船舱流水孔焊接机器人系统设计

发布时间：2018-05-18 05:00

本文选题：流水孔 + 激光视觉传感器　；参考：《焊接》2015年12期

【摘要】：在船舶制造过程中,船舱底部存在不连续的流水孔焊缝,现有焊接机器人无法完成流水扎焊缝的白动识别和跟踪焊接。设计开发了一款结构紧凑、质量轻、便于提携的自主移动机器人。介绍了机器人的硬件结构,着重介绍了流水孔焊接机器人激光视觉传感器的设计,验证了该激光视觉传感器的效果。对设计出的焊接机器人进行了试验验证,该机器人能够完成流水孔焊缝的自动识别和跟踪焊接,效果良好。
[Abstract]:In the process of ship manufacturing, there are discontinuous fluid-hole welds at the bottom of the cabin, so the existing welding robot can not complete the white motion identification and tracking welding of the flowing seam. An autonomous mobile robot with compact structure, light weight and easy to carry is designed and developed. The hardware structure of the robot is introduced, and the design of the laser vision sensor for the robot with flowing hole welding is emphasized, and the effect of the laser vision sensor is verified. The designed welding robot has been tested and verified. The robot can automatically identify and track the weld of flowing hole, and the effect is good.
【作者单位】：南昌大学江西省机器人与焊接自动化重点试验室;
【基金】：国家863计划资助项H(2013AA04003) 江西省科技支撑计划(20151BBE50032)
【分类号】：TG409;TP242

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