【摘要】 机器人搅拌摩擦焊以及焊缝跟踪控制技术可大幅度提高焊接质量和效率。本文以机器人搅拌摩擦焊缝焊工艺为基础,设计了一种基于激光视觉传感器与PD纠偏算法的焊缝跟踪控制系统,针对3mm的2A12-T4铝合金板材,进行了直斜线和折线两种结构的焊缝跟踪控制试验,并分析了焊缝宏观形貌、不同焊接速度下的行进轨迹以及跟踪控制的偏移量。结果表明:在焊缝跟踪控制系统控制下,两种焊缝结构的焊接接头表面均匀平整、质量较高;同种焊接结构不同焊接速度下的焊接轨迹基本重合;所有参数下跟踪控制偏移量整体位于±0.2mm内。更多还原

【Abstract】 Robotic friction stir welding and weld seam tracking control technology can greatly improve welding quality and efficiency. Based on the robot friction stir welding process, a weld seam tracking control system based on the laser vision sensor and the PD correction algorithm is designed. For the 3 mm 2 A12-T4 aluminum alloy sheet, the weld seam tracking control experiments are performed under the straight-line and polygonal-line conditions. The macroscopic morphology of the weld seam and the trajectories and offsets of tracking control at different welding speeds are analyzed. The results show that under the control of the weld seam tracking control system, the welding joint surfaces under the two conditions are even and flat and of high quality. The welding trajectories under the same condition at different welding speeds are basically coincident, and the tracking control offsets under all parameters are in the range of ±0.2 mm.更多还原