High-precision projection welding error compensation system based on robot hand-eye visual feedback

A technology of visual feedback and robot hand, which is applied in the direction of manipulator, program control manipulator, welding equipment, etc., can solve the problems such as robot teaching welding track deviation, achieve the effect of solving welding track error and improving welding accuracy and quality
CN113118604AActive Publication Date: 2021-07-16SHANGHAI JIAO TONG UNIV
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Patent Information

Authority / Receiving Office
CN ยท China
Current Assignee / Owner
SHANGHAI JIAO TONG UNIV
Publication Date
2021-07-16

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Abstract

The invention belongs to the field of machine vision, image processing and robot control, particularly relates to a high-precision projection welding error compensation system based on robot hand-eye visual feedback, and provides the following scheme aiming at solving the problem of robot teaching welding track deviation caused by manufacturing errors of workpieces in an existing robot nut projection welding process. The high-precision projection welding error compensation system comprises a depth camera, welding equipment, a projection welding electrode, a welding robot and a target welding hole; the depth camera and the projection welding electrode are both arranged at one side of the welding equipment, the target welding hole is located below the projection welding electrode, the welding robot is located at the outer side of the welding equipment, and RGB images and depth images of a workpiece welding point area are collected through the depth camera; and welding hole ROI areas of the RGB images are extracted, Canny edge detection is carried out, and edge images are obtained. The high-precision projection welding error compensation system effectively solves the problem of welding track errors caused by workpiece manufacturing, and the welding precision and quality of the robot automatic nut projection welding process are improved.
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Description

technical field

[0001] The invention relates to the technical fields of machine vision, image processing and robot control, in particular to a high-precision projection welding error compensation system based on robot hand-eye visual feedback. Background technique

[0002] In the field of robot automatic nut projection welding, the teaching-reproduction welding mode is widely used at present, that is, firstly, the welding robot is taught and offline programmed according to the welding point of the welding object, and then the robot is controlled to grab the workpiece along the fixed welding path Weld with welding parameters.

[0003] The existing welding mode has high requirements on the consistency of the workpiece itself, and the machining error of the workpiece will cause the welding hole position to deviate from the standard hole position. Therefore, when the robot grabs the workpiece and performs welding according to the trajectory obtained by the standard hole positio...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
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