基于同轴视觉传感的激光拼焊焊缝跟踪补偿方法研究

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	基于同轴视觉传感的激光拼焊焊缝跟踪补偿方法研究
	邹媛媛; 赵明扬
	2014
会议名称	11th World Congress on Intelligent Control and Automation (WCICA 2014)
会议日期	June 29 - July 4, 2014
会议地点	Shenyang, China
关键词	焊缝跟踪补偿同轴视觉激光拼焊非线性焊缝
其他题名	Study on a New Method of Seam Tracking and Error Compensation for Tailored Blank Laser Welding Based on Coaxial Visual System
页码	2891-2895
中文摘要	激光拼焊作为一门先进的焊接技术被广泛应用于汽车、造船、航空、航天等行业。采用多关节式机器人进行激光拼焊，可以简化系统，降低成本，充分发挥多关节式机器人柔性化的特点，增强系统的适应性，但如果仅采用示教-焊接的工作方式，多关节式机器人的位置精度无法满足焊接的精度要求，需要引入焊缝跟踪系统，焊缝跟踪补偿方法的研究是确保高质量高精度激光拼焊的关键。本文设计搭建了基于工业机器人的非线性焊缝激光焊接试验台，实验分析了工业机器人的运动轨迹精度，针对曲线焊缝提出了一种基于同轴视觉传感的焊缝跟踪补偿方法，该方法通过获取激光焊点处的光斑图像，可以直接修正机器人轨迹偏差，在焊接过程中结合视觉跟踪系统获取信息，可以实现激光拼焊过程中的误差跟踪补偿，满足了系统应用的便捷性。
英文摘要	Tailored blank laser welding is one of the most famous laser joining application which plays an important role in the advanced welding. Tailored blank laser welding is widely used in automotive industry, shipbuilding, aerospace industry, etc. In tailored blank laser welding, the industrial robot that follows a preprogrammed path assisted with clamping equipment is often not able to guarantee a sufficient weld seam quality. Therefore, a seam tracking system is needed to improve the reliability of the seam quality. Error compensation is important for seam tracking in laser welding. The affecting factors on accuracy of robotic laser welding are analyzed especially the robot track error. A new error compensation method is proposed based on coaxial visual system which is used to obtain the guide laser spot for compensating the robot track error directly. Assisted with seam tracking system during welding process, error in the robotic laser welding could be compensated conveniently by this new method.
收录类别	EI
产权排序	1
会议录	Proceeding of the 11th World Congress on Intelligent Control and Automation
会议录出版者	IEEE
会议录出版地	Piscataway, NJ, USA
语种	中文
ISBN号	978-1-4799-5825-2
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/15348]
专题	沈阳自动化研究所_装备制造技术研究室
推荐引用方式 GB/T 7714	邹媛媛,赵明扬. 基于同轴视觉传感的激光拼焊焊缝跟踪补偿方法研究[C]. 见:11th World Congress on Intelligent Control and Automation (WCICA 2014). Shenyang, China. June 29 - July 4, 2014.