基于测距传感器的焊缝位置检测方法与实现

焊缝跟踪技术是焊接自动化领域一项重点研究内容,可以分为前置焊缝寻位和实时焊缝跟踪。提出了一种前置焊缝寻位方法:在焊枪夹具上安装激光测距传感器,介绍了激光测距传感器的选型和接入机器人控制系统的方法,建立了光点位置和焊枪TCP位置的转换的模型,描述了基于边缘检测的焊缝寻位过程。最后,以KUKA弧焊机器人系统为平台搭建实验系统,测试了所提出的方法。实验表明,该方法可以成功纠正出因工件加工、拼接、装夹和焊接热变形等因素导致的焊缝位置偏移;较之原有的接触寻位法,提高了寻位效率,且易于实现。

Design and ImpIementation of WeId Position Detection Method Based on Range Sensor

A pre-weld-position method is proposed in this paper.A laser range sensor is selected and fixed to the gun brace and then connected into robot control system.The conversion model between the position of gun TCP and laser point is established.Then the weld seam position process based on edge-detection is stated.At last,an experiment system is realized on KUKA robot to verify the proposed method.