019-09-13

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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.
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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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