机器人点焊电极磨损的视觉检测补偿应用研究  

Application research on visual inspection and compensation of electrode wear in robotic spot welding

作　　者：童洲 韩伟 谈毅 邹昊 TONG Zhou;HAN Wei;TAN Yi;ZOU Hao(School of Mechanical Engineering,Guangzhou City Institute of Technology,Guangzhou 510800,CHN)

机构地区：[1]广州城市理工学院机械工程学院,广东广州510800

出　　处：《制造技术与机床》2022年第9期111-116,共6页Manufacturing Technology & Machine Tool

基　　金：2020年度广东省高等教育教学教改项目(52SC200301)。

摘　　要：针对车门翼板大批量机器人点焊生产过程中,经过多次修磨的电极长度、电极形状和电极杆渐进嵌入,造成的电极与板材工件间的实际接触面积减少、放电距离和密度变化影响焊接质量的问题。分析FANUC机器人点焊电极修磨、更换和补偿工作过程,研究视觉技术检测电极修磨量电极量、电极杆嵌入量及生成电极工作履历数据库的功能。运用FANUC宏程序补偿电极头修磨的损耗和电极杆嵌入量,保证每个焊点电极位置的稳定精确度。通过对电极修磨精度、更换损耗量成本进行管理控制,提高机器人电阻焊质量和精细化管理水平。Aiming at the problem that the welding quality was affected by the reduction of the actual contact area between the electrode and the plate workpiece,and by the variation of the discharge distance and the density,because of the electrode length,electrode shape and the progressive insertion of the electrode rod after repeated grinding.The work process of FANUC robot spot welding electrode grinding,replacement and compensation was analyzed,and the function of visual technology to detect electrode grinding amount,electrode amount,electrode rod embedded amount and generate electrode work history database was studied.The FANUC macro program was used to compensate for the wear and tear of the electrode head grinding and the embedded amount of the electrode rod to ensure the stable and accurate electrode position of each welding spot.The robot resistance welding quality and refined management level were improved by management and control of electrode grinding accuracy and replacement loss cost.

关 键 词：电极磨损 视觉检测 位置精度 修磨频次 补偿程序 

分 类 号：TP438[自动化与计算机技术]