基于WebGL的焊接机器人仿真及多层多道路径规划

王飞; 盛仲曦; 陈弈; 陈华斌

doi:10.12073/j.hjxb.20220123001

基于WebGL的焊接机器人仿真及多层多道路径规划

王飞^1,,
盛仲曦²,
陈弈²,
陈华斌^1, ,

1.
上海交通大学材料科学与工程学院, 上海, 200240
2.
东方电气集团科学技术研究院有限公司, 四川, 610000

基金项目: 国家自然科学基金资助项目(52175351)

详细信息

作者简介:
王飞，硕士；主要从事机器人智能化焊接方面的科研工作；Email: wangfeizzz@sjtu.edu.cn

通讯作者:
陈华斌，教授；Email: hbchen@sjtu.edu.cn.

中图分类号: TG 409
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- 文章访问数: 362
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出版历程
- 收稿日期: 2022-01-22
- 网络出版日期: 2023-01-12
- 刊出日期: 2023-01-24

Welding robot simulation and multi-layer and multi-channel path planning based on WebGL

1.
Shanghai Jiao Tong University School of Material Science and Engineering, Shanghai 200240, China
2.
DEC Academy of Science and Technology CO., LTD., Sichuan 610000, China

摘要

摘要: 针对中厚板机器人焊接运动仿真、多层多道路径规划等需求，开发了一种基于WebGL的开放的机器人焊接离线编程系统.首先搭建了基于激光视觉传感的机器人MAG焊接系统，接着利用JavaScript，WebGL等技术搭建了仿真平台，通过传感器获取焊道的三维点云数据，利用点云处理技术对焊道特征信息进行提取，在此基础上，进一步提出了对20 mm厚的开V形坡口钢板的多层多道路径规划策略，最终完成了V形坡口4层10道的焊接实验.结果表明，该系统对机器人焊接自动化、智能化关键技术提供了可靠的实现途径.
- WebGL /
- 激光视觉传感 /
- 多层多道路径规划
Abstract: According to the requirements of robot welding motion simulation and multi-layer and multi-channel path planning, an open robot welding off-line programming system based on WebGL is developed. Firstly, a robot MAG welding system based on laser vision sensing is built, and then a simulation platform is built by using JavaScript, WebGL and other technologies. The three-dimensional point cloud data of weld bead is obtained through the sensor, and the point cloud processing technology is used to extract the weld bead feature information. On this basis, a multi-layer and multi pass path planning strategy for 20 mm thick V-groove steel plate is further proposed, Finally, the welding experiment of 4 layers and 10 passes of V-groove was completed. The results show that the system provides a reliable way to realize the key technologies of robot welding automation and intelligence.
- WebGL /
- Laser vision sensing /
- Multi-layer and multi-channel path planning

HTML全文

图 1 机器人焊接系统

Figure 1. Robot welding system

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图 2 参数化建模页面图

Figure 2. Parametric modeling page

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图 3 离线排道页面图

Figure 3. Offline Lane layout page

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图 4 点云处理流程图

Figure 4. Point cloud processing flow chart

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图 5 打底焊道点云处理结果图

Figure 5. Result diagram of spot cloud processing of backing weld bead

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图 6 焊接路径规划流程图

Figure 6. Flow chart of welding path planning

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图 7 焊道规划示意图

Figure 7. Weld bead planning diagram. (a) backing weld bead; (b) initial weld bead; (c) middle weld bead; (d) final weld bead

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图 8 焊接完成示意图

Figure 8. Schematic diagram of welding completion

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