摘要
船舶制造中,为加强船体强度,船舱底部设置许多格子间,其工作环境狭小且存在不连续焊缝,影响焊接生产效率.现有焊接机器人无法识别流水孔特征点位置,目前主要由人工来完成焊接.在旋转电弧传感焊接机器人的基础上,增加激光视觉传感器用于识别流水孔的特征点,结合嵌入式工控机和其它硬件,通过自主开发的VC++软件完成对船舱流水孔焊缝自动识别、跟踪及焊接.结果表明,该系统便携灵活,适用于船舱格子间焊接作业且识别和跟踪效果良好.
In the process of watercraft manufacturing,in order to reinforce the hull,many cubicle is arranged at the bottom of cabin. In cubicle,work environment is narrow and have discontinuous wending seam,all of these will affect welding production efficiency. The existing welding robot can not identify the feature points of drain hole. At present,the welding of cubicle is accomplished mainly by hand. Based on the rotating arc sensor of welding robot,adding laser vision sensor to identify the feature points of drain holes,combining embedded industrial computer,other hardware and VC ＋ ＋ software,to complete the drain hole＇s automatic identification,tracking and welding. After a large number of experiment verification,the results show that the system is portable,flexible and suitable for cubicle welding operation,recognition and the tracking is effective.
出处
《焊接学报》
EI
CAS
CSCD
北大核心
2015年第6期14-18,113,共5页
Transactions of The China Welding Institution
基金
国家高技术研究发展计划资助项目(863计划
2013-AA04003)
国家自然科学基金资助项目(51465043)
