Research on robot welding technology for real-time sensing welding deformation

NI Jiaming; DONG Zhijun; GUAN Yajuan; YANG Changqi; WANG Xinwen; YANG Xueqin

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Research on robot welding technology for real-time sensing welding deformation
Vol. 48, Issue 11, Pages: 23-26(2018)
Published：2018
DOI：
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DOI：

NI Jiaming, DONG Zhijun, GUAN Yajuan, et al. Research on robot welding technology for real-time sensing welding deformation[J]. Eletric Welding Machine2018, 48(11): 23-26. DOI：

摘要

针对航天铝合金复杂结构件

开展基于激光传感机器人自动焊接系统集成与应用试验研究。通过集成智能激光传感提升机器人自动焊接系统对于复杂结构的实时感知与自适应能力。采用智能激光传感器采集与分析焊接坡口几何信息

经过算法补偿运算实现机器人自动焊接过程焊缝轨迹自动跟踪

实现间隙0.2～10 mm和错边0.1～3 mm的复杂路径精确焊缝跟踪

以及1～4 mm渐变间隙的自适应跟踪调整

焊缝均匀熔透成形。

Abstract

Aiming at the complex structural parts of aerospace aluminum alloy

he research on the integration and application of automatic welding system based on laser sensing robot was carried out. The real-time perception and adaptive ability of robotic automatic welding system for complex structures were improved by integrating intelligent laser sensing. The intelligent laser sensor is used to collect and analyze the geometric information of welding groove

and the automatic tracking of welding seam track in the automatic welding process of the robot is realized through the algorithm compensation calculation

and the complex path tracking of 0.2～10 mm gap and 0.1～3 mm staggered edge is realized

as well as the adaptive tracking adjustment of 1 ～4 mm gradual gap

the weld is uniformly penetrated and formed.