共查询到20条相似文献,搜索用时 46 毫秒
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为解决机器人在焊接时的焊接角度问题,提出了基于线结构光的焊缝位姿识别的方法.首先搭建了机器人视觉系统并完成标定,然后对采集的焊缝图像通过图像处理提取出了能够表达焊缝信息的特征点,并由几个特征点构建向量表达了焊缝角度信息,接着结合标定参数,计算出焊枪与焊缝之间的角度,得到了焊缝特征点的位姿数据,最后对离散的焊缝特征点进行... 相似文献
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六自由度喷涂机器人位姿误差分析 总被引:1,自引:0,他引:1
以所研制的喷涂机器人为研究对象,利用摄动法分析了机器人位姿误差。得出了喷涂机器人末端位姿的精确解。分析并比较不同结构参数对机器人末端位姿误差的影响。为喷涂机器人零部件的精度分配提供了理论依据。 相似文献
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机器人装配过程的在线位姿检测与校正 总被引:4,自引:0,他引:4
精度是机器人装配过程中的一个基本要求,本文实际角度出发,在深入分析由视觉引起的装配过程中的零件抓取点的位姿误差的基础上,构造了一个运用光电开关检测零件位姿的正检测装置,并通过软硬件结合的方法,实现了零件位姿误差的实时校正与补偿,从而解决了这一难题。 相似文献
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6R机器人及其末端位姿编程求解 总被引:1,自引:0,他引:1
焊接机器人是工业机器人大家庭中的望族 ,目前 ,国内应用已具有一定规模 ,但许多单位在需要自己编程焊接新的工件时 ,会感到困难重重 ,影响了自动化设备的使用。本文用C语言编程来计算其末端位置与姿态 ,为控制手臂末端焊枪的运动轨迹作了一些探索。 相似文献
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从静态和动态两个方面分析了移动机器人平台位姿误差的主要来源,采用矩阵微分法建立了平台位姿误差的模型,并根据建模分析和平台实时位姿检测结果对机器人平台进行位姿补偿。 相似文献
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0 INTRODUCTIONIt is well known that skilled welding operatorscan estimate and control beam quality by mainlyobServing the weld POOl. This means the POOl im8gecontains abundant inforTnation during weldprocess. So that, sensing information from POOl imeqedirectly is becoming a new method to control the weldquality.Following the advances in computer vision andM camera tecbnoogy, more and more researchesusing weld opl image for sensing welding processeshave been carried out, usually in T… 相似文献
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TIG-MIG双面对称焊焊缝成形机理研究 总被引:1,自引:0,他引:1
就纯铝中薄板,通过单面TIG、MIG和TIG-MIG双面对称焊工艺试验对比,利用ANSYS有限元计算软件进行了TIG-MIG双面对称焊熔池的数值模拟,研究了TIG-MIG双面对称焊的熔池特征及焊缝成形规律。研究表明,TIG-MIG双面对称焊的热源静态累积效应和动态热阻效应使得此焊接方法熔深大大增加,TIG、MIG熔池在焊接过程中发生交汇并在电弧力、熔池表面张力和重力等作用下达到平衡,并由此形成焊缝反面成形。TIG-MIG交汇熔池的稳定性决定焊缝的反面成形特征。 相似文献
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ZHANG Ke L&#; Xueqin WU Yixiong LU Songnian 《机械工程学报(英文版)》2006,19(2):176-180
An algorithm of auto-searching weld line for welding mobile robot is presented. Auto-searching weld line is that the robot can automatically recognize a weld groove according to the characteristics of the weld groove before welding, and then adjust itself posture to the desired status preparing for welding, namely, it is a process that the robot autonomously aligns itself to the center of welding seam. Firstly, the configuration of welding mobile robot with the function of auto-searching weld line is introduced, then the algorithm and implementation of auto-searching weld line are presented on the basis of kinematics model of the robot, at last trajectory planning among auto-searching weld line is investigated in detail. The experiment result shows that the developed welding mobile robot can successfully implement the task of auto-searching weld line before welding, tracking error precision can be controlled to approximate±1.5 mm, and satisfy the requirement of practical welding project. 相似文献
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Yu Ping Pan Chuan Department of Welding Research Central Iron Steel Research Institute Beijing China Xue Jin School of Materials Science Engineering Xi'an jiaotong University Xi'an China Li Zhengbang Department of Metallurgical Technology Central Iron Steel Research Institute Beijing China 《机械工程学报(英文版)》2005,18(1):55-57
Five experimental self-shielded flux cored wires are fabricated with different amount of Fe2O3 in the flux. The effect of Fe2O3 on welding technology and mechanical properties of weld metals deposited by these wires are studied. The results show that with the increase of Fe2O3 in the mix, the melting point of the pretreated mix is increased. LiBaF3 and BaFe12O19, which are very low in inherent moisture, are formed after the pretreatment. The mechanical properties are evaluated to the weld metals. The low temperature notch toughness of the weld metals is increased linearly with the Fe2O3 content in the flux due to the balance between Fe2O3 and residual Al in the weld metal. The optimum Fe2O3 content in flux is 2.5%-3.5 %. 相似文献
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本文阐述了机器人用弧焊逆变器及设备智能控制器的基本原理、控制电路的组成和控制软件的结构。实验结果表明,采用8097BH单片机对场效应管弧焊逆变电源进行直接数控,通过编程,可方便获得CO 2/MAG自动焊所需的静动外持性及焊接顺序,并可对焊接过程故障进行诊断及报警,焊接参数的变换、调节、存储和调用,此外,它与弧焊逆变器、送丝机和焊炬一起组成完整的自成体系的焊接系统,与机器人控制柜只有开关量的通信关系。通过调节PI参数可调整逆变器动特性,从而使焊接过程更稳定,飞溅小,焊缝成形好,更好地体现机器人弧焊方法的优越性。 相似文献
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Han GuomingHe YuYun ShaohuiLi JunyueSchool of Materials Sdenceand Engineering Tianjin University Tranjin China 《机械工程学报(英文版)》2004,17(3):319-322
In order to recognize various metal transfer modes, by the creation of a pattern recognition system for metal transfer mode, five kinds of spectrum signal in gas metal arc welding (MIG, MAG and CO2) are collected and taken as training samples. These samples are pretreated by computer. Several key characteristic parameters of the spectrum signal are creatively extracted, and a corresponding recognition function and a minimum-distance-classifier are constructed. The results show that using this method, the pattern recognition of several kinds of metal transfer mode for the metal gas arc welding can be done successfully. It has good accuracy and recognition precision, basis for controlling the metal gas arc welding metal transfer automatically, and relative important parameters in welding process, such as the frequency of droplet transfer and the approximate diameter of each droplet, can also be obtained. 相似文献
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移动焊接机器人坡口自寻迹位姿调整的轨迹规划 总被引:4,自引:0,他引:4
主要研究移动焊接机器人在自寻迹过程中位姿调整的轨迹规划。在焊前,根据坡口识别特征模型寻找到焊接坡口并得到机器人与焊缝坡口的夹角后,对机器人本体和焊炬的位姿进行轨迹调整是自寻迹过程中非常关键的一步。首先讨论了具有自寻迹功能的移动焊接机器人的系统组成,在分析移动机器人运动学模型的基础上,对焊接坡口自寻迹过程中的位姿调整轨迹进行了规划,最后根据机器人自身的结构对调整轨迹进行了修正。试验结果表明:将该算法用于坡口自寻迹过程中的位姿调整,其误差精度可控制在±1.5mm左右,满足实际焊接工程需要。 相似文献
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为完善等离子体控制技术,基于等离子体物理理论的知识,对穿孔等离子弧焊接时等离子云产生机理进行了研究,分析探针测量等离子云时产生电流的原因。当把探针放置在等离子云中,由于等离子体的特殊性,将在探针上产生了负电位,通过分析发现,这个负电位大小与检测处等离子体温度有关。从等离子体物理理论的角度出发,将等离子体导电过程简化等效为一个具有内阻的电源,建立了适应于穿孔等离子弧焊接中等离子云电特性的简化模型。该模型能够较好地解释等离子云电信号随着探针到工件中心距离的增加而单调减小的规律,同时给出了探针放置的最佳位置。 相似文献