基于视觉驱动的船舶小组立智能焊接机器人自适应控制系统设计

Design of Adaptive Control System of Intelligent Welding Robot for Sub Assembly in Shipbuilding Based on Vision Drive

为提高船舶小组立自动化焊接水平,提出一种基于视觉驱动的智能焊接机器人自适应控制系统。使用环境感知模块进行全域信息感知,分散式多点采集目标信息实现综合定位。在深入探究工件自适应决策算法和多向动态规划算法的基础上开发出一套面向船舶小组立工件的自适应控制系统,并结合机器人实时位姿信息与局部环境信息进行目标跟踪。该系统可根据系统决策规划,匹配对应工艺参数,实现机器人自主编程。搭建一套船舶小组立焊接工作站,并以含两条300 mm角焊缝的小肘板工件为例进行试验验证。结果表明:该焊接工作站针对该焊接对象的生产节拍约为84.5 s/件,说明该系统可以适应多种小组立工件,实现高质量的自动化焊接。

In order to improve the level of automatic welding for sub assembly in shipbuilding,an adaptive control system of intelligent welding robot based on vision drive was designed.The environment perception module was used to perceive global information,and the target information was collected in multiple modes to achieve comprehensive positioning.On the basis of in-depth exploration of the workpiece adaptive decision-making algorithm and multi-directional dynamic programming algorithm,an adaptive control system for sub assembly in shipbuilding was developed,and the target tracking was carried out by combining the real-time pose information of the robot and local environment information.This system can match the corresponding process parameters according to the system decision-making planning to realize the autonomous programming of the robot.A set of sub assembly welding workstation was built and a bracket attachment with two 300 mm fillet welds was taken as an example for verification.The results show that the production takt time of the welding workstation for the welding object is about 84.5 seconds per piece.The test proves show that the system can adapt to a variety of small assembly parts for ships to achieve high-quality automatic welding.