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基于机器人旋转电弧传感器跟踪仰焊焊缝

Overhead weld tracking by robots based on rotating arc sensor

  • 摘要: 为了提高焊接的质量和效率,必须实现机器人对仰焊焊缝的自动跟踪. 利用组合滤波的方法对焊接电流进行滤波. 采用最小二乘法对第16个采样点至第48个采样点进行线性拟合,拟合直线的斜率作为偏差. 以偏差和连续三次偏差之和作为模糊控制器的输入,以水平滑块伸缩速度对应的脉冲数作为模糊控制器的输出. 连续三次偏差的绝对值都大于0.9时,认为到达焊缝终点. 进行了仰焊焊缝跟踪试验、仰焊焊缝终点检测和流水孔的通过试验. 结果表明,利用该算法,机器人跟踪仰焊焊缝的准确度高,可靠性好,能够准确地识别出仰焊焊缝终点和通过流水孔.

     

    Abstract: In order to improve the quality and efficiency of welding, implement automatic tracking overhead weld by robots is demcomel require. The method of composite filter is used to filter out noises. The least square method is used to fit sampling points from the 16th to the 48th, and the slope of the fitting line is regarded as a deviation. The deviation and the sum of three consecutive deviations are regarded as the input of the fuzzy controller, and the pulse number corresponding to the horizontal slider movement speed is regarded as the output of the fuzzy controller. It is the endpoint of weld seam if the absolute value of three consecutive deviations are all greater than 0.9. Last, experiments of overhead weld tracking, experiments of overhead weld endpoint detection and passing drain holes have been done. The results show that the robot can track overhead weld with high accuracy, good reliability, accurately identify the endpoint of overhead weld and pass drain holes by using the designed algorithm.

     

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