Research And Application Of Weld Location System For Hook Component Based On Binocular Vision

In order to improve the quality and efficiency of welding,robotic automatic welding technology is widely used in the field of metal processing and manufacturing.However,in the field of construction machinery,there are some problems,such as poor dimensional consistency of workpieces and inadequate repetitive positioning accuracy of fixtures,which lead to the low efficiency of teaching and reappearance welding of industrial robots,and restrict the realization of automated welding of batch production lines.In order to solve the above problems and improve the adaptability of welding robot,this paper designed a set of welding seam positioning system based on line structured light binocular vision on the basis of in-depth research on the welding seam trajectory location algorithm of hook assembly,which realized the intelligent welding of hook assembly and reduces the scrap rate of welding products.The main research work of this paper is as follows:(1)Based on the analysis of the welding object and the current situation of automatic welding,the overall design of the seam positioning system was carried out,including the selection of robot system,hardware selection of binocular vision system and fixture design.The calibration of binocular stereo vision detection system was completed and verified.(2)Aiming at the hook assembly,the seam trajectory localization algorithm was deeply studied from three aspects: seam image preprocessing,seam corner ROI adaptive extraction and seam trajectory reconstruction,which realized the conversion of the two-dimensional image coordinates of the weld feature points to the threedimensional world coordinates,and completed the three-dimensional reconstruction of the weld trajectory.Based on the imaging structure characteristics of line structured light on hook assembly,an adaptive ROI extraction algorithm of weld corner based on auxiliary marking line was proposed,which could locate the weld corner quickly and extract the feature information of weld corner accurately.(3)Based on the above research,a set of software for seam location testing system was designed,which integrated the functions of communication,image acquisition and storage,system parameter setting,image processing algorithm,process control and monitoring,and realized the overall workflow control of intelligent welding.(4)The intelligent welding test of hook component object was carried out by using the designed software of welding seam positioning system,and the welding effect was analyzed,which verified that the system could realize the intelligent welding of hook component.