基于视觉跟踪的大型容器焊接机器人的研制

研制了一种基于 CCD视觉焊接轨迹跟踪技术的无导轨焊接机器人。该机器人由新颖的 CCD视觉传感器来实时检测机器人行走机构与焊枪的跟踪位置偏差量 ,并据此由微机控制系统实现对机器人行走机构与焊枪的二级自动跟踪。该机器人采用永磁式柔性磁轮机构作为支持行走单元 ,使焊接机器人具有了节省导轨、轨线适应性强的优点。焊接工艺评定试验结果表明 ,此焊接机器人自动跟踪精度高 ,焊缝质量好 ,工作稳定可靠。

Research on a Welding Robot of Large Vessel Based on Machine Vision

A welding robot of large presure vessel based on machine vision was developed by us. A CCD sensor was used to detect the welding line, and an analog voltage of the error between the target line parallel to the groove and the real position of the welding torch is obtained to guide the robot system. A pair of flexible magnetic wheel was used instead of a guide rail in the welding system. The main features of the welding robot are as follows: The robot is directly attached on the surface of the pressure vessel with its flexible magnetic wheel device, so as to realize the all-position walking and welding without rail. The tracking test result of a real part of a large spherical tank shows that the tracking accuracy is as small as 0.5mm. It is proved by the welding test that the welding quality is satisfactory, and it can be used in the welding of many kinds of large vessels.