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自动化焊接的焊缝识别方法
Alternative TitleWelding seam identification method for automatic welding
朱思俊; 屈润鑫; 李仕海; 王琛元; 李树强; 金玉章
Department装备制造技术研究室
Rights Holder中国科学院沈阳自动化研究所
Patent Agent沈阳科苑专利商标代理有限公司 21002
Country中国
Subtype发明
Status有权
Abstract本发明涉及自动化焊接的焊缝识别方法,包括以下步骤:激光测距仪自身进行调平校正;通过机器人标志点对激光测距仪进行相对位置及相对姿态标定;通过激光测距仪对焊接机器人进行校准;利用激光测距仪,测得激光测距仪坐标系原点与机器人末端点之间的距离,得到激光测距仪坐标系原点在机器人末端点坐标系中的坐标,根据坐标变换得到激光测距仪原点在世界坐标系中的坐标;利用激光测距仪通过距离变化检出焊缝在其坐标系中的坐标;通过坐标变换获得焊缝在世界坐标系中的坐标。本发明操作简单、稳定性好、经济。激光测距仪独立于被测机器人,其自身经过校正精度高,利用激光测距仪标定机器人,把机器人本身的测量误差屏蔽掉。
Other AbstractThe invention relates to a welding seam identification method for automatic welding. The method comprises the following steps of performing leveling correction on a laser rangefinder; performing relative position and relative attitude calibration on the laser rangefinder by virtue of a robot mark point; calibrating a welding robot by virtue of the laser rangefinder; measuring the distance between a coordinate origin of the laser rangefinder and a terminal endpoint of the robot to obtain coordinates of the coordinate origin of the laser rangefinder in a coordinate system of the terminal endpoint of the robot by virtue of the laser rangefinder, and performing coordinate transformation to obtain coordinates of the coordinate origin of the laser rangefinder in the world coordinate system; detecting coordinates of a welding seam in the coordinate system in a distance changing manner by virtue of the laser rangefinder; performing coordinate transformation to obtain coordinates of the welding seam in the world coordinate system. The method is easy to operate and high in stability and economy; the laser rangefinder is independent of the measured robot, is corrected to achieve high accuracy, and is used for calibrating the robot to shield a measurement error of the robot. 
PCT Attributes
Application Date2014-05-14
2015-11-25
Date Available2016-11-30
Application NumberCN201410204332.1
Open (Notice) NumberCN105081623A
Language中文
Contribution Rank1
Document Type专利
Identifierhttp://ir.sia.cn/handle/173321/17302
Collection智能产线与系统研究室
Affiliation中国科学院沈阳自动化研究所
Recommended Citation
GB/T 7714
朱思俊,屈润鑫,李仕海,等. 自动化焊接的焊缝识别方法[P]. 2015-11-25.
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