CAJ | 학술논문

机器人进行船体格子型焊缝焊接过程中,完全依靠电弧传感器无法完全得到其周围环境信息,造成了自动化焊接的困难.设计了一种直角焊缝自动焊接的方法,利用超声波传感器代替机械式传感器,获得周围障碍信息,用电弧传感器获得焊缝的偏差信息,通过对机器人合理的控制,完成了直角焊缝的自动跟踪焊接.
궤기인진행선체격자형한봉한접과정중,완전의고전호전감기무법완전득도기주위배경신식,조성료자동화한접적곤난.설계료일충직각한봉자동한접적방법,이용초성파전감기대체궤계식전감기,획득주위장애신식,용전호전감기획득한봉적편차신식,통과대궤기인합리적공제,완성료직각한봉적자동근종한접.
During the process of welding the lattice-shaped welding seam in the hall, the environment information around the welding seam can not be obtained totally only by the arc sensor. It is difficult to weld the fight-angle seam automatically. A method of welding the fight-angle seam automatically is designed, in which the obstacle is found by the ultrasonic sensor using its range finding principle instead of the touch sensor; and the deviation is gained by the arc sensor. With the reasonable control to the robot, the welding of the right-angle welding seam with seam automatic tracking can be finished.