狭小空间直角角焊缝识别跟踪焊接系统  

Identification tracking welding system for right angle fillet seam in narrow space

作　　者：郭亮[1,2] 张华[1] 

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 [2]南昌航空大学信息工程学院,南昌330031

出　　处：《焊接学报》2017年第11期21-26,共6页Transactions of The China Welding Institution

基　　金：国家高技术研究发展计划资助项目(2013AA04003);江西省科技支撑计划(20151BBE50032)

摘　　要：船舶制造中,为加强船体强度,船舱底部设置许多空间狭小的格子间,该类构件无法利用单一的传感方式进行自动跟踪焊接.介绍了直角角焊缝焊接机器人的硬件结构和工作原理,利用旋转电弧和激光视觉传感器相结合对焊缝信息进行采集.对直角转弯过程进行了运动学分析,对十字滑块和机器人本体的运动进行了规划,通过规划和实时控制相结合的方式进行焊缝跟踪.利用开发的移动机器人硬件系统,通过自主开发的VC++图像处理和控制软件进行焊缝跟踪试验.结果表明,该系统便携灵活适用于狭小空间直角角焊缝跟踪焊接作业,且识别和跟踪效果良好.In the process of watercraft manufacturing,much cubicle is arranged at the bottom of cabin to reinforce the hull. This type of component can't be automatic tracking welding via a single sensor mode. The hardware structure and working principle for right angle fillet welding seam is introduced.Collecting the information of welding seam via the combined of rotating arc and laser vision sensor. Kinematics analysis for right angle turn process have been given. The motion of cross slider and robot were planned. Track welding seam through the combination of planning and real-time controlling. By Using mobile robot hardware system,VC + + image processing and control software,the seam tracking experiment is completed. After a large number of experiment verification,results show that the system is portable,flexible and suitable for narrow space right-angle fillet seam tracking welding operations,and the recognition and tracking are effective.

关 键 词：直角转弯 激光视觉传感器 旋转电弧传感器 格子间 

分 类 号：TG409[金属学及工艺—焊接]