Automatic Welding System Based On Geometric Characteristics Of Welds

Based on the analysis of the development status of domestic and foreign welding robots in recent years,this paper studies the architecture based on industrial robot technology and numerical control technology,and builds the corresponding automatic welding experiment system.Combining the main direction of welding technology in the field of automation in the future-visual image sensing technology and actual production requirements,the intelligent welding process is realized by studying welding geometric characteristics,welding seam trajectory planning,realtime control of welding seam tracking process and other related technologies.Specifically,the following researches have been carried out:1.Build a welding hardware integration platform system including industrial computer,PLC,robotic arm,line laser and welding gun;and configure the corresponding network hardware.2.In terms of program development: Using siemens SIMATIC Win CC,developed an automatic welding system interface based on typical weld seam characteristics,and developed a script program running under the welding system interface in C/C++ language.The program includes reading data from the line laser sensor,extracting and processing the weld feature data;the weld feature data structure management program of the welding gun pose;and the FTP file transfer and Socket communication interface program from the industrial computer to the robot controller.Among them,FTP can realize data upload,download,and delete operations,and the Socket is used to realize real-time data communication for calculating pose and robot movement.3.The geometric features of welds of typical welded parts in engineering and the commonly used extraction methods are studied;the research results of the laboratory in the direct acquisition of weld feature points are introduced,and they are used for the extraction of V-shaped weld feature points.4.The automatic tracking scheme and algorithm of the welding seam are studied,and the position,attitude adjustment and automatic search algorithm of the welding gun in the welding seam tracking process are described,which provides an algorithm basis for further realization of the welding process intelligence.At the end of the thesis,the trajectory data of the four typical welding features and the pose of the robot are calculated and simulated in Robcad to verify the feasibility of the algorithm.