A 3D Vision-Based Off-Line Programming Laser Weld Seam Tracking System

Abstract

The invention clearly integrates 3D vision reconstruction technology, offline programming technology and welding seam tracking technology to realize unmanned welding site, and provides an offline programming laser welding seam tracking system based on 3D vision, and its specific operation process is 3D camera installation. Above the welding workpiece, after the workpiece is installed, the camera is remotely triggered to obtain the point cloud data of the welding site such as the workpiece and the fixture. Unmanned. At present, laser welding seam tracking technology can solve some of the problems of large changes in welding paths and frequent teaching. Offline programming can directly generate robot processing, but it needs to be based on standard models. The present invention applies the increasingly mature 3D visual reconstruction technology to welding applications. By reconstructing the welding site, the tedious teaching of welding procedures on the welding site is reduced, and the welding efficiency is improved.

Description

technical field [0001] The invention relates to the field of laser welding seam tracking, in particular to an offline programming laser welding 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 belong to 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, so that the The welding robot can repeat the planned movements with high precision in the working space. [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, poisonous and other high-risk environments, the manual teaching on-site is more dangerous, and the unmanned and remote control operation of welding robots has become a kind of pos...

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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