基于激光测距的船体分段焊缝自主寻位

摘要

A laser displacement sensor was used to get the characteristic points by scanning each side of cubicle work-piece,and the system would generate off-line programs automatically after those points were processed by a certain software.Based on this automatic searching method,the flexible welding technology and C # language programming technology were applied to a robot welding system.The system can search the weld seam precisely,the precision and repeatability of positioning are 0.4 mm and 0.16 mm respectively.The weld system realizes the rapid searching of weld seams by the means of non-contact sensing,and reduces the searching time immensely.%采用激光测距传感器扫描船体格子间型结构件工件的各个侧面,得到特征点,经算法处理生成离线机器人程序.基于该焊缝寻位方法,将柔性化的焊缝寻位技术集成于机器人平台载体,并利用C#语言开发了一套可用于格子间型件焊缝寻位的软硬件系统.该系统能精确地实现焊缝轨迹的自主寻位,系统精度为0.4 mm,重定位精度为0.16 mm.实现了格子间型件非接触式快速寻找焊缝的功能,大大缩短了焊缝寻位时间.