上海交通大学学报

上海交通大学学报（自然版） ›› 2015, Vol. 49 ›› Issue (03): 392-394.

• 自动化技术、计算机技术 • 上一篇    下一篇

飞机导管机器人焊接手眼关系标定

张宗郁1，高洪明1，韩庆璘1，黄锐2，荣建2，王勇超2   

  1. （1.哈尔滨工业大学 先进焊接与连接国家重点实验室，哈尔滨 150001；2.中航工业成都飞机工业(集团)有限责任公司，成都  610092）
  • 收稿日期:2014-05-20 出版日期:2015-03-30 发布日期:2015-03-30

Hand-Eye Calibration in Robot Welding of Aero Tube

ZHANG Zongyu1,GAO Hongming1,HAN Qinglin1,HUANG Rui2 RONG Jian2,WANG Yongchao2   

  1. (1. State Key Laboratory of Advanced Welding and Joining, Harbin Institute of Technology, Harbin 150001, China; 2. Aviation Industry Corporation of China, Chengdu Aircraft Industrial (Group) Co., Ltd., Chengdu 610092, China)
  • Received:2014-05-20 Online:2015-03-30 Published:2015-03-30

摘要：

摘要：  针对目前国内航空飞机导管焊接主要采用手工钨极氩弧焊的现状，提出了导管数字化焊接思路，对该系统中涉及的机器人手眼关系标定进行了研究.通过在META焊缝跟踪传感器安装距离处建立摄像机坐标系，利用一台三坐标仪完成了机器人的手眼关系标定.结果表明：此标定方法精度为±0.4 mm，满足飞机导管数字化焊接的要求.

关键词: 导管数字化焊接, 手眼标定, 三坐标仪, 焊缝跟踪传感器

Abstract:

Abstract： Based on the current domestic situation that the welding of aero tube is mainly the manual gas tungsten arc welding, a digital welding of aero tube was proposed. The hand-eye calibration of robot involved in the system was studied. By establishing the camera coordinate system in the installation distance of META seam tracking sensor, the handeye calibration is completed using a three dimensional measuring machine. The results show that the calibration accuracy of this method is ±0.4 mm, which meets the requirement of the digital welding of aero tube.

Key words: digital welding of aero tube, hand-eye calibration, three dimensional measuring machine, seam tracking sensor

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