基于旋转电弧传感的空间位置曲线焊缝跟踪  

Seam tracking for space position based on rotating arc sensor

作　　者：熊震宇[1] 张华[2] 潘际銮[3] 

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

出　　处：《焊接学报》2003年第5期37-41,共5页Transactions of The China Welding Institution

基　　金：国家自然科学基金(59875034)

摘　　要：采用空心轴电机驱动的旋转式扫描焊炬作为电弧传感器,以示教再现式弧焊机器人为控制对象,介绍了焊缝跟踪系统的组成。以理想状态的旋转电弧传感信号处理方法为基础,研究了平焊、横焊及立焊位置焊缝偏差的识别方法。采用模糊控制方法,设计了机器人焊缝跟踪控制系统。实现了空间曲线焊缝的自动跟踪,大大提高了示教再现式弧焊机器人的自动化程度。The seam tracking system is introduced, where the rotating arc sensor drived with hollow axle motor is used, the teaching arc welding robot is used as controlling object. Based upon the signal processing method for the real state on the rotating arc sensor, the methods of seam recognition for space position such as flat position, horizontal position and vertical position are studied. A fuzzy control approach is utilized for designing the welding seam tracking system, which is successfully applied to seam tracking for above positions and will increase greatly the automatization of teaching welding robot.

关 键 词：电弧传感器 机器人 焊缝跟踪 旋转式扫描焊炬 示教再现 空间位置曲线 

分 类 号：TG409[金属学及工艺—焊接] TP242[自动化与计算机技术—检测技术与自动化装置]