焊接机器人智能过程与控制  

Intelligent process and control of welding robot

作　　者：闵庆凯[1] 日野泰成 

机构地区：[1]沈阳大学机械工程学院,辽宁沈阳110044 [2]琦玉大学工学部

出　　处：《焊接技术》2003年第2期42-43,共2页Welding Technology

基　　金：国家留学基金资助项目(99821017)

摘　　要：使用高速摄影机观察焊接过程,当焊接电弧到达坡口根部边缘时,焊接电流达到脉冲电流峰值,采用CCD摄像机作为视觉传感器观察焊接熔池,CCD摄像机在较低的电流时以1ms的速度获取熔池表面图像,保证拍摄时与焊枪摆动中心同步,利用计算机处理焊接熔池图像并生成数字信号,将信号送入数控系统,数控装置采集焊接熔池特征参数,由此调整送丝速度、焊接速度、焊枪高度,控制熔滴过渡,达到对焊接过程的智能控制。In order to get high quality of the welding, it is necessary to make a stable back bead and the smooth surface. The authors can observe the welding ph enomena by using a high speed camera. When the welding torch comes to the root e dge, the welding current is the pulse peak. The authors use the CCD camera as vi sual sensor for observing the weld pool. The CCD camera takes the image of the w eld pool surface in low current duration of 1 ms, synchronizing with each time w hen the torch passes on the center of the weaving. A personal computer processes the image of the weld pool. Then a digital controller uses these characteristic s in weld pool. The digital controls the back bead and bead height by adjusting wire feed and welding speed.

关 键 词：焊接机器人 智能控制 焊接过程 视觉传感器 

分 类 号：TG409[金属学及工艺—焊接] TP242[自动化与计算机技术—检测技术与自动化装置]