CN106238969B - 基于结构光视觉的非标件自动化焊接加工*** - Google Patents
基于结构光视觉的非标件自动化焊接加工*** Download PDFInfo
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- CN106238969B CN106238969B CN201610096272.5A CN201610096272A CN106238969B CN 106238969 B CN106238969 B CN 106238969B CN 201610096272 A CN201610096272 A CN 201610096272A CN 106238969 B CN106238969 B CN 106238969B
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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
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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
- 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
- B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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CN106238969A CN106238969A (zh) | 2016-12-21 |
CN106238969B true CN106238969B (zh) | 2023-06-30 |
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Families Citing this family (24)
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CN109129457A (zh) * | 2017-06-15 | 2019-01-04 | 天津玛斯特车身装备技术有限公司 | 机器人自动化视觉识别及焊接*** |
CN107414233B (zh) * | 2017-09-04 | 2019-09-27 | 佛山伊贝尔科技有限公司 | 线束焊接智能机器人及智能焊接*** |
CN108057974A (zh) * | 2017-12-11 | 2018-05-22 | 安徽双骏智能科技有限公司 | 一种门架夹紧装置 |
CN108188619B (zh) * | 2017-12-30 | 2021-02-12 | 重庆山巨化工机械成套设备有限公司 | 自动化焊接*** |
WO2019148428A1 (en) * | 2018-02-01 | 2019-08-08 | Abb Schweiz Ag | Vision-based operation for robot |
CN108326879B (zh) * | 2018-04-02 | 2024-02-06 | 深圳市易泰三维科技有限公司 | 一种基于3d视觉的机器人的自动加工***及其加工方法 |
CN111918741A (zh) * | 2018-08-29 | 2020-11-10 | 深圳配天智能技术研究院有限公司 | 视觉焊接***的缝隙检测方法以及*** |
CN111014995B (zh) * | 2018-10-09 | 2021-10-08 | 中冶赛迪工程技术股份有限公司 | 非标非结构化作业环境的机器人焊接方法及*** |
CN109719722B (zh) * | 2018-12-26 | 2021-07-23 | 南京埃斯顿机器人工程有限公司 | 一种精确标定机器人末端与视觉***的方法 |
CN110102886A (zh) * | 2019-04-03 | 2019-08-09 | 安徽工布智造工业科技有限公司 | 一种应用于金属结构的智能焊接*** |
CN110064842B (zh) * | 2019-05-28 | 2020-12-11 | 上海交通大学 | 一种用于三面体焊缝定位的自动标定方法 |
CN112238304B (zh) * | 2019-07-18 | 2023-01-06 | 山东淄博环宇桥梁模板有限公司 | 一种基于图像视觉识别焊缝的机械臂自动焊接小批量定制异型桥梁钢模板方法 |
CN110524582B (zh) * | 2019-09-16 | 2023-06-02 | 西安中科光电精密工程有限公司 | 一种柔性组对焊接机器人工作站 |
CN110666408A (zh) * | 2019-10-28 | 2020-01-10 | 河南宝盛精密机械有限公司 | 智能视觉焊接装置 |
CN112404719A (zh) * | 2020-11-04 | 2021-02-26 | 岳睿 | 携带机器人且双向摄像的多传感器焊接设备 |
CN112692470A (zh) * | 2020-11-27 | 2021-04-23 | 中船海洋动力部件有限公司 | 基于视觉传感的机器人离线自适应编程加工***和方法 |
CN112834505B (zh) * | 2020-12-31 | 2022-05-17 | 芜湖哈特机器人产业技术研究院有限公司 | 管道工件涂膏的焊缝三维视觉检测定位装置及其检测定位方法 |
CN113245752B (zh) * | 2021-05-12 | 2023-04-25 | 周勇 | 一种用于智能焊接的焊缝识别***及焊接方法 |
CN113427182A (zh) * | 2021-07-16 | 2021-09-24 | 辽宁都城机器人科技有限公司 | 非标构件智能管控平台 |
CN113695776B (zh) * | 2021-10-08 | 2022-05-27 | 南京航空航天大学 | 一种基于机器视觉的超声电机多点定位装配机构及其方法 |
CN113996961B (zh) * | 2021-11-18 | 2023-01-13 | 潍坊新松机器人自动化有限公司 | 一种受限作业空间焊接机器人 |
CN113977129B (zh) * | 2021-12-06 | 2022-11-18 | 江苏利柏特股份有限公司 | 一种化工装备模块化制造管段预制焊接方法 |
CN114669932B (zh) * | 2021-12-16 | 2024-05-24 | 浙江大华技术股份有限公司 | 一种智能焊接方法及相关装置 |
CN114571153B (zh) * | 2022-04-07 | 2023-10-10 | 福州大学 | 一种基于3d点云的焊缝识别与机器人焊缝跟踪方法 |
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CN1782659B (zh) * | 2004-12-02 | 2010-04-14 | 中国科学院自动化研究所 | 一种基于激光结构光的焊缝跟踪视觉传感器 |
CN101791750B (zh) * | 2009-12-31 | 2012-06-06 | 哈尔滨工业大学 | 用于远程焊接的机器人遥控焊接***及方法 |
CN102699534B (zh) * | 2012-06-26 | 2014-10-15 | 哈尔滨工业大学 | 基于扫描式激光视觉传感的厚板窄间隙深坡口激光自动化多层焊焊接方法 |
CN104741739A (zh) * | 2013-12-30 | 2015-07-01 | 唐山长城电焊机总厂有限公司 | 一种焊接机器人定位纠偏*** |
CN104400279B (zh) * | 2014-10-11 | 2016-06-15 | 南京航空航天大学 | 基于ccd的管道空间焊缝自动识别与轨迹规划的方法 |
CN104384765B (zh) * | 2014-10-14 | 2016-04-27 | 江苏湃锐自动化科技有限公司 | 基于三维模型与机器视觉的自动焊接方法 |
CN205650975U (zh) * | 2016-02-23 | 2016-10-19 | 南京中建化工设备制造有限公司 | 基于结构光视觉的非标件自动化焊接加工*** |
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