CN111318783B - 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 - Google Patents
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 Download PDFInfo
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- CN111318783B CN111318783B CN202010230400.7A CN202010230400A CN111318783B CN 111318783 B CN111318783 B CN 111318783B CN 202010230400 A CN202010230400 A CN 202010230400A CN 111318783 B CN111318783 B CN 111318783B
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- 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
- B23K9/12—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
- B23K9/1274—Using non-contact, optical means, e.g. laser means
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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
- B23K9/02—Seam welding; Backing means; Inserts
-
- 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
- B23K9/124—Circuits or methods for feeding welding wire
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CN202010230400.7A CN111318783B (zh) | 2020-03-27 | 2020-03-27 | 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 |
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CN202010230400.7A CN111318783B (zh) | 2020-03-27 | 2020-03-27 | 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 |
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CN111318783A CN111318783A (zh) | 2020-06-23 |
CN111318783B true CN111318783B (zh) | 2021-12-03 |
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CN202010230400.7A Active CN111318783B (zh) | 2020-03-27 | 2020-03-27 | 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 |
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Families Citing this family (2)
Publication number | Priority date | Publication date | Assignee | Title |
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CN111958115B (zh) * | 2020-08-10 | 2022-06-14 | 上海智殷自动化科技有限公司 | 一种用于激光焊缝跟踪的快速手眼标定方法 |
CN112743197B (zh) * | 2020-12-02 | 2022-04-01 | 海门市帕源路桥建设有限公司 | 一种钢筋网片焊点中心自动追踪定位焊接方法 |
Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN102950365A (zh) * | 2011-08-30 | 2013-03-06 | 昆山工研院工业机器人研究所有限公司 | 一种激光视觉传感头与焊枪手眼关系的补偿方法 |
CN105328304A (zh) * | 2015-12-09 | 2016-02-17 | 山东中清智能科技有限公司 | 基于统计学的焊缝起始点自动寻位方法 |
KR20170058720A (ko) * | 2015-11-19 | 2017-05-29 | 대우조선해양 주식회사 | 레이저 거리 센서를 구비한 용접 로봇 및 그의 교정방법 |
CN108717715A (zh) * | 2018-06-11 | 2018-10-30 | 华南理工大学 | 一种用于弧焊机器人的线结构光视觉系统自动标定方法 |
CN109927047A (zh) * | 2019-04-11 | 2019-06-25 | 上海工程技术大学 | 弧焊机器人直线对接焊缝的轴向跟踪系统及方法 |
CN110009685A (zh) * | 2018-12-29 | 2019-07-12 | 南京衍构科技有限公司 | 一种应用于电弧增材的激光相机手眼标定方法 |
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2020
- 2020-03-27 CN CN202010230400.7A patent/CN111318783B/zh active Active
Patent Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN102950365A (zh) * | 2011-08-30 | 2013-03-06 | 昆山工研院工业机器人研究所有限公司 | 一种激光视觉传感头与焊枪手眼关系的补偿方法 |
KR20170058720A (ko) * | 2015-11-19 | 2017-05-29 | 대우조선해양 주식회사 | 레이저 거리 센서를 구비한 용접 로봇 및 그의 교정방법 |
CN105328304A (zh) * | 2015-12-09 | 2016-02-17 | 山东中清智能科技有限公司 | 基于统计学的焊缝起始点自动寻位方法 |
CN108717715A (zh) * | 2018-06-11 | 2018-10-30 | 华南理工大学 | 一种用于弧焊机器人的线结构光视觉系统自动标定方法 |
CN110009685A (zh) * | 2018-12-29 | 2019-07-12 | 南京衍构科技有限公司 | 一种应用于电弧增材的激光相机手眼标定方法 |
CN109927047A (zh) * | 2019-04-11 | 2019-06-25 | 上海工程技术大学 | 弧焊机器人直线对接焊缝的轴向跟踪系统及方法 |
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Inventor after: Rao Honghua Inventor after: Shi Changbai Inventor after: Jing Yan Inventor after: Wei Shihai Inventor after: Kang Chengfei Inventor after: Chen Yushan Inventor after: Liang Anyang Inventor after: Yang Xinjiang Inventor after: Sui Zhigao Inventor after: Zhang Jialin Inventor before: Jing Yan Inventor before: Shi Changbai Inventor before: Rao Honghua Inventor before: Chen Yushan Inventor before: Wei Shihai Inventor before: Kang Chengfei Inventor before: Liang Anyang Inventor before: Yang Xinjiang Inventor before: Sui Zhigao Inventor before: Zhang Jialin |