基于DXF文件解析与点云数据处理的无示教自动焊接系统  

Non-teaching automatic welding system based on DXF file parsing and point cloud data processing

作　　者：王辉[1,2] 向松明 荣佑民 黄禹 徐加俊[1,2] 吴从义 WANG Hui;XIANG Songming;RONG Youmin;HUANG Yu;XU Jiajun;WU Congyi(State Key Laboratory of Intelligent Manufacturing Equipment and Technology,Huazhong University of Science and Technology,Wuhan,430074,China;School of Mechanical Science and Engineering,Huazhong University of Science and Technology,Wuhan,430074,China)

机构地区：[1]华中科技大学,智能制造装备与技术全国重点实验室,武汉430074 [2]华中科技大学,机械科学与工程学院,武汉430074

出　　处：《焊接学报》2024年第12期28-35,共8页Transactions of The China Welding Institution

基　　金：国家重点研发计划(2022YFB3404800);国家自然科学基金(52405543);湖北省重点研发计划(2021BAA195);武汉市科技重大专项资助项目(2022013202025167);湖北省博士后项目资助(2024HBBHCXA009)。

摘　　要：传统示教焊接方式存在操作过程繁琐,效率低下以及人工依赖度高的问题,为此提出了一种基于Drawing Exchange Format (DXF)文件解析与点云数据处理的无示教自动焊接系统,该系统通过对工件DXF文件进行解析,以获取理想焊缝位置及焊缝类型信息,求解多坐标系转换关系实现机器人焊缝初始定位,在此基础上,提出一种考虑机器人实时位姿的激光视觉传感器焊件点云获取方法,进一步开发一种基于平面检测的点云焊缝检测算法,获取实际焊缝位置信息,实现机器人无示教焊接.结果表明,该系统可准确获取焊件点云信息,同时焊缝提取方法误差0.20 mm,满足实际焊接需求.The traditional teaching welding method has a cumbersome operation process,which leads to low efficiency and high dependence on manual labor.To address these issues,this paper proposed a non-teaching automatic welding system based on DXF file parsing and point cloud data processing.The system parses the DXF file of the workpiece to obtain the ideal weld position and weld type information,and achieves the initial positioning of the robot weld by solving the multi coordinate system transformation relationship.On this basis,a laser vision sensor welding point cloud acquisition method considering real-time robot pose is proposed,and a point cloud welding seam detection algorithm based on plane detection is developed to obtain actual welding seam position information and achieve robot non-teaching welding.The results showed that the system can accurately obtain the point cloud information of the weldment,and the error of the weld seam extraction method is less than 0.16 mm,which meets the welding requirements.Highlights:(1)A welding seam initial positioning method based on DXF file parsing and multi coordinate system transformation was proposed to achieve teaching free welding of workpieces.(2)A welding point cloud acquisition method considering real-time robot pose is proposed to achieve high-precision point cloud acquisition of complex workpieces.

关 键 词：无示教焊接 DXF解析 点云处理 焊缝检测 

分 类 号：TG409[金属学及工艺—焊接]