基于非标产品机器人焊接的3D激光跟踪关键技术研究  

Research on Key technologies of 3D laser tracking based on robot welding of non-standard products

作　　者：任兴贵 刘学文[1] 江发生 郑文彬 REN Xinggui;LIU Xuewen;JIANG Fasheng;ZHENG Wenbin(Guangzhou Huaxia Vocational College,510395,China;Guangzhou Degu Refrigeration Equipment Co.,Ltd.,511480,China;Guangzhou Henlong Intelligent Equipment Co.,Ltd.,510948,China)

机构地区：[1]广州华夏职业学院,广州510935 [2]广州市德固制冷设备有限公司,广州511480 [3]广州亨龙智能装备股份有限公司,广州510948

出　　处：《自动化与仪器仪表》2023年第11期206-211,共6页Automation & Instrumentation

基　　金：广州市科技计划项目《基于非标产品机器人焊接的3D激光跟踪关键技术研究》(202201010083)。

摘　　要：激光焊接在焊接后得到的焊缝较窄,容易造成焊接缺陷。为了提高非标产品激光焊接的窄间隙对接焊缝初始引导和追踪定位的精度,研究利用边缘模板匹配的初始点识别方法,进行焊缝初始引导。并通过动态ROI区域提取方法,进行焊缝特征图像处理。最终设计了基于主动视觉的三维激光焊接焊缝跟踪系统。实验表明研究系统计算得到的理论坐标与实际测量坐标的总体标定平均误差为0.027 0,表明系统对焊缝点的标定精度较高。研究方法的焊缝偏差变化范围基本上维持在±0.25 mm之间,显著低于其他先进的焊缝跟踪模型。并且满足焊缝跟踪精度要求,且系统运行较稳定。此次研究系统提高了机器人在焊接过程中的定位精度,同时可满足其对于实时性的要求。The weld obtained by laser welding is narrow after welding,which is easy to cause welding defects.In order to improve the accuracy of initial guidance and tracking of narrow gap butt weld in laser welding of non-standard products,the initial point identification method based on edge template matching was studied.The image of weld feature is processed by the method of dynamic ROI region extraction.Finally,a 3D laser welding seam tracking system based on active vision is designed.The experiment shows that the average error between the theoretical coordinates calculated by the research system and the actual coordinates is 0.027 0,which indicates that the system has a high calibration accuracy for weld points.The variation range of weld deviation of the research method is basically maintained within ±0.25 mm,which is significantly lower than other advanced weld tracking models.And meet the requirements of weld tracking accuracy,and the system runs stably.This research system improves the positioning accuracy of the robot in the welding process,and can meet its requirements for real-time performance.

关 键 词：机器人 非标产品 3D激光焊接 焊缝跟踪 视觉标定 

分 类 号：TP391.41[自动化与计算机技术—计算机应用技术]