视觉机器人焊接技术的研究综述与展望

Review and Prospect of Visual Robot Welding Technology

焊接作为现代制造工业的基础生产工艺之一,是制造业极为重要的加工手段。目前由于焊接作业的特殊性导致一线焊接工人数量呈现急剧减少的趋势,为此将焊接作业机器人化是焊接产业发展的必然趋势,但与发达国家相比,我国焊接机器人的平均使用密度较小,其重要原因在于机器人的示教编程难度大、效率低下而且还存在机器人应对坡口类型、接头类型等多规格的焊接件焊接时不具备合适的焊接路径规划,无法发挥机器人的灵活性和稳定性导致焊接适应性不足。

Welding,as one of the basic production techniques of modern manufacturing industry,is a very important means of processing in manufacturing industry.At present,due to the particularity of welding operations,the number of front-line welding workers shows a trend of sharp reduction.Therefore,roboticizing welding operations is an inevitable trend of the development of welding industry.However,compared with developed countries,the average use density of welding robots in China is smaller.The main reason lies in the difficulty and low efficiency of the teaching programming of the robot.Moreover,the robot does not have appropriate welding path planning when welding the welding parts with multiple specifications,such as groove type and joint type,so that the flexibility and stability of the robot cannot be brought into play,leading to inadequate welding adaptability.