【摘要】：采用激光測(cè)距傳感器掃描船體格子間型結(jié)構(gòu)件工件的各個(gè)側(cè)面,得到特征點(diǎn),經(jīng)算法處理生成離線機(jī)器人程序.基于該焊縫尋位方法,將柔性化的焊縫尋位技術(shù)集成于機(jī)器人平臺(tái)載體,并利用C#語(yǔ)言開(kāi)發(fā)了一套可用于格子間型件焊縫尋位的軟硬件系統(tǒng).該系統(tǒng)能精確地實(shí)現(xiàn)焊縫軌跡的自主尋位,系統(tǒng)精度為0.4mm,重定位精度為0.16mm.實(shí)現(xiàn)了格子間型件非接觸式快速尋找焊縫的功能,大大縮短了焊縫尋位時(shí)間.
[Abstract]:The laser ranging sensor is used to scan each side of the workpiece of the hull interlattice structure, and the characteristic points are obtained, and the off-line robot program is generated by the algorithm. Based on the welding seam locating method, the flexible welding seam locating technology is integrated into the robot platform carrier, and a software and hardware system which can be used to locate the weld seam of interlattice parts is developed by using C # language. The system can accurately realize the self-locating of weld track. The precision of the system is 0.4mm and the precision of repositioning is 0.16mm. The function of searching weld seam quickly without contact is realized, and the locating time of weld seam is shortened greatly.
【作者單位】： 上海理工大學(xué)材料科學(xué)與工程學(xué)院;江蘇北人機(jī)器人系統(tǒng)股份有限公司;上海交通大學(xué)材料科學(xué)與工程學(xué)院;
【分類(lèi)號(hào)】：TN249;U671.8
，

本文編號(hào)：2151013