研究目的
To study the laser vision-based automatic trajectory planning technology for spatial intersecting joint weld, addressing the challenges of accurate welding seam extraction and location, determining the relationship between the workpiece coordinate system and the robot base coordinate system, and planning the welding torch gesture automatically.
研究成果
The proposed technology achieves higher precision location and better intersecting joint weld trajectory planning, enabling high-quality automatic weld of intersecting joints. The method has variable step size characteristics, ensuring high discrete accuracy with minimal discrete points.
研究不足
The study focuses on T-type intersecting joints and may not cover all types of spatial intersecting joints. The accuracy of the method depends on the calibration of the vision system and the quality of the laser stripe images.
1：Experimental Design and Method Selection:
The study involves establishing a mathematical model of T-type off-axis non-groove intersecting joint, analyzing welding seam characteristics, and proposing a triangular pseudo-rotation feature pixel detection algorithm for rapid extraction and location of spatial intersecting joint weld.
2：Sample Selection and Data Sources:
The test piece is an orthogonal T-type steel intersecting joint with an outer diameter of 140 mm for both the main pipe and the branch pipe.
3：List of Experimental Equipment and Materials:
ABB IRB1410 six-axis industrial robot, dual network port industrial computer, Fronius TPS 4000 CMT automatic welding machine, Allied Vision Manta G-301 CCD camera, red one-line laser, and Ethernet transmission cable.
4：Experimental Procedures and Operational Workflow:
The system of monocular structured light based vision was calibrated, point cloud data were obtained by scanning, collecting, and processing the image of intersecting line welds from nine different positions.
5：Data Analysis Methods:
The point cloud data are analyzed and fitted by the vision-based calibration algorithm to determine the relationship between the workpiece coordinate system and the robot base coordinate system.
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