车顶焊缝涂胶机器人智能视觉系统设计与实现

Design and implementation of intelligent robot vision system for roof weld coating

车顶焊缝是车身密封性最重要、最常用,也是最薄弱的一环,同时也是车身密封性检测中重要组成部分。为了提高车顶焊缝的涂胶质量,必须对其进行准确的检测与涂胶控制。为了使焊接机器人能与车顶焊缝同时实现涂胶,以激光跟踪仪为主要测量仪器,针对车顶焊缝涂胶的需求,设计了一套基于激光跟踪仪的视觉系统,并在此基础上提出了一种基于圆心检测的涂胶策略。该系统能在焊枪扫描过程中实时识别目标对象,通过对目标对象的距离、旋转角度和圆心等参数进行测量,实现对涂胶路径的实时控制。

Roof welds are the most important,most commonly used,and weakest link in the body tightness,and they are also an important part of the body tightness test.In order to improve the coating quality of roof welds,they must be accurately inspected and controlled.Aiming to make welding robot and roof weld coating simultaneously,a set of vision system based on laser tracker was designed for the demand of roof weld coating,and a coating strategy based on circle center detection was proposed.The system can identify the target object in real time during the welding gun scanning process,and realize real-time control of the coating path by measuring the distance,rotation angle and circle center of the target object.