基于激光位移传感器的角焊缝位姿检测  

Pose Detection of Fillet Welds Based on Laser Displacement Sensor

作　　者：洪波[1,2] 尹力 李毅[1,2] 李湘文 

机构地区：[1]湘潭大学机械工程学院,湘潭411105 [2]焊接机器人与应用技术湖南省重点实验室,湘潭411105

出　　处：《中国机械工程》2017年第24期3013-3016,3023,共5页China Mechanical Engineering

基　　金：国家自然科学基金资助项目(51575468;51405414);湖南省自然科学省市联合基金资助项目(2015JJ5013);湖南省科技厅重点研发计划资助项目(2015GK3122)

摘　　要：针对工字梁、箱梁等焊接结构自动化生产中工件偏移和偏转问题,提出了一种基于激光位移传感器的角焊缝位姿检测方法。建立了角焊缝位姿的弧长模型,分析了角焊缝位姿对弧长的影响规律;基于傅里叶分析,提出了角焊缝位姿解耦算法,实现了对角焊缝横向偏差、纵向偏差、坡口角度和工件偏转角度的检测;通过对存在坡口间隙和定位焊缝的角焊缝进行位姿检测试验。结果表明,所提出方法具有检测误差小、抗干扰能力强等优点,在焊接自动化生产中具有良好的应用前景。To solve workpiece offset and deflection problems of welded I-beam and box beam structures in automation production,apose detection method of fillet welds was proposed based on laser displacement sensors.An arc length model of fillet welds was established,the effects of weld poses on arc length were analyzed.Based on Fourier analysis,a decoupling algorithm was put forward for pose detection,which realized the detections of lateral deviations,longitudinal deviations,groove angles and deflection angles of fillet welds.The pose experiments on the fillet welds with root gaps and tack welds were detected.The results show that the method has small detection error and good anti-interference capability,which has good application prospects in welding automation productions.

关 键 词：激光位移传感器 角焊缝 位姿检测 坡口间隙 定位焊缝 

分 类 号：TG409[金属学及工艺—焊接]