【摘要】 针对中厚板机器人自动焊接出现的易形变、定位误差大等问题，基于激光视觉的机器人中厚板焊接规划系统，提出了一种不同角度自适应的多层多道焊接规划方法。以PLC作为中继，在接收机器人位置信息等信号后，计算机获取激光传感器采集的点位信息，并按照预定算法进行系列规划处理，进而控制机器人完成空间位置及姿态调整，实现中厚板自动焊接。以中厚板单边V型坡口进行试验，结果表明该系统能够完成多角度焊缝的自适应焊接，且成型稳定，具有良好的应用前景。更多还原

【Abstract】 Aiming at the problems of shape change and positioning error, a laser vision based robot welding planning system for medium and thick plate was introduced, and a multi-layer and multi-pass welding planning method with different angles was proposed.With PLC as the relay, after receiving the robot position information and other signals, the computer obtains the point position information collected by the laser sensor, and carries out a series of planning processing according to the predetermined algorithm, and then controls the robot to complete the space position and attitude adjustment, and realizes the automatic welding of medium and thick plate.The test results of single side V-groove of medium thick plate show that the system can be used for adaptive welding of multi-angle welds with stable forming, and has good application prospect.更多还原