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High-precision projection welding error compensation system based on robot hand-eye visual feedback

A technology of visual feedback and robot hand, applied in manipulators, program control manipulators, welding equipment, etc., can solve problems such as robot teaching welding trajectory deviation, achieve the effect of solving welding trajectory errors and improving welding accuracy and quality

Active Publication Date: 2022-02-08
SHANGHAI JIAOTONG UNIV
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Problems solved by technology

[0004] The purpose of the present invention is to solve the shortcomings of robot teaching welding track deviation caused by the manufacturing error of the workpiece itself in the robot nut projection welding process in the prior art, and propose a high-precision projection welding error compensation based on robot hand-eye visual feedback system

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  • High-precision projection welding error compensation system based on robot hand-eye visual feedback
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  • High-precision projection welding error compensation system based on robot hand-eye visual feedback

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Embodiment Construction

[0026] Below in conjunction with the present invention in the accompanying drawings, the technical solution embodiment will be apparent to the present invention, completely described, obviously, the described embodiments are merely part of embodiments of the present invention rather than all embodiments.

[0027] Refer Figure 1-4 , Based on the visual feedback of the robot hand-eye projection welding precision error compensation system comprising a depth camera, welding apparatus 2, projection welding electrodes 3, 4 welding robot, welding holes target 5, a depth camera and projection welding the welding electrodes 3 are located in side apparatus 2, the target 5 placed under the welding hole 3 of projection welding, the welding robot 4 is located outside the welding apparatus 2.

[0028] The system works as follows:

[0029] 1, first robotic automation nut projection welding system for offline calibration parameters to be calibrated internal reference matrix K hand-eye camera, 6D ...

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Abstract

The invention belongs to the fields of machine vision, image processing and robot control, in particular a high-precision projection welding error compensation system based on robot hand-eye visual feedback, aiming at the existing robot nut projection welding process, which is caused by the manufacturing error of the workpiece itself. To solve the problem of teaching welding track deviation, the following scheme is proposed, which includes a depth camera, welding equipment, projection welding electrodes, welding robots, and target welding holes. The hole is located below the projection welding electrode, and the welding robot is located outside the welding equipment. The RGB image and depth image of the welding point area of ​​the workpiece are collected through the depth camera; the welding hole ROI area of ​​the RGB image is extracted, and Canny edge detection is performed to obtain the edge image. The invention effectively solves the welding track error caused by workpiece manufacturing, and improves the welding precision and quality of the robotic automatic nut projection welding process.

Description

Technical field [0001] The present invention relates to machine vision, robotics control and image processing technology, and particularly relates to a robot hand-eye visual feedback based on the precision error compensation system of projection welding. Background technique [0002] In the field of robotic automation nut projection welding, widely used at present teachings - the reproduction mode of welding, namely the welding robot first previously taught and offline programming for welding point and the welding object, and the control of the robot gripping a workpiece along a fixed weld path welding parameters and welding. [0003] Conventional welding pattern requires a higher consistency of the workpiece itself, the workpiece can cause errors welding holes and hole standard deviation. Thus the robot gripping a workpiece in accordance with standard hole trajectory taught obtained during welding, the welding can not be aligned with the hole in the workpiece projection welding ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B23K11/14B23K11/31B25J9/16B25J11/00
CPCB23K11/14B23K11/31B25J11/00B25J11/005B25J9/16B25J9/1697B25J9/1679B25J9/1628
Inventor 刘超周德鑫杨艺熊振华盛鑫军
Owner SHANGHAI JIAOTONG UNIV
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