焊缝跟踪偏差信号的采集与控制研究

发布时间：2018-02-01 05:30

本文关键词： MATLAB 图像处理焊缝跟踪偏差控制　出处：《沈阳大学》2016年硕士论文　论文类型：学位论文

【摘要】：随着我国科学技术的迅猛发展,生产水平得到了很大的提高,但是焊缝跟踪的精度问题仍然是一个难以解决的问题,本课题将采用视觉跟踪偏差信号方法,对V型坡口图像进行采集、处理和控制相关方面进行研究。在对国内外焊缝跟踪偏差信号的采集以及控制的研究现状简要分析的基础之上,设计了焊缝跟踪和控制系统,对焊接机器人本体、控制柜、CMOS摄像机、激光器、计算机以及待焊试件等组成部分合理而高效地布局规划,保证焊缝跟踪系统能够高效率、高精度跟踪V型坡口焊缝图像。通过对V型坡口焊缝的模拟焊接验证了焊缝跟踪系统设计的正确性以及合理性。焊缝跟踪偏差信号采集及控制研究分为两个阶段进行研究,第一阶段应用MATLAB软件对采集到的V型坡口图像进行图像处理操作,第二阶段通过配置界面参数和程序设计完成跟踪控制命令。在对V型坡口图像采集及处理研究方面,首先对去除噪声、断点连接、细化处理等难点进行了分析,针对这些问题设计了一组程序算法,通过对V型坡口图像进行验证,证明该算法程序能够解决这些问题。在控制系统设计方面,为了能够使计算机和机器人之间通信,需要设置好串口的参数,而且还需要根据焊接的行走路径编制好机器人控制程序,各项参数设置完成后,对工件进行实物焊接,验证系统设计的合理性。在焊缝跟踪试验中,焊接试件选用V型坡口的低碳钢板,工件板厚为20mm,坡口角度为60°,间隙大小为0mm。为了能够精确测量出误差,在焊接试验前,在300mm长的焊缝上,每20mm间隔选取一组数据,一共选15组数据进行试验。试验结束后,对这15组数据进行实际测量,将实际测量后的数据与焊接前的测量数据进行对比分析,分析结果表明,实际焊接的误差范围为±1mm,满足设计要求。
[Abstract]:With the rapid development of science and technology in China, the production level has been greatly improved, but the accuracy of seam tracking is still a difficult problem. The V groove image acquisition, processing and control aspects are studied. On the basis of a brief analysis of the domestic and foreign weld seam tracking deviation signal acquisition and control research status. The welding seam tracking and control system is designed to plan the welding robot body, control cabinet CMOS camera, laser, computer and welding specimen reasonably and efficiently. Ensure high efficiency of weld tracking system. High precision tracking V-groove weld image. The correctness and rationality of the welding seam tracking system design are verified by the simulation welding of V-groove weld. The welding seam tracking deviation signal acquisition and control research is divided into two stages. To conduct research. In the first stage, the V groove image is processed by MATLAB software. In the second stage, the tracking control command is completed by configuring interface parameters and programming. In the aspect of image acquisition and processing of V-shaped groove, the difficulties such as noise removal, breakpoint connection, thinning and processing are analyzed. To solve these problems, a group of program algorithms are designed. By verifying the V-groove image, it is proved that the algorithm program can solve these problems. In order to make the communication between the computer and the robot, it is necessary to set the parameters of serial port, and also need to compile the robot control program according to the walking path of welding. The workpiece is welded in kind, and the rationality of the system design is verified. In the weld tracking test, the V-shaped groove low carbon steel plate is selected, the workpiece plate thickness is 20mm and the groove angle is 60 掳. The clearance size is 0 mm. In order to accurately measure the error, a set of data is selected every 20mm interval on the 300mm long weld before welding test. A total of 15 groups of data were selected for the experiment. After the test, the 15 groups of data were measured and compared with the data before welding. The analysis results show that. The actual welding error range is 卤1 mm, which meets the design requirements.
【学位授予单位】：沈阳大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：TG409

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