For better welding quality, accurate path teaching for actuators must be achieved before\nwelding. Due to machining errors, assembly errors, deformations, etc., the actual groove position may\nbe different from the predetermined path. Therefore, it is significant to recognize the actual groove\nposition using machine vision methods and perform an accurate path teaching process. However,\nduring the teaching process of a narrow butt joint, the existing machine vision methods may fail\nbecause of poor adaptability, low resolution, and lack of 3D information. This paper proposes\na 3D path teaching method for narrow butt joint welding. This method obtains two kinds of visual\ninformation nearly at the same time, namely 2D pixel coordinates of the groove in uniform lighting\ncondition and 3D point cloud data of the workpiece surface in cross-line laser lighting condition.\nThe 3D position and pose between the welding torch and groove can be calculated after information\nfusion. The image resolution can reach 12.5 �¼m. Experiments are carried out at an actuator speed of\n2300 mm/min and groove width of less than 0.1 mm. The results show that this method is suitable\nfor groove recognition before narrow butt joint welding and can be applied in path teaching fields of\n3D complex components.
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