| 摘要: |
| 焊缝起始位置的自动定位是实现智能化焊接的关键步骤之一。介绍了一种实用的视觉引导焊接机器人到初始焊位的导引系统和方法。在系统中,机器人可以在视觉系统的引导下自动定位到任意平面焊缝的起始位置。以铝这种强反射平面曲线对接焊缝工件为例,实现了初始焊位的自主定位功能。系统具有算法简单,实用性和稳定性以及抗干扰性强等特点,其定位准确率和精度都在试验中取得了满意的结果。 |
| 关键词: 视觉 定位 初始焊位 弧焊机器人 |
| DOI： |
| 分类号: |
| 基金项目:上海市科委重点攻关项目(02111111116) |
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| A simple method to locate initial welding position of planar weld using visual technology |
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CHEN Xi-Zhang1,2, CHEN Shan-ben2, LIN Tao2
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1.School of material science and engineering, Jiangsu University, Zhenjiang 212013, Jiangsu, China;2.Institute of Welding Engineering, Shanghai Jiao tong University, Shanghai 200030, China
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| Abstract: |
| The autonomous localization of initial welding position of weld is one of the key technologies to realize the intellectualized welding.This paper presented a practical system and method to guide the welding robot to the initial welding position of weld.In this system,welding robot can be guided to the initial welding position of any planar weld automatically by the aid of a charge coupled device camera.Aluminium and its alloy can reflect the light strongly,which make the recognition more difficult.Taking butt joint weld of planar curve aluminium sheet as example,the autonomous localization function is realized accurately.This method is simple,practical,jarless and strong anti-jamming.And experimental results show that it has higher accuracy rate and precision,and it can meet the requirements of production. |
| Key words: vision localization initial weld position arc welding robot |
