基于激光视觉传感的船舶型材机器人焊接焊道编排及系统研制  

Weld Planning and Robot Welding System Development Based on Laser Vision Sensing for Ship Profiles

作　　者：刘希鹏[1] 陈兴 陈华斌[1] 林涛 

机构地区：[1]上海交通大学材料科学与工程学院,上海200240 [2]江苏北人机器人系统股份有限公司,江苏苏州215002

出　　处：《上海交通大学学报》2016年第S1期44-46 50,共4页Journal of Shanghai Jiaotong University

摘　　要：针对船舶T型材对口焊接中结构复杂、焊接装配精度差,导致无法直接使用示教型机器人进行焊接的问题,本文采用Servo-Robot激光传感和焊接专家系统,通过开发的用户界面选择板厚、长度及坡口角度,实现激光寻缝,自动匹配焊接工艺参数,并调用机器人焊接程序完成T型材多层多道自动焊接,提高了船舶T型材焊接效率和质量,降低了工人劳动强度.Normal teaching-playing welding robot cannot meet the requirement of ship T profile welding because of the complex construction and bad fitting.Servo-Robot laser sensor and welding expert system were adopted in this paper.Seam searching and welding parameters auto-matching were developed according to thickness,length and groove angle,which could be chosen from the user interface.So that automatic multi-layer and multi-pass welding can be achieved through robot welding programs.This robot welding system not only can improve the welding efficiency and quality of the ship T profile,but it also reduces the labor intensity.

关 键 词：船舶焊接 激光传感 机器人 焊接专家系统 

分 类 号：TG409[金属学及工艺—焊接] U270.331[机械工程—车辆工程]