实时感知焊接变形的机器人焊接技术研究  

Research on robot welding technology for real-time sensing welding deformation

作　　者：倪加明[1] 董智军[1] 管雅娟 杨长祺[1] 王新文 杨学勤[1] NI Jiaming;DONG Zhijun;GUAN Yajuan;YANG Changqi;WANG Xinwen;YANG Xueqin(Shanghai Aerospace Precision Machinery Institute,Shanghai 201600,China)

机构地区：[1]上海航天精密机械研究所,上海201600

出　　处：《电焊机》2018年第11期23-26,共4页Electric Welding Machine

基　　金：国家自然科学基金项目(51701124)

摘　　要：针对航天铝合金复杂结构件,开展基于激光传感机器人自动焊接系统集成与应用试验研究。通过集成智能激光传感提升机器人自动焊接系统对于复杂结构的实时感知与自适应能力。采用智能激光传感器采集与分析焊接坡口几何信息,经过算法补偿运算实现机器人自动焊接过程焊缝轨迹自动跟踪,实现间隙0.2～10 mm和错边0.1～3 mm的复杂路径精确焊缝跟踪,以及1～4 mm渐变间隙的自适应跟踪调整,焊缝均匀熔透成形。Aiming at the complex structural parts of aerospace aluminum alloy,he research on the integration and application of automatic welding system based on laser sensing robot was carried out.The real-time perception and adaptive ability of robotic automatic welding system for complex structures were improved by integrating intelligent laser sensing.The intelligent laser sensor is used to collect and analyze the geometric information of welding groove,and the automatic tracking of welding seam track in the automatic welding process of the robot is realized through the algorithm compensation calculation,and the complex path tracking of 0.2~10 mm gap and 0.1~3 mm staggered edge is realized,as well as the adaptive tracking adjustment of 1~4 mm gradual gap,the weld is uniformly penetrated and formed.

关 键 词：钨极氩弧焊接 焊缝自动跟踪 激光智能传感 铝合金 环缝 

分 类 号：TG409[金属学及工艺—焊接]