柔性再制造修复系统及标定技术

吴  翔<sup>1</sup>; 马  孜<sup>1</sup>; 徐富家<sup>2</sup>; 胡  英<sup>1</sup>

引用本文:	吴翔，马孜，徐富家，胡英.柔性再制造修复系统及标定技术[J].中国表面工程,2011,24(4):80~84
	WU Xiang, MA Zi, XU Fu–jia, HU Ying.Calibration of the Flexible Remanufacturing Restoration System[J].China Surface Engineering,2011,24(4):80~84

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柔性再制造修复系统及标定技术
吴翔，马孜，徐富家，胡英^1,2
1. 大连海事大学自动化研究中心，大连 116026;2. 装甲兵工程学院再制造技术重点实验室，北京 100072

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。

关键词: 再制造修复破损检测系统标定焊枪标定

DOI：

分类号:

基金项目:重大专项 (2009ZX04001–021)

Calibration of the Flexible Remanufacturing Restoration System

WU Xiang, MA Zi, XU Fu–jia, HU Ying^1,2

1. Automation Research Center, Dalian Maritime University, Dalian 116026;2. Science and Technology on Remanufacturing Laboratory, Academy of Armored Forces Engineering, Beijing 100072

Abstract:

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. 

Key words: remanufacturing restoration 3D inspection system calibration welding torch calibration