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焊缝自动跟踪是实现焊接自动化的关键,在传统弧焊机器人系统的基础上设计了一种基于激光传感器的焊缝跟踪子系统,构建了激光传感器的数学模型及机器人手眼标定方法,并针对搭接焊缝的图像特点,提取出焊缝特征点位置坐标.同时设计开发了焊缝跟踪控制算法和机器人焊缝跟踪程序,最后通过对储气罐环形搭接焊缝进行焊接实验,结果证明了该焊缝跟踪系统的有效性和可靠性.
Welding seam automatic tracking is the key to realize welding automation. Based on the traditional arc welding robotic system, a seam tracking subsystem based on laser sensor is designed. The mathematical model of laser sensor and the calibration method of robot hand eye are constructed. Then the welding seam’s image characteristics are extracted and the position coordinates of the welding seam feature points are extracted. At the same time, the welding seam tracking control algorithm and the robotic seam tracking program are designed and developed. Finally, The weld tracks the effectiveness and reliability of the system.