摘要
针对当前小型生产车间难以做到智能化生产问题,设计一套智能焊接系统,使机器人在焊接过程中可以对搭接焊缝、对接焊缝的路线进行精确跟踪。以ABB公司irb1600机器人为载体,实现机器人与传感器的通信,通过校准传感器的视觉以及对算法的设定,使传感器识别到焊缝的特征点,并通过特征点的位置与校准的位置误差反馈给机器人纠偏信号。使用ABB机器人专用的编程指令编写程序,通过上位机实时对传感器的视觉进行监控并做出调整。实验结果表明:此系统针对不同的焊缝均可实现精确跟踪,有效提高焊接质量与效率。
Aiming at the current problem that it is difficult to achieve intelligent production in small production workshops, a set of intelligent welding system was designed, so that the robot could accurately track the route of lap-jointed seam and butt-jointed seam during welding process.Taking ABB’s irb1600 robot as the carrier, the communication between the robot and the sensor was realized;by calibrating the vision of the sensor and setting the algorithm, the sensor could recognize the characteristic points of the welding seam, and the position error between the characteristic points and the calibrated point was feedback to the robot correction signal.ABB robot special programming instructions were used to compile programs, the vision of the sensor was monitored and adjusted in real time through the master computer.The experimental results show that the system can accurately track different weld conditions, effectively improving welding quality and efficiency.
作者
赵大兴
丁晟
肖迪
程兆
ZHAO Daxing;DING Sheng;XIAO Di;CHENG Zhao(School of Mechanical Engineering,Hubei University of Technology,Wuhan Hubei 430000,China)
出处
《机床与液压》
北大核心
2023年第2期105-111,共7页
Machine Tool & Hydraulics
基金
湖北省2019年揭榜制项目(2019AEE014)。
关键词
焊缝跟踪
ABB机器人
对接焊缝
搭接焊缝
Welding seam tracking
ABB robot
Butt-jointed seam
Lap-jointed seam
