旋转电弧传感移动机器人前倾后倾时对角焊缝的跟踪
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摘要
旋转电弧传感的移动焊接机器人对90°折线角焊缝进行跟踪时,焊炬姿态先前倾,过了直角点后姿态为后倾,倾角最大为45°,焊炬倾角的变化将导致传感器对焊缝跟踪产生偏差。通过旋转电弧传感器旋转轨迹在水平面的投影得到了带倾角的旋转电弧传感器高度的几何模型,利用焊炬存在倾角时一个旋转周期内前后半周期高度的对称性,运用最小二乘法分别对旋转电弧焊炬前后半周期的焊接电流进行拟合,得到存在倾角时旋转电弧传感器对角焊缝识别的方法。最后,通过实验验证该方法的正确性和有效性。
Right-angle polygon fillet weld was traced by rotating arc sensor moving robot, and the torch posture was forward first, and then the posture was backward after passing the right angle, the maximum dip of welding torch was 45°. The change of torch inclination would lead to deviation of welding seam tracking by sensor. A geometric model of the height of the rotating arc sensor with inclination was obtained by projecting the rotating trajectory of the rotating arc sensor on the horizontal plane. Using the height symmetry of torch with inclination in half cycle within a rotation cycle of the torch, the welding current of half cycle of rotating arc sensor was fitted by the least square method. The method of recognizing fillet weld by rotating arc senor with inclination was obtained. Finally, the correctness and validity of this method were verified by experiments.
Right-angle polygon fillet weld was traced by rotating arc sensor moving robot, and the torch posture was forward first, and then the posture was backward after passing the right angle, the maximum dip of welding torch was 45°. The change of torch inclination would lead to deviation of welding seam tracking by sensor. A geometric model of the height of the rotating arc sensor with inclination was obtained by projecting the rotating trajectory of the rotating arc sensor on the horizontal plane. Using the height symmetry of torch with inclination in half cycle within a rotation cycle of the torch, the welding current of half cycle of rotating arc sensor was fitted by the least square method. The method of recognizing fillet weld by rotating arc senor with inclination was obtained. Finally, the correctness and validity of this method were verified by experiments.
引文
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[2]石永华,王国荣,YOOWon-Sang,等.高速旋转电弧传感器的数学模型[J].机械工程学报,2007,43(11):217-223.
[3]乐健,张华,叶艳辉,等.基于旋转电弧传感器的角焊缝跟踪[J].焊接学报,2015,36(5):5-9.
[4]高延峰.移动机器人旋转电弧传感焊枪偏差与倾角检测及角焊缝跟踪[D].南昌:南昌大学,2008.
[5]毛志伟,罗香彬,陈斌,等.旋转电弧传感焊炬空间姿态与仿真分析[J].焊接学报,2016,37(5):6-10.
[6]刘新,李湘文.基于旋转电弧焊枪前后倾角检测方法的研究[J].热加工工艺,2011,40(15):157-159.
[7]乐健,张华,叶艳辉.基于旋转电弧传感器的焊接电流波形研究[J].传感器与微系统,2014,33(6):31-33.
[8]LeJian,ZhangHua,Chen Xiaoqi,et al.Identifiction ofthe space posture of arc welding guns with rotational arc sensors in GMAW[J].International Journal of Advanced Manufacturing Techology,2017,92(9):3447-3459.
[9]张华,涂骏超,叶艳辉,等.旋转电弧传感器跟踪波纹板角焊缝研究[J].热加工工艺,2017,46(21):192-195.
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