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

A technology of visual feedback and robot hand, applied in manipulators, program control manipulators, welding equipment, etc., can solve problems such as robot teaching welding trajectory deviation, achieve the effect of solving welding trajectory errors and improving welding accuracy and quality
CN113118604BActive Publication Date: 2022-02-08SHANGHAI JIAOTONG UNIV
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
SHANGHAI JIAOTONG UNIV
Publication Date
2022-02-08

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Abstract

The invention belongs to the fields of machine vision, image processing and robot control, in particular a high-precision projection welding error compensation system based on robot hand-eye visual feedback, aiming at the existing robot nut projection welding process, which is caused by the manufacturing error of the workpiece itself. To solve the problem of teaching welding track deviation, the following scheme is proposed, which includes a depth camera, welding equipment, projection welding electrodes, welding robots, and target welding holes. The hole is located below the projection welding electrode, and the welding robot is located outside the welding equipment. The RGB image and depth image of the welding point area of ​​the workpiece are collected through the depth camera; the welding hole ROI area of ​​the RGB image is extracted, and Canny edge detection is performed to obtain the edge image. The invention effectively solves the welding track error caused by workpiece manufacturing, and improves the welding precision and quality of the robotic automatic nut projection welding process.
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Description

Technical field

[0001] The present invention relates to machine vision, robotics control and image processing technology, and particularly relates to a robot hand-eye visual feedback based on the precision error compensation system of projection welding. Background technique

[0002] In the field of robotic automation nut projection welding, widely used at present teachings - the reproduction mode of welding, namely the welding robot first previously taught and offline programming for welding point and the welding object, and the control of the robot gripping a workpiece along a fixed weld path welding parameters and welding.

[0003] Conventional welding pattern requires a higher consistency of the workpiece itself, the workpiece can cause errors welding holes and hole standard deviation. Thus the robot gripping a workpiece in accordance with standard hole trajectory taught obtained during welding, the welding can not be aligned with the hole in the workpiece projection welding ...

Claims

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