CN108672907A - 基于结构光视觉传感的弧焊机器人焊缝在线纠偏方法 - Google Patents
基于结构光视觉传感的弧焊机器人焊缝在线纠偏方法 Download PDFInfo
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- CN108672907A CN108672907A CN201810549471.6A CN201810549471A CN108672907A CN 108672907 A CN108672907 A CN 108672907A CN 201810549471 A CN201810549471 A CN 201810549471A CN 108672907 A CN108672907 A CN 108672907A
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- weld seam
- structured light
- correction
- robot
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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
- B23K9/32—Accessories
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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
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/02—Carriages for supporting the welding or cutting element
- B23K37/0252—Steering means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
Abstract
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CN201810549471.6A CN108672907B (zh) | 2018-05-31 | 2018-05-31 | 基于结构光视觉传感的弧焊机器人焊缝在线纠偏方法 |
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CN108672907A true CN108672907A (zh) | 2018-10-19 |
CN108672907B CN108672907B (zh) | 2020-11-20 |
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Cited By (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN109514133A (zh) * | 2018-11-08 | 2019-03-26 | 东南大学 | 一种基于线结构光感知的焊接机器人3d曲线焊缝自主示教方法 |
CN110450170A (zh) * | 2019-09-09 | 2019-11-15 | 北京配天技术有限公司 | 焊接机器人及其摆动轨迹的规划方法 |
CN110834132A (zh) * | 2019-11-28 | 2020-02-25 | 西南交通大学 | 椭球面箱底上铝合金法兰电弧熔丝增材制造方法 |
CN111189393A (zh) * | 2020-01-21 | 2020-05-22 | 北京卫星制造厂有限公司 | 一种三维薄壁结构焊缝的高精度全局视觉测量方法 |
CN112059490A (zh) * | 2020-08-18 | 2020-12-11 | 佛山博文机器人自动化科技有限公司 | 一种机器人现场焊接装置和焊接方法 |
CN112091967A (zh) * | 2020-07-27 | 2020-12-18 | 一重集团大连核电石化有限公司 | 焊接机器人轨迹离线编程批量修正方法 |
CN114789288A (zh) * | 2022-04-24 | 2022-07-26 | 湘潭大学 | 基于涡流及双目线阵视觉复合传感的焊缝三维定位跟踪方法 |
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CN105798431A (zh) * | 2016-05-27 | 2016-07-27 | 天津智通机器人有限公司 | 弧焊机器人焊接的曲线在线焊缝跟踪方法 |
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CN107390528A (zh) * | 2017-08-23 | 2017-11-24 | 华南理工大学 | 一种焊缝跟踪应用的自适应模糊控制方法 |
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CN106112318A (zh) * | 2016-07-13 | 2016-11-16 | 桂林航天工业学院 | 一种基于视觉的在线焊缝跟踪方法及系统 |
CN107390528A (zh) * | 2017-08-23 | 2017-11-24 | 华南理工大学 | 一种焊缝跟踪应用的自适应模糊控制方法 |
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GREG WELCH 等: "卡尔曼滤波器介绍", 《百度文库》 * |
刘景辉: "面向非标容器的弧焊机器人结构光视觉纠偏系统设计与研究", 《中国优秀硕士学位论文全文数据库 信息科技辑》 * |
石永华: "基于视觉传感的药芯焊丝水下焊接焊缝自动跟踪系统", 《中国博士学位论文全文数据库 工程科技Ⅰ辑 》 * |
Cited By (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN109514133A (zh) * | 2018-11-08 | 2019-03-26 | 东南大学 | 一种基于线结构光感知的焊接机器人3d曲线焊缝自主示教方法 |
CN110450170A (zh) * | 2019-09-09 | 2019-11-15 | 北京配天技术有限公司 | 焊接机器人及其摆动轨迹的规划方法 |
CN110834132A (zh) * | 2019-11-28 | 2020-02-25 | 西南交通大学 | 椭球面箱底上铝合金法兰电弧熔丝增材制造方法 |
CN111189393A (zh) * | 2020-01-21 | 2020-05-22 | 北京卫星制造厂有限公司 | 一种三维薄壁结构焊缝的高精度全局视觉测量方法 |
CN111189393B (zh) * | 2020-01-21 | 2021-10-01 | 北京卫星制造厂有限公司 | 一种三维薄壁结构焊缝的高精度全局视觉测量方法 |
CN112091967A (zh) * | 2020-07-27 | 2020-12-18 | 一重集团大连核电石化有限公司 | 焊接机器人轨迹离线编程批量修正方法 |
CN112091967B (zh) * | 2020-07-27 | 2024-04-19 | 一重集团大连核电石化有限公司 | 焊接机器人轨迹离线编程批量修正方法 |
CN112059490A (zh) * | 2020-08-18 | 2020-12-11 | 佛山博文机器人自动化科技有限公司 | 一种机器人现场焊接装置和焊接方法 |
CN114789288A (zh) * | 2022-04-24 | 2022-07-26 | 湘潭大学 | 基于涡流及双目线阵视觉复合传感的焊缝三维定位跟踪方法 |
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Inventor after: Wang Nianfeng Inventor after: Shi Xiaodong Inventor after: Zheng Yongzhong Inventor after: Zhou Shengyong Inventor before: Wang Nianfeng Inventor before: Shi Xiaodong Inventor before: Zheng Yongzhong Inventor before: Zhou Shengyong |
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Address after: 510640 No. five, 381 mountain road, Guangzhou, Guangdong, Tianhe District Patentee after: SOUTH CHINA University OF TECHNOLOGY Patentee after: Sanji precision technology (Guangdong) Co.,Ltd. Address before: 510640 No. five, 381 mountain road, Guangzhou, Guangdong, Tianhe District Patentee before: SOUTH CHINA University OF TECHNOLOGY Patentee before: SON-TECH PRECISION MACHINERY Co.,Ltd. |
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