弧焊机器人的视觉控制

Study on arc welding robot visual control

关键词:  实时控制  结构光视觉  视觉测量  视觉控制  弧焊机器人

Key words:  real-time control  structure-light vision  visual measurement  visual control  arc welding robot

摘要:

提出了一种基于局域网的多层次结构的弧焊机器人视觉控制方案,它由人机交互层、运动规划层、运动控制层和伺服控制层构成,其中后面三层构成本地实时控制器。利用上位计算机作为人机交互层,完成视觉测量、运动命令生成、焊枪控制和人机交互。本地实时控制器实现在线运动规划和实时运动控制。根据在线视觉测量结果,形成机器人的运动目标,实现焊缝自动跟踪与焊接。对V形坡口焊缝的摆焊试验结果,验证了所给出的弧焊机器人视觉控制的有效性。

Abstract:

A real-time arc welding robot visual control system based on local network with multi-level hierarchy is presented,which consists of intelligence and human-machine interface (HMI) level,motion planning level,motion control level and servo control level.The last three levels form local real-time open robot controller (LRTORC).The master computer as the first level is for visual measurement,movement command generator,welding torch controller and HMI.LRTORC realizes motion planning and motion control of the robot.The system has the function of automated recognition and tracking weld.The principle of the visual control system and LRTORC developed by us is discussed.The swing welding experiment for V-type welding groove is done and the results show that the system has high resolution of tracing weld in real time,works stably and efficiently.The shape of weld mark is good.