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一种激光焊接焊缝跟踪实现装置及其控制方法
Alternative TitleDevice for realizing laser welding and seam tracking and control method thereof
姜春英; 邹媛媛; 柳连柱; 吴强; 郭奇; 康永军
Department装备制造技术研究室
Rights Holder中国科学院沈阳自动化研究所
Patent Agent沈阳科苑专利商标代理有限公司 21002
Country中国
Subtype发明
Status有权
Abstract本发明涉及一种激光焊接焊缝跟踪实现装置及其控制方法,包括:图像采集及处理单元,采集激光焊接焊缝特征的图像数据处理并输出焊缝位置信息;运动控制单元,接收上述焊缝位置信息向运动轴执行机构发送运动控制指令;上层参数设置和控制单元,设置各参数,分别与图像采集及处理单元、运动控制单元进行通讯连接;方法为:通过上层参数设置和控制单元设置参数;采集焊缝图像进行处理得到焊缝图像数据;将焊缝图像数据缓存、标定,确定焊枪偏移量;运动控制单元中的运动控制器进行跟踪轨迹的滤波、拟合以及轨迹规划,结果送给运动轴驱动器。本发明可以适应多种焊缝类型和工艺,具有通用性好、灵活性强和独立性高以及精度高、定位准、适应性强等优点。
Other AbstractThe invention relates to a device for realizing laser welding and seam tracking and a control method thereof. The device of the invention comprises an image collecting and processing unit for collecting and processing the image data of laser welding and seam characteristics and outputting the seam position information, a motion control unit for receiving the seam position information and transmitting a motion control command to a motion shaft actuating mechanism, and an upper parameter setting and control unit for setting the parameters and being respectively connected with the image collecting and processing unit and the motion control unit in a communication mode. The method of the invention comprises the following steps: setting the parameters by utilizing the upper parameter setting and control unit; collecting and processing seam images to obtain the seam image data; caching and calibrating the seam image data, and determining the offset of a welding gun; carrying out filtering, fitting and track planning on tracking tracks by utilizing a motion controller in the motion control unit; and transmitting the result to a motion shaft driver. The invention can be suitable for various seam types and techniques and has the advantages of good generality, strong flexibility, high independence, high precision, accurate positioning, strong adaptability, and the like.
PCT Attributes
Application Date2009-07-22
2011-02-02
Date Available2013-10-30
Application NumberCN200910012657.9
Open (Notice) NumberCN101961819A
Language中文
Contribution Rank1
Document Type专利
Identifierhttp://ir.sia.cn/handle/173321/13346
Collection智能产线与系统研究室
Affiliation中国科学院沈阳自动化研究所
Recommended Citation
GB/T 7714
姜春英,邹媛媛,柳连柱,等. 一种激光焊接焊缝跟踪实现装置及其控制方法[P]. 2011-02-02.
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