面向智慧农业的焊接机器人可视化误差补偿系统设计  

Design of Welding Robot Visualization Error Compensation System for Smart Agriculture

作　　者：王权 程豪 蒋世权 WANG Quan;CHENG Hao;JIANG Shiquan(College of Mechanical Engineering,Zhengzhou University of Science and Technology,Zhengzhou 450064,China)

机构地区：[1]郑州科技学院机械工程学院,河南郑州450064

出　　处：《现代农业装备》2025年第2期81-85,共5页Modern Agricultural Equipment

基　　金：河南省高等学校重点科研项目(23B460005)。

摘　　要：将机器人技术应用于农业生产是实现智慧农业的重要途径之一。针对焊接机器人在批量焊接过程中产生较大误差影响工作效率,而单一的提高焊接机器人机械臂的精度或者利用焊缝追踪的方法降低误差成本较高的问题,该文根据全闭环原理提出了一种基于视觉测量的焊接位置误差补偿方法。基于PLC控制系统设计思路确定了系统的技术路线,利用D-H法和工具坐标系完成末端位姿的数学建模。为了满足焊接系统对不同焊接件的批量化作业,对一种单自由度变位机进行结构改造与升级,优化了变位机的工作台面,增加了多种夹具结构。为了满足系统的可视化要求,利用MCGS软件,连接PLC内部软继电器与MCGS内部通道关系,设计了误差补偿系统的人机交互界面,实现系统的手动/自动的切换功能,以及系统的可视化功能。Applying robotics to agricultural production is one of the important ways to achieve smart agriculture.Aiming at the welding robot in the batch welding process to produce a large error affects the efficiency of work,and a single to improve the accuracy of the welding robot arm or the use of weld tracking methods to reduce the error of the high cost of the problem,according to the principle of the full closed-loop,this paper proposed a visual measurement based on the welding position error compensation method.The technical route of the system was determined based on the PLC control system design idea,and the mathematical modelling of the end position was completed using the D-H method and the tool coordinate system.In order to meet the batch operation of the welding system for different welding parts,a single-degree-of-freedom shifter was structurally modified and upgraded,and the working table of the shifter was optimised to increase a variety of fixture structures.In order to meet the visualisation requirements of the system,the human-machine interface of the error compensation system was designed by using the MCGS software,connecting the relationship between the soft relay inside the PLC and the internal channel of the MCGS,and realising the manual/automatic switching function of the system,as well as the visualisation function of the system.

关 键 词：智慧农业 误差补偿 变位机 人机交互 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]