基于条纹式激光传感器的焊缝测量系统研究

Weld Trajectory Measurement Based on Stripe Type Laser Sensor

焊接机器人通常采用示教再现的方法完成工件焊接。为确保这种工作模式能够实施,需要在前工序中采用人工点焊完成工件的定位,这将引起定位误差,使实际轨迹偏离示教轨迹。针对该问题,提出采用条纹式激光传感器作为焊缝离线检测装置。将激光传感器安装于焊接机器人末端,焊接前机器人沿着焊接轨迹运动,传感器检测获取焊缝截面信息并提取焊缝特征点,应用NURBS曲线拟合获得的焊缝轨迹。实验结果表明,该算法具有较高的精度和效率,能满足机器人自动搜索轨迹对实时响应的要求。

Teaching and playback are usually used on welding robot to weld a part. To make sure the implementation of this mode, it is needed to locate the part using artificial sport welding in the front process, which could cause location error and make the actual track deviate from the teaching track. A welding track offline detection device using stripe type laser sensor was proposed for solving the problem. The laser sensor was mounted at the end of the robot. The robot moved along the weld trajectory before welding. The information of the weld track section was gotten and the feature points were extracted by the laser sensor. The weld trajectory was gained using NURBS curve fitting. Experimental results show that the algorithm is highly accurate and efficient, and can satisfy the requirement of robot＇s automatic searching track for real-time response.