船舱流水孔自动识别跟踪焊接系统

郭亮; 张华; 高延峰

船舱流水孔自动识别跟踪焊接系统

1.
南昌大学江西省机器人与焊接自动化重点实验室, 南昌 330031;南昌航空大学信息工程学院, 南昌 330031
2.
南昌大学江西省机器人与焊接自动化重点实验室, 南昌 330031
3.
南昌航空大学信息工程学院, 南昌 330031

基金项目: 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)

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- 收稿日期: 2014-12-10

Study of automatic recognition and tracking welding system for cabin drain hole

1.
Key Laboratory of Robot & Welding Automation of Jiangxi, Nanchang University, Nanchang 330031, China;College of Information Engineering, Nanchang Hangkong University, Nanchang 330031, China
2.
Key Laboratory of Robot & Welding Automation of Jiangxi, Nanchang University, Nanchang 330031, China
3.
College of Information Engineering, Nanchang Hangkong University, Nanchang 330031, China

摘要

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.
- 流水孔 /
- 激光视觉传感器 /
- 旋转电弧传感器 /
- 格子间
Abstract: 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.
- drain hole /
- laser vision sensor /
- rotating arc sensor /
- cubicle

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参考文献(4)

[1]	李沁溢. 国外先进船体建造技术现状和发展趋向[J]. 造船技术, 2007(5): 9-12. Li Qiyi. The present situation and development trend of foreign advanced technology of hull construction[J]. Shipbuilding Technology, 2007(5): 9-12.
[2]	高延峰, 肖建华, 张华, 等. 旋转电弧MAG焊强迫短路过渡电流信号滤波[J]. 焊接学报, 2012, 33(1): 25-28. Gao Yanfeng, Xiao Jianhua, Zhang Hua, et al. Welding currents filtering of compulsively short circuiting transfer in rotational arc MAG welding[J]. Transactions of the China Welding Institution, 2012, 33(1): 25-28.
[3]	李志刚, 张华, 高延峰, 等. 旋转电弧传感器特征谐波法的改进[J]. 焊接学报, 2009, 30(5): 53-56. Li Zhigang, Zhang Hua, Gao Yanfeng, et al. Improvement of characteristic harmonic method in rotationalarc sensor[J]. Transactions of the China Welding Institution, 2009, 30(5): 53-56.
[4]	高延峰, 张华, 毛志伟, 等. 轮式机器人折线焊缝跟踪协调控制方法.焊接学报[J], 2008, 30(5): 33-36. Gao Yanfeng, Zhang Hua, Mao Zhiwei, et al. Coordinate control of broken-line welding seam tracking for wheeled robot[J]. Transactions of the China Welding Institution, 2008, 30(5): 33-36.

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文章访问数: 344
HTML全文浏览量: 6
PDF下载量: 133
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船舱流水孔自动识别跟踪焊接系统

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出版历程

Study of automatic recognition and tracking welding system for cabin drain hole

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出版历程

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