摘要
在船舶制造过程中,船舱底部存在不连续的流水孔焊缝,现有焊接机器人无法完成流水扎焊缝的白动识别和跟踪焊接。设计开发了一款结构紧凑、质量轻、便于提携的自主移动机器人。介绍了机器人的硬件结构,着重介绍了流水孔焊接机器人激光视觉传感器的设计,验证了该激光视觉传感器的效果。对设计出的焊接机器人进行了试验验证,该机器人能够完成流水孔焊缝的自动识别和跟踪焊接,效果良好。
In the process of watercraft manufacturing,there are many discontinuous drain holes in cabin bottom,the existing welding robot can not complete the automatic identification and tracking for the drain hole weld seam.An autonomous mobile robot with compact structure,lightweight and easy to carry was designed and developed.The hardware structure of the robot was introduced,the design of the laser vision sensor for drain hole welding robot was focused on,and the effect of the laser vision sensor was verified.The designed welding robot was verified by experiments.The robot can complete the automatic identification and tracking of the drain hole weld seam,and the effect is good.
出处
《焊接》
北大核心
2015年第12期24-26,31,共4页
Welding & Joining
基金
国家863计划资助项H(2013AA04003)
江西省科技支撑计划(20151BBE50032)
