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

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.

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...

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Problems solved by technology

[0004] The purpose of the present invention is to solve the shortcomings of robot teaching welding track deviation caused by the manufacturing error of the workpiece itself in the robot nut projection welding process in the prior art, and propose a high-precision projection welding error compensation based on robot hand-eye visual feedback system

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