Rapid calibration system and method for mobile welding robot on-site operation

Abstract

The present invention discloses a rapid calibration system and method for on-site operation of a mobile welding robot, relates to the field of robot welding manufacturing technology, solves the technical problems of long time consumption, low precision and high operator skill requirements for on-site operation calibration of mobile welding robots, and the key points of the technical solution are that the operator manipulates a multi-axis robot arm to move a special-shaped welding gun to the side of a workpiece to be welded; the operator obtains a three-dimensional model of a welding gun with a special shape and a workpiece to be welded through a handheld three-dimensional scanner; and uses a three-dimensional point cloud processing program to identify the robot tool coordinate system in the three-dimensional model and calculate the position of the groove in the robot tool coordinate system, thereby completing the calibration of the groove position. The operator does not need to be proficient in the robot calibration method and key points, and only requires the operator to hold a three-dimensional scanner to obtain a three-dimensional point cloud model of the welding site, and the calibration task can be automatically, quickly and accurately completed with the assistance of a program algorithm.

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