Method adopting robot for automatic recognition and additive forming of uneven surface

Abstract

The invention discloses a method adopting robot for automatic recognition and additive forming of an uneven surface. The method comprises the following steps: two CCD cameras opposite in position areinstalled at the tail end of the robot, the surface of a workpiece is observed in a larger range, images are collected, defects on the surface of the workpiece are recognized and guided based on a binocular vision principle, and three-dimensional information of the defects is acquired; a controller reconstructs the three-dimensional outline of the defects, additive parameters are determined, an additive gun at the tail end of the robot is driven to reach defect positions for additive filling and repairing; after additive filling and repairing, the two CCD cameras at the tail end of the robot are driven to acquire images of the defects again; the controller reconstructs the three-dimensional contour of the defects again to determine whether the workpiece after additive filling and repairingmeets the standard, and the defects are subjected to additive filling and repairing again if the workpiece fails to meet the standard until the workpiece meets the standard. The robot has the advantages of simple structure, stable operation, high reliability and high adaptability, and can recognize the defects on the surface of the workpiece automatically and complete additive filling and repairing of the defects.

Description

technical field [0001] The invention relates to the technical fields of machine vision and additive forming, in particular to a method for autonomously identifying uneven surfaces by a robot and performing additive forming on the uneven surfaces. Background technique [0002] In traditional production lines, industrial robots generally use teaching or offline programming methods when operating, and the working process and trajectory are strictly stipulated in advance. This type of robot does not have the ability to adapt to changes in the welding environment and working conditions. Once the working environment changes or the condition of the workpiece changes, or even the working environment and the condition of the workpiece are unknown, usually due to the lack of certain perception capabilities for such changes, the predetermined task will be delayed. fail. It is especially important for welding environments that are not suitable for people to participate in (such as nucl...

AI Technical Summary

Problems solved by technology

This type of robot does not have the ability to adapt to changes in the welding environment and working conditions. Once the working environment changes or the condition of the workpiece changes, or even the working environment and the condition of the workpiece are unknown, usually due to the lack of certain perception capabilities for such changes, the predetermined task will be delayed. fail

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