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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

王飞, 盛仲曦, 陈弈, 陈华斌. 基于WebGL的焊接机器人仿真及多层多道路径规划[J]. 焊接学报, 2023, 44(1): 27-32. DOI: 10.12073/j.hjxb.20220123001
引用本文: 王飞, 盛仲曦, 陈弈, 陈华斌. 基于WebGL的焊接机器人仿真及多层多道路径规划[J]. 焊接学报, 2023, 44(1): 27-32. DOI: 10.12073/j.hjxb.20220123001
WANG Fei, SHENG Zhongxi, CHEN Yi, CHEN Huabin. Welding robot simulation and multi-layer and multi-channel path planning based on WebGL[J]. TRANSACTIONS OF THE CHINA WELDING INSTITUTION, 2023, 44(1): 27-32. DOI: 10.12073/j.hjxb.20220123001
Citation: WANG Fei, SHENG Zhongxi, CHEN Yi, CHEN Huabin. Welding robot simulation and multi-layer and multi-channel path planning based on WebGL[J]. TRANSACTIONS OF THE CHINA WELDING INSTITUTION, 2023, 44(1): 27-32. 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

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

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

  • 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.
    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.
  • 图  1   机器人焊接系统

    Figure  1.   Robot welding system

    图  2   参数化建模页面图

    Figure  2.   Parametric modeling page

    图  3   离线排道页面图

    Figure  3.   Offline Lane layout page

    图  4   点云处理流程图

    Figure  4.   Point cloud processing flow chart

    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

    图  6   焊接路径规划流程图

    Figure  6.   Flow chart of welding path planning

    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

    图  8   焊接完成示意图

    Figure  8.   Schematic diagram of welding completion

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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

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