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专利名称: 自动化焊接的焊缝识别方法
其他题名: Welding seam identification method for automatic welding
作者: 朱思俊; 屈润鑫; 李仕海; 王琛元; 李树强; 金玉章
所属部门: 装备制造技术研究室
专利权人: 中国科学院沈阳自动化研究所
专利代理: 沈阳科苑专利商标代理有限公司 21002
专利国别: 中国
专利类型: 发明
专利状态: 公开
摘要: 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。
英文摘要: The 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. 
是否PCT专利:
申请日期: 2014-05-14
公开日期: 2015-11-25
专利申请号: CN201410204332.1
公布/公告号: CN105081623A
语种: 中文
产权排序: 1
内容类型: 专利
URI标识: http://ir.sia.cn/handle/173321/17302
Appears in Collections:装备制造技术研究室_专利

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Recommended Citation:
朱思俊,屈润鑫,李仕海,等. 自动化焊接的焊缝识别方法. CN105081623A. 2015.
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