视觉机器人MAG焊接参数的在线规划系统

On-line Programming System of MAG Welding Parameters for Robot with Vision

视觉弧焊机器人ＭＡＧ焊接参数在线规划是一类以提高弧焊机器人的适应能力为主要目标的焊接质量智能控制方法。本文建立了视觉机器人ＭＡＧ焊接参数在线规划实验系统，以接缝的重要特征尺寸（间隙、钝边）及焊接时间为输入变量，焊接电流和焊接速度为输出变量，以控制ＭＡＧ焊熔透为目的，采用模糊数学模型描述上述输入输出变量之间的关系，进行了ＭＡＧ焊接参数在线规划试验，试验结果表明系统运行稳定可靠，熔透程度均匀一致。

The on-line programming of MAG welding parameters is a novel method of intelligent controlling of welding quality which aims at improving welding robots adaptive ability.The author established an on-line programming system of MAG welding parameters for arc welding robot with vision. On-line programming of MAG welding parameters experiments have been carried out, which are based on FUZZY math model focusing on the controlling of the weld penetration. The gap and root face of weld and the welding time are used as input variables,while welding current and welding speed are used as output variables.The experimental results prove that the above system is reliable and uniform penetration is obtained.