文档介绍：本科毕业设计
题目
基于机器视觉的移动焊接机器人
同步焊接关键技术研究
学生姓名: 曹飞
专业: 自动化
指导教师:
完成日期: 2013-06-10
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摘要
随着机器人应用领域的扩大,单个机器人能力有限的问题变的日益明显,许多复杂的任务需要多机器人联合才能完成。如在焊接过程中,为了控制焊接应力和焊接变形,为了提高焊接精度,常采用多工位同步焊接方式实现长焊缝、复杂结构立体工件的焊接作业。如在奥运“鸟巢”的建造过程中,为了控制焊接变形,多工位同步焊接方式被大量采用。此外在船舶修造、集装箱焊接等工况中,多工位同步焊接被广泛采用。多机器人同步焊接,需根据焊缝具体工况,实时控制多个机器人的运动。多机器人的协同焊接已经成为一个热点问题。
本文对基于视觉的双机器人实现长直焊缝同步对焊的问题进行了研究,对移动机器人的运动控制系统的设计、焊缝信息提取、机器人识别、机器人之间的通信等关键技术进行了分析,构建了可行的实验平台。
关键词:移动焊接机器人,机器视觉,同步焊接
ABSTRACT
With the extension of robot applications, Single robot's ability is limited, this problem has e increasingly apparent, plex tasks need more robots joint plete. As in the welding process, In order to control the welding stress and welding deformation, in order to improve the precision of welding, usually use multi-station simultaneous welding way to realize the welding operation of the long plex structure of three-dimensional work piece. Such as in the process of construction of the Bird Nest, in order to control welding deformation, multi-station simultaneous welding mode is widely adopted. In addition in ship building, container welding condition, multi-station synchronous welding is widely used. Multi-robot simultaneous welding needs to according to the working condition to weld, In order to realize real-time control of multiple robot movement. Multiple cooperating robots welding has e a hot issue.
In this paper, the dual robot based on vision is to achieve long straight butt weld synchronization problem was studied, Analysis about key technology: mobile robot motion control system design, weld between recognition, information extraction, communication between robots. Feasible experiment platform is constructed.
Keywords: More mobile welding robot, Machine vision, Si