焊缝跟踪视觉传感器扫描电机的高精度测控技术研究

焊接机器人焊接过程中的弧光会产生严重的干扰，图像的提取存在困难，为此提出了一种激光光学扫描式的焊缝跟踪视觉传感器。这种视觉传感器主要包括无刷直流电机，线阵CCD，扫描转镜以及半导体激光器。传感器设计中的关键是无刷直流电机的驱动和转速控制，它决定了传感器的测量精度。本文选用了芯片BA6849FP驱动无刷直流电机，并利用PIC18F248单片机实现了电机转速的测量和控制，使转速稳定性误差小于0．5％，对改善工业机器人焊接质量有重要意义。

High Precision Measurement and Control Technology for Scanning Motor in Welding Seam Tracking Visual Sensor

Due to the serious interference caused by arc during industry robot welding, it is difficult to process image, and thereby a welding seam tracking visual sensor based on laser scanning is put forward. This visual sensor is mainly composed of a brushless direct current motor, a linear-array CCD, a scanning rotating mirror and a semiconductor laser. Driving and rotation speed control of the brushless direct current motor are crucial for the sensor design, on which the sensor measurement precision lies. Chip BA6849FP is chosen to drive the motor and single chip microcomputer PIC18F248 is used to measure and control the rotation speed of the motor. The stability error of the rotation speed is less than 0.5%, which is of great importance for improving the welding quality of the industry welding robot.