【摘要】：焊縫自動跟蹤技術是實現(xiàn)焊接自動化的基礎和關鍵。焊接傳感技術又是實現(xiàn)焊縫自動跟蹤的前提條件,相比電弧、接觸、超聲波等傳感技術,結構光視覺傳感憑著獲取的信息量大、靈敏度和測量精度高、抗強電場和強磁場的干擾能力強、適用于不同形式焊縫等強大的優(yōu)勢,成為了焊縫跟蹤研究者研究的熱點對象。本文首先闡述了焊縫自動跟蹤對實現(xiàn)焊接自動化的關鍵性作用,分析了不同傳感器在焊接應用中的原理及優(yōu)缺點,綜合視覺焊縫自動跟蹤技術的研究及應用現(xiàn)狀,再結合虛擬儀器的特點和應用,設計了以相機作為傳感器、線激光器作為輔助光源、NI系統(tǒng)為控制器、行走機構為執(zhí)行機構的結構光視覺焊縫自動跟蹤系統(tǒng)。其中,高速相機和線激光器封裝在一起組成了視覺部分;NI系統(tǒng)包括圖像采集卡、數(shù)據(jù)采集卡、LabVIEW軟件等;行走機構由工控主機、伺服系統(tǒng)和一些傳動機構組成。焊接工件固定放置在行走機構放置臺上,激光線投射到工件焊縫上,通過視覺系統(tǒng)獲取焊縫圖像,將圖像傳送給NI主機,在LabVIEW軟件平臺上對圖像進行灰度圖轉換、中值濾波、二值化、散點去除的處理,根據(jù)模板匹配方法對焊縫特征識別后,計算出焊縫中心位置與焊槍位置的坐標偏差值,偏差信息作為控制信號由NI系統(tǒng)傳給行走機構的控制器,控制器根據(jù)接收的控制命令實時調整焊槍位置,最終實現(xiàn)焊縫的實時跟蹤。本系統(tǒng)搭建完成后,先做了焊縫實時跟蹤驗證實驗,用點激光模擬焊槍,尋找點激光跟蹤路徑,結果顯示點激光所走路徑基本保持在焊縫中心位置上。有了此驗證基礎,又對本系統(tǒng)使用微束等離子焊槍進行了焊縫跟蹤焊接實驗,結果表明,系統(tǒng)在焊接過程中也能清晰識別到焊縫并完成自動跟蹤焊接。
[Abstract]:Welding seam automatic tracking technology is the foundation and key to realize welding automation. Welding sensing technology is also a prerequisite for automatic seam tracking. Compared with arc, contact, ultrasonic and other sensing technologies, structured light vision sensing has a large amount of information, high sensitivity and measurement accuracy. Because of its strong anti-interference ability of strong electric field and strong magnetic field, it is suitable for different types of weld seam and other powerful advantages, so it has become a hot research object of weld seam tracking researchers. In this paper, the key role of automatic seam tracking in welding automation is described, the principle, advantages and disadvantages of different sensors in welding application are analyzed, and the research and application status of visual automatic welding seam tracking technology are summarized. Combined with the characteristics and application of virtual instrument, a structured light vision welding seam automatic tracking system is designed, which uses camera as sensor, line laser as auxiliary light source, NI system as controller and walking mechanism as executive mechanism. Among them, the high-speed camera and line laser are encapsulated together to form the vision part; the NI system consists of image acquisition card, data acquisition card, LabVIEW software and so on; the walking mechanism is composed of industrial control host computer, servo system and some transmission mechanisms. The welding workpiece is fixed on the platform of the walking mechanism, the laser line is projected onto the weld seam of the workpiece, the weld image is obtained by the visual system, the image is transmitted to the NI host computer, and the gray-scale image is converted on the LabVIEW software platform, and the median filtering is carried out. After recognizing the weld seam features according to the template matching method, the coordinate deviation between the weld center position and the welding torch position is calculated, and the deviation information is transmitted to the controller of the walking mechanism by the NI system as the control signal. According to the received control command, the controller adjusts the position of welding torch in real-time, and finally realizes the real-time tracking of welding seam. After the system is built, the real-time welding seam tracking verification experiment is done firstly. The spot laser simulation torch is used to find the spot laser tracking path. The result shows that the point laser path is basically in the weld center position. On the basis of this verification, the welding seam tracking experiment is carried out by using the micro-beam plasma welding gun. The results show that the welding seam can be clearly recognized in the welding process and the automatic tracking welding can be completed by the system.
【學位授予單位】：昆明理工大學
【學位級別】：碩士
【學位授予年份】：2017
【分類號】：TG409;TP391.41

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