摘要
在船舶制造中,由于船舱底部存在排水孔,焊接过程出现不连续焊缝,直接影响焊接生产效率。在控制系统已实现角焊缝跟踪的基础上,在焊接机器人本体上设计安装结构光视觉传感器,使其能够检测出排水孔的起点、终点位置,控制系统实现自动引弧、熄弧,进一步提高焊接自动化程度。通过对轮式移动机器人直角焊缝跟踪分析,确定视觉传感器在机器人本体上的安装方案。同时,通过一系列试验确定CCD与激光器的空间标定。最终选择激光器光束垂直照射焊接工件,CCD偏转一定角度接收的方案,并验证了其可行性。
There were discontinuous seams during welding due to the drainage holes at the bottom of hold in shipbuilding, having direct influence on the welding productivity. As the fillet weld tracking was realized in the control system, a structural light visual sensor would be designed to install on the robot body, enabling it to detect the start and end point positions of drainage holes. The automation degree of welding was improved as the control system could perform automatic arc blowout and arc striking. By means of trace and analysis of the wheeled mobile robot right-angle weld, the plan for installing the vision sensor on the robot body was decided. Meanwhile, the space position of CCD camera and laser was determined by a series of experiments. Finally, the plan for the laser beam to radiate vertically on the workpiece while the CCD receives at an angle was selected, and the feasibility was verified.
出处
《焊接技术》
北大核心
2010年第5期42-45,共4页
Welding Technology
基金
江西省科技厅工业项目(S00043)
