Tower foot workpiece automatic welding system and method based on weld joint recognition

Abstract

The invention discloses a tower foot workpiece automatic welding system and method based on weld joint recognition, and the system comprises an upper computer, a robot control cabinet, a welding robot, a two-axis positioner and a three-dimensional structured light camera which are matched with one another; the upper computer is used for receiving the workpiece surface point cloud information shot by the three-dimensional structured light camera, performing point cloud splicing and workpiece surface reconstruction, and completing weld joint extraction and welding path planning of the welding robot; the robot control cabinet is used for controlling welding of the welding robot and movement of the two-axis positioner. The two-shaft positioner is used for fixing a welding workpiece and adjusting the angle of the welding workpiece; and the three-dimensional structured light camera is used for shooting surface point cloud information of the welding workpiece. By utilizing the method, the welding path planning of the welding robot can be directly guided by extracting the three-dimensional coordinate information of all the welding seams of the welding part of the welding workpiece, the welding efficiency and the welding precision of the tower foot workpiece can be improved, and the method has universality for tower foot workpieces of different specifications.

Description

technical field [0001] The invention belongs to the field of automatic welding of robots, and in particular relates to an automatic welding system and method for tower foot workpieces based on welding seam identification. Background technique [0002] The power angle steel tower is a tower-shaped building for power transmission, which belongs to the space truss structure. The tower foot of the power angle steel tower is a steel plate weldment, which generally needs to be customized according to factors such as terrain and angle steel tower structure. The production process of the tower foot is as follows: 1) Personalized design of the shape and size of the tower foot; 2) Cutting the steel plate according to the drawing to complete the blanking of the steel plate; 3) Manual spot welding of the steel plate according to the drawing to realize the preliminary connection between the steel plate and the steel plate; 4) Overall Arc welding, to complete the welding operation of all...

AI Technical Summary

Problems solved by technology

However, such methods are mostly used for planar workpieces, and are not suitable for three-dimensional tower feet with complex structures.

[0005] It can be seen that the current tower foot welding processing method has the following limitations: 1) The product size is customized, the welding process of the tower foot still relies on manual welding, the labor intensity of the workers is high, and the overall productivity is low; It needs to be developed and cannot solve the problem of welding seam identification of small batches and multiple varieties of three-dimensional workpieces; 3) The working environment of tower foot welding is harsh, and the waste gas and dust generated during the welding process seriously endanger the health of welders

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