【摘要】 针对钢铁企业成捆棒材端面标牌焊接存在的作业效率低和人为操作易导致错焊、漏焊、掉牌等问题，构建了基于双目视觉测量的成捆棒材端面标牌焊接机器人系统。该系统主要由上位机通讯控制系统、视觉识别子系统、焊钉送料子系统、标牌制备子系统和自动焊接子系统组成。上位机通讯控制系统作为整个机器人系统的核心；视觉识别子系统对成捆棒材端面进行识别，得到理想焊接点的位置坐标；焊钉送料子系统、标牌制备子系统分别实现焊钉和标牌的实时制备；自动焊接子系统实现夹取焊钉、吸取标牌、进行焊接、掰断焊钉等操作。同时搭建了系统硬件设备，并进行了多次实验。实验结果表明，该机器人系统识别准确、工作稳定、焊接效果好，可用于钢铁企业中成捆棒材端面标牌的自动化焊接。更多还原

【Abstract】 In view of the low efficiency of bar end label welding in iron and steel enterprises and the problems of wrong welding, missing welding and dropping label caused by man-made operation, based on binocular vision measurement, a welding robot system for bar end label is constructed.The system consists of communication control system, visual recognition subsystem, nail feeding subsystem, label preparation subsystem and automatic welding subsystem.The communication control system of PC is the core of the whole robot system, and the vision recognition subsystem recognizes the end face of the bar bundle to get the position coordinates of the ideal welding point.The nail feeding subsystem and the label preparation subsystem realize the real-time preparation of the nail and the label respectively, and the automatic welding subsystem realizes the operations of clamping the nail, absorbing the label, welding, breaking the nail and so on.At the same time, the hardware equipment of the system is built and many experiments are carried out.The experimental results show that the robot system can identify accurately, work stably and weld the bar end label automatically.更多还原