具空間位置量測及回饋之自動焊接系統研發

Development of An Automatic Welding System with 3D Measurement and Feedback

林珈汶(Jia-Wen Lin)

指導教授 ： 林瑞璋

國立虎尾科技大學/工程學院/機械設計工程研究所/碩士(2013年)

https://doi.org/10.6827/NFU.2013.00043

摘要

本文利用光學影像的擷取、數值演算原理以及雷射量測的概念，自行建構一套利用影像擷取焊道的一種具尋跡之非接觸式影像及雷射系統自動回饋焊接位置之自動焊接系統，以取代原始需靠人力式的判斷。本系統搭配雷射測距儀與馬達控制器，使攝影機、雷射測距儀與待測物移動，有一圓筒夾持工作台，做夾持工件之用，而焊槍裝置在一裝有一左右及前後運動裝置之銲接位置平台兩組，各由兩螺桿及伺服馬達組成。在自動量測系統裝置有一手臂夾持機構，其上固定有一雷射測距儀及一影像組合裝置共兩套，且各由夾持手臂系統固定。而量測夾持手臂、圓筒夾持平台及焊槍位置控制系統等結合，並對於夾持系統之圓筒之焊接位置進行影像擷取及雷射距離位置之量取。其中影像系統負責取得焊道左右位置資訊，而雷射取得前後距離資訊。透過量測系統取得焊槍調整之位置資訊。並藉由控制器調整焊槍移動資訊，配合圓筒夾持平台，作自動銲接程序，提供大幅提昇生產效率。本系統的量測功能有線、圓、角度、距離、相對高度等，並將量取到的數值匯出至焊槍，進而加工。

關鍵字

影像處理 ； 幾何量測 ； 馬達控制回饋 ； 自動焊接

並列摘要

The systematic study using concepts of optical image capture, numerical calculation principle and laser measurement construct a self-image capture measurement system for the weld location and distance, to replace the original formula to rely on human judgment. The system with a laser range finder , motor controllers, making the camera, laser range finder with the analytes move, a Clamping workbench for work piece, and a device equipped with two sets of welding guns which equipped with two planar biaxial mobile translation device, each consisting of two screws and servo motor .In the automatic measurement system arm which has two sets clamping mechanism for fixed a laser range finder and an image combining means, and each clamping arm by the fixed system. The measuring clamp arm, cylinder holder platforms and torch position control system combined and the cylindrical clamping system for the welding position for image capture and position of the laser distance measure. Imaging system which is responsible for obtaining the location and distance information of welding track from front to back to obtain .Through the measurement system to obtain the adjustment location information of welding gun. And move information through the controller to adjust welding gun, with cylinder holder platform for automatic welding process, providing significantly improved production efficiency .Measurement capabilities of the system, line, outer, inner circle, angle, distance, relative height, and the amount of value to export to the torch, and then processed.

並列關鍵字

Image Processing ； 3D Measurement ； Motor Control Feedback ； Automation Welding

參考文獻

[10] 彭嘉俊，2006，“ 運用影像量測技術於三維輪廓量測及重建之研究”，淡江大學航空太空工程學系研究所，碩士論文。

[17] 林建忠，1999，“ 雷射測距技術與研究現況”，光連(Optolink)雙月刊，Vol19，Pages 30-33。

[19]魏明生，2005，”運用雷射精密儀器於軸心自動化檢測之控制軟體開發”，中原大學。

[1] A. Katsuki, H. Onikura, T. Sajima, M. Rikimaru, H. Kudo,1997, “Development of a High-Performance Deep-Hole Laser-Guided Boring Tool: Guiding Characteristics” CIRP Annals - Manufacturing Technology, Vol 46, Pages 319–323。

[2] L Angrisani, P Daponte, A Pietrosanto, C Liguori,1999, “An image-based measurement system for the characterisation of automotive gaskets” Measurement, Vol25, Pages 169–181。