激光焊接路径规划策略与控制软件开发

发布时间：2018-01-07 00:08

本文关键词：激光焊接路径规划策略与控制软件开发　出处：《浙江大学》2017年硕士论文　论文类型：学位论文

【摘要】：激光焊接具有能量密度高、焊接速度快、热输入小、焊接热影响区小、焊缝晶粒细小等优点。利用激光焊接可以在短时间内在被焊件的焊缝中形成连续的而且完全熔透的焊缝,这使得焊缝深宽比、焊接速度相比常规电弧焊技术有了显著的提高,因而激光焊接工艺被广泛的应用到机械制造、汽车工业、航空航天、精密仪器加工等诸多行业中。本文设计并开发了一套功能完善、通用性强、可靠度高的八轴激光焊接平台。上位机软件作为整套激光焊接平台系统的控制核心,具有示教编程、三维轨迹实时显示、G代码编译、绘图模块、轨迹规划、工件自动校准定位等功能。其具有应用范围广、功能全面、稳定性强等特点。配合本软件可进行二次开发,使之应用于不同的生产场景。本文首先介绍各模块的功能和设计方案,然后针对其中的关键技术展开讨论。激光焊接的轨迹通常依靠手工示教得到,然而这种方式效率低,且规划的路径往往不是最优的。随着自动化技术和计算机技术的发展,利用CAD软件将绘制的图像直接转换为G代码实现自动编程已成为大势所趋,本文开发的软件可将绘制的图元转化成G代码,但每个图元间的空走轨迹如何规划一直是个难题,起初按照图元绘制的顺序依次规划出空走轨迹,但这样生成的轨迹往往不是最优的,本文提出的改进蚁群算法有效解决了这个问题,并成功应用到激光焊接系统中。在实际生产中,人工以及外界因素可能会导致工件放置位置不准确,如在工件位置发生偏移时需要重新示教才能获得新轨迹,因此效率较低且可能带来额外误差,难以保证焊缝的一致性。基于机器视觉实现工件的自动识别与定位,就可避免再次示教的繁琐并有效提高工作效率。本文提出一种基于特征匹配以及边缘匹配的算法实现焊接轨迹自主校正的目标。
[Abstract]:Laser welding has high energy density, fast welding speed, small heat input and small heat affected zone. Laser welding can form a continuous and fully permeable weld in a short time, which makes the ratio of weld depth to width. Compared with the conventional arc welding technology, laser welding technology has been widely used in mechanical manufacturing, automobile industry, aerospace. In many industries, such as precision instrument processing, this paper designs and develops a set of 8-axis laser welding platform with perfect function, strong generality and high reliability. The upper computer software is the control core of the whole laser welding platform system. With teaching programming, 3D trajectory real-time display code compilation, drawing module, trajectory planning, workpiece automatic calibration and positioning functions. It has a wide range of applications and comprehensive functions. This software can be used in different production scenarios. Firstly, this paper introduces the function and design of each module. Then the key technology of laser welding is discussed. The track of laser welding is usually obtained by manual teaching, but this method is inefficient. With the development of automation technology and computer technology, it has become a general trend to convert the drawn image directly into G code to realize automatic programming by using CAD software. The software developed in this paper can convert the drawing elements into G code, but how to plan the empty walk path between each graph element is always a difficult problem. At first, the empty walk track is planned in turn according to the sequence of drawing. However, the trajectory generated in this way is not always optimal. The improved ant colony algorithm proposed in this paper solves this problem effectively and is successfully applied to laser welding system. Artificial and external factors may lead to inaccurate placement of the workpiece, such as when the position of the workpiece is offset, it needs to be retaught to obtain the new trajectory, so it is inefficient and may bring additional errors. It is difficult to ensure the consistency of weld seam. The automatic identification and location of workpiece based on machine vision is realized. This paper presents an algorithm based on feature matching and edge matching to achieve the goal of automatic correction of welding trajectory.
【学位授予单位】：浙江大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TN249;TP311.52

【相似文献】