摘要
针对机器人自动化焊接过程中工件的定位误差、加工误差和激光传感器的安装误差的问题,提出了一种基于线结构视觉激光传感器获取焊缝形状位置信息,并使机器人能够自动调整焊枪位置和姿态来修正误差,同时自适应不同角度焊缝的多层多道路径规划方法。首先进行手眼标定,采用pyqt5在windows系统环境下部署焊接机器人手眼标定软件,把焊道空间点信息从视觉坐标系转换为机器人基坐标系下。然后对工件进行扫描,通过预设定算法完成对实际坐标点的预处理计算,并自适应调节工具坐标系的位姿弥补偏差;最后根据处理得到的焊缝坡口的特征参数和焊接工艺要求,规划多层多道焊接的路径完成焊接。对中厚板碳钢单边V形坡口进行试验,结果表明,该方法具有良好的实用性。
Aiming at the positioning deviation,processing deviation and laser sensor installation deviation in the process of automated welding,this paper proposes a Multi-layer and multi-pass path planning method with laser vision sensor to obtain the shape and position information of the weld seam,which make the robot adjust the position automatically and control attitude of the welding gun to correct the deviation for welds.First,perform hand-eye calibration to convert the bead space point information from the visual coordinate system to the robot base coordinate system.Then scan the workpiece,preprocess and calculate the actual coordinate point information,and adaptively adjust the posture of the tool coordinate system to compensate for the deviation.Finally,according to the characteristic parameters of the weld groove and the welding process requirements,the path of multi-layer multi-pass welding is planned to complete the welding.This paper tests the groove of carbon steel single V medium and heavy plate,and the results show that this method has good practicability.
作者
刘钊江
马思乐
戴昊飞
张源民
栾义忠
陈纪旸
Liu Zhaojiang;Ma Sile;Dai Haofei;Zhang Yuanmin;Luan Yizhong;Chen Jiyang(Shandong University,Ji’nan 250061,China)
出处
《焊接》
2020年第8期26-32,62,63,共9页
Welding & Joining
基金
盾构机超厚板复杂大型结构件焊接机器人系统C2017CX GC0913。
关键词
激光传感器
坐标转换
自适应
多层多道
laser sensor
coordinate conversion
adaptive
multi-layer multi-channel
