【摘要】 焊缝自动跟踪是实现焊接自动化的关键,在传统弧焊机器人系统的基础上设计了一种基于激光传感器的焊缝跟踪子系统,构建了激光传感器的数学模型及机器人手眼标定方法,并针对搭接焊缝的图像特点,提取出焊缝特征点位置坐标.同时设计开发了焊缝跟踪控制算法和机器人焊缝跟踪程序,最后通过对储气罐环形搭接焊缝进行焊接实验,结果证明了该焊缝跟踪系统的有效性和可靠性.更多还原

【Abstract】 Welding seam tracking is a key issue to welding automation.In allusion to traditional arc-welding robot system,a kind of seam tracking sub-system was desigined,which based on laser sensor in which the mathematical model of laser sensor and the approach for robot hand-eye calibration were constructed,and the position of seam character was extracted in allusion to the image characteristic of step joints seam.At the same time,the seam tracking control arithmetic and the robotic program were designed.Finally,testing results that weld the orbicular step joints seam of gas tank prove the reliability and validity of the laser seam tracking system.更多还原