基于被动视觉的方波交流GTAW机器人焊缝跟踪  

Weld tracking technology of square-wave AC GTAW for welding robot dased on passive vision

作　　者：沈鸿源[1] 樊重建[1] 林涛[1] 陈善本[1] 徐爱杰[2] 

机构地区：[1]上海交通大学,200030 [2]上海航天精密机械研究所,201600

出　　处：《焊接》2007年第11期33-36,共4页Welding & Joining

基　　金：国家自然科学基金项目(50575144);总装"十一五"项目(51318050110)

摘　　要：阐述了目前"示教-再现"机器人的局限性,为解决这一问题,提出了基于被动视觉实时焊缝跟踪技术。同时,设计了一个双层结构滤光系统的传感器,给出了提取焊枪与焊缝偏差的图像处理方法,利用大量试验数据构造了焊缝跟踪控制器。在火箭贮箱产品上的试验,证明了该技术的可行性。The flexibility of the 'teach and playback' robot is limited in the welding process.In order to solve this problem,a real-time weld tracking technology is proposed based on the passive vision.A novel sensor with double-layer filter is designed,and an image processing algorithm is presented to extract the offset of the torch to the weld.The weld tracking controller is also been built based on lots of experiments.The experimental results on the storage trunk of a rocket demonstrate a good weld tracking capability of the proposed system.

关 键 词：被动视觉 机器人 GTAW 焊缝跟踪 

分 类 号：TG409[金属学及工艺—焊接]