焊接机器人焊缝跟踪技术的现状与发展趋势  

The State-of-the-art and Developing Trends of Weld Seam Tracking Technology of Welding Robot

作　　者：张弓 脱帅华 曹学鹏[1] 侯至丞 杨文林 徐征 包翔宇 ZHANG Gong;TUO Shuai-hua;CAO Xue-peng;HOU Zhi-cheng;YANG Wen-lin;XU Zheng;BAO Xiang-yu(School of Mechanical Engineering,Chang an University,Xi'an 710064,China;Guangzhou Institute of Advanced Technology,Chinese Academy of Science,Guangzhou 511458,China)

机构地区：[1]长安大学工程机械学院,西安710064 [2]广州中国科学院先进技术研究所,广州511458

出　　处：《科学技术与工程》2021年第10期3868-3876,共9页Science Technology and Engineering

基　　金：国家重点研发计划(2017YFE0123900,2018YFA0902903);国家自然科学基金(62073092);广东省自然科学基金(2021A1515012638);中国博士后科学基金(2019M662848);广州市基础研究计划(202002030320)。

摘　　要：焊接机器人因其高效性在先进制造业中应用广泛,焊缝跟踪的精度和实时性是评价焊接质量的重要指标。焊缝跟踪以传感技术为基础,可实现焊缝的起止点和边缘检测、焊缝宽度测量等,传感器在机器人焊接过程中作用重大。详细分析和综述了机器人焊接过程中用于焊缝跟踪的各类传感器及其技术特点,系统地总结了其应用现状,并对焊缝跟踪技术的发展趋势进行了分析与展望,指出其未来的研究方向。Welding robots are widely used in advanced manufacturing industry owning to their high efficiency, the accuracy and real-time of seam tracking are the two key indicators to evaluate welding quality. The seam tracking technology is based on sensors so that the weld starting and end points, weld edges and width can be detected, thus sensors play a major role in robotic welding. Different sensors and their technical characteristics used in seam tracking during robotic welding were discussed in detail, and their application status was also systematically summarized. The future research direction, the development trend of seam tracking technology was analyzed and expected.

关 键 词：焊接机器人 焊缝跟踪 传感器 综述 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]