CN114770520A - 机器人焊接轨迹及姿态的规划方法 - Google Patents
机器人焊接轨迹及姿态的规划方法 Download PDFInfo
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- CN114770520A CN114770520A CN202210571143.2A CN202210571143A CN114770520A CN 114770520 A CN114770520 A CN 114770520A CN 202210571143 A CN202210571143 A CN 202210571143A CN 114770520 A CN114770520 A CN 114770520A
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- 238000003466 welding Methods 0.000 title claims abstract description 102
- 238000000034 method Methods 0.000 title claims abstract description 29
- 230000000007 visual effect Effects 0.000 claims description 9
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 239000011159 matrix material Substances 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 1
- 238000005507 spraying Methods 0.000 description 1
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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
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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
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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
- B25J9/0081—Programme-controlled manipulators with master teach-in means
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Numerical Control (AREA)
- Manipulator (AREA)
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CN202210571143.2A CN114770520A (zh) | 2022-05-24 | 2022-05-24 | 机器人焊接轨迹及姿态的规划方法 |
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CN202210571143.2A CN114770520A (zh) | 2022-05-24 | 2022-05-24 | 机器人焊接轨迹及姿态的规划方法 |
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CN114770520A true CN114770520A (zh) | 2022-07-22 |
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CN202210571143.2A Pending CN114770520A (zh) | 2022-05-24 | 2022-05-24 | 机器人焊接轨迹及姿态的规划方法 |
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Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN108527332A (zh) * | 2018-06-11 | 2018-09-14 | 华南理工大学 | 一种基于结构光视觉传感器的焊缝轨迹离线校准方法 |
CN108817740A (zh) * | 2018-06-11 | 2018-11-16 | 华南理工大学 | 一种基于结构光视觉的大转折焊缝轨迹离线校准方法 |
CN110245599A (zh) * | 2019-06-10 | 2019-09-17 | 深圳市超准视觉科技有限公司 | 一种智能三维焊缝自主寻迹方法 |
US20200269340A1 (en) * | 2018-07-25 | 2020-08-27 | Tonggao Advanced Manufacturing Technology Co., Ltd. | Active Laser Vision Robust Weld Tracking System and Weld Position Detection Method |
CN112847353A (zh) * | 2020-12-31 | 2021-05-28 | 华南理工大学 | 一种基于离线编程软件的多段焊缝轨迹修正方法 |
CN113102880A (zh) * | 2021-04-02 | 2021-07-13 | 广西大学 | 一种基于视觉示教的线激光焊缝自动跟踪系统及方法 |
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2022
- 2022-05-24 CN CN202210571143.2A patent/CN114770520A/zh active Pending
Patent Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN108527332A (zh) * | 2018-06-11 | 2018-09-14 | 华南理工大学 | 一种基于结构光视觉传感器的焊缝轨迹离线校准方法 |
CN108817740A (zh) * | 2018-06-11 | 2018-11-16 | 华南理工大学 | 一种基于结构光视觉的大转折焊缝轨迹离线校准方法 |
US20200269340A1 (en) * | 2018-07-25 | 2020-08-27 | Tonggao Advanced Manufacturing Technology Co., Ltd. | Active Laser Vision Robust Weld Tracking System and Weld Position Detection Method |
CN110245599A (zh) * | 2019-06-10 | 2019-09-17 | 深圳市超准视觉科技有限公司 | 一种智能三维焊缝自主寻迹方法 |
CN112847353A (zh) * | 2020-12-31 | 2021-05-28 | 华南理工大学 | 一种基于离线编程软件的多段焊缝轨迹修正方法 |
CN113102880A (zh) * | 2021-04-02 | 2021-07-13 | 广西大学 | 一种基于视觉示教的线激光焊缝自动跟踪系统及方法 |
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Inventor after: Chen Min Inventor after: Chen Junhong Inventor after: Huang Zhuowen Inventor after: Chen Li Inventor after: Chen Xu Inventor after: Pu Chulin Inventor before: Chen Min Inventor before: Liu Junhong Inventor before: Huang Zhuowen Inventor before: Chen Li Inventor before: Chen Xu Inventor before: Pu Chulin |
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