Autonomous planning method of robot welding path based on 3D point cloud data
A technology of robot welding and point cloud data, applied in welding equipment, manipulators, arc welding equipment, etc., can solve problems such as inconsistency, unavailable welding paths, and robot programs that cannot meet the requirements of on-site production, so as to reduce workload and improve automation. adaptive effect
Active Publication Date: 2021-04-20
XIHUA UNIV
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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
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[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] Such as 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...
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The invention discloses a robot welding path autonomous planning method based on 3D point cloud data, comprising: obtaining the original three-dimensional point cloud data of the workpiece weld shape, and preprocessing the original three-dimensional point cloud data; according to the welding seam characteristics of the workpiece , build a scale CAD model with the same characteristics, convert the characteristic surface information of the scale CAD model into 3D point cloud data; perform local matching on the 3D point cloud data of the scale CAD model and the preprocessed 3D point cloud data of the workpiece weld shape Accurate operation; according to the local registration results, continuous feature search is performed to obtain complete workpiece weld information; the welding pose information marked in the complete workpiece weld information is extracted; the extracted weld pose information is processed to plan the robot's Welding path; the invention can improve the adaptability of robot welding, and can significantly reduce the workload of on-site teaching and off-line programming of operators.
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 ...
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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