摘要
针对超超临界锅炉悬吊管由于装配误差、焊接热变形等导致实际焊缝偏离示教轨迹的问题,搭建了一套基于视觉和电弧传感的自动焊接系统。进行了摄像机标定和手眼标定,识别初始焊位,采用"一目双位"的方式对目标点进行三维重建,实现初始焊位的导引。焊接过程中实时采集电流信号,进行滤波、傅里叶变换等信号处理,获得焊缝偏差量,发送给机器人控制器,实现焊缝跟踪。研究结果表明:初始焊位导引精度可达1mm,焊缝跟踪精度为1.3mm,焊缝成形良好。
In the welding process of the ultra-supercritical boiler suspension tube,the assembly error and thermal deformation would lead to the actual weld deviating from teaching track.In order to solve this problem,an automatic welding system based on visual sensing and arc sensing had been developed.Camera and hand-eye calibration should be the first step and then the initial welding position was recognized.The ‘one eye-double position’ mode was applied to complete the stereo reconstruction of object point so as to achieve the guidance. During the process of welding,welding current was acquired and processed.In the aspect of signal processing,the Butterworth filter and Fourier transform was used to get the deviation which was sent to the robot controller in order to realize the real-time seam tracking.Finally,a welding experiment of boiler suspension tube was done.The result proved that a good formation of seam could be acquired while the precision of guidance and seam tracking was less than 1mm and 1.3mm respectively.
出处
《锅炉技术》
北大核心
2012年第6期52-56,共5页
Boiler Technology
关键词
视觉传感
图像匹配
立体视觉
电弧跟踪
visual sensing
image matching
stereo vision
arc tracking
