Design of Adaptive Control System of Intelligent Welding Robot for Sub Assembly in Shipbuilding Based on Vision Drive
In order to improve the level of automatic welding for sub assembly in shipbuilding,an adaptive control system of intelli-gent welding robot based on vision drive was designed.The environment perception module was used to perceive global information,and the target information was collected in multiple modes to achieve comprehensive positioning.On the basis of in-depth exploration of the workpiece adaptive decision-making algorithm and multi-directional dynamic programming algorithm,an adaptive control system for sub assembly in shipbuilding was developed,and the target tracking was carried out by combining the real-time pose information of the robot and local environment information.This system can match the corresponding process parameters according to the system decision-mak-ing planning to realize the autonomous programming of the robot.A set of sub assembly welding workstation was built and a bracket at-tachment with two 300 mm fillet welds was taken as an example for verification.The results show that the production takt time of the welding workstation for the welding object is about 84.5 seconds per piece.The test proves show that the system can adapt to a variety of small assembly parts for ships to achieve high-quality automatic welding.
ship sub assemblyintelligent weldingindustrial roboton-line adaptivevision drive
NETL
NSTL
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