| 基于线结构光扫描的机器人GMAW自适应规划方法 |
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| 引用本文： | 孔萌,张杰,顾帆,陈华斌. 基于线结构光扫描的机器人GMAW自适应规划方法[J]. 电焊机, 2017, 0(11): 41-44. DOI: 10.7512/j.issn.1001-2303.2017.11.08 |
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| 作者姓名： | 孔萌 张杰 顾帆 陈华斌 |
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| 作者单位： | 1. 上海发那科机器人有限公司,上海,201206;2. 上海交通大学材料科学与工程学院,上海,200240 |
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| 摘 要： | 针对弧焊机器人在中厚板焊接中的应用,研制了一套激光视觉传感器,基于FANUC机器人TCP/IP协议,开发了传感器与机器人控制器之间的通讯平台。以厚20 mm的Q345单V型坡口机器人GMAW为例,结合机器人手眼标定、线结构光平面参数标定结果,实现变间隙焊道参数自适应规划及多层多道自动编排,结果满足机器人中厚板自适应焊接要求。
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| 关 键 词： | 线结构光 弧焊机器人 自适应规划 |
Robotic GMAW adaptive welding based on linear structured light scanning method |
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| Abstract: | A laser vision sensor has been developed for the thick plate arc-welding robot.In this paper,a communication platform between vision sensor and robot controller is exploited based on TCP/IP of FANUC.With 20 mm thick Q345 single Ⅴ groove GMAW robot as an example,combining with the eye-in-hand and linear structured light equation,it can realize the welding parameters and path adaptive planning under the gradient gap.The result of planning demonstrates the method can meet the requirements of robotic welding for thick plate. |
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| Keywords: | linear structured light arc welding robot adaptive planning |
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