A Novel 3D Complex Welding Seam Tracking Method in Symmetrical Robotic MAG Welding Process Using a Laser Vision Sensing

被引:9
作者
Zhang, Gong [1 ,2 ]
Huang, Jing [3 ]
Wu, Yueyu [1 ]
Yang, Gen [1 ]
Di, Si [1 ]
Yuan, Hai [1 ]
Cao, Xuepeng [4 ]
Shin, Kyoosik [5 ]
机构
[1] Guangzhou Inst Adv Technol, Frontier Sci & Technol Res Ctr, Guangzhou 511458, Peoples R China
[2] Univ Chinese Acad Sci, Sch Engn Sci, Beijing 100049, Peoples R China
[3] Chengdu Technol Univ, Sch Intelligent Mfg, Chengdu 611730, Peoples R China
[4] Changan Univ, Sch Construct Machinery, Xian 710064, Peoples R China
[5] Hanyang Univ, Dept Robot Engn, Ansan 426791, South Korea
来源
SYMMETRY-BASEL | 2023年 / 15卷 / 05期
基金
中国国家自然科学基金;
关键词
welding robot; seam tracking; 3D welding seam; laser vision sensing; feature-point extraction;
D O I
10.3390/sym15051093
中图分类号
O [数理科学和化学]; P [天文学、地球科学]; Q [生物科学]; N [自然科学总论];
学科分类号
07 ; 0710 ; 09 ;
摘要
The welding seam tracking operation ensures that the welding torch of the welding robot can go with the welding seam during the whole symmetrical robotic welding procession. To achieve three-dimensional complex welding seams tracking, a four-step welding seam tracking system is suggested based on segmented scanning, combined filtering, feature-point extraction, and welding path planning. From using the laser sensor installed at the end of welding robot, the welding seam data was continuously collected in multiple segments by segmented scanning. For the purpose of improving seam tracking accuracy, a combined filtering technique was used to correct the data to reduce the effects of burrs, data distortion, and noise on the surface of the weldment. Then, the feature points were collected so that the coordinate system will be calibrated to identify the welding points. Finally, a spatial welding path was obtained by welding path planning. Experimental investigations of the two-dimensional (2D) symmetrical S-shaped and three-dimensional (3D) curved welding seams were conducted. The obtained results demonstrate the proposed method can form a complete welding path. The average errors of the two weldments are about 0.296 mm and 0.292 mm, respectively. This shows that the proposed tracking method is effective and can provide a reference for the research of high-precision seam tracking and automatic welding.
引用
收藏
页数:15
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