基于激光传感器的弧焊机器人焊缝跟踪研究  

Seam tracking for arc welding robots based on laser sensor

作　　者：韩沛文 周靖 蒋林 李家波 郭小羽 

机构地区：[1]深圳市鸿栢科技实业有限公司,广东深圳518105

出　　处：《电焊机》2017年第10期94-98,共5页Electric Welding Machine

基　　金：深圳市科技计划技术攻关重点项目(JSGG20160301151929860)

摘　　要：采用激光扫描式传感器,设计了一套机器人焊缝自动跟踪系统。开发了相应的焊缝跟踪算法,包括直线、圆弧和直线圆弧组合连续焊缝的跟踪算法。探讨实现这些算法的相关技术问题。计算机仿真结果表明,该算法合理有效,可用于弧焊机器人焊缝在线跟踪作业,改善和提高机器人的焊接精度和质量。A rohot welding seam automatic tracking system is constructed by using a laser scanning sensor. The corresponding seam tracking algorithms for line,arc and combination of line and arc seam is developed. The related technical problems of implementing these algorithms are discussed. The computer simulation resuhs show that these algorithms are effective,which can be used in online welding seam tracking tasks to improve the welding accuracy and quality of arc welding robots.

关 键 词：弧焊焊接机器人 焊缝跟踪 激光传感器 圆弧焊缝 连续焊缝 

分 类 号：TG409[金属学及工艺—焊接]