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Off-line programming system and method of optical visual sensor with linear structure for welding robot

A vision sensor, robot line technology, applied in the direction of manipulators, manufacturing tools, etc., can solve the problems that affect the collaborative development and application of welding robot intelligent technology, and the difficulty of robot offline programming technology to take advantage of the advantages, to achieve the effect of expanding the scope

Inactive Publication Date: 2011-02-16
SOUTHEAST UNIV
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  • Abstract
  • Description
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AI Technical Summary

Problems solved by technology

In addition, the incompatibility between the on-site teaching sensor system and the robot offline programming technology makes it difficult for the robot offline programming technology to take advantage of it, which directly affects the collaborative development and application of welding robot intelligent technology

Method used

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  • Off-line programming system and method of optical visual sensor with linear structure for welding robot
  • Off-line programming system and method of optical visual sensor with linear structure for welding robot
  • Off-line programming system and method of optical visual sensor with linear structure for welding robot

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Embodiment Construction

[0042] Below in conjunction with accompanying drawing and specific embodiment the present invention is further described:

[0043]This example adopts solidworks running on the operating system based on PC and Windows as the software development platform, in which the simulation scene is established in the solidworks assembly space (corresponding to *.sldasm file), and each solid model is also a 3D entity in solidworks (corresponding to *.sldprt).

[0044] 1. Simulation scene construction

[0045] Open the scene file of the air simulation environment, import the sensor head model, the workpiece to be tested, the three-dimensional solid model of the robot and its tools, and complete the necessary assembly. Among them, the relative posture relationship between the camera coordinate system and the tool hand coordinate system, and the relative posture relationship between the workpiece to be measured and the robot base coordinate system should have been determined in the early des...

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Abstract

The invention relates to an off-line programming system and method of an optical visual sensor with a linear structure for a welding robot. The system comprises a sensor model, a robot model, a process control rule base, a graphic editing interface, an operation sequence module and a programming information output, wherein the sensor model is used for simulating a sensor imaging process to acquire a view model and simultaneously completing detection view substantiation to be convenient for user graphic programming; the robot model is used for simulating the single-point motion of the robot and providing communication interface information of connecting sensor input signals; the process control rule base is used for providing process feature extraction rules for different welding tasks andcontrol command related information of processes; the graphic editing interface is used for interactive graphic programming between a user and a system; the operation sequence module is used for saving the information of a series of detection points, wherein the information comprises single-point motion commands, process compensation control commands, process feature extraction rules and imaging signal model information; and the programming information output is used for outputting the program text of the robot and the configuration information text of the sensor system.

Description

technical field [0001] The invention relates to a system and method in the technical field of intelligent welding robots, in particular to an off-line programming system and method for a line structured light vision sensor for a welding robot. Background technique [0002] Robot off-line programming technology and information sensing technology are two important components of intelligent robot welding. [0003] In order to meet the increasingly complex needs of welding production, the off-line programming technology of welding robots has been developed to replace the early on-site teaching methods. Especially when combined with welding design CAD technology, the programming efficiency of robots is greatly improved. However, in order to ensure the final welding effect, strict and stable welding operation site conditions are required in the specific implementation, so the lack of "flexibility" during welding shows obvious shortcomings. However, in the actual arc welding proce...

Claims

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Application Information

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IPC IPC(8): B25J13/00
Inventor 李新德龚烨飞程祥根戴先中
Owner SOUTHEAST UNIV
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