基于激光视觉的自动焊接专机研发  

Development of Automatic Welding Machine Based on Laser Vision

作　　者：浦汉军 何振威 谢恒星 谢小鹏[3] Pu Hanjun;He Zhenwei;Xie Hengxing;Xie Xiaopeng(China Resources Co.,Ltd.,Shenzhen 518057,China;Shenzhen CIMC Intelligent Technology Co.,Ltd.,Shenzhen,Guangdong 518057,China;School of Mechanical and Automotive Engineering,South China University of Technology,Guangzhou 518111,China)

机构地区：[1]华润股份有限公司,广东深圳518057 [2]深圳中集智能科技有限公司,广东深圳518057 [3]华南理工大学机械与汽车工程学院,广州518111

出　　处：《机电工程技术》2023年第5期145-149,共5页Mechanical & Electrical Engineering Technology

基　　金：国家工信部2017年智能制造综合标准化与新模式应用专项(2017[53号]);深圳市科技计划项目(KJYY20160428170944786)。

摘　　要：为解决大型薄板结构件机器焊接质量不高,需要人工补焊的难题,采用了激光视觉传感器与数字焊机设计了一种智能焊接专机,进行了该专机的机械系统、焊接系统以及控制系统的研发,并制造了该焊接专机的样机。该专机通过激光焊缝识别跟踪技术,实时测量焊接工件的焊缝轨迹,并把该焊缝轨迹实时反馈至设备控制器控制焊枪的运动以及焊机的焊接动作,实现大型薄板结构件焊缝的自适应跟踪与无人自动化焊接。采用典型的大型薄板结构件——集装箱下波纹板进行焊接试验,实验结果表明,所设计的焊接专机能够较好地监测和跟踪焊缝尺寸和轨迹,并据此实时调整焊接位置、电流和速度,以适应不同作业的焊缝大小和轨迹误差变化大的问题,可自动修正±2 mm的焊缝误差,具有焊接跟踪精度高、焊接质量好、焊接速度快的特点。In order to solve the problem that the machine welding quality of large thin plate structural components were not high enough and manual repair welding were required,an intelligent welding machine was designed by adopting the laser vision sensor and digital welding machine.The mechanical system,welding system and control system of the welding machine were researched and developed,and the prototype of the welding machine were made.In the system,the welding trace of the welding components was real-time measured,then those traces were feed back to the controller to control the movement of the welding gun and the welding machine base on the laser vision seam tracking technology,by which the adaptive tracking and unmanned automatic welding for the large thin plate components were realized.The welding experiments of the corrugated plate under container as the typical large thin plate components were made.The experimental result shows that the machine designed can well monitor and track the welding size and track,according to which the welding position,current and speed are adjusted in real time,so as to adapted to the problem of large variation to weld size and trajectory error of different jobs.It can automatically correct the weld error of ±2mm,and has the characteristics of high welding tracking accuracy,good welding quality and fast welding speed.

关 键 词：焊接专机 焊接机器人 视觉跟踪 激光视觉 智能焊接 焊缝跟踪 

分 类 号：TP391[自动化与计算机技术—计算机应用技术]