A novel seam extraction and path planning method for robotic welding of medium-thickness plate structural parts based on 3D vision

Abstract

Currently, the robotic welding of medium-thickness plate structural parts has become a common welding application. With the rapid development of automation technology and robotics, the traditional teaching-playback mode and the off-line programming mode cannot meet the automation demand of welding robots. To realize automatic seam extraction and path planning for robotic welding of medium-thickness plate structural parts without programming and teaching, we use three models of medium-thickness plate structural parts as the research objects to propose a novel seam extraction and path planning method for robotic welding of medium-thickness plate structural parts based on 3D vision. Firstly, a set of improved RANSAC multiplanes fitting algorithms is proposed to accurately obtain the position of the intersection lines between the intersecting planes of the point cloud model. On this basis, we combine the geometric features of three models to propose the specific welding seam extraction methods respectively. Then, according to the spatial structure of the welding seams and the welding process, we carry out the welding path planning. Finally, a welding pose planning method based on the dihedral structure is proposed. Experiment results show that the proposed method can well realize the welding seam extraction, welding path and posture planning of medium-thickness plate structural parts without programming and teaching. • We propose specific welding seam extraction methods for different models. • We propose a welding path planning method according to the spatial structure of the welding seams and the welding process. • A welding posture planning method based on the dihedral structure is proposed to realize the automatic planning of welding torch posture. • We use real experimental data to evaluate the performance of the proposed method and compare it with the existing method to illustrate its effectiveness.