大型构件水下焊接机器人系统

针对水下焊接环境要求,设计了一种履带式水下焊接机器人系统,该系统由机器人本体机构、激光视觉传感器、控制系统和焊接系统组成. 机器人本体机构由履带式移动平台和焊枪调节机构构成,运动灵活可靠,满足水下焊接焊缝跟踪要求. 完成了视觉传感器部件选型及光路设计,实现水下环境的焊缝自动识别. 设计了基于PLC机器人控制系统和协调控制方法,实现水下环境的焊缝跟踪控制. 同时在水下焊接试验平台完成焊接跟踪试验. 结果表明,机器人运行稳定,焊缝成形较好,焊接质量满足要求.

System of underwater welding robot for large-scale structure

An underwater welding robot system for large-scale structure is introduced for the environment of underwater welding and the system is composed of a robot mechanism, laser vision sensor, control system and welding system. The robot mechanism is composed of a pedrailed mobile platform and a torch adjustment mechanism and which can move flexibly for meeting the requirements of underwater welding. The components of sensor are selected and the optical path is also designed for the laser vision sensor to automatic welding seam identification. The PLC control system for the welding robot is designed and the coordinated control method is also adopted to achieve seam tracking accurately. And the underwater welding test platform is also completed. The results show that the robot operates steadily, reliably and the satisfactory welding quality is also obtained.