机器人焊接智能化技术与研究现状

Situation and development of interlligentized techonology for arc welding robot

自动化焊接和智能化焊接是实现高效焊接制造的重要手段。系统阐述初始焊位视觉导引与识别、焊缝跟踪、熔池视觉计算及焊接成形质量控制策略等焊接智能化领域的关键技术,特别是以视觉技术为先导的焊接路径导引与规划、视觉-电弧复合传感的空间曲线焊缝跟踪以及基于知识模型的焊接过程建模与控制策略等方面的基础研究,拓展了机器人焊接智能化技术的研究方向和应用领域。融合智能化焊接技术的最新研究成果,研制了轮足组合越障智能焊接机器人,同时还在航天、船舶和海洋重工装备等领域开展了系统集成方面的工程应用。。

Automatic welding and intelligent welding have been an important means of high productivity and quality welding manufacturing.ln this paper,the fundamental research of the intelligent technologies was described comprehensively as follows.lt includes visual guide and recognition of the initial weld position, the method of three dimensional seam tracking with vision-arc compound sensor,knowledge modeling and intelligent control strategies and so on.The achievements in these fields expand the research and application area of the robotic arc welding.lntegration of the latest research achievements,a climbing obstacle with wheel foot combined all position arc welding robot was developed.At the same time,the system integration of welding robot station was carried out in the field of aerospace,shipbuilding and marine heavy industry.