划线切割机器人系统中型材变形的检测与补偿  

The Profile Deformation's Measuring and Compensation in the Lining-cutting Robot System

作　　者：王于[1] 丁国清[1] 林良明[1] 

机构地区：[1]上海交通大学精密仪器及微智能研究所,上海200030

出　　处：《测控技术》2001年第10期23-26,共4页Measurement & Control Technology

基　　金：国家863高科技资助项目

摘　　要：介绍了型材划线切割机器人系统的检测子系统及型钢变形的补偿问题。主要讨论了型钢在X Y平面内变形的检测和数据处理方法 ,使系统能根据型材变形数据 ,对划线、切割图形的位置自动进行要素补偿。另外为补偿型材在高度方向上变形 ,采用两种传感器系统进行检测 ,并进行离线和在线补偿 ,确保在加工过程中 ,等离子枪与工件距离始终保持一致 ,避免碰撞及保持均匀的弧压。此检测子系统的研制对需检测工件三维表面空间位置或变形的柔性生产线的设计 ,具有实用的参考价值。The measuring subsystem of lining-cutting robot system is introduced,including its control architecture and its work principle,and the compensating methods on profile's deformation are introduced.The subsystem uses three resistance sensors to measure the deformation on X-Y plane.For measuring the deformation on height direction,the subsystem uses resistance sensor to measure deformation in X-Z plane,and uses an arc-voltage sensor to measure deformation in Y-Z plane.By compensating on-line and off-line,the contact between the plasma-lining-torch and the workpiece can be avoided,and the arc voltage can be steady.The development of the measuring subsystem is useful to the design of a flexible product line which needs to measuring the workpiece surfaces' positions or deformations.

关 键 词：型材划线切割机器人系统 型材变形 检测 补偿 

分 类 号：TG48[金属学及工艺—焊接] TP242[自动化与计算机技术—检测技术与自动化装置]