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主管单位 中华人民共和国
工业和信息化部
主办单位 中国材料研究学会
哈尔滨工业大学
主编 苑世剑 国际刊号ISSN 1005-0299 国内刊号CN 23-1345/TB

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引用本文:倪沫楠,王天琪,李金钟,贾振威.激光单目视觉焊缝起始点导引技术[J].材料科学与工艺,2019,27(3):35-40.DOI:10.11951/j.issn.1005-0299.20180148.
NI Monan,WANG Tianqi,LI Jinzhong,JIA Zhenwei.Guidance technology of laser monocular vision weld initial point[J].Materials Science and Technology,2019,27(3):35-40.DOI:10.11951/j.issn.1005-0299.20180148.
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激光单目视觉焊缝起始点导引技术
倪沫楠,王天琪,李金钟,贾振威
(天津市现代机电装备技术重点实验室(天津工业大学),天津 300387)
摘要:
针对弧焊机器人自动化焊接过程中初始焊接位置定位问题,本文提出了一种十字激光单目视觉的两步导引法.首先,找到成像平面上焊缝起始点坐标,以光轴中心为原点,光轴中心与该点的连线为z轴建立新的坐标系,通过求解新旧坐标系之间的旋转矩阵,控制机器人调整摄像机的姿态,使目标点位于摄像机光轴;然后,结合十字激光发生器,控制机器人沿摄像机z轴逐渐向焊缝起始点靠近,直至十字激光交叉点与焊缝起始点重合,即获得焊缝起始点的三维坐标,将该坐标反馈给机器人,控制焊枪运动至焊缝起始点.试验结果表明,该方法能够在保证焊接精确度的情况下实现对焊缝起始点导引.
关键词:  焊缝起始点导引  结构光视觉  弧焊机器人  手眼标定  机器人控制
DOI:10.11951/j.issn.1005-0299.20180148
分类号:TP391.4;TP242.2
文献标识码:A
基金项目:国家自然科学基金资助项目(U1733125);天津市科技支撑计划重点项目(15ZCZDGX00300).
Guidance technology of laser monocular vision weld initial point
NI Monan, WANG Tianqi, LI Jinzhong, JIA Zhenwei
(Advanced Mechatronics Equipment Technology Tianjin Area Laboratory (Tianjin Polytechnic University), Tianjin 300387, China)
Abstract:
Aiming at the initial welding location positioning problem of arc welding robots during automated welding, a two-step guidance method for cross-laser monocular vision was proposed in this study. First, after finding the coordinates of weld initial point on the imaging plane, the center of the optical axis was taken as the origin and a new coordinate system for the z-axis was created by connecting the center of the optical axis and the point. By solving the rotation matrix between the old and the new coordinate systems, the robot was controlled to adjust the pose of the camera so that the target point was located on the optical axis of the camera.Then, combined with the cross-laser generator, the robot was controlled to gradually approach the weld initial point along the z-axis of the camera until the intersection of the cross-laser and the weld initial point were coincident, and the three-dimensional coordinates of the weld initial point were thus obtained.The coordinate was then fed back to the robot to control the movement of the welding torch to the weld initial point. Test results show that this method can achieve the guidance of weld initial point while ensuring welding accuracy.
Key words:  weld initial point guide  structural light vision  arc welding robot  hand-eye calibration  robot control

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