| 翁文武.基于激光扫描和工业机器人的不锈钢保温杯自动焊接[J].轻工机械,2018,36(5):73-76 |
| 基于激光扫描和工业机器人的不锈钢保温杯自动焊接 |
| Automatical Welding of Thermos Cup Based on Laser Scanning and Industrial Robot |
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| DOI：10.3969/j.issn.1005 2895.2018.05.014 |
| 中文关键词: 保温杯 激光扫描 焊接机器人 三维轨迹 改进RANSAC算法 均匀三次B样条曲线拟合 |
| 英文关键词:thermos cup laser scanning welding robot three dimensional trajectory modified RANSAC algorithm uniform three degree B spline
curve fitting |
| 基金项目:国家自然科学基金(61305024)；浙江省重点研发计划（2015C01022） |
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| 中文摘要: |
| 由于激光焊接对保温杯的位置精度要求很高，依靠传统的工装夹具已无法满足要求，一种由笔者设计的激光扫描的视觉系统对保温杯
杯口和杯底进行非接触扫描测量，对激光视觉采集的数据进行平滑处理，得到光滑的三维轨迹。焊缝轨迹平滑处理包括改进的RANSAC算法和均匀三次B样条曲
线拟合相结合的方式。最后，设计模糊控制进行焊缝在线跟踪控制。实验结果表明，该方法可以获得平滑精确的保温杯杯口和杯底三维测量，明显提高了焊接质
量。 |
| 英文摘要: |
| A laser scanning visual system was proposed for the reason that laser welding requires high positional accuracy of the thermos cup, while the
traditional fixtures cannot meet the requirements. The non contact measurement of the rim and the bottom was achieved by the designed system. The smoothing three dimensional curve
was obtained based on the collected laser scanning data. The seam trajectory smoothing process included the combination of the modified RANSAC and uniform B spline curve fitting.
Finally, a fuzzy control was designed to achieve the online tracking and the control of the weld seam. The experimental results show that the smooth and accurate three dimensional
measurement can be realized by the proposed method, which greatly improves the welding quality. |
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