激光传感的机器人多层多道焊路径规划  

The Laser Sensor of Robotic Multi-Path/Multi-Layer Welding Path Planning

作　　者：曹林攀 易际明[1] 谢传禄 陈沼欣 

机构地区：[1]厦门理工学院机械与汽车工程学院,福建厦门361024 [2]厦门思尔特机器人系统有限公司,福建厦门361023

出　　处：《机械设计与制造》2016年第1期186-189,共4页Machinery Design & Manufacture

基　　金：福建省科技厅产学研重大项目(2012H6025);厦门市科技计划项目(3502Z20133036)

摘　　要：由于工件的定位误差以及坡口加工误差导致离线编程中事先规划的运动路径和实际路径存在偏差,针对上述问题提出一种基于激光传感器获取焊缝信息自适应调整焊枪位置和姿态来纠正上述偏差的方法。首先从IGES格式文件中提取表示焊缝位置的图元信息,采用等弧长原则对曲线图元进行离散,并用直线插补方式指导激光传感器对工件扫描。根据扫描获取的焊缝位置信息自适应修正机器人目标点的位置和姿态并再次对工件扫描,获取工件坡口特征信息。最后根据坡口特征参数及焊接工艺的要求,确定其它焊道的偏移量,对修正后的基路径偏移及对焊枪姿态的调整,实现多层多道焊路径自动规划。Due to the location error of workpiece and groove machining errors,which results in the error between motion path planning in the off-line programming in advance and the actual path,aiming at the above problems,it puts forward a kind of method which adaptively adjust welding torch position and pose to fix the error based on laser sensor gained the weld position information. Firstly,extracting the graphic element information of welding from IGES format file;using the equal arc length principle to discrete the curve primitives;using linear interpolation method to guide laser sensors to scan artifacts. According to the scan which gained the weld position information,adaptiveing adjustment robot target position and pose to scan workpiece again,it gained the workpiece groove feature information. According to the feature parameters of groove and the requirement of welding process,it ensured other offset of path. It offset the new path and adjusted the welding torch to accomplish the multi-path/multi-layer welding path planning.

关 键 词：多层多道焊 离线编程 激光传感器 自适应调整 IGES文件 

分 类 号：TH16[机械工程—机械制造及自动化]