摘要
针对弧焊机器人在中厚板焊接中的应用,研制了一套激光视觉传感器,基于FANUC机器人TCP/IP协议,开发了传感器与机器人控制器之间的通讯平台。以厚20 mm的Q345单V型坡口机器人GMAW为例,结合机器人手眼标定、线结构光平面参数标定结果,实现变间隙焊道参数自适应规划及多层多道自动编排,结果满足机器人中厚板自适应焊接要求。
A laser vision sensor has been developed for the thick plate arc-welding robot. In this paper, a communication platformbetween vision sensor and robot controller is exploited based on TCP/IP of FANUC. With 20 mm thick Q345 single V groove GMAWrobot as an example, combining with the eye-in-hand and linear structured light equation, it can realize the welding parameters andpath adaptive planning under the gradient gap. The result of planning demonstrates the method can meet the requirements of roboticwelding for thick plate.
作者
孔萌
张杰
顾帆
陈华斌
KONG Meng;ZHANG Jie;GU Fan;CHEN Huabin(Shanghai Fanuc Robotics Co., Ltd., Shanghai 201206, China;School of Materials Science and Engineering,Shanghai Jiaotong University, Shanghai 200240, China)
出处
《电焊机》
2017年第11期41-44,共4页
Electric Welding Machine
关键词
线结构光
弧焊机器人
自适应规划
linear structured light
arc welding robot
adaptive planning
