基于环形结构光的三维拼缝法矢测量方法分析

邹媛媛; 寇淼

基于环形结构光的三维拼缝法矢测量方法分析

邹媛媛¹,
寇淼²

1.
沈阳建筑大学机械工程学院, 沈阳 110168;高档石材数控加工装备与技术国家地方联合工程实验室, 沈阳 110168
2.
中国科学院沈阳自动化研究所, 沈阳 110016;中国科学院沈阳自动化研究所扬州工程技术研究中心, 扬州 225127

基金项目: 国家自然科学基金项目（51405481）；辽宁省教育厅科研项目（LJZ2016016）；江苏省产学研合作项目（BY2015063-01）；沈阳建筑大学学科涵育计划资助项目（XKHY2-32）

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- 收稿日期: 2015-12-21

A new method for measuring normal vector of three-dimensional joint based on circle structured light

ZOU Yuanyuan¹,
KOU Miao²

1.
School of Mechanical Engineering, Shenyang Jianzhu University, Shenyang 110168, China;National-Local Joint Engineering Laboratory of NC Machining Equipment and Technology of High-Grade Stone, Shenyang 110168, China
2.
Yangzhou Engineering Research Center, Shenyang Institute of Automation, Chinese Academy of Sciences, Yangzhou 225127, China

摘要

摘要: 三维拼缝焊接中，仅仅依靠示教再现以及预装夹的方法已很难满足焊接精度和质量要求.为了保证焊接质量，提高激光拼焊装备的适应性，需要在焊接过程中调整焊炬姿态，要求焊炬要垂直于焊缝表面，即与焊接点法矢方向一致.为了精确测量三维拼缝法矢，文中设计了三维拼缝法矢测量装置，提出了基于环形结构光采用曲面拟合计算三维拼缝法矢的方法，进行了仿真试验，并和基于条形结构光采用平面拟合的方法对比.结果表明，文中提出的方法具有较高的测量精度，有助于实现焊接过程中焊炬位姿的准确调节.
- 三维拼缝 /
- 激光焊接 /
- 法矢测量 /
- 环形结构光 /
- 曲面拟合
Abstract: In laser tailored blank welding for three-dimensional joint, the welding robot that follows a preprogrammed path assisted with clamping equipment is not often able to guarantee a sufficient weld seam quality. In order to improve suitability of laser welding robot, the welding torch pose need to be adjusted during welding process. The torch is requested to be aligned at right angles to the joint surface which means in the direction of normal vector of joint. In this paper, measuring equipment is designed and a new method is proposed for measuring normal vector of three-dimensional joint accurately based on circle structured light with surface fitting model. Finally, the simulations are carried out to verify the proposed strategy. The simulation results are compared with conventional method based on stripe structured light with plane fitting model and demonstrate that this method has upper measurement precision, and will contribute to adjust welding torch pose accurately.
- three-dimensional joint /
- laser welding /
- normal vector measuring /
- circle structured light /
- surface fitting

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参考文献(8)

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[2]	辛立明, 赵明扬, 徐志刚. 激光拼焊错边产生与预测建模方法[J]. 焊接学报, 2008, 29(6):89-92, 96. Xin Liming, Zhao Mingyang, Xu Zhigang. Misalignment production and its prediction model in tailored blank laser welding[J]. Transactions of the China Welding Institution, 2008, 29(11):89-92, 96.
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文章访问数: 532
HTML全文浏览量: 3
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基于环形结构光的三维拼缝法矢测量方法分析

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出版历程

A new method for measuring normal vector of three-dimensional joint based on circle structured light

计量

出版历程

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