| 一种基于激光测距波纹板机器人自动焊接轨迹恢复方法 |
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| 引用本文： | 于杰,陈希章,胡超,林涛,朱振友.一种基于激光测距波纹板机器人自动焊接轨迹恢复方法[J].焊接学报,2015,36(7):101-104. |
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| 作者姓名： | 于杰 陈希章 胡超 林涛 朱振友 |
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| 作者单位： | 1.江苏大学 材料科学与工程学院, 镇江 212013 |
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| 基金项目： | 江苏大学科研资助项目(1291220046) |
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| 摘 要： | 基于国内外波纹腹板H型钢机器人自动焊接研究情况,提出了一种机器人自动焊接波纹板的新方法. 基于工控机系统可离线编程及运行过程中实时存储数据的优点和机器人多自由度的良好可达性,通过编程使工控机与机器人之间实现交互通信,借助编码器和传感器外部设备与采集卡配合使用实现数据的采集与存储. 利用改进后的限幅滤波算法处理数据,将处理后的数据传输至机器人,机器人执行程序文件,从而实现波纹腹板H型钢的机器人自动焊接. 结果表明,该方法是可行的,且具有很高的实用性,旨在为将来波纹腹板H型钢的自动化焊接发展提供一个参考.
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| 关 键 词： | 波纹腹板H型钢 机器人自动焊 编码器 传感器 采集卡 |
| 收稿时间： | 2013/12/20 0:00:00 |
Restoration of robot automatic welding locus based on laser ranging for welding of H-shaped steel corrugated web |
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| YU Jie,CHEN Xizhang,HU Chao,LIN Tao and ZHU Zhenyou.Restoration of robot automatic welding locus based on laser ranging for welding of H-shaped steel corrugated web[J].Transactions of The China Welding Institution,2015,36(7):101-104. |
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| Authors: | YU Jie CHEN Xizhang HU Chao LIN Tao and ZHU Zhenyou |
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| Affiliation: | 1.School of Material Science and Engineering, Jiangsu University, Zhenjiang 212013, China2.School of Material Science and Engineering, Shanghai Jiao Tong University, Shanghai 200240, China;Beiren Robot System (Suzhou) Co., Ltd., Suzhou 215021, China3.Beiren Robot System (Suzhou) Co., Ltd., Suzhou 215021, China |
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| Abstract: | According to the research situation of robotic welding of corrugated web at home and aboard, a new method for robot automatic welding of corrugated web was proposed based on the advantages as off-line programming and real-time data storing of industrial personal computer (IPC) system and the good accessibility of robot. A kind of interactive communication between IPC and robot was established firstly by programming. The data of corrugated web were acquired and saved by encoder, external device of sensor and capture card. The saved data were transmitted to robot after being processed by the improved amplitude-limiting filtering algorithm. Robot executed the program files to complete automatic welding of H-shaped steel corrugated web. Results show that the proposed method is feasible and practical. The purpose is to provide a reference for the future development of automatic welding of H-shaped steel corrugated web. |
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| Keywords: | H-shaped steel corrugated web robot automatic welding encoder sensor capture card |
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