焊接机器人智能过程与控制

使用高速摄影机观察焊接过程，当焊接电弧到达坡口根部边缘时，焊接电流达到脉冲电流峰值，采用CCD摄像机作为视觉传感器观察焊接熔池，CCD摄像机在较低的电流时以1ms的速度获取熔池表面图像，保证拍摄时与焊枪摆动中心同步，利用计算机处理焊接熔池图像并生成数字信号，将信号送入数控系统，数控装置采集焊接熔池特征各数，由此调整送丝速度、焊接速度、焊枪高度，控制熔滴过渡，达到对焊接过程的智能控制。

Intelligent process and control of welding robot

In order to get high quality of the welding, it is necessary to make a stable back bead and the smooth surface. The authors can observe the welding ph enomena by using a high speed camera. When the welding torch comes to the root e dge, the welding current is the pulse peak. The authors use the CCD camera as vi sual sensor for observing the weld pool. The CCD camera takes the image of the w eld pool surface in low current duration of 1 ms, synchronizing with each time w hen the torch passes on the center of the weaving. A personal computer processes the image of the weld pool. Then a digital controller uses these characteristic s in weld pool. The digital controls the back bead and bead height by adjusting wire feed and welding speed.