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A device, system and method for welding seam trajectory autonomous positioning based on machine vision

A machine vision and trajectory technology, applied in welding equipment, laser welding equipment, metal processing equipment, etc., can solve the problems of poor robot running trajectory accuracy, lack of welding seam trajectory measurement function, and uneven stopping speed.

Active Publication Date: 2022-08-09
AVIC BEIJING AERONAUTICAL MFG TECH RES INST
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Problems solved by technology

The main problems of this method are the poor trajectory accuracy of the robot, the uneven running speed from start to stop, and the low accuracy of coordinate collection at a fixed time, and it cannot solve the problem of blind spots caused by multiple reflections of the laser beam scanned by the ranging sensor around the weld of the T-shaped joint. , only applicable to lap welds, and does not have the function of measuring the start and end positions of the weld trajectory

Method used

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  • A device, system and method for welding seam trajectory autonomous positioning based on machine vision
  • A device, system and method for welding seam trajectory autonomous positioning based on machine vision
  • A device, system and method for welding seam trajectory autonomous positioning based on machine vision

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Embodiment Construction

[0037] The embodiments of the present invention will be described in further detail below with reference to the accompanying drawings and examples. The detailed description of the following embodiments and the accompanying drawings are used to exemplify the principles of the present invention, but not to limit the scope of the present invention, that is, the present invention is not limited to the described embodiments without departing from the spirit of the present invention. Any modifications, substitutions and improvements to parts, assemblies and connections are covered under.

[0038] It should be noted that the embodiments in the present application and the features of the embodiments may be combined with each other in the case of no conflict. The present application will be described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.

[0039] see figure 1 , the embodiment of the present invention proposes a machine vi...

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Abstract

The present invention involves a self -employment device, system and method of welding trajectory based on machine vision. One of the self -proclaimed welded trajectories based on machine vision includes the telescopic mechanism and welded seams.The laser welding ting of the bitor and the welding robot is connected through the telescopic mechanism.The welded seam searrator of the present invention can move in the direction of the Z axis through the coordinate system of the telescopic mechanism compared to the coordinate system of the laser welding tide; at the same timeThe coordinate system of the laser welding tint can be moved in the direction of the X -axis and Y axis, so that the spacing sensor can scan the three -dimensional contour data of the laser welding tone, solve the ranging sensor scanning the laser beam in the T -connected welding seamThe surrounding multiple reflexes form a blind spot problem, with the welded trajectory measurement and the starting point of the starting point position measurement function of the welded trajectory.

Description

technical field [0001] The invention relates to the field of automated welding, in particular to a device, system and method for autonomously locating welding seam tracks based on machine vision. Background technique [0002] The manufacturing technology of ribbed wall panels is widely used in modern aerospace, rail transit, ships, etc. The best method for the integrated manufacture of ribbed wall panels is to use welding. The ribbed panels are usually T-joint structures. The quality and efficiency of laser welding directly affect the development speed of these industries and the promotion of laser welding applications. Especially for aviation titanium alloy ribbed wall panels, laser welding is the most difficult. Due to the small spot diameter and high laser welding speed, laser welding can reach more than 7 m / min. In order to improve processing efficiency, improve manufacturability, and reduce path errors, Various welding errors caused by thermal deformation, installation...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B23K26/21B23K26/70
CPCB23K26/21B23K26/702
Inventor 姜超浪赵福龙柯学杨璟
Owner AVIC BEIJING AERONAUTICAL MFG TECH RES INST
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