存在流水孔的角焊缝移动焊接机器人跟踪  

Tracking of Fillet Weld with Drain Holes Based on Mobile Welding Robot

作　　者：乐健[1] 张华[1] 叶艳辉[1] 郭亮[1] LE Jian ZHANG Hua YE Yanhui GUO Liang(Key Laboratory of Robot and Welding Automation of Jiangxi, Nanchang University, Nanchang 330031, China)

机构地区：[1]南昌大学江西省机器人与焊接自动化重点实验室,南昌330031

出　　处：《上海交通大学学报》2016年第12期1893-1897,共5页Journal of Shanghai Jiaotong University

基　　金：国家高技术研究发展计划(863)项目(2013AA041003)资助

摘　　要：为提高焊接的质量和效率,研究了一种能够准确跟踪存在流水孔和焊缝终点的角焊缝机器人。起弧后,利用旋转电弧传感器识别焊枪相对于角焊缝的位置,基于轮、水平滑块和垂直滑块的协调运动跟踪连续的空间弯曲角焊缝;同时,研究了利用视觉传感器识别流水孔的起点、终点和焊缝终点的工作原理;研究了基于多传感器融合技术对存在流水孔和焊缝终点的角焊缝的跟踪;并进行了弯曲角焊缝、存在流水孔和焊缝终点的角焊缝的跟踪实验以及焊角形貌观察实验.结果表明,所设计的机器人能够准确地跟踪存在流水孔的角焊缝.In order to improve the quality and efficiency of welding, a robot that could accurately track the fillet weld with drain holes and the endpoint of the weld seam needs to be developed. After igniting arc, the position of the welding torch was identified by the rotating arc sensor, and a continuous space curved fillet weld was tracked based on two wheels and the vertical and horizontal sliders coordinated movement. By using the visual sensor, the working principle of identifying the endpoint of weld seam, the starting point and the endpoint of the drain hole were studied. Based on the multi-sensor fusion technology, the fil- let weld with drain holes and the endpoint were tracked. The experiments for tracking a continuous space curved fillet weld, the experiment for tracking the fillet weld with drain holes and the endpoint, and the metallographic experiment were conducted. The experimental results show that the robot can accurately track the fillet weld with drain holes and the endpoint of the weld seam.

关 键 词：焊接机器人 视觉传感器 旋转电弧传感器 信息融合 焊缝跟踪 

分 类 号：TG409[金属学及工艺—焊接]