轻量化汽车焊接机器人视觉测量及焊接轨迹跟踪

Vision Measurement and Weld Trajectory Tracking of Lightweight Automobile Welding Robot

分析了轻量化汽车中铝厢车箱体的组成及基本制作工艺,针对其工艺对其焊接机器人系统中的机器人本体、机器视觉定位与检测系统及控制系统进行了研究。根据双目立体视觉理论建立机器人视觉测量模型,运用计算机对视觉测量模型进行仿真求解计算,再用试验的方法进行验证。研究结果表明,焊接机器人在每米长度方向上焊接轨迹跟踪仿真误差在0.18 mm,仿真误差较小,说明运用双目测量理论的视觉测量模型跟踪精度较高,焊接机器人在每米长度方向上焊接轨迹跟踪试验误差0.2 mm基本一致,验证视觉测量模型的正确性,仿真及试验焊接轨迹跟踪误差完全满足实际生产需求。该研究为焊接机器人的工程应用及视觉测量技术在机器人轨迹跟踪方面的应用提供了有益的参考和借鉴。

The composition and basic manufacture process for lightweight automobile of aluminum car box have been analyzed,and the robot body,machine vision positioning and detection system and control system in the welding robot system have been researched. According to the binocular stereoscopic vision theory,the visual measurement model of the robot has been established,the computer has been used to simulate and calculate the visual measurement model,and the simulation has been verified by test method. The research results show that the welding trajectory tracking error of the welding robot is 0.18 mm in the length of each meter,and the simulation error is small,which indicates that the visual measurement model with the binocular measurement theory has high tracking precision,and the test of welding trajectory tracking error of the welding robot is 0. 2 mm in the length of each meter,the simulation and the test are basically the same to verify the correctness of the visual measurement model,the simulation and test welding trajectory tracking error can fully meet the actual production needs. This research provides a useful reference for the welding robot engineering application and the visual measurement technology in robot trajectory tracking application.