CN113751934B - Positioning system, welding method and welding deformation measuring method - Google Patents
Positioning system, welding method and welding deformation measuring method Download PDFInfo
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- CN113751934B CN113751934B CN202111202824.3A CN202111202824A CN113751934B CN 113751934 B CN113751934 B CN 113751934B CN 202111202824 A CN202111202824 A CN 202111202824A CN 113751934 B CN113751934 B CN 113751934B
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- 238000003466 welding Methods 0.000 title claims abstract description 128
- 238000000034 method Methods 0.000 title claims abstract description 27
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims description 14
- 229910052742 iron Inorganic materials 0.000 claims description 7
- 239000003086 colorant Substances 0.000 claims description 6
- 230000008569 process Effects 0.000 claims description 6
- 230000001681 protective effect Effects 0.000 claims description 5
- 238000005259 measurement Methods 0.000 claims description 3
- 230000007246 mechanism Effects 0.000 claims description 2
- 230000009286 beneficial effect Effects 0.000 description 3
- 238000000605 extraction Methods 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000002349 favourable effect Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000005336 cracking Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
- 230000004927 fusion Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
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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
- B25J9/1661—Programme controls characterised by programming, planning systems for manipulators characterised by task planning, object-oriented languages
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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
-
- 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
- B25J9/1679—Programme controls characterised by the tasks executed
-
- 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
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention relates to a positioning system and a welding robot system, wherein the positioning system comprises a camera and at least three positioning bodies, the positioning bodies are provided with spherical surfaces, the at least three positioning bodies are respectively arranged at designated positions of a workpiece to be processed, the at least three positioning bodies are not on the same straight line, and the camera is used for collecting images of the spherical surfaces of the at least three positioning bodies. According to the invention, at least three positioning bodies are arranged on the workpiece to be processed, and the workpiece to be processed is positioned by utilizing the positioning bodies, so that compared with the method for extracting the characteristics of the workpiece from the image and then determining the position of the workpiece, the method is simpler, higher in accuracy and smaller in data processing capacity.
Description
Technical Field
The invention relates to the technical field of welding, in particular to a positioning system and a welding robot system.
Background
With the development of robot technology, robot operations, such as welding processes, are widely used in the fields of automobile pipelines, box pipelines, and the like. Traditional welding operation adopts manual hand-held spot welder to weld machinery, and inefficiency, quality can not be guaranteed, along with the continuous development of robot technique, more and more enterprises gradually adopt the robot to replace manual welding. In the current robot welding technology, a welding robot must have a matched fixture to position a welding workpiece during welding operation so as to perform welding operation according to a fixed welding path. The welding method has no problem for large-batch flow operation welding, but has technical problems for small-batch non-flow operation welding workpieces, because the types of the welding workpieces are more, corresponding clamps are required to be designed for different welding workpieces, and the cost is too high to bear. For this situation, some scholars propose a welding robot based on machine vision, and through a set of transmission device, the spot welder is controlled to move in a certain direction, and welding is automatically performed. However, these welding robots have low degrees of freedom, low visual positioning accuracy, long data processing time, and still require a large amount of manual cooperation, and the improvement degree of efficiency is not great. There are also a number of scholars who have proposed a variety of vision measurement based welding robot systems, typically involving scanning of a welded workpiece with a three-dimensional laser scanner, and then processing of the scanned point cloud data. As shown in fig. 1, a series of algorithms for point cloud processing, including a point cloud filtering algorithm, a point cloud feature extraction algorithm and a point cloud registration algorithm, are initially formed nowadays, and are long in time consumption and inaccurate in positioning, so that the application of the system in industry is limited.
Disclosure of Invention
The invention aims to provide a positioning system and a welding robot system, which are not only suitable for automatic welding of small-batch non-assembly line work welding workpieces, but also can improve the positioning accuracy, simplify the algorithm and improve the efficiency.
In order to achieve the above object, the embodiment of the present invention provides the following technical solutions:
In one aspect, the invention provides a positioning system, which comprises a camera and at least three positioning bodies, wherein the positioning bodies are provided with spherical surfaces, the at least three positioning bodies are respectively arranged at designated positions of a workpiece to be processed, the at least three positioning bodies are not on the same straight line, and the camera is used for acquiring images of the spherical surfaces of the at least three positioning bodies.
In the conventional scheme, the position of the workpiece to be processed is determined by extracting the characteristics of the workpiece to be processed from the image. In the above scheme, the position of the workpiece to be processed is determined by arranging at least three positioning bodies on the workpiece to be processed and utilizing the positioning bodies, and in the whole image, as the positioning bodies are at least three, the characteristics of the balls are obvious and are easier to identify, and then the position of the positioning bodies can be determined more accurately, and the three-dimensional coordinate system is convenient to establish based on the at least three positioning bodies.
Further preferably, each of the at least three positioning bodies is provided with a different identity mark. In this scheme, through set up the identity mark on every location body for more be convenient for distinguish every location body, then be favorable to establishing accurate three-dimensional coordinate system more, improve the location accuracy of waiting to handle the work piece.
Further preferably, the identity mark is of a size and/or color. The different sizes of the positioning bodies not only can realize the difference of the respective identities, but also can highlight the difference with the workpiece to be processed, namely the position of the positioning body is more favorable for being determined from the image. And the positioning bodies are marked by different colors, so that the positioning device has a double distinguishing function, and images with set colors are processed only during image processing, a large number of workpiece images are removed, and the positioning accuracy of the workpiece to be processed is improved.
Further preferably, the vertical heights of all positioning bodies in the at least three positioning bodies are the same. In this scheme, through setting up the vertical height that makes all locating bodies the same, when establishing three-dimensional coordinate system, the plane that three locating bodies are located is parallel with the benchmark locating surface, can judge when the slope volume is too big and fix a position unusual to the accuracy of this guarantee location.
Further preferably, the positioning body is a sphere. The positioning body can be a sphere or a hemisphere, and the sphere structure is adopted to realize that the shape of the image positioning body is not changed when the image positioning body is acquired from each view angle, so that the positioning accuracy is higher.
On the other hand, the invention also provides a welding system which comprises a welding robot and the positioning system according to any embodiment of the invention, wherein the camera is connected with the welding robot through signals, and the camera transmits the acquired images to the welding robot.
In the scheme of further optimizing, still include the safety cover, set up in the outside of the location body for the iron fillings that splash when the protection location body avoids adhesion welding. When welding, there is the iron fillings to splash, if the iron fillings adhesion is on the surface of the location body, especially under the great circumstances of iron fillings volume, can necessarily make the spherical error increase of location body, then influence the accuracy of the position determination of location body. Therefore, in this scheme, through setting up safety cover protection location body, can ensure the accuracy of location effectively.
In yet another aspect, the present invention also provides a method for welding using the welding system, including the steps of:
S1, setting at least three positioning bodies at designated positions of a workpiece to be processed, and ensuring that the positioning bodies are relatively fixed with the workpiece to be processed;
S2, the camera collects images of the spherical surfaces of the at least three positioning bodies and transmits the collected images to the welding robot;
s3, the welding robot establishes a three-dimensional coordinate system according to the positions of the positioning bodies in the image, determines three-dimensional space coordinates of the workpiece to be processed according to the position relation between the workpiece to be processed and the positioning bodies, sets a theoretical welding path by combining a three-dimensional model of the workpiece to be processed, and performs automatic welding according to the welding path.
In a further optimized solution, in the step S3, after the three-dimensional coordinate system is established and before the three-dimensional space coordinates of the workpiece to be processed are determined, the method further includes a step S3': and judging whether the positions among the positioning bodies meet the set requirements, if not, returning to the step S1, adjusting the positions of the positioning bodies on the workpiece to be processed, and otherwise, determining the three-dimensional space coordinates of the workpiece to be processed according to the position relation between the workpiece to be processed and the positioning bodies.
The position of each positioning body at the workpiece to be processed is appointed, so that the position relation among the positioning bodies is also determined. Therefore, the invention can readjust the position when the position does not meet the setting requirement by judging the position relation among the positioning bodies in advance, thereby ensuring the positioning accuracy.
In still another aspect, the present invention further provides a method for performing welding deformation measurement by using the welding system, including the following steps:
Before welding, the camera acquires images of spherical surfaces of the at least three positioning bodies, the acquired images are transmitted to the welding robot, and the welding robot establishes a three-dimensional coordinate system according to the positions of the positioning bodies in the images, and obtains the positions of the positioning bodies;
After welding, the camera acquires images of spherical surfaces of the at least three positioning bodies, the acquired images are transmitted to the welding robot, and the welding robot establishes a three-dimensional coordinate system according to the positions of the positioning bodies in the images, and obtains the positions of the positioning bodies;
And comparing the position changes of the positioning bodies before and after welding, and determining the welding deformation quantity according to the position changes.
Compared with the prior art, the invention has the following beneficial effects:
(1) The position of the workpiece to be processed is determined by arranging at least three positioning bodies on the workpiece to be processed, and in the whole image, the position of the workpiece to be processed can be determined more accurately because the positioning bodies are at least three and are characterized by being more obvious, so that the position of the positioning bodies can be identified more easily.
(2) The workpiece to be processed is positioned in a mode of identifying and positioning at least three positioning bodies, so that the image processing process can be simplified, the image processing data volume is reduced, and the positioning efficiency is improved.
(3) The structure of the positioning body is set to be a structure with a spherical surface, so that the shape of the positioning body cannot be changed when the camera shoots from a plurality of angles during image acquisition, the positioning accuracy of the positioning body can be enhanced, and the positioning accuracy of a workpiece to be processed is improved.
(4) The positioning body is set to be different colors, and only images with corresponding colors are required to be processed during image processing, so that an algorithm for image processing is greatly simplified, and the algorithm efficiency and positioning precision are improved.
(5) The workpieces to be processed can be various types of workpieces with various structures, and corresponding clamps are not required to be configured for each workpiece, so that the cost is reduced.
(6) The positioning system can be suitable for positioning various application scenes, and is not limited to the application of workpiece welding.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic diagram of a welding flow based on a point cloud feature extraction method in the prior art.
Fig. 2 is a schematic diagram of positioning a workpiece to be welded based on a positioning body according to an embodiment of the present invention.
FIG. 3 is a flow chart of a method of welding based on a welding system in an embodiment.
The marks in the figure: 11-positioning body; 12-stand columns; 13-a workpiece to be welded; 14-weld.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. The devices of the embodiments of the invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the invention, as presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be made by a person skilled in the art without making any inventive effort, are intended to be within the scope of the present invention.
The embodiment provides a positioning system for positioning a workpiece to be processed, wherein the workpiece to be processed can be any workpiece, and the positioning system can be applied to various scenes with positioning requirements. In this embodiment, the workpiece to be processed is taken as an example of the workpiece to be welded.
Referring to fig. 2, specifically, the positioning system includes a camera and three positioning bodies 11, the positioning bodies 11 have spherical surfaces, the three positioning bodies 11 are respectively disposed at designated positions of a workpiece 13 to be welded, and the three positioning bodies 11 are not on the same straight line. The camera is mainly used for collecting images of spherical surfaces of three positioning bodies 11, so that the spherical surfaces are collected by the camera, the shapes of the positioning bodies 11 collected based on different angles are guaranteed not to change, and therefore the positioning bodies 11 are preferably of a spherical structure. The camera is also preferably a binocular camera, and the identification is more accurate.
In this solution, the purpose of locating the locating body 11 is to locate the workpiece 13 to be welded by using the locating body 11, so that the locating body 11 needs to adopt three or more than three locating bodies and is not on the same straight line, so as to establish a three-dimensional coordinate system. As shown in fig. 2, assuming that the workpiece 13 to be welded is a T-shaped workpiece, the joint of the workpieces has a weld 14 (the weld is thickened for convenience of illustration), and three positioning bodies 11 are provided at three corner edges of the workpiece 13 to be welded, respectively. It should be noted that the specified position is not necessarily set at a certain fixed position, but the position of the positioning body 11 on the workpiece 13 to be welded is known, and then the position coordinate of the workpiece 13 to be welded can be determined based on the position coordinate of the positioning body 11 and the position relationship between the positioning body 11 and the workpiece 13 to be welded. The position of the weld seam 14 is determined at the position of the workpiece 13 to be welded, so that the position of the weld seam is determined after the position of the workpiece 13 to be welded is determined, and then a welding path can be set, and the welding robot can automatically weld based on the welding path.
After the camera collects the image, the image is transmitted to the welding robot, the welding robot recognizes the positioning body 11 from the image, and then the position of the positioning body 11 is determined. Although the position of the positioning body 11 also needs to be determined from the image in the scheme, as the positioning bodies 11 are a plurality of and are arranged at different positions, and intervals exist between the positioning bodies, the positioning bodies 11 are easier to identify, algorithms such as point cloud feature extraction and the like do not need to be carried out, and therefore, the calculation amount of data processing can be reduced, and the efficiency is improved.
In order to further improve the accuracy of the identification of the positioning bodies 11 and thus the accuracy of the position determination of the positioning bodies 11, as shown in fig. 2, the positioning bodies 11 may be set to different sizes, i.e. different sizes of positioning bodies 11 are used, and the difference based on the sizes is more beneficial to identifying the positioning bodies 11 from the image, and at the same time is also more beneficial to identifying the positioning bodies 11 in different positions, because the positions of the positioning bodies 11 in different sizes on the workpiece 13 to be welded are determined and known.
Of course, other embodiments besides size may be used, for example, the positioning bodies 11 at different positions are marked with different colors, or the color marks and the size differences are used simultaneously, or the positioning bodies 11 at different positions are marked with identities in other manners.
The positions of the positioning bodies 11 are acquired for establishing a three-dimensional coordinate system, and for simplifying the establishment process, it is preferable that the vertical heights of all the positioning bodies 11 are identical, that is, one of the one-dimensional coordinates in the three-dimensional coordinate system is identical. In order to achieve the uniformity of the vertical heights of the positioning bodies 11 when different sizes are adopted, as shown in fig. 2, the positioning bodies 11 can be arranged on a workpiece 13 to be welded through the upright posts 12, and the positioning bodies 11 with different sizes are installed through the upright posts 12 with different lengths, so that the uniformity of the vertical heights of all the positioning bodies 11 is achieved. It is easy to understand that when the positioning body 11 is a sphere, the vertical height of the positioning body 11 refers to the vertical height of the center of the sphere of the positioning body 11. Of course, this is merely an example, and other options may be available for setting the positioning body 11, and no limitation is imposed thereon.
The welding robot comprises a control system and an actuating mechanism, after the camera transmits the acquired images to the control system, the control system establishes a three-dimensional coordinate system according to the positions of all positioning bodies in the images, determines the three-dimensional space coordinates of the workpiece to be welded according to the position relation between the workpiece to be welded and the positioning bodies, then sets a theoretical welding path by combining the three-dimensional model of the workpiece to be welded, and finally can automatically weld according to the welding path.
That is, based on the above positioning system, the present embodiment proposes a new welding method. Specifically, referring to fig. 3, the welding method provided in the embodiment includes the following steps:
s11, setting at least three positioning bodies at designated positions of the workpiece to be processed, and ensuring that the positioning bodies are relatively fixed with the workpiece to be processed;
S12, the camera collects images of the spherical surfaces of the at least three positioning bodies and transmits the collected images to the welding robot;
S13, the welding robot identifies each positioning body from the image, and a three-dimensional coordinate system is established according to the position of each positioning body in the image;
s14, determining three-dimensional space coordinates of the workpiece to be processed according to the position relation between the workpiece to be processed and the positioning body, and setting a theoretical welding path by combining the three-dimensional model of the workpiece to be processed;
and S15, performing automatic welding according to the welding path.
Aiming at the condition that the positioning bodies are provided with the identity marks, the welding robot recognizes each positioning body from the image according to the identity marks of each positioning body, then determines the position of each positioning body, and establishes a three-dimensional coordinate system according to the position of each positioning body.
When the positioning bodies are spheres, the welding robot establishes a three-dimensional coordinate system according to the positions of the sphere centers of the positioning bodies.
In order to avoid that the surface of the positioning body is stuck with splashed scrap iron during the welding process, a protective cover may be provided on the outer side of the positioning body, more specifically between the weld joint and the positioning body. The protective cover may be arranged on the workpiece to be welded, or the welding robot may clamp the protective cover during welding, so long as the protective cover is of various embodiments capable of avoiding the positioning body from adhering with scrap iron.
In order to further ensure the positioning accuracy, step S13' may be further included between step S13 and step S14, to determine whether the positions between the positioning bodies meet the set requirement, if not, return to step S11, adjust the positions of the positioning bodies in the workpiece to be processed, and if so, enter step S14.
Based on the positioning system or the welding method, the embodiment also provides a method for measuring welding deformation, which comprises the following steps:
Step 1, before welding, the camera acquires images of spherical surfaces of at least three positioning bodies, the acquired images are transmitted to a welding robot, and the welding robot establishes a three-dimensional coordinate system according to the positions of all the positioning bodies in the images, and obtains the positions of all the positioning bodies;
Step 2, after welding, the camera acquires images of spherical surfaces of the at least three positioning bodies, the acquired images are transmitted to the welding robot, and the welding robot establishes a three-dimensional coordinate system according to the positions of the positioning bodies in the images, and obtains the positions of the positioning bodies;
and 3, comparing the position changes of the positioning bodies before and after welding, and determining the welding deformation quantity according to the position changes.
The welding deformation refers to the shape and size change of a welded workpiece caused by the action of an uneven temperature field in the welding process, and for all fusion welding, larger residual stress exists in a welding seam and a heat affected zone of the welding seam, the existence of the residual stress can lead to deformation and cracking of a welding component and reduce the bearing capacity of the welding component, the welding deformation has great influence on the structure installation precision, and the excessive deformation obviously reduces the bearing capacity of the structure, so that the deformation quantity after welding is necessary to be detected. In the welding deformation measuring method, the welding deformation amount can be determined by comparing the position changes of the positioning bodies before and after welding, and compared with various detection means, the measuring method is simpler and more reliable.
The foregoing is merely illustrative of the present invention, and the present invention is not limited thereto, and any person skilled in the art will readily recognize that variations or substitutions are within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (6)
1. The welding system comprises a welding robot, the welding robot comprises a control system and an actuating mechanism, and is characterized by further comprising a positioning system, the positioning system comprises a camera and at least three positioning bodies, the positioning bodies are provided with spherical surfaces, the at least three positioning bodies are respectively arranged at the appointed positions of a workpiece to be processed, the at least three positioning bodies are not on the same straight line, the vertical heights of all the positioning bodies are the same, each positioning body is provided with different identity marks, the identity marks are of a size and a color, the camera is used for acquiring images of the spherical surfaces of the at least three positioning bodies, the camera is connected with the welding robot in a signal mode, the camera transmits the acquired images to the welding robot, the control system only processes the images of set colors during image processing, a three-dimensional coordinate system is established according to the positions of the positioning bodies in the images, whether the positions among the positioning bodies meet the set requirements or not is judged, the three-dimensional space coordinates of the workpiece to be welded are determined according to the position relation between the workpiece to be welded and the positioning bodies after the set requirements are met, and an automatic welding path is set, and the welding path is performed according to the theoretical welding path is set; and comparing the position changes of the positioning bodies before and after welding, and determining the welding deformation quantity according to the position changes.
2. The welding system of claim 1, wherein the locating body is a sphere.
3. The welding system of claim 1, further comprising a protective cover disposed on an outer side of the positioning body for protecting the positioning body from scrap iron splashed during the adhesion welding.
4. A method of welding using the welding system of claim 1, comprising the steps of:
S1, setting at least three positioning bodies at designated positions of a workpiece to be processed, and ensuring that the positioning bodies are relatively fixed with the workpiece to be processed;
S2, the camera collects images of the spherical surfaces of the at least three positioning bodies and transmits the collected images to the welding robot;
S3, the welding robot establishes a three-dimensional coordinate system according to the positions of the positioning bodies in the image;
S3', judging whether the positions among the positioning bodies meet the set requirements, if not, returning to the step S1, adjusting the positions of the positioning bodies on the workpiece to be processed, otherwise, determining the three-dimensional space coordinates of the workpiece to be processed according to the position relation between the workpiece to be processed and the positioning bodies, setting a theoretical welding path by combining the three-dimensional model of the workpiece to be processed, and automatically welding according to the welding path.
5. The method of claim 4, wherein in the step of the welding robot establishing a three-dimensional coordinate system based on the position of each of the positioning bodies in the image, the welding robot identifies each of the positioning bodies from the image based on the identity of each of the positioning bodies, then determines the position of each of the positioning bodies, and establishes the three-dimensional coordinate system based on the position of each of the positioning bodies.
6. A method of performing weld deformation measurements using the welding system of claim 1, comprising the steps of:
Before welding, the camera acquires images of spherical surfaces of the at least three positioning bodies, the acquired images are transmitted to the welding robot, and the welding robot establishes a three-dimensional coordinate system according to the positions of the positioning bodies in the images, and obtains the positions of the positioning bodies;
After welding, the camera acquires images of spherical surfaces of the at least three positioning bodies, the acquired images are transmitted to the welding robot, and the welding robot establishes a three-dimensional coordinate system according to the positions of the positioning bodies in the images, and obtains the positions of the positioning bodies;
And comparing the position changes of the positioning bodies before and after welding, and determining the welding deformation quantity according to the position changes.
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