CN205650975U - Non - tender automation of welding system of processing based on structured light vision - Google Patents
Non - tender automation of welding system of processing based on structured light vision Download PDFInfo
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Abstract
The utility model provides a non - tender automation of welding system of processing based on structured light vision, includes: welding seam vision detection system for weld identifying, position are detected, the process is kept watch on and carry out image transmission to communication with control system, welding execution systems for carry out the welding action, including six automatic degree industrial robot, welding machine and welder, communication and control system for realize communication and process control, with the industrial computer controlgear that gives first place to, accomplish welding process demonstration, image processing, data operation, instruction issue function, the command signal who comes from the industrial computer is received to the robot control ware, controls six automatic degree industrial robot's the position appearance of joint motions in order to adjust welder, the command signal of industrial computer is accepted to come from by the welding machine controller, control welding current, send welding parameter such as a speed, the utility model discloses can accurate detection and identification welding seam type, characteristics such as position and shape, steadily improve non - tender welding process quality, improve productivity by a wide margin.
Description
Technical field
The invention belongs to automatic welding technique field, relate to a kind of automatic welding process equipment, particularly to a kind of non-standard automatic welding system of processing based on structure light vision.
Background technology
At present, in the modern enterprise manufacturing in addition to standard component, there is also in substantial amounts of non-standard component, the particularly production of steel construction product, non-standard component is more, and the manufacture machining accuracy of non-standard and quality directly affect the quality of final products.
In the processing of steel construction non-standard component, for ensureing component strength, using welding connecting mode between each parts, welding processing has consequence in manufacture of steel structure more.Owing to steel structure member has, thickness is big, structure is complicated, the feature that non-standard component is many, requires the highest to intensity, precision and the manufacturability of welding processing, and difficulty of processing is relatively big, requires higher to the technology of workman.At present, large-scale steel structure is processed still based on human weld, is aided with certain special welding apparatus processing, and automaticity is relatively low.Human weld also exists many deficiencies such as labor strength is big, working environment is arduous, production efficiency is low, cost of labor is high；And special welding machine equipment is expensive, can only process the weld seam of fixed position, position adjustments difficulty, far from the needs of satisfied actual processing.
In order to solve the problem that presently, there are, the manufacturing production and processing method of manufacturing enterprise's reference for modern such as domestic a lot of automobiles, boats and ships, engineering machinery, production line introduces welding robot system, drastically increases welding quality, reduce welding cost.But current most of welding robot still uses teaching online programming mode, although on-line teaching in spot welding, carry and spray paint etc. simple without being used widely in the task of pathway requirements.But there is following both sides problem in these programming techniques: (1) teaching precision is unstable, affects welding quality；(2) programming time is long, and welding efficiency is low.In the processing of non-standard, uncertain due to welding position, the inferior position of teaching programming becomes apparent from, in order to ensure the precision of track, it is smooth that operator need teaching much to put to ensure that welding robot runs, and total weld interval is long, and cannot guarantee the stability of precision.
Therefore, for the feature of non-standard, it is established that meet industry spot demand, the automatic welding system meeting non-standard processing becomes the problem that needs urgently solve.
Summary of the invention
In order to overcome the shortcoming of above-mentioned prior art, it is an object of the invention to provide a kind of non-standard automatic welding system of processing based on structure light vision, solve the problem that in existing non-standard welding processing, weld seam teaching precision is unstable, welding efficiency is low.
To achieve these goals, the technical solution used in the present invention is:
A kind of non-standard automatic welding system of processing based on structure light vision, including:
Weld seam vision detection system, for weld seam recognition, position detection, Message-based IPC and carries out image transmitting to communication and control system；
Welding execution system, for performing welding action, including six automatic degree industrial robots 1, it is arranged on six bonding machines 6 automatically spending industrial robot 1 main driving arm ends and is arranged on the six automatic welding guns 8 spent on industrial robot 1 end effectors, six spend industrial robot 1 automatically drives welding gun 8 to make locus and pose adjustment, and bonding machine 6 carries out welding processing by welding gun 8 to nonstandard workpiece 14；The source of welding current is bonding machine 6 and nonstandard workpiece 14 is powered；
Communication and control system, for realizing communication and process control, including industrial computer 11, robot controller 2, welding machine controller 7 and the communications cable 9, wherein, industrial computer 11 is master control equipment, be used for welding process show, image procossing, data operation, instruction sending function；Robot controller 2 spends industrial robot 1 body automatically with six, industrial computer 11 is connected by the communications cable two 9-2, receives the command signal from industrial computer 11, controls the joint motions pose with regulation welding gun 8 of six automatic degree industrial robots 1；Welding machine controller 7 is connected by the communications cable three 9-3 with bonding machine 6, industrial computer 11, accepts the command signal from industrial computer 11, controls the welding parameter such as welding current, wire feed rate.
Described weld seam vision detection system includes line structure optical sensor 3, monitoring CCD video camera 4 and image pick-up card 5, wherein line structure optical sensor 3 is fixedly mounted on the end effector of industrial robot 1 and keeps fixed position relative constant with welding gun 8, constitute Robot Hand-eye, detect for weld seam recognition and position；Monitoring ccd video camera 4 is used for monitoring welding processing process and molten bath, image pick-up card 5 is arranged on the mainboard of industrial computer 11, realizes the image transmitting between monitoring ccd video camera 4 and line structured light vision sensor 3 and industrial computer 11 and communication by the communications cable one 9-1.
Described line structure optical sensor 3 includes laser diode projector 3-1, diaphragm 3-2, ccd video camera 3-3, lens 3-4 and filter 3-5, wherein laser diode projector 1 is for projecting line-structured light to weld seam 15 and nonstandard workpiece 14, form the laser stripe 16 of reflection face of weld profile, diaphragm 2 controls the power of light beam for regulating, ccd video camera 3-3 is for gathering the weld image with laser stripe 16, lens 3-4 and filter 3-5 is installed additional before ccd video camera 3-3, lens 3-4 is used for image focusing, CCD image planes are formed picture rich in detail, filter 3-5 is for filtering a large amount of arc lights produced in welding process, splash, flue dust enters camera lens, reduce picture noise.
Described nonstandard workpiece 14 is clamped fixing by non-standard Work fixture device 10, described non-standard Work fixture device 10 can quickly be discharged clamping actuator 10-1 by 3 flexible multi-expansion rod holder 10-2 and 1 set, described can quickly release clamps on an actuator 10-1 flexible multi-expansion rod holder 10-2 installed therein, for the clamping of nonstandard workpiece 14, two other flexible multi-expansion rod holder 10-2 is for the location of nonstandard workpiece 14.Can quickly discharge clamping actuator 10-1 and can be selected for two-freedom positioner, be used for supporting flexible multi-expansion rod holder 10-2, adjust integral position and the attitude of nonstandard workpiece 14.
Arranging Vision information processing system 12 and off-line programing system 13 in described industrial computer 11, wherein, described Vision information processing system 12 includes:
Vision system calibration module, the parametric measurement being used for described weld seam vision detection system is demarcated, including ccd video camera parameter calibration, structured light sensor parameter calibration and Robot Hand-eye parameter calibration；
Weld beam shape module, with the structure light welding seam image of weld seam vision detection system collection for input, carries out weld image pretreatment and weld seam strip extraction；
Weld seam recognition locating module, with the data result of vision system calibration module and the acquisition of weld beam shape module for input, carries out welding type identification and weld seam three-dimensional reconstruction；
Described off-line programing system 13 includes:
CAD MBM, using the result of described weld seam recognition locating module and six degree industrial robot 1 parameters automatically as input, carries out robot three-dimensional modeling and welding surroundings three-dimensional modeling, it is achieved system design and arranging；
Programming module, for robot path planning and establishment task program；
Graphical simulation module, accepts the task program of programming module establishment, the threedimensional model enterprising Mobile state simulation graphical simulation at CAD MBM, inspection task program correctness；
Postpositive disposal module, the task program that programming module is worked out is compiled as industrial robot target program and welding instruction, and sends to robot controller 2 and welding machine controller 7, to control welding operation, the field data collected is carried out information storage simultaneously, in case postorder analysis.
Described weld image pretreatment includes image filtering and Threshold segmentation, carries out seam laser streak line refinement and feature extraction afterwards；
Described weld seam recognition type includes the linear type weld seam of the formation such as docking, overlap joint, corner connection, and the shaped form weld seam that between cylinder or between cylinder with spheroid, intersecting shape becomes.
Described weld seam three-dimensional reconstruction uses line-structured light active vision method, image procossing is utilized to obtain weld seam pixel coordinate on image, by camera intrinsic parameter model and line-structured light plane equation, pixel coordinate is converted to camera coordinates, further by Robot kinematics equations and hand and eye calibrating relation, it is transformed into basis coordinates system of robot, it is achieved the three-dimensional reconstruction of weld seam；
The task program of described establishment includes weld beam shape program, camera intrinsic parameter calibrating procedure, line-structured light plane equation calibrating procedure, Robot kinematics equations solver, Robotic Hand-Eye Calibration program.
Compared with prior art, the beneficial effects of the utility model are:
1) can accurately detect the features such as identification welding type, position and shape, stably improve non-standard welding processing quality；
2) welding processing process is monitored in real time, it is achieved the visualized management of the course of processing；
3) significantly save process time, raise labour productivity；
4) labor strength and working environment are improved.
Accompanying drawing explanation
Fig. 1 is robot automation's welding processing system construction drawing based on structure light vision described in the utility model.
Fig. 2 is structured light vision sensor system construction drawing.
Fig. 3 is non-standard Work fixture device structure chart.
Fig. 4 is Vision information processing module principle block diagram.
Fig. 5 is off-line programing module principle block diagram.
Detailed description of the invention
Embodiments of the present invention are described in detail below in conjunction with the accompanying drawings with embodiment.
A kind of non-standard automatic welding system of processing based on structure light vision of this utility model, including weld seam vision detection system, welds execution system and communicates and control system.
Weld seam vision detection system for weld seam recognition, position detection, Message-based IPC and carries out image transmitting to communication and control system；As shown in Figure 1, it includes line structure optical sensor 3, monitoring CCD video camera 4 and image pick-up card 5, wherein line structure optical sensor 3 is fixedly mounted on the end effector of industrial robot 1 and keeps fixed position relative constant with welding gun 8, constitute Robot Hand-eye, detect for weld seam recognition and position；The independent fixed installation of monitoring ccd video camera 4, for monitoring welding processing process and molten bath, image pick-up card 5 is arranged on the mainboard of industrial computer 11, realizes the image transmitting between monitoring ccd video camera 4 and structured light vision sensor 3 and industrial computer 11 and communication by the communications cable one 9-1.
Welding execution system is used for performing welding action, as shown in Figure 1, it includes six automatic degree industrial robots 1, is arranged on six bonding machines 6 automatically spending industrial robot 1 main driving arm ends and is arranged on the six automatic welding guns 8 spent on industrial robot 1 end effectors, six spend industrial robot 1 automatically drives welding gun 8 to make locus and pose adjustment, and bonding machine 6 carries out welding processing by welding gun 8 to nonstandard workpiece 14；The source of welding current is bonding machine 6 and nonstandard workpiece 14 is powered.
Communication and control system, for realizing communication and process control, as shown in Figure 1, it includes industrial computer 11, robot controller 2, welding machine controller 7 and the communications cable 9, wherein, industrial computer 11 is master control equipment, be used for welding process show, image procossing, data operation, instruction sending function；Robot controller 2 spends industrial robot 1 body automatically with six, industrial computer 11 is connected by the communications cable two 9-2, receives the command signal from industrial computer 11, controls the joint motions pose with regulation welding gun 8 of six automatic degree industrial robots 1；Welding machine controller 7 is connected by the communications cable three 9-3 with bonding machine 6, industrial computer 11, accepts the command signal from industrial computer 11, controls the welding parameter such as welding current, wire feed rate.
Wherein, line structure optical sensor 3 is as shown in Figure 2, including laser diode projector 3-1, diaphragm 3-2, ccd video camera 3-3, lens 3-4 and filter 3-5, wherein laser diode projector 3-1 is for projecting line-structured light to weld seam 15 and nonstandard workpiece 14, form the laser stripe 16 of reflection face of weld profile, diaphragm 2 controls the power of light beam for regulating, ccd video camera 3-3 is for gathering the weld image with laser stripe 16, lens 3-4 and filter 3-5 is installed additional before ccd video camera 3-3, lens 3-4 is used for image focusing, CCD image planes are formed picture rich in detail, filter 3-5 is for filtering a large amount of arc lights produced in welding process, splash, flue dust enters camera lens, reduce picture noise.
Nonstandard workpiece 14 is clamped fixing by non-standard Work fixture device 10, described non-standard Work fixture device 10 is as shown in Figure 3, clamping actuator 10-1 can be quickly discharged by 3 flexible multi-expansion rod holder 10-2 and 1 set, described can quickly release clamps on an actuator 10-1 flexible multi-expansion rod holder 10-2 installed therein, for the clamping of nonstandard workpiece 14, two other flexible multi-expansion rod holder 10-2 is for the location of nonstandard workpiece 14.Can quickly discharge clamping actuator 10-1 and can be selected for two-freedom positioner, be used for supporting flexible multi-expansion rod holder 10-2, adjust integral position and the attitude of nonstandard workpiece 14.
All systems are all by controlling by computer, each module expansion link is first driven to determine nonstandard workpiece 14 surface that position is fixing, restart can quickly discharge clamping actuator 10-1 clamp safely nonstandard workpiece 14, when nonstandard workpiece 14 has any change, by changing the position of expansion link, built-up jig realizes reconstruct automatically.
Flexible multi-expansion rod holder 10-2 includes motor and four expansion link mechanisms, described four expansion link mechanisms are made up of single expansion link mechanism that four structures are identical, each single expansion link mechanism all includes expansion link, motion and power transmission mechanism, described four single expansion link mechanisms are two row two column distributions, wherein the expansion link in two single expansion link mechanisms of string is connected with motor and is directly driven by a motor, expansion link in two single expansion link mechanisms of another row is transmitted circular shaft by motor by power and drives, make each expansion link can be along respective X, Y direction self-movement, control 8 different motion altogether.
Motion is made up of two parts, and a part is controlled expansion link by a thread spindle and moves along Y direction, and another part is controlled expansion link by a square shaft together with a set of gear and moves in X direction.Specifically, expansion link is arranged on one by the shaft-driven gripper shoe of screw thread, external screw thread is had on expansion link, it is meshed with the female thread on worm-wheel shaft, worm-wheel shaft fits snugly on worm gear, worm gear is independently driven by power transmission mechanism by motor by the worm drive being arranged on square shaft, counteracting force when installed thrust bearing is for resisting clamping on worm-wheel shaft, square shaft and thread spindle.
Power transmission mechanism includes power-transmission system, principal axis transformation system and clutch system, specifically, power-transmission system includes a drivewheel, one idle pulley and six face wheels, motor shaft is extended by axle sleeve, drivewheel is fixedly mounted on axle sleeve, face wheel three is fixed on idler shaft, face wheel four, face wheel five, face wheel six, face wheel seven, face wheel eight is separately mounted on four drive shafts and the power transmission circular shaft of this row expansion link, wheel three takes turns four with face face to face, face wheel five, face wheel six, face wheel seven, when in face wheel eight one is meshed, the power of motor will be transmitted to the axle corresponding to the wheel of face that is meshed；Principal axis transformation system includes two face wheels, an I/ARM and a ball stud, wherein face wheel one is arranged on axle sleeve, and face wheel two is arranged on one end of I/ARM, takes turns a dough-making powder wheel two face to face when being meshed, I/ARM rotary motion, to the position of selected axle, is limited I/ARM by ball stud and continues motion；Clutch system is made up of a clutch arm and two electromagnetic valve switch, electromagnetic switch A is used for driving clutch arm to make face take turns a dough-making powder wheel two to be meshed promoting I/ARM to apply power, and electromagnetic switch B is used for driving clutch arm to make face wheel three and face, selected axle place wheel be meshed promoting I/ARM to apply power.
Flexible multi-expansion rod holder 10-2 can be by controlling by computer, each module expansion link is first driven to determine that position has fixed surface of the work, restarts actuator safety clamp clamping of workpieces, when there being any change in workpiece, by changing the position of expansion link, built-up jig realizes reconstruct automatically.
The above weld seam vision detection system, welding execution system, communication and control system, non-standard Work fixture device constitute the hardware device part of the non-standard automatic welding system of processing of structure light vision, in addition to hardware device, system also needs to software section, industrial computer 11 arranges Vision information processing system 12 and off-line programing system 13, software section as whole welding system, wherein, as shown in Figure 4, Vision information processing system 12 includes:
Vision system calibration module, the parametric measurement being used for described weld seam vision detection system is demarcated, including ccd video camera parameter calibration, structured light sensor parameter calibration and Robot Hand-eye parameter calibration；
Weld beam shape module, with the structure light welding seam image of weld seam vision detection system collection for input, carries out weld image pretreatment and weld seam strip extraction；
Weld seam recognition locating module, with the data result of vision system calibration module and the acquisition of weld beam shape module for input, carries out welding type identification and weld seam three-dimensional reconstruction；
As it is shown in figure 5, off-line programing system 13 includes:
CAD MBM, using the result of described weld seam recognition locating module and six degree industrial robot 1 parameters automatically as input, carries out robot three-dimensional modeling and welding surroundings three-dimensional modeling, it is achieved system design and arranging；
Programming module, for robot path planning and establishment task program；
Graphical simulation module, accepts the task program of programming module establishment, the threedimensional model enterprising Mobile state simulation graphical simulation at CAD MBM, inspection task program correctness；
Postpositive disposal module, the task program that programming module is worked out is compiled as industrial robot target program and welding instruction, and sends to robot controller 2 and welding machine controller 7, to control welding operation, the field data collected is carried out information storage simultaneously, in case postorder analysis.
Claims (8)
1. a non-standard automatic welding system of processing based on structure light vision, it is characterised in that including:
Weld seam vision detection system, for weld seam recognition, position detection, Message-based IPC and carries out image transmitting to communication and control system；
Welding execution system, for performing welding action, including six automatically spending industrial robot (1), being arranged on six bonding machines (6) automatically spending industrial robot (1) main driving arm end and be arranged on six welding guns (8) automatically spending on industrial robot (1) end effector, six spend industrial robot (1) automatically drives welding gun (8) to make locus and pose adjustment, and bonding machine (6) carries out welding processing by welding gun (8) to nonstandard workpiece (14)；
Communication and control system, for realizing communication and process control, including industrial computer (11), robot controller (2), welding machine controller (7) and the communications cable (9), wherein, industrial computer (11) is master control equipment, be used for welding process show, image procossing, data operation, instruction sending function；Robot controller (2) automatically spends industrial robot (1) body with six, industrial computer (11) is connected by the communications cable two (9-2), receive the command signal from industrial computer (11), control six joint motions poses with regulation welding gun (8) automatically spending industrial robot (1)；Welding machine controller (7) is connected by the communications cable three (9-3) with bonding machine (6), industrial computer (11), accepts the command signal from industrial computer (11), controls welding parameter.
Non-standard automatic welding system of processing based on structure light vision the most according to claim 1, it is characterized in that, described weld seam vision detection system includes line structure optical sensor (3), monitoring ccd video camera (4) and image pick-up card (5), wherein line structure optical sensor (3) is fixedly mounted on the end effector of industrial robot (1) and keeps fixed position relative constant with welding gun (8), constitute Robot Hand-eye, detect for weld seam recognition and position；Monitoring ccd video camera (4) is used for monitoring welding processing process, image pick-up card (5) is arranged on the mainboard of industrial computer (11), realizes the image transmitting between monitoring ccd video camera (4) and structured light vision sensor (3) and industrial computer (11) and communication by the communications cable one (9-1).
nullNon-standard automatic welding system of processing based on structure light vision the most according to claim 2，It is characterized in that，Described line structure optical sensor (3) includes laser diode projector (3-1)、Diaphragm (3-2)、Ccd video camera (3-3)、Lens (3-4) and filter (3-5)，Wherein laser diode projector (1) is for projecting line-structured light to weld seam (15)，Form the laser stripe (16) of reflection face of weld profile，Diaphragm (2) controls the power of light beam for regulating，Ccd video camera (3-3) is for gathering the weld image with laser stripe (16)，Install lens (3-4) and filter (3-5) additional ccd video camera (3-3) is front，Lens (3-4) are used for image focusing，CCD image planes are formed picture rich in detail，Filter (3-5) is for filtering a large amount of arc lights produced in welding process、Splash、Flue dust enters camera lens，Reduce picture noise.
Non-standard automatic welding system of processing based on structure light vision the most according to claim 1, it is characterized in that, described nonstandard workpiece (14) is clamped fixing by non-standard Work fixture device (10), described non-standard Work fixture device (10) can quickly be discharged clamping actuator (10-1) by 3 flexible multi-expansion rod holders (10-2) and 1 set, described can quickly release clamps on actuator (10-1) flexible multi-expansion rod holder (10-2) installed therein, clamping for nonstandard workpiece (14), two other flexible multi-expansion rod holder (10-2) is for the location of nonstandard workpiece (14).
Non-standard automatic welding system of processing based on structure light vision the most according to claim 4, it is characterized in that, described flexible multi-expansion rod holder (10-2) includes motor and four expansion link mechanisms, described four expansion link mechanisms are made up of single expansion link mechanism that four structures are identical, each single expansion link mechanism all includes expansion link, motion and power transmission mechanism, described four single expansion link mechanisms are two row two column distributions, wherein the expansion link in two single expansion link mechanisms of string is connected with motor and is directly driven by a motor, expansion link in two single expansion link mechanisms of another row is transmitted circular shaft by motor by power and drives, make each expansion link can be along respective X, Y direction self-movement, control 8 different motion altogether.
Non-standard automatic welding system of processing based on structure light vision the most according to claim 5, it is characterized in that, described motion is made up of two parts, a part is controlled expansion link by a thread spindle and moves along Y direction, and another part is controlled expansion link by a square shaft together with a set of gear and moves in X direction.
Non-standard automatic welding system of processing based on structure light vision the most according to claim 5, it is characterized in that, described expansion link is arranged on one by the shaft-driven gripper shoe of screw thread, external screw thread is had on expansion link, it is meshed with the female thread on worm-wheel shaft, described worm-wheel shaft fits snugly on worm gear, worm gear is by the worm drive being arranged on square shaft, counteracting force when installed thrust bearing is for resisting clamping on described worm-wheel shaft, described square shaft and thread spindle are independently driven by power transmission mechanism by motor.
Non-standard automatic welding system of processing based on structure light vision the most according to claim 7, it is characterized in that, described power transmission mechanism includes power-transmission system, principal axis transformation system and clutch system, described power-transmission system includes a drivewheel, one idle pulley and six face wheels, motor shaft is extended by axle sleeve, drivewheel is fixedly mounted on axle sleeve, face wheel three is fixed on idler shaft, face wheel four, face wheel five, face wheel six, face wheel seven, face wheel eight is separately mounted on four drive shafts and the power transmission circular shaft of this row expansion link, wheel three takes turns four with face face to face, face wheel five, face wheel six, face wheel seven, when in face wheel eight one is meshed, the power of motor will be transmitted to the axle corresponding to the wheel of face that is meshed；Described principal axis transformation system includes two face wheels, an I/ARM and a ball stud, wherein face wheel one is arranged on axle sleeve, and face wheel two is arranged on one end of I/ARM, takes turns a dough-making powder wheel two face to face when being meshed, I/ARM rotary motion, to the position of selected axle, is limited I/ARM by ball stud and continues motion；Described clutch system is made up of a clutch arm and two electromagnetic valve switch, electromagnetic switch A is used for driving clutch arm to make face take turns a dough-making powder wheel two to be meshed promoting I/ARM to apply power, and electromagnetic switch B is used for driving clutch arm to make face wheel three and face, selected axle place wheel be meshed promoting I/ARM to apply power.
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| CN106238969A (en) * | 2016-02-23 | 2016-12-21 | 南京中建化工设备制造有限公司 | Non-standard automatic welding system of processing based on structure light vision |
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| CN110524581A (en) * | 2019-09-16 | 2019-12-03 | 西安中科光电精密工程有限公司 | A kind of flexible welding robot system and its welding method |
| CN113070612A (en) * | 2021-04-01 | 2021-07-06 | 温州科技职业学院 | Welding robot for automatic automobile assembly line |
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| CN106238969A (en) * | 2016-02-23 | 2016-12-21 | 南京中建化工设备制造有限公司 | Non-standard automatic welding system of processing based on structure light vision |
| CN106583969A (en) * | 2016-11-24 | 2017-04-26 | 上海新时达电气股份有限公司 | Locating device for welding robot and welding robot working system of locating device |
| CN107322203A (en) * | 2017-08-14 | 2017-11-07 | 深圳华意隆电气股份有限公司 | A kind of plate sheet welding production line and its control system |
| CN109332928A (en) * | 2018-10-23 | 2019-02-15 | 江苏山扬智能装备有限公司 | Street lamp post robot welding system and welding method based on deep learning on-line checking |
| CN109883443A (en) * | 2019-02-19 | 2019-06-14 | 北京工业大学 | A kind of line structure optical sensor spatial attitude scaling method |
| CN109883443B (en) * | 2019-02-19 | 2021-06-18 | 北京工业大学 | Line structure optical sensor spatial attitude calibration method |
| CN109822270A (en) * | 2019-03-28 | 2019-05-31 | 南昌大学 | It is a kind of to pass through the robot device for handing over welding for cylinder and ball |
| CN110524581A (en) * | 2019-09-16 | 2019-12-03 | 西安中科光电精密工程有限公司 | A kind of flexible welding robot system and its welding method |
| CN113070612A (en) * | 2021-04-01 | 2021-07-06 | 温州科技职业学院 | Welding robot for automatic automobile assembly line |
| CN113070612B (en) * | 2021-04-01 | 2021-11-09 | 温州科技职业学院 | Welding robot for automatic automobile assembly line |
| CN115415704A (en) * | 2022-09-23 | 2022-12-02 | 千思跃智能科技(苏州)有限公司 | Intelligent welding and 3D camera detection equipment |
| CN115415704B (en) * | 2022-09-23 | 2023-09-22 | 千思跃智能科技(苏州)股份有限公司 | Intelligent welding and 3D camera detection equipment |
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