| Welding robot system is an indispensable and important technology in the field of manufacturing,however,the first and second-generation welding robots in practical applications do not have poor adaptability and lack feedback characteristics.There will be welding trajectory deviation in the welding production,which will affect the quality of products.The welding robot can have certain autonomous planning and self-adjusting functions.It can adaptively identify the welding starting position and welding track,It is of great significance for the development of industrial technology to independently complete the welding of the target welds.In this paper two cmos cameras mounted in a fixed position,adjust the camera focal length,location and other information to enable the camera to identify a wide range of welding environment,through the binocular vision principle to identify,locate,control the welding robot to achieve the specified position,track of the independent welding process.It is one of the important methods to locate the welds based on the visual acquisition of image information and then the three-dimensional reconstruction by binocular stereo vision.In this paper,two cmos cameras are fixed at an angle on the workbench,so that the welding environment is in the visually effective field of view.Acquire the welding environment image and autonomously identify the welding starting position,the weld trajectory and the three-dimensional coordinate in the robot coordinate system through the image processing algorithm in the macro environment,and send the three-dimensional coordinate point to the robot control system to control the movement of the robot welding torch to designated starting position to move along the specified weld track.The image recognition algorithm can identify the weld seam automatically,which is the basis of the intelligence of the welding robot.The article uses two diffuse reflection lights to illuminate the back surface to make the weld seam form a blind area of the light source,so that the image of the weld seam can be accurately identified.and the starting position of the weld can be located by the identification processing method.This paper uses HALCON software to achieve the matching of welds through the algorithm program,completes the three-dimensional reconstruction of the weld trajectory,and converts to the three-dimensional trajectory in the robot coordinate system.The article also uses the newly-set image processing method to extract the starting point of the weld seam,and performs matching and reconstruction to accurately locate the starting position of the weld seam.Due to the lack of research on the mechanical properties of the aluminum alloy box welding,the article studied the variation of the residual stress and deformation of the aluminum box after welding by simulating the welding process of the aluminum box.A three-dimensional finite element model was established to simulate the stress field of the aluminum box during the welding process.A double ellipsoid heat source model was used to simulate the temperature field during welding.The effect of the welding current on aluminum box welding process was simulated by the change of the current of the double ellipsoidal heat source model.The simulation experiment uses six aluminum box size models to simulate the diversity of aluminum box size shapes.The results show that the welding residual stress of the aluminum box is concentrated on the corner point of the opening,the deformation is in the rear half position of the weld.After the aluminum box is welded respectively along the four sides in sequence,the maximum equivalent plastic strain is at the apex of the aluminum box of the second weld and increases with the increase of current,the maximum principal stress at the apex of the fourth weld is the largest and the current is less affected,and the overall size of the aluminum box increases with the increase of the current,the thickness of the aluminum box At 0.8mm,the maximum deformation is approximately 5mm. |
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