Research On Robot Welding System Based On Point Laser Sensor Positioning

Due to the problems of poor environment and human cost of manual welding,industrial robots are widely used in welding fields.However,in the process of realizing welding automation,industrial robots using traditional teaching reappearance mode can't cope with the change of workpiece position.Therefore,scanning through the single point scanning laser sensor combining robot,function module and the upper machine,developed based on single point laser welding robot positioning system,has solved the automatic positioning of welding and welding operations.This project is entrusted by an intelligent equipment co.,LTD.The coordinate relation between the measured workpiece and the reference workpiece is studied,and the transformation of the robot position of the relative reference work of the workpiece is analyzed through the coordinate transformation and the geometrical characteristics of the workpiece.Through the programming of C# and MATLAB,the motion analysis module was developed to realize the calibration and execution of the benchmark teaching trajectory on the workpiece.The research is focus on the computer data acquisition of laser sensor,computer and data transmission function of yaskawa robot,developed by C# programming the sensor data acquisSSition module and communication module of the robot and realizes computer,sensors,and the robot's communication collaboration.The thesis studies the factors that influence the detection and puts forward the solutions of various factors,and integrate the positioning system process.Through C# and robot program,the detection module of computer and robot scanning program is developed,and fast and accurate workpiece edge detection is realized.The data processing module was developed and the workpiece position was calculated according to the detection data.Call the motion analysis module to realize the welding operation of locating workpiece.The abnormal processing module is developed to realize stable operation of the system.Finally,the paper makes the system debugging,proves the feasibility of the above research,and the debugging results to meet the enterprise demand.