CN105328304B - 基于统计学的焊缝起始点自动寻位方法 - Google Patents
基于统计学的焊缝起始点自动寻位方法 Download PDFInfo
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- CN105328304B CN105328304B CN201510903357.5A CN201510903357A CN105328304B CN 105328304 B CN105328304 B CN 105328304B CN 201510903357 A CN201510903357 A CN 201510903357A CN 105328304 B CN105328304 B CN 105328304B
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- weld seam
- welding gun
- vision sensor
- weld
- starting point
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/12—Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
- B23K9/127—Means for tracking lines during arc welding or cutting
- B23K9/1272—Geometry oriented, e.g. beam optical trading
- B23K9/1276—Using non-contact, electric or magnetic means, e.g. inductive means
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CN201510903357.5A CN105328304B (zh) | 2015-12-09 | 2015-12-09 | 基于统计学的焊缝起始点自动寻位方法 |
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CN201510903357.5A CN105328304B (zh) | 2015-12-09 | 2015-12-09 | 基于统计学的焊缝起始点自动寻位方法 |
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CN105328304A CN105328304A (zh) | 2016-02-17 |
CN105328304B true CN105328304B (zh) | 2017-05-31 |
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Families Citing this family (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP6612454B2 (ja) * | 2016-03-28 | 2019-11-27 | アーベーベー・シュバイツ・アーゲー | 溶接シーム点較正のための探索パラメータを決定する方法、システム、および装置 |
CN107421963A (zh) * | 2017-09-18 | 2017-12-01 | 重庆大学 | 一种核燃料生坯裂纹检测装置及裂纹检测方法 |
EP3550256B1 (de) * | 2018-04-05 | 2021-03-10 | Georg Fischer Rohrleitungssysteme AG | Erkennung einer schweissnahtgeometrie |
CN108581260B (zh) * | 2018-05-15 | 2020-07-14 | 山东泰开箱变有限公司 | 一种机器人全自动焊接配变油箱波纹壁工艺方法 |
CN109604830B (zh) * | 2018-07-25 | 2021-04-23 | 同高先进制造科技(太仓)有限公司 | 一种主动激光视觉引导机器人激光焊接精确焊缝跟踪系统 |
CN111318783B (zh) * | 2020-03-27 | 2021-12-03 | 陕西丝路机器人智能制造研究院有限公司 | 一种标定船用管焊机器人焊枪与激光焊缝跟踪传感器的方法 |
CN111451673B (zh) * | 2020-03-31 | 2022-07-29 | 北京博清科技有限公司 | 焊缝起始位置的搜索方法及装置、焊接系统 |
CN114952098A (zh) * | 2022-06-06 | 2022-08-30 | 中国科学院重庆绿色智能技术研究院 | 一种基于机器视觉引导的智能焊缝寻位系统及焊接机器人 |
CN117226330B (zh) * | 2023-11-15 | 2024-01-26 | 法奥意威(苏州)机器人系统有限公司 | 基于激光传感的寻位方法、装置和电子设备 |
CN117300301B (zh) * | 2023-11-30 | 2024-02-13 | 太原科技大学 | 一种基于单目线激光的焊接机器人焊缝跟踪系统与方法 |
Family Cites Families (4)
Publication number | Priority date | Publication date | Assignee | Title |
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JP3082829B2 (ja) * | 1995-04-14 | 2000-08-28 | 三菱重工業株式会社 | 溶接線自動認識法及び装置 |
CN101700596B (zh) * | 2009-11-05 | 2011-07-27 | 上海交通大学 | 移动焊接机器人焊前自寻迹的方法 |
CN102179598B (zh) * | 2011-03-31 | 2013-05-01 | 中国科学院自动化研究所 | 平板窄焊缝初始焊位对中和焊缝跟踪方法及装置 |
CN104014907B (zh) * | 2014-06-19 | 2016-02-24 | 北京创想智控科技有限公司 | 自动检测跟踪焊缝的方法 |
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Address after: 264205 Dongfeng Road, Weihai economic and Technological Development Zone, Shandong, China, -70-4 Applicant after: Shandong Zhong Qing intelligent Polytron Technologies Inc Address before: 264205 Dongfeng Road, Weihai economic and Technological Development Zone, Shandong, China, -70-4 Applicant before: SHANDONG ZHONGQING INTELLIGENT TECHNOLOGY CO., LTD. |
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Inventor after: Chen Guodong Inventor after: Zhao Xin Inventor after: Zhang Shuguang Inventor before: Zhao Xin Inventor before: Chen Guodong Inventor before: Zhang Shuguang |
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PE01 | Entry into force of the registration of the contract for pledge of patent right | ||
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Denomination of invention: Automatic locating method of weld starting point based on statistics Effective date of registration: 20210629 Granted publication date: 20170531 Pledgee: Industrial and Commercial Bank of China Limited Weihai Branch Pledgor: SHANDONG ZHONGQING INTELLIGENT TECHNOLOGY Co.,Ltd. Registration number: Y2021980005444 |