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A novel welding path planning method based on point cloud for robotic welding of impeller blades

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Abstract

Impellers are widely used in industrial equipment. Currently, the welding of impeller blades is mainly accomplished by manual welding. Aiming at the current situation of impeller production, this paper mainly introduces a novel welding path planning method based on point cloud for robotic welding of impeller blades. Firstly, in order to get rid of the traditional teaching-playback mode and offline programming method of welding robots, this paper adopts the scheme of the automatic welding path planning based on point cloud obtained by a three-dimensional vision structured light camera. To facilitate subsequent sampling and filtering of point cloud, a novel method for three-dimensional camera pose planning is proposed to accurately and efficiently obtain the point cloud and coordinates containing the welding seam information. After filtering the impeller point cloud, a novel algorithm for rough extraction of impeller blades welding seam scattered point cloud based on distance information is proposed. We use MATLAB simulation to choose a polynomial fitting method based on least squares to fit the welding seam scattered point cloud to adapt to the spatial characteristics and diversity of welding seam. Finally, we perform discrete interpolation on the fitted welding seam point cloud to realize the impeller blade welding path planning. Experimental results show that the proposed method can accurately and efficiently realize the welding path planning for impeller blades robotic welding and complete the welding task without teaching and programming before welding.

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Funding

The authors gratefully thank the research funding from the Shandong Provincial Key Research and Development Program (Major Scientific and Technological Innovation Project) (No. 2019JZZY010441) and National Natural Science Foundation of China (No. U20A20201).

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Authors and Affiliations

  1. Center for Robotics, School of Control Science and Engineering, Shandong University, Jinan, 250061, China

    Yusen Geng, Yuankai Zhang & Xincheng Tian

  2. Engineering Research Center of Intelligent Unmanned System, Ministry of Education, Jinan, 250061, China

    Yusen Geng, Yuankai Zhang & Xincheng Tian

  3. Sinotruk Industry Park Zhangqiu, Sinotruk Jinan Power Co.,Ltd., Jinan, 250220, China

    Xiaorui Shi, Xiujing Wang & Yigang Cui

Authors
  1. Yusen Geng
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  2. Yuankai Zhang
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  3. Xincheng Tian
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  4. Xiaorui Shi
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  5. Xiujing Wang
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  6. Yigang Cui
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Contributions

Yusen Geng was a major contributor in writing the manuscript. All authors read and approved the final manuscript.

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Correspondence to Xincheng Tian.

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Geng, Y., Zhang, Y., Tian, X. et al. A novel welding path planning method based on point cloud for robotic welding of impeller blades. Int J Adv Manuf Technol 119, 8025–8038 (2022). https://doi.org/10.1007/s00170-021-08573-3

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  • DOI: https://doi.org/10.1007/s00170-021-08573-3

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