集装箱波纹板折线焊缝跟踪的研究

摘要

In order to achieve automatic welding of container corrugated plate, this paper uses a linear rail-type welding robot which has four degrees of freedom and can change the torch's position at the fold position of the corrugated plate. A laser sensor is designed, which can detect the fold position of the corrugated plate.The DSP chip TMS320LF2407A is used to generate PWM signal to drive the linear CCD chip of the sensor and collect the output signal of sensor,the collection signal is transmitted to the top-computer by serial port.The noise signal in the output signal of the sensor is filtered by digital filter then the effective signal is obtained.The effective signal is compared with the desired signal to verify the effectiveness of the detection method.The effectiveness of the detection method is verified by two analysis scheme.%为了实现类似于集装箱波纹板形式的焊缝自动焊接,采用了一种四自由度、可在波纹板折线位置处改变焊枪角度的直线轨道式焊接机器人.设计了空间漫反射激光测距传感器检测波纹板的折弯位置,利用TMS320LF2407A型DSY产生PWM脉冲信号驱动传感器芯片线阵CCD,并采集传感器输出信号,通过串行口传输到上位计算机.通过数字滤波器滤掉传感器输出信号中的杂波信号得到有效信号波形,设计了两种分析方案,将滤波得到的信号波形与理想信号波形比较,证明了该检测方法有效性.