基于激光视觉的焊接机器人离线自动编程技术  

Off-lineautomatic programming technology of welding robot based on laser vision

作　　者：周方明[1] 蒋尊宇 陈琪昊 周磊 裴永强 陈维鹏 ZHOU Fangming;JIANG Zunyu;CHEN Qihao;ZHOU Lei;PEI Yongqiang;CHEN Weipeng(Provinical Key Laboratory of Advanced Welding Technology, Jiangsu University of Science and Technology, Zhenjiang 212100, China;China Shipbuilding Offshore Power Co. Ltd., Shanghai 201306, China;Nanjing Hexin Intelligent Equipment Co. Ltd., Nanjing 210000, China)

机构地区：[1]江苏科技大学江苏省先进焊接技术重点实验室,镇江212100 [2]中国船舶海洋动力部件有限公司,上海201306 [3]南京合信智能装备有限公司,南京210000

出　　处：《江苏科技大学学报（自然科学版）》2021年第3期37-41,共5页Journal of Jiangsu University of Science and Technology:Natural Science Edition

基　　金：国家自然科学基金资助项目(51905230)。

摘　　要：传统的离线编程在实际应用中适应性差,很难满足实际的生产需求,因此,文中提出一种基于激光视觉的焊接机器人离线自动编程技术.采用RobotMaster生成离线程序,对离线程序二次加工并将程序下载机器人控制柜中,运行机器人至焊缝位置,通过激光视觉传感器实现焊缝的寻位与实时跟踪.为了便于设置焊接参数和焊后参数分析,采用Delphi开发了焊接参数发送和监控模块,实现了焊接参数的发送和实时监控.该技术综合了离线编程技术、数据库技术和视觉寻位技术,有效解决了离线编程适应性差和焊接质量不稳定的问题.试验结果表明:工件焊缝位置发生变化时,该技术能精确定位焊缝,能满足实际生产需求.The traditional offline programming has a large error in practical application and it is difficult to meet the actual production requirements.Therefore,a laser vision-based welding robot offline automatic programming technology is proposed.RobotMaster is used to generate the offline program,the offline program is processed again and the program is downloaded to the robot control cabinet,the robot is run to the welding seam position,and the laser seam sensor is used to locate and track the welding seam in real time.In order to facilitate the setting of welding parameters and post-weld parameter analysis,Delphi has developed a welding parameter sending and monitoring module to realize the sending and real-time monitoring of welding parameters.This technology integrates offline programming technology,database technology and visual positioning technology to effectively solve the problems of poor offline programming application and unstable welding quality.The test results show that:when the position of the welding seam of the workpiece changes,the technology can accurately locate the welding seam and can meet the actual production requirements.

关 键 词：激光视觉 离线自动编程 焊接机器人 DELPHI 

分 类 号：TG409[金属学及工艺—焊接]