基于视觉引导双机器人的柔性堆叠焊接制造系统OA

Robot welding is the main form of automatic welding system.Although the application of machine vision,intelligent teaching,offline programming and other technologies had greatly improved the manufacturing flexibility of the welding system,the existing robot welding was not fully adapted to the manufacture of products with small batch and customized needs,and the manufacturing flexibility needed to be further improved.To solve this problem,a flexible stacking welding manufacturing method was proposed,and a flexible stacking welding manufacturing system based on vision guided dual robots was designed.In the flexible stacking welding manufacturing,the target welding structure was disassembled into a sequence of stacked parts,and the grasping robot was used to identify,grasp and assemble the components under the guidance of 3D vision,while the welding robot performs synchronous welding with the assistance of the laser welding seam tracking system.The two robots work cooperatively like human left and right hands,and gradually build the structure in a style of"bottom to top"by stacking components one by one.The algorithms of grasp point calculation,point cloud matching and robot pose registration are deeply studied,and the effectiveness and manufacturing accuracy of the system are verified by manufacturing case analysis.