张惠斌, 周振丰, 吴林, 张炯. 遥控弧焊机器人头盔式立体电视监视系统[J]. 机器人, 1995, 17(4): 237-239.
引用本文: 张惠斌, 周振丰, 吴林, 张炯. 遥控弧焊机器人头盔式立体电视监视系统[J]. 机器人, 1995, 17(4): 237-239.
ZNANG Huibin, ZHOU Zhengfeng, WU Lin, ZHANG Jiong. HELMETED STEREO TV MONITOR SYSTEM ROR REMOTE ARC WEL DING ROBOT[J]. ROBOT, 1995, 17(4): 237-239.
Citation: ZNANG Huibin, ZHOU Zhengfeng, WU Lin, ZHANG Jiong. HELMETED STEREO TV MONITOR SYSTEM ROR REMOTE ARC WEL DING ROBOT[J]. ROBOT, 1995, 17(4): 237-239.

遥控弧焊机器人头盔式立体电视监视系统

HELMETED STEREO TV MONITOR SYSTEM ROR REMOTE ARC WEL DING ROBOT

  • 摘要: 主从式遥控弧焊要求具有位高的运动轨迹精度和足够的焊接速度,而且在操作过程中焊枪不与被焊工件接触,因而,视觉深度信息对操作动作的准确度和效率至关重要.根据孤焊过程中人的监视行为的特点,本文研制了手眼结构头盔式立体电视监视系统,并详细介绍了其光学原理,实验结果表明,该监视系统对深度信息的分辨精度为±;1mm.该监视系统与两维电视监视系统相比,主从操作的焊缝跟踪误差显着减小,并且焊缝跟踪误差随焊接速度增大时的增势也大大减缓.

     

    Abstract: Master-slave teleoperated arc welding demands high accurate trajectory and sufficient weldingspeed,And during the operation the welding gun is not intouch with the welded workpiece,hence the visiuaIdepth message of monitor system is much more important to operation accuracy and efficiency. According tothe monitoring behaviour in arc welding process,an eye-in-hand helmeted stereo TV monitor system hasbeen built. aiid itsoptiral principal is explained in defail. Experimental results prove that the visual depth ac-curacy of this monitor svstem is about ±1mm. As contrasted with the two dimention TV monitor svstem,thestereo TV monitor system not only reduces the seam track deviation obviously, but also rnakes the trends ofseam track deviation gentle as the welding speed increases.

     

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