本文介绍爬行式弧焊机器人结构光三维视觉传感器的传感原理、系统组成和设计依据。用会聚透镜和柱透镜组合产生线长35～ 40 mm、线宽1 mm 的光纹投向焊缝, 热敏电阻组成桥式自功控温电路,用5 L ös 流量的空气(或氩气) 吹开烟尘、蒸汽和飞溅物等, 微型CCD 摄像机加装窄带滤光片摄像, 经二值化、图像分割和中心取样等图像处理并计算出偏移量送控制系统引导爬行机器人正确施焊。关键词: 弧焊机器人; 爬行机构; 焊缝跟踪; 图像处理Abstract:M ake use of combinat ion of assemble lens and co lumns lens to p roduce ligh t veins of 35～ 40 mm length and 1 mm w idth w h ich is th row n to w eld seam. Therm isto r compo ses of bridge2type elect ric circuit w h ich conto ls temperature automat ically. The rate of flow ing of 5 L ös blow s fumes, steam and sp lash th ing etc. M inni CCD is added narrow 2tape filter ligh t p late to take p icture, th rough image p ro2 cessing such as 2 valuemelt ing, image cut t ing, cent ral samp ling and calculate deviat ion to send to cont ro l system,w h ich guides craw ling robo t to w eld co rrect ly.Key words:A rc w elding robo t; Craw lmach ine; W eld seam t rack ing; Image p rocessing
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