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对于机器人焊接视觉系统,由于零件的公差配合和焊接热作用,会导致焊接过程中焊头发生微小变化,所以要进行轨迹修正。系统将摄像头安装在机器人焊接臂上,工作前将系统进行校准,然后根据采集到的焊缝形状和位置图像,建立焊缝的3D模型。根据立体视觉算法对焊接轨迹进行编程,然后焊接。系统用标准的工业焊接机器人和CMOS相机进行了试验,焊缝最大偏差轨迹为0.7 mm,平均偏差为0.23 mm。
For robotic welding vision systems, trajectory correction is required due to minor tolerance changes in the part’s tolerance and welding heat effects that can cause minor changes in the weld head during welding. The system installs the camera on the robot welding arm, calibrates the system before work, and then builds a 3D model of the weld based on the acquired weld shape and position image. The welding trajectory is programmed according to the stereoscopic algorithm and then welded. The system was tested with a standard industrial welding robot and a CMOS camera with a maximum deviation of 0.7 mm and a mean deviation of 0.23 mm.