自寻迹舰船甲板焊接移动机器人

研制的自寻迹舰船甲板焊接移动机器人系统采用磁性轮式移动机构，外加十字调节滑块，利用激光PSD位移传感器外加扫描装置实时获取焊缝的二维偏差信息，选用数字信号处理器(DSP)作为系统的核心控制器件。伺服驱动采用集成的运动控制器和驱动器，实现了空间多自由度的协调动作。焊接时，在一定的误差范围内让机器人粗略跟踪焊缝，而由十字滑块实现焊缝实时的、精确的跟踪。该系统还具有自寻迹功能，即在焊前根据焊缝的特征信息自动寻找焊缝并调整自己的位姿到设定的待焊状态，由机器人自主地实现焊接对中和焊接起始点辨识。

Mobile robot for welding ship decks with function of auto-searching weld line

A mobile robot for welding of ship deck is developed with the function of auto-searching weld line.The wheeled motion mechanism is used for the welding robot.In addition,a cross adjustment slider is mounted on the body of robot,and the system can obtain two dimension deviation signals by scanning the weld groove with laser-PSD style displacement sensor.A digital signal processor is used as CPU of the system.Moreover several special motion controllers and drivers are used for servosystem so as to make multi-freedom work in spase coordinately.Within deviation range,the system makes the robot body track seam roughly,while making the cross slider track seam accurately in real time.Furthermore,the system has the function of auto-searching track,namely,auto-searching weld line according to the characteristics of weld groove and adjusting its posture to the desired status for welding.The experiment of auto-searching track shows that the robot has high tracing accuracy,and can meet the requirement of practical welding.