摘要
介绍了一种柔性再制造修复系统原型,利用基于立体视觉技术与结构光技术的手持式扫描仪和基于6自由度机器人技术的焊接修复机器人,搭建系统工作平台。介绍了现场两步法标定步骤,通过至少3个不同姿态和辅助平面来标定焊枪位姿。利用扫描过程中使用的定位标记点的固定特性完成了扫描系统坐标系与焊枪修复机器人坐标系之间的标定。在标定完毕的系统上,对A3钢板进行等离子焊接修复,得到其多层多道的快速修复成形表面平整度低于0.5 mm,从而验证了系统的可靠性和有效性。
A prototype of flexible remanufacturing restoration system which based on the machine vision and 6-DOF robot technology is introduced. Two-step calibration procedure on site is described. The position and posture of the gun are calibrated by at least three different attitudes and auxiliary planes. The calibration between scan system and repair welding robot coordinate system is completed, taking advantage of the anchor point characteristics in scanning process. Using the calibrated systems, plasma welding repair is proceeded in A3 steel plate. The roughness of the multi-channel quick forming surface is less than 0.5 mm, which verifies the reliability and validity of the calibration system.
出处
《中国表面工程》
EI
CAS
CSCD
北大核心
2011年第4期80-84,共5页
China Surface Engineering
基金
重大专项(2009ZX04001-021)
关键词
再制造修复
破损检测
系统标定
焊枪标定
remanufacturing restoration
3D inspection
system calibration
welding torch calibration
