基于力觉遥示教曲线焊缝位置辨识方法

Position identifying of curve welding seamin tele-teaching based on force sensing

摘要: 在遥控焊接环境中,时常碰到具有一定曲率的曲线焊缝,曲线焊缝精确辨识是保证遥示教精度前提条件之一。针对曲线焊缝的特点,提出了焊缝拐点和方向系数概念,并建立了曲线焊缝辨识方向系数智能控制模型,结合焊缝拐点识别算法,进行曲线焊缝辨识试验。结果表明,实现了曲线焊缝拐点自动识别,为遥示教曲线焊缝拐点识别提供了一种新方法。将力觉曲线焊缝辩识试验曲线上传给离线编程系统,由离线编程系统对焊缝拐点进行优化处理后,非常接近实际焊缝曲线,最大误差不超过±0.5mm,能够满足遥控焊接遥示教要求。

Abstract: There often be the curve welding seam (CWS)in remote welding.The accurately identified CWS is one of the prerequisites to ensure tele-teaching precision.Aiming at the characters of CWS, the concept of inflection point and direction coefficient of welding seam are put forward.The intelligent model of direction coefficient of welding seam is established.Combining with the identifying algorithm of inflection point in welding seam, identifying experiment of CWS is done.The experiment results show that inflection point of welding seam can be automatically identified, that the average error of CWS is less than ±0.5 mm by optimal treatment of offline programming system, and meets the requirements of tele-teaching.