视觉引导机器人自动上料的剪力钉自动焊接设备设计

The Design of a Automatic Welding Equipment for Shear Studs With Automatic Feeding Function of Visual Guidance Robot

针对第三代非能动CAP核电站结构模块剪力钉焊接的特点,为满足现代工业高效智能自动焊接发展趋势,研究采用3D视觉系统、机器人、数控行走、螺柱焊机、激光除锈等多种先进智能设备集成设计的方法,开展了剪力钉自动焊接设备的设计制造工作。通过对自动焊接工艺流程的分析,编制逻辑动作,使之具备焊枪X、Y、Z三轴直线运动的精确定位,视觉系统引导机器人实现剪力钉与瓷环的自动抓取、组合及送钉,从而实现大面板工件、带瓷环大尺寸剪力钉焊接的自动化,提高焊接质量稳定性、降低人工焊接劳动强度。

In order to meet the development trend of intelligent automatic welding in modern industry,according to the welding characteristics of Shear studs for structural modules of the third generation passive CAP nuclear power plant,the 3D vision system,robot,CNC walking system,stud welding machine,laser deruster and other advanced intelligent equipment integration design methods is adopted to carry?out the design and manufacturing of the automatic welding equipment for shear studs.Program logical action by analyzing the automatic welding process,make the torch with X,Y,Z triaxial linear motion of accurate positioning function,the visual system guide the robot to realize the automatic grasping,combination and feeding of shear studs and porcelain ring,so as to realize big panel,with porcelain ring work-piece size shear stud welding automation,improve the quality of shear stud welding stability,reduce manual welding labor intensity.