Method for extracting arc sensor welding gun position deviation information

An arc sensor and information extraction technology, applied in the field of arc sensing, can solve the problems of sensor model inaccuracy, sensing accuracy limitation, and low sensing accuracy, and achieve reliable extraction results, strong anti-interference, and broad application prospects Effect

Inactive Publication Date: 2009-08-26
SOUTHEAST UNIV
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Problems solved by technology

However, the current arc sensor has low sensing accuracy and slow dynamic response, which is mainly due to the commonly used extraction methods of arc sensing deviation information such as direct position measurement, maximum value point comparison method, and left and right area integral difference. The value method only considers part of the characteristics of the welding current, and makes a linear approximation when analyzing the relationship between the characteristics of the current waveform and the deviation information. These approximations all lead to the inaccuracy of the sensor model, so that the sensing accuracy is affected by the model. own limitations

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  • Method for extracting arc sensor welding gun position deviation information
  • Method for extracting arc sensor welding gun position deviation information
  • Method for extracting arc sensor welding gun position deviation information

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Embodiment Construction

[0029] The present invention deduces the theoretical expression I (t, e) of welding current according to the motion form of welding gun and the relationship between welding torch height and welding current at first, and regards the sampling signal of welding current as a function in the continuous function space Z(t).

[0030] In order to use the sampling signal Z(t) of the welding current to solve the deviation value e of the welding torch position, first define a solution index J(e) that depends on the deviation e:

[0031] J(e)=‖Z(t)-I(t,e)‖ (1)

[0032] Among them, ‖·‖ represents the norm defined in the continuous function space, which is used to measure the similarity between two functions. The goal of the arc sensing deviation information extraction problem is to solve a deviation value e * ∈R such that:

[0033] J ( e * ) = min e ...

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Abstract

The invention introduces a method for extracting arc sensor welding gun position deviation information. The basic idea of the method is combining a sampling result of a welding current signal with approximation of function to calculate the deviation information of the welding gun position. In the method, the relation of the welding current signal and the welding gun position deviation information under the condition of not considering the interference is derived firstly; then a welding current waveform which is most similar to an actual welding current sampling signal is calculated in minimum mean-square error sense; and the deviation value corresponding with the waveform is the deviation information of the welding gun position to be extracted. The method introduced by the invention can improve the precision of the arc sensor and also considers the integral characteristic of the welding current sampling signal completely to ensure that the deviation extraction result is more reliable.

Description

Technical field: [0001] Aiming at the arc sensing technology commonly used in the field of arc welding robots, the invention proposes a new deviation information extraction method. This method can realize the deviation information extraction under the best approximation index of the function space, and is applicable to the swing arc sensor and the rotary arc sensor at the same time. The invention belongs to the technical field of welding automation and mechatronics. Background technique: [0002] Traditional arc welding robots usually use the "teach-reproduce" method to perform welding tasks. However, due to the influence of assembly errors, welding thermal deformation and other factors, there is always a certain deviation between the teaching trajectory and the actual weld. Therefore, in order to ensure high-quality completion of welding tasks, various sensing methods and deviation compensation methods have been invented, among which the arc sensing method is the most com...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01B7/00B23K9/127
Inventor 甘亚辉戴先中
Owner SOUTHEAST UNIV
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