机器人搅拌摩擦焊缝跟踪控制系统设计与实现  

Design and Realization of Robot FrictionStir Welding Seam Tracking Control System

作　　者：柴鹏[1,2] 王月 齐铂金 CHAI Peng;WANG Yue;QI Bo-jin(School of Mechanical Engineering and Automation,Beihang University,Beijing 100191 China;AVIC Manufacturing Technology Institute,Beijing 100024 China)

机构地区：[1]北京航空航天大学机械工程及自动化学院,北京100191 [2]中国航空制造技术研究院,北京100024

出　　处：《自动化技术与应用》2021年第5期23-27,62,共6页Techniques of Automation and Applications

摘　　要：机器人搅拌摩擦焊以及焊缝跟踪控制技术可大幅度提高焊接质量和效率。本文以机器人搅拌摩擦焊缝焊工艺为基础,设计了一种基于激光视觉传感器与PD纠偏算法的焊缝跟踪控制系统,针对3mm的2A12-T4铝合金板材,进行了直斜线和折线两种结构的焊缝跟踪控制试验,并分析了焊缝宏观形貌、不同焊接速度下的行进轨迹以及跟踪控制的偏移量。结果表明:在焊缝跟踪控制系统控制下,两种焊缝结构的焊接接头表面均匀平整、质量较高;同种焊接结构不同焊接速度下的焊接轨迹基本重合;所有参数下跟踪控制偏移量整体位于±0.2mm内。Robotic friction stir welding and weld seam tracking control technology can greatly improve welding quality and efficiency.Based on the robot friction stir welding process,a weld seam tracking control system based on the laser vision sensor and the PD correction algorithm is designed.For the 3mm 2A12-T4 aluminum alloy sheet,the weld seam tracking control experiments are performed under the straight-line and polygonal-line conditions.The macroscopic morphology of the weld seam and the trajectories and offsets of tracking control at different welding speeds are analyzed.The results show that under the control of the weld seam tracking control system,the welding joint surfaces under the two conditions are even and flat and of high quality.The welding trajectories under the same condition at different welding speeds are basically coincident,and the tracking control offsets under all parameters are in the range of±0.2mm.

关 键 词：焊缝跟踪控制系统 搅拌摩擦焊 激光视觉传感器 PD纠偏算法 焊缝偏差 

分 类 号：TP249[自动化与计算机技术—检测技术与自动化装置]