Visual location welding system and method based on robot welding

Abstract

The invention provides a visual location welding system and method based on robot welding. The visual location welding system is composed of a hand-eye calibration module, a photographing point location recording module and a welding execution module. The hand-eye calibration module is used for calculating a position and pose conversion relationship between a camera coordinate system and a robot coordinate system; three-dimensional information of crossed steel bars is acquired through the photographing point location recording module, and welding paths of the crossed steel bars are calculatedthrough a steel bar point cloud welding line extraction algorithm; and the welding paths are sent to the welding execution module, and the welding operation of steel bar crossing points is completed through the welding execution module . Through visual location of the crossed steel bars, the problem of poor precision of a workpiece and a clamp is solved, flexible and accurate welding is achieved,and the welding quality is guaranteed. According to the welding system, automatic calculation of the welding paths is achieved, and the demonstration of the welding paths is omitted; the robot demonstration process is simplified, and the requirement for operators is reduced; and the welding automation of the steel bars is achieved, and the welding effect and the production efficiency are improved.

Description

technical field

[0001] The invention belongs to the technical field of three-dimensional visual positioning systems, and relates to a visual positioning welding system and a welding method based on robot welding paths. Background technique

[0002] With the development of society and the extensive development of infrastructure construction, structural parts such as steel cages and steel mesh are widely used, but at present they are usually welded manually. First, the steel bars are positioned on the tooling and welded into mesh units. The position is a cross node, but in the actual welding process, due to the influence of human factors and workpiece deviation, the welding quality of the solder joints is inconsistent, making the welding quality unstable, resulting in uneven quality of the steel mesh processed by different welders. impact on subsequent processes. In addition, the cost of manual welding is constantly increasing, and the welding speed is slow and the constructi...

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