摘要
直接利用焊接电弧光，通过专门设计的窄带、偏振复合滤光器，摄取焊接区图象，然后用自行研制的ＴＭＳ３２０２０图象处理机进行高速处理（７幅／Ｓ），并输出偏差特征参量．最后控制特别设计的末端执行器，操纵焊枪，实现机器人电弧焊的实时跟踪．
The essentiality of the vision tracking system for arc welding robot is discussed.The image of welding molten pool and its front joint gap is studied firstly. The near arc area wouldrather be imaged by using visible light than by using infrared ray, though the latter was used normally in this field. The crux of the matter is what a narrowband filter can be choosed. By the experiment the corresponding optical windows are determined, for Ar arc welding it is 4 064I20 Aand for CO, arc welding it is 6 of0I 20 A. In order to avoid the interferene of arc and ensure thequality of image, a set of compound filter is designed. This approach leads to high quality of thenear arc area picture which can meet the requirement of image process.The processor consists of a TMS 32020 processing module. A high speed I/O system and aIBM PC/XT personal computer. With the TMS 32020 the processing speed of the system is muchhigher than an ordinary micro-computer systems and comparable to some specialized image systems such as VAX- Ⅱ/750+MODEL 75.From the processor the characteristic parameters are provided and passed to a main controller, in which they are distinguished and calculated. Furthermore, the end effector of robot iscontrolled and a welding torch is carried to track the seam welded during welding. Thus a newvisual tracking system for robot arc welding is presented.
出处
《天津大学学报》
EI
CAS
CSCD
1995年第1期44-48,共5页
Journal of Tianjin University(Science and Technology)
基金
天津市自然科学基金
关键词
焊接自动化
机器人
图象处理
视觉跟踪
welding robot, high speed image process, vision tracking
