基于激光视觉检测的焊缝自动跟踪系统研究

Research on a Seam Tracking System Based on Laser Vision Sensor Measuring

旨在提高焊缝跟踪精度和焊接质量,提出一种基于激光检测自动焊缝跟踪系统。该系统由激光视觉部件、控制器、步进电机和十字滑架组成。当系统工作时,由激光视觉部件检测焊缝的当前位置与目标位置之间的偏差,控制器基于该偏差确定纠偏量,步进电机驱动十字滑架以纠正焊枪横向与纵向位置偏差。搭建出系统物理样机,进行了焊缝跟踪试验。试验结果表明,基于激光视觉检测的焊缝跟踪误差可控制在0.5 mm之内,其在精密焊接领域具有较大应用前景。

Aimed to improve the seam tracking precision while welding, this paper proposes a laser vision seam tracking system which is composed of a laser vision sensor, a deviation correction controller, two stepping motors and a cross slider. While the tracking system runs, the laser vision sensor measures position deviation between the seam gun＇ s current position and desired position, and the control- ler determine the correcting value, and the motors drive the cross slider to modulate the seam gun＇ s position and posture so as to offset seam tracking error. The prototype of the system was constructed. Seam tracking experiments show that the tracking error can limit to be- ing less than 0. 5mm. It is concluded the laser vision seam tracking system exists wide application prospect in precision welding engi- neering.