Robot welding assembly method and system based on 2D/3D visual positioning

Abstract

The invention provides a robot welding assembly method and system based on 2D / 3D visual positioning. The method comprises the following steps: 1, carrying out multi-view scanning of a pre-assembled target object meeting a production standard, so as to obtain a three-dimensional point cloud model A of the target object; 2, scanning all the to-be-assembled parts to obtain a three-dimensional point cloud model Bk of each to-be-assembled part; 3, performing point cloud registration on the point cloud A by each point cloud model in the point cloud set Bk to obtain a spatial transformation matrix TR and a registration result Mi of each point cloud model; 4, ranking the welding sequence of the parts according to the registration result Mi, and determining robot welding tracks P of every two adjacent parts; and 5, controlling the robot sequentially to clamp the parts in the corresponding sequence to move to the corresponding welding positions for welding according to the welding sequence. The method and system can be applied to a welding task of large batch of parts, and the robot can replace manual work to conduct intelligent welding and polishing.

Description

technical field [0001] The invention relates to the technical field of robot welding, in particular to a robot welding assembly method and system based on 2D / 3D vision positioning. Background technique [0002] At present, when welding and assembling a large number of parts, due to the large number of parts, the robot cannot identify the accurate welding positions of these many parts one by one. Still done manually. However, when manual welding is used, the human factors are relatively large, so it is difficult to guarantee the welding quality and welding efficiency, and the stability of welding and the consistency of welding quality cannot be guaranteed. Therefore, there is an urgent need for a method that can realize automatic welding assembly based on robots. Contents of the invention [0003] Aiming at the deficiencies of the existing technology, the present invention proposes a robot welding and assembly method and system based on 2D / 3D visual positioning, which can...

AI Technical Summary

Problems solved by technology

[0002] At present, when welding and assembling a large number of parts, due to the large number of parts, the robot cannot identify the accurate welding positions of these many parts one by one. or by hand

However, when manual welding is used, the human influence factor is relatively large, so it is difficult to guarantee the welding quality and welding efficiency, and the stability of welding and the consistency of welding quality cannot be guaranteed.

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