Moving Welding Robot Of Round Pipe Outer Circumference And System Of Control

The course of welding robotic technology development and its research present situation are introduced briefly. Then the tendency and the hot aspect of research have been discussed. Along with the further development of intelligent robotic technology and artificial intelligence theory, multi-agent welding system / PC controller and composite technique of the syncretism of fuzzy and NN should become the hot aspect of research. A control system based on the computer vision for weld seam tracking is proposed. The discussion is mainly focused on the theory and methods of edge collection and division of welding image. The welding position can be detected accurately through processing the image of arc area collected by the vision sensor CCD ( charge coupled device) , By the system of image collection and computer-ware, we can recognize the position of the welding line exactly, count out the warp between moving track of robot and the welding line. So we can control the robot's act real-timely, the seam tracking accuracy is enhanced efficiently.An image processing application framework is implemented on the base of Microsoft Visual C++, which aims at BMP files. It finishes some basic operations, such as image filtering, image's outline track, enhance the edge of welding line, check the edge of welding line and pick-up the centric line. The program is developed with Microsoft Foundation Classes of Visual C++ 6.0 in windows' 98.A technique of 3-point positioning of welding seams with structure - light visual sensor is presented. With this technique, arc-welding robots can cope with the location variation of weld seams each time in batched manufacturing. On the base of suitable mathematical description, the localization problem is transformed into determining a displacement transformation matrix. Structure - light visual sensor is used to get position information of welding seams, and precise localization of weld seams is realized quickly. The other way, theoretical analysis of weld tracking system with a leading sensor is stated, Based on the analyzing of movement process of the tracking system, a loop control structure diagram is presented, the deuce vision feedback system is used and realized the repeated and automatic tracking in multiplayer seam and controlling of system of tracking and system of motion. The main innovate point of the welding robot is that it realizes the automatic tracking of unleaded automatic weld and multiplayer weld.The OpenGL program has been used to simulate the process of the robot when it is working.