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

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...

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

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