Research On Laser Displacement Senor Tracking System Of Arc Welding Robot

With the rapid development of modern industry,the realization of welding automation?intelligent has become an inevitable trend in the future,arc welding robots have begun to be widely used in industrial production.It is of great significance to integrate the sensing technology with the arc welding robot to realize welding automation and intelligence.In this paper,ABB's IRB-1410 arc welding robot is used as the platform.The laser displacement sensor is used to scan the weld bevel in real time to detect the weld bevel characteristics.At the same time,the deviation in the welding process is corrected and detected in real time.The main contents of this thesis include: construction of weld seam tracking system and hardware design,robot kinematics analysis,processing of weld bevel arc length signal,off-line programming module,weld bevel feature identification,weld deviation detection and welding Seam tracking experiment and analysis.In this paper,the experimental platform is built by ABB welding robot,laser displacement sensor,laser displacement sensor controller,arc welding power module,single chip microcomputer,IRC5 robot control cabinet,communication module and offline programming module.The robot is built according to the connecting rod parameters of ABB welding robot.The DH model performs a forward-reverse motion analysis to solve the relative pose of the robot's end welding torch.The limiting filter and the mean filtering double filtering are used to process the signal collected by the sensor controller to improve the smoothness of the arc length signal of the weld bevel and the reduction degree of the weld groove information.The maximum distance method and slope analysis method are used to analyze the weld groove characteristics.The coordinate value of the inflection point.The arc length model of the weld bevel is established.The influence of the horizontal deviation and height deviation of the welding torch and the angle of the weld bevel on the arc length H(t)of the weld bevel are analyzed by MATLAB,and the groove angle,horizontal deviation and height deviation are utilized.A relationship between the variables is proposed,and a method for detecting weld deviation is proposed.The horizontal deviation of the welding torch and the height deviation of the welding torch are successfully extracted from the collected signals.The communication module of arc welding machine robot and weld seam tracking system is designed.The communication module of this paper is mainly divided into three parts: communication between single chip computer and PC,communication between PC and welding robot controller,offline programming module and robot controller.The PC and the welding robot adopt the method of serial communication,and use the serial communication method to send data to the PC through the MCU.The robot controller and the PC host adopt the C/S structure,and connect the PC to the welding robot controller through the network interface.Socket Message communication is used to exchange data between the two.Through the construction of the experimental platform for welding experiments,during the welding process,the weld seam tracking system has stable working performance and good real-time performance.At the same time,the weld seam is subjected to process evaluation,and the process performance of each weld seam meets the requirements,reaching the experiment.It is expected that the feasibility and accuracy of the developed seam tracking system are verified,which provides a theoretical basis for the application of laser displacement sensor to weld seam tracking.