Off-line programming laser weld joint tracking system based on 3D vision

Abstract

The invention fuses a 3D vision reconstruction technology, an off-line programming technology and a weld joint tracking technology to realize unmanned welding sites, and provides an off-line programming laser weld joint tracking system based on 3D vision. The specific operation process is that a 3D camera is installed above a welding workpiece, remote triggering photographing is conducted after the workpiece is installed, and point cloud data of welding sites such as a workpiece and a clamp are obtained; and according to the off-line programming laser weld joint tracking system, three technologies of 3D visual model reconstruction, offline programming and laser welding joint tracking are fused and applied, so that unmanned welding site is realized. At present, the laser welding joint tracking technology can solve the problem of frequent demonstration due to large change of a part of welding paths, robot machining can be directly generated through off-line programming, however, based ona standard model, the increasingly mature 3D vision reconstruction technology is applied to welding application, and through the welding site reconstruction, the cumbersome demonstration of a weldingprocedure on the welding sites is reduced, and the welding efficiency is improved.

Description

technical field [0001] The invention relates to the field of laser seam tracking, in particular to an off-line programming laser seam tracking system based on 3D vision. Background technique [0002] Welding has always played an extremely important role in industrial production. Most of the existing welding robots are of the on-site manual teaching type or offline programming type. The welding parameters and welding paths of the welding robots in these two methods are planned before production. The welding robot repeats the planned movements within the workspace with high precision. [0003] However, the general working environment of the welding site is relatively poor, especially in some high-risk environments such as nuclear radiation, high altitude, deep water, and poisonous environments. possible solutions. This requires the ability to reconstruct the complex environment of the welding site and find the weld. Most of the current welding robots belong to the first-gen...

AI Technical Summary

Problems solved by technology

There are generally two ways to solve the error problem. One is to reduce the error in the environment and application by improving the machining accuracy of the workpiece, improving the assembly accuracy of the tooling and fixture, and strictly controlling the teaching trajectory of the robot. However, this approach will Significantly increase the manufacturing cost and time consumption cost of the enterprise

[0004] Adaptive weld seam tracking generally requires the provision of a standard CAD 3D model of the workpiece, but the welded parts have processing and assembly errors that cause relatively large changes in the position and size of the weld seam. There are generally two ways to solve the deviation problem, one is through Improve the machining accuracy of the workpiece, improve the assembly accuracy of the fixture and strictly control the teaching trajectory of the robot to reduce the error in the environment and application, but this method will significantly increase the manufacturing cost and time cost of the enterprise

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