焊接机器人焊缝自动跟踪系统

本文提出了一种焊接机器人焊缝自动跟踪系统用以实现焊枪对焊缝的实时自动跟踪。系统中应用激光焊缝传感器测量焊缝的位置,并采用Fuzzy-P双模分段控制进行焊缝的纠偏。DSP作为系统的核心控制器产生控制信号,驱动焊枪横向步进电机和纵向步进电机动作,调整焊枪实时跟踪焊缝。实验证明,基于双模控制的焊缝自动跟踪系统可以实现焊接机器人焊枪对焊缝的实时自动跟踪。该系统完全满足实际焊接工程的需要。

Automatic Seam Tracking System of Welding Robot

An automatic seam tracking system of welding robot is presented .in this paper ,which can useed for realize real- time au- tomatic seam tracking of the welding torch to the seam. A new kind of laser seam sensor is used in this system to measure the posi- tion of the seam., and the Fuzzy- P double- mode control is adopted to rectify deviation of the seam. DSP is used as the central con- troller to produce control signals which drive the horizontal and vertical step motors of the welding torch in order to realize real- time automatic seam tracking of the welding torch. The results of experiments prove that the automatic seam tracking system based on double- mode control can realize real- time automatic seam tracking of the welding torch of welding robot to the seam .The system can satisfy the requirement of the welding engineering application,