摘要
单线结构激光器由于其安装位置与焊枪有一定的距离,传感器测量结果并不能完全表示焊枪位置,应用在移动式焊接机器人上会出现难以克服的导前误差。在此介绍了一种双线结构光传感器,它采用两个线状激光作为光源,同时在不同位置测量焊缝的相对位置。这样的结构特点使传感器在消除焊枪导前误差、跟踪弯曲焊缝方面有普通结构光传感器所不可比拟的优势。基于此原理,研发了传感器实物并在移动焊接机器人上验证了其克服导前误差的功能。
The output of Solo laser structure laser can not reflect the position of welding torch,because of the distance between sensor and torch.And this difference may conduct big problem in some situation such as on mobile welding robot.We will introduce a dual structure laser sensor in the paper.It generates two line laser and measure the offset of seem in different position.This kind of sensor can reduce the error cause by distance between sensor and torch.It is better than single laser type especially tracking curves.We developed a specimen,and the usage on mobile welding robot shows its advantage.
出处
《电焊机》
北大核心
2010年第11期14-16,68,共4页
Electric Welding Machine
关键词
结构光传感器
双线
焊缝跟踪
structure laser vision sensor
dual line laser
weld seem tracking
