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Medium plate robot welding visual locating device based on structured light three-dimensional vision

A robot welding and three-dimensional vision technology, applied in the field of robot vision, can solve the problems that affect the popularization of welding robots, hinder the application of vision technology, and inconvenient installation, etc., and achieve the effect of increasing the scanning work range, high degree of automation, and less manual intervention

Pending Publication Date: 2021-06-15
XIAN CHISHINE OPTOELECTRONICS TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, for metal materials such as welding workpieces, the volume of the device is also large, and it is inconvenient to install, so it is rarely used in the extraction of welding seam trajectory by welding robots
[0013] In summary, these problems hinder the further application of vision technology in the field of welding robots, and indirectly affect the further popularization of welding robots in the field of medium and thick plate applications

Method used

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  • Medium plate robot welding visual locating device based on structured light three-dimensional vision
  • Medium plate robot welding visual locating device based on structured light three-dimensional vision
  • Medium plate robot welding visual locating device based on structured light three-dimensional vision

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Embodiment Construction

[0090] The present invention will be further described below in conjunction with accompanying drawing:

[0091] scanning device

[0092] This paper provides a visual positioning device for medium and thick plate robot welding based on structured light three-dimensional vision. The scanning device is installed at the end of the robot arm. The medium and thick plate is placed within the movement range of the robot arm, and the welded area faces the scanning device. see figure 1 , the scanning device consists of a structured light projection unit A and an image receiving unit B, B is composed of a camera and another camera at a certain distance; A is composed of a semiconductor laser, a line beam shaping focusing lens, a single-axis MEMS micro Mirror composition; Powell prism is selected as the one-line beam shaping focusing lens, and electrostatically driven micromirror is used as the single-axis MEMS micromirror; MEMS micromirror and semiconductor laser are driven and controll...

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Abstract

The invention discloses a medium plate robot welding visual locating device based on structural light three-dimensional vision. The locating device is composed of a robot arm and a scanning probe; the robot arm is used for driving the scanning probe; the scanning probe is used for carrying out point cloud collection on a workpiece, further recognizing a welding seam track through a plane and curved surface fitting intersection line solving method, and providing robot locating coordinates. According to the device, the structured light three-dimensional surface scanning technology is adopted for scanning the medium plate complex welding seam, the track and width of the welding seam are extracted through segmentation and fitting calculation of the three-dimensional point cloud, rapid and accurate welding seam locating and welding process parameters are provided for a welding robot, and a robot is effectively helped to achieve automatic welding of medium plates such as carriage plates, steel structures, civil defense doors, containers, engineering machinery and pipe plate pieces.

Description

technical field [0001] The invention relates to the field of robot vision, and relates to a robot welding vision positioning device and method, in particular to a medium-thick plate robot welding positioning device and method based on structured light three-dimensional vision. Background technique [0002] Medium and heavy plates generally refer to steel plates or other metal material plates with a thickness greater than 4mm. Robot medium and heavy plate welding is a common welding application, and usually has the following characteristics: spot welding is performed on the fixture before welding; It is necessary to use the functions of seam search, seam tracking and multi-layer multi-pass welding; most welding needs to be equipped with a large positioner to make the welding in the best position of the ship welding or fillet welding. Application fields include construction machinery, construction steel structure, coal machinery, special vehicle compartment plate, heat exchang...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B23K37/02B23K37/00
CPCB23K37/02B23K37/00
Inventor 周翔杨涛彭磊李晓晓马力刘超奈斌王芳
Owner XIAN CHISHINE OPTOELECTRONICS TECH CO LTD
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