基于旋转电弧传感的弧焊机器人焊缝跟踪系统  

Welding Seam Tracking System on Welding Robot with Rotating Arc Sensor

作　　者：熊震宇[1] 张华[2] 贾剑平[2] 潘际銮[3] 

机构地区：[1]南昌航空工业学院材料科学与工程系,南昌市330034 [2]南昌大学机电学院,南昌市330029 [3]清华大学机械工程系,北京市100084

出　　处：《中国机械工程》2003年第12期1039-1042,共4页China Mechanical Engineering

基　　金：国家自然科学基金资助项目(59875034)

摘　　要：研制了一套基于旋转电弧传感的弧焊机器人空间曲线焊缝智能跟踪控制系统。介绍了系统的硬件构成、软件设计及模糊控制方法。研究了不同焊接位置时,焊接熔池金属对坡口的影响作用,提出采用补偿因子加权处理方法,可有效提高平焊、横焊位置焊缝偏差的识别能力。针对立焊位置的脉冲焊接方法,采用形态滤波技术,通过提取脉冲焊接电流的上包络线,利用一次谐波法准确地对立焊焊缝进行了识别。试验结果表明,该焊缝跟踪控制系统对平焊、横焊及立焊位置的曲线焊缝跟踪效果良好,达到焊接工艺要求。A space curve welding seam tracking sys-tem on welding robot with rotating arc sensor is devel-oped. The structure of the hardware and the design of thesoftware are introduced in this paper. The effect of themolten metal in the molten pool on the weld groove isstudied under various welding positions. A compensatoryweight factor could effectively increase the recognition a-bility of the welding seam error for horizontal and trans-verse welding positions. For the pulse welding in verticalposition, a contour filtering method is adopted. The outercontour line of the current curve is picked up and the welderror is precisely recognized by the first harmonic ap-proach. A series of verification experiments are per-formed to test the functionality of this intelligent controlsystem for the welding seam tracking in robot arc weld-ing. The experiments show obvious effectiveness of thiscontrol system for all welding positions.

关 键 词：电弧传感 焊接机器人 焊缝跟踪 空间曲线焊缝 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]