基于激光视觉系统的多层多道焊接路径规划

Multilayer and Multichannel Welding Path Planning Based on Laser Vision System

厚板结构件的焊接存在示教繁琐且效率低的问题,为解决该问题提出基于激光视觉系统的多层多道路径规划。首先,利用激光视觉系统获得焊接工件的图像并得到其在基坐标系下特征信息。其次,建立焊缝特征点投影模型,将特征信息投影到焊缝横截面,得到焊缝模型参考点信息;结合等高度焊道及焊道填充策略建立多层多道焊缝模型并对各焊道进行路径规划;引入焊枪行走角对焊道进行焊枪姿态规划;根据焊缝模型各焊道横截面积进行自适应焊接速度规划。仿真和实验表明各焊层焊道位置及焊枪姿态准确,焊缝特征点位置准确,焊缝填充均匀美观。

In order to solve the problem of tedious teaching and low efficiency in the welding of thick plate members,a multi-layer and multi-channel path planning based on laser vision system is proposed.Firstly,laser vision system is used to obtain the image of welding workpiece and its characteristic information in the base coordinate system.Secondly,the projection model of weld feature points is established,and the feature information is projected to the weld cross section to obtain the reference point information of the weld model.The multilayer multipass weld model was established and the path planning was carried out for each weld pass by combining the equal height weld pass and the filling strategy of the weld pass.The welding torch attitude planning is carried out by introducing the welding torch walking Angle to weld bead.According to the cross-sectional area of each weld bead,the adaptive welding speed planning was carried out.Simulation and experiment show that the position of welding pass and welding gun attitude of each layer are accurate,the position of welding characteristic points is accurate,and the filling of welding seam is uniform and beautiful.