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Rotating arc sensor gun welder space gesture recognition method

A technology of rotating arc and spatial attitude, which is applied in arc welding equipment, electric/magnetic devices to transmit sensing components, welding equipment, etc., can solve the problem of less research on the information extraction of welding torch inclination angle, and achieve large amount of information and reliability and high accuracy, to achieve the effect of mutual decoupling

Inactive Publication Date: 2008-04-09
NANCHANG UNIV
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Problems solved by technology

But at present, the rotating arc sensor is mainly used to extract the left and right deviation of the welding torch, and there are few studies on the extraction of the inclination information of the welding torch

Method used

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  • Rotating arc sensor gun welder space gesture recognition method
  • Rotating arc sensor gun welder space gesture recognition method

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Embodiment Construction

[0009] Such as figure 1 As shown, the Hall sensor is used to collect the welding current signal first, and then the digital signal processing knowledge is used to filter the current signal. Obtain the dynamic and static characteristics of the rotating arc sensor by means of experiments, and then convert the current signal into the change of arc length, and establish the following formula: figure 2 In the coordinate system shown, use the least square method to fit the arc length to obtain the characteristic plane, and finally calculate the slope of the intersection line between the characteristic plane and the XOZ surface, which can be used as the detection value of the inclination angle of the welding torch, and calculate the characteristic plane and YOZ The slope of the surface intersection line, which can be used as the detection value of the welding torch deviation.

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Abstract

An identification method of a spatial position of a welding torch of a rotary electronic arc sensor comprises following steps: firstly, a coordinate system is found according to the rotation center of the rotary electronic arc and variations of the length of the electronic arc are transformed into variations of the coordinate system. Secondly, the length of the arc can be surfacely fitted by a method of least squares. Thirdly, a deviation and an inclined angle of the welding torch can be identified according to a rate of slope of the intersection line formed by the surface and the surface on which the coordinate system is positioned. The invention has the advantages of: (1) a simple and rapid surface fit method, strong practicability, and satisfying the requirements of the control of the position of the welding torch; (2) the realization of a mutual decoupling of the deviation and the inclined angle of the welding torch; (3) using three dimensional information detected by the rotary electronic sensor to a full extent with a large amount of information and high reliability and veracity of detected results.

Description

technical field [0001] The invention relates to a method for recognizing the spatial attitude of a welding torch with a rotary arc sensor. Background technique [0002] The basic principle of the arc sensor is to use the welding current change caused by the distance between the welding torch and the workpiece to detect the height of the welding torch and the left and right deviation. It has the characteristics of arc resistance, high temperature resistance, strong real-time performance and good accessibility. Arc sensors include parallel twin wire arc sensors, swing scanning arc sensors and rotating arc sensors. Among them, the rotating arc sensor has outstanding advantages: the high-speed rotation increases the detection sensitivity of the position deviation of the welding torch, which greatly improves the tracking accuracy; the high-speed rotation improves the fast response characteristics, and is suitable for high-speed welding and seam tracking of thin plate lapping. ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01D5/14B23K9/12
Inventor 张华高延峰毛志伟彭俊斐
Owner NANCHANG UNIV
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