局部自主智能化焊接机器人系统设计

Design of Local Autonomous Intelligent Welding Robot System

传统焊接机器人由于设置时间长、焊接过程无法自我校正等缺陷,无法满足现代工业自动化生产发展需求。通过分析钢结构焊接工艺与实际应用环境特征,结合视觉传感、建模和智能控制方面的研究成果,设计了包括自由度视觉伺服、焊缝引导、焊缝跟踪、焊接熔深控制、知识数据、系统模拟及中央控制计算等单元的智能机器人焊接系统。提出用于机器人焊接的关键智能技术。这些技术主要包括基于视觉伺服的焊缝识别和启动、焊缝局部自主引导和跟踪、焊缝焊透实时智能控制、焊缝精细成形及熔池动态控制等。基于局部自主智能化焊接技术,构建了一种局部自主智能化焊接机器人系统。工程试验结果表明,系统的应用可以使钢结构焊接质量和效率得到有效提高。该结果验证了系统的有效性。

Traditional welding robots are unable to meet the development needs of modern industrial automated production due to defects such as long setup time and the inability of the welding process to self-calibrate,etc.By analyzing the characteristics of the steel structure welding process and the actual application environment,and combining the research results in visual sensing,modeling and intelligent control,an intelligent robotic welding system including units of visual servo of degrees of freedom,weld guidance,weld tracking,weld depth control,knowledge data,system simulation,and central control computation,etc.,is designed.Key intelligent technologies for robotic welding are proposed.These technologies mainly include visual servo-based weld recognition and initiation,local autonomous guidance and tracking of the weld,real-time intelligent control of weld penetration,fine forming of the weld and dynamic control of the molten pool,etc.Based on the local autonomous intelligent welding technology,a local autonomous intelligent welding robot system is constructed.The results of engineering tests show that the application of the system can make the steel structure welding quality and efficiency improve effectively.The results verify the effectiveness of the system.