Design Of Visual Weld Recognition System For Industrial Robot

With the proposal and promotion of "Made in China 2025",the rapid development of China's manufacturing industry,the traditional manual welding mode has been difficult to meet the needs of large-scale production.In order to improve the efficiency of welding production and enhance the degree of automation in the process of production and processing,robot is used to complete the welding work instead of human,and visual system is used to detect the information of weld path,which is of great significance to realize the automatic welding function.The vision welding seam recognition system of industrial robot mainly consists of6-axis industrial robot,welding machine,vision system,image processing system,etc.The Robot Studio software is used to simulate the distribution structure of the equipment model and optimize the layout of the weld identification system.Plan to install the related hardware equipment of the weld identification system,write the communication program between the equipment,and realize the interconnection of the whole system data.The upper computer uses the C + + language of Visual studio platform to write the system software and Open CV visual library to assist in writing the visual processing algorithm.The work flow of weld path detection is designed.The image is preprocessed by Gaussian filtering and noise reduction.The image of the region to be welded is obtained by local adaptive threshold binarization.The edge detection is realized by Canny operator to extract the weld path information.The coordinate transformation model is established,and the calibration experiment of camera and robot is completed by chessboard calibration method.Aiming at the realization of robot welding function,the configuration of welding parameters,robot zero calibration and tool coordinate setting are completed.The effectiveness of the visual weld identification system and the effect of the actual welding workpiece are tested through the actual test.This paper introduces the composition,workflow,image processing algorithm,software implementation method and other contents of the vision weld recognition system of industrial robot.The feasibility of the system is verified by experiments,which can meet the actual welding needs and provide a solution for solving the automatic welding.