Abstract
This paper is devoted to the development and improvement of mechanisms for the functioning of an automated system for correcting the points of the planned trajectory of the tool of a laser robotic welding complex in the pre-process. Correction of the points of the planned trajectory is carried out in two stages: in the first stage, the focal laser radiation is corrected; in the second stage, the position of the tool is corrected. Correction of the focal laser radiation is carried out in conjunction with the automated focusing of the camera by moving the tool of the industrial complex along its own axis. The functioning of position correction mechanisms is based on methods for recognizing the edges of the gap line to be welded from the image obtained from the charge-coupled device (CCD) camera. The edges of the gap to be welded in the image are segmented using threshold selection. The boundaries of the threshold selection segment are the extreme values of the pixel distribution of the entire image in brightness. For unambiguous recognition of the desired edges based on the segmentation result, the features defining them as a pair of continuous, conditionally parallel lines are formalized. Relative to the recognized pair of edges, the correct position of the planned trajectory point relative to the current position of the welding head is determined. To transfer the correct position, we formalized the calculation model and chose an arbitrary point in the flat image in the workspace laser robotic welding complex, considering the orientation of the tool and the position of the camera. The results obtained made it possible to develop a correction system and successfully test it in the industrial complex.
Highlights
The technological process of laser welding is one of the most promising high-tech methods for obtaining permanent joints of metal structures [1]
Segmentation of the gap on the original image obtained from the charge-coupled device (CCD) camera is represented by the following sequence of actions: 1
The correct position of the tool is defined as p∗tool = a0 if there are welding start/end points on the image, and p∗tool = b0 in all other cases
Summary
The technological process of laser welding is one of the most promising high-tech methods for obtaining permanent joints of metal structures [1]. Technological preparation of robotic industrial complexes (process operation computer-aided manufacturing (CAM). Trajectory built on a Due three-dimensional can passcreates by the aggressive joint of parts, even in the case of an ideal of to the fact thatmodel laser welding conditions for monitoring and interface measuring coordinate systems according to which the robot’s control program was created. The solution to eliminate the problems of mismatch points of the planned equipment, correcting the trajectory points on the fly is less preferable during execution. The most adapts promising to eliminate problemstoofthe mismatch of the planned trajectory automatically thesolution control program of the movement installedpoints blanks of the product in the is a software and hardware correction complex that functions in the preprocessing and automatically tooling. Adapts the control program of movement to the installed blanks of the product in the tooling
Sign-in/Register to view highlights & summary Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
