Joint Robot Welding System Based On Laser Vision Sensor And Process Research

The "Made in China 2025" plan,welding technology is rapid developping to direction of automation and intelligent.It is difficult to guarantee the welding production quality,because the traditional manual welding technology is influenced by arc,dust environment and other adverse conditions.Automatic welding can be used in the welding process with a relatively stable working state that ensure high quality of welding and production efficiency.The application of vision based welding robot in production greatly accelerates the development of welding automation and intelligence.In this paper,the welding tracking experimental platform of robot system,vision sensor system and arc welding system is completed.The basic optical triangulation principle of the vision sensor is studied,and the linear relation between the displacement distance and the offset is derived,which provides a theoretical basis for the application of the later order equipment.The mathematical model of the calibration conversion principle and robot hand eye calibration system of coordinates.According to the operation of the robot,hand-eye calibration and calibration process completed after the completion of the calibration precision calibration accuracy meets the test requirements.In this paper,the relative position of the laser stripe image calibration to the camera in the experiment,different types of joints adopted different joint recognition algorithms and use the different image filtering algorithms,which is providing the basis of image processing and software application experiment in the process.The experimental part of the WELDCOM software identification algorithm,image processing algorithms,using different types of application points to make the weld seam tracking point in the weld center.In the process of visual experiment,the blind area is tracked and the distance of the blind area is measured by the displacement record of the visual sensor,and the welding starting position is determined.The butt weld of straight line,fold line type and S type curve are welded respectively.It can meet the requirements of different welding curves to the motion parameters and tracking precision of the robot.