基于纠偏与示教相结合的机器人自动焊接跟踪  

Tracking method and experimental verification of welding robot based on correction and teaching

作　　者：邢艳荣 秦佳伟 韩素贤[3] 时盛志 

机构地区：[1]乌海职业技术学院,内蒙古乌海016000 [2]内蒙古君正能源化工股份有限公司,内蒙古乌海016000 [3]包头职业技术学院,内蒙古包头014030 [4]中煤陕西榆林能源化工有限公司,陕西榆林719100

出　　处：《电焊机》2014年第10期61-64,共4页Electric Welding Machine

摘　　要：主要分析了一种将纠偏与示教相结合的对焊缝进行跟踪的方法,通过该方法可使机器人实现自动焊接。基于传统的示教机器人,采用激光传感器对示教路径和实际路径的偏差进行测量。根据所测得的偏差及示教路径,通过控制器调整焊枪的位置及方向以实现焊缝跟踪。利用激光传感器和六自由度的机器人进行实验系统的设计,并对本研究的方法进行验证,实验结果证明该方法是有效的。This paper analyzes a method for the correction of seam traeking and teach combining the method by which the robot can realize automatic welding. Teach the robot based on the conventional,the laser sensor and the teaching path deviation of the actual path is measured. And teaching of the deviation of the measured path,the controller adjusts the position and orientation of the weld gun to achieve tracking. Conducted by laser sensors and six degrees of freedom robot design experimental system ,the method of this paper to validate the experimental results show that the method is effective.

关 键 词：焊缝跟踪 激光传感器 纠偏与示教 自动焊接 

分 类 号：TG409[金属学及工艺—焊接]