焊接智能化与智能化焊接机器人技术研究进展

Research evolution on intelligentized robotic welding technologies

展示了上海交通大学机器人焊接智能化技术实验室近十年来关于电弧焊动态过程以及机器人焊接系统中的若干智能科学问题与智能化技术应用方向的研究工作进展,包括电弧焊过程的多信息传感技术,例如熔池信息的视觉特征,焊接电压、电流、声音及光谱特征提取;基于多信息融合算法的焊接熔透状态预测;焊接动态过程的智能化建模;焊接动态过程的智能控制方法;机器人焊接的智能化技术,例如机器人焊接过程中的焊缝导引及跟踪技术,焊接熔池和熔透状态的智能化控制;特殊环境下的自主焊接机器人系统的发展等。提出"智能化焊接制造技术——IWMT"及"智能化焊接制造工程——WIME"的概念,以期推动智能化科学技术在现代焊接制造业中的系统性研究与运用。期望展示的智能化焊接研究结果为现代焊接智能制造技术发展抛砖引玉。

This paper presents some new evolutions of research works in the IRWTL at SJTU on intelligentized technologies for arc welding dynamic process and robot systems, including Multi-information sensing of arc welding process, such as characteristic extraction of weld pool image, vohage, current, and sound, arc-spectral features; Multi-information fusion algorithms for prediction of weht penetratiom lntelligentized modeling of welding dynamic process; Intelligent control methodology for welding dynamic process; Intelligentized technologies for robotic welding, such as guiding and tracking seam technology and intelligent control of welding pool and penetration in robotic welding process; and development of autonomous welding robot system for the special environment. The ideas of intelligentized welding manufacturing technology （IWMT） and intelligentized welding manufacturing engineering （IWME） are presented in this paper for elicitation and systematization of intending researches and applications on intelligentized technologies for modem welding manufacturing.