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Large-curvature curved seam tracking method based on dynamic seam tangent method

A tangent method and large curvature technology, applied in welding equipment, arc welding equipment, manufacturing tools, etc., can solve the problems of lack of analysis methods, difficulty in establishing mathematical models and control models, etc.

Active Publication Date: 2014-09-10
XIANGTAN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The arc sensing wheeled robot is a non-holonomic constraint mechanism that uses the arc itself as a sensor. It allows some joints of the robot to be undriven, which can greatly reduce the manufacturing cost, weight and energy consumption of the robot, and improve the flexibility of the machine. There is still a lack of systematic and complete analysis methods, and it is difficult to establish accurate mathematical models and control models

Method used

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  • Large-curvature curved seam tracking method based on dynamic seam tangent method
  • Large-curvature curved seam tracking method based on dynamic seam tangent method
  • Large-curvature curved seam tracking method based on dynamic seam tangent method

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Experimental program
Comparison scheme
Effect test

Embodiment 1

[0030] Embodiment 1, in the seam tracking process at k+1 moment, according to e(k-2), e(k-1), e(k) by least squares method curve fitting, obtain predicted value e"( k+1), then, the arc rotation is controlled by the rotating arc sensor to scan the groove on the weld, the Hall sensor extracts the welding current, and the data acquisition card converts it into a digital signal to calculate the actual weld deviation e' (k+1), use the actual weld deviation value to correct the deviation prediction value to obtain the best weld deviation e(k+1), and finally drive the welding trolley according to the change rate of the best weld deviation and the absolute value of the deviation With the cross slider, the specific implementation is as follows:

[0031] When the moving distance d of the horizontal slider exceeds the set threshold u (the center of the horizontal slider is the reference point), if the sign of the weld deviation is opposite to that of the previous cycle and (|e(k+1)|- |e...

Embodiment 2

[0046] Embodiment 2, in order to verify the feasibility and superiority of the dynamic weld tangent method model, the simulation analysis using Matlab is as follows:

[0047] Simulation condition: v 1 =60cm / min, T=1 / 6s,v 2 =3mm / s, L=30cm. Weld tangent method sampling fourth-order Butterworth filter filtering, delay is set to 0.75s. Dynamic weld tangent method delay can be controlled within 1ms, which can be compared with the sampling period neglect.

[0048] The simulation results are analyzed as follows: image 3 , Figure 4As shown, the weld seam tangent method can basically realize the tracking of the weld trajectory at the small curvature. When the curvature is large, due to the delayed input of the deviation signal, the coordinated control of the welding trolley and the slider is delayed, and the tracking trajectory is obvious. Deviate from the reference trajectory, and the most obvious deviation reaches 1.5cm; and the dynamic weld tangent method solves the delay prob...

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Abstract

The invention discloses a large-curvature curved seam tracking method based on a dynamic seam tangent method and aims to solve the technical problems that systematically-complete analysis methods are lacked in existing wheeled mobile welding robots, applied to tracking of curved seams, and accurate mathematical models and control models are difficult to establish. According to the technical scheme, the large-curvature curved seam tracking method is characterized in that a rotating arc sensor controls an arc to rotationally scan a seam groove, a Hall sensor extracts feature information of the seam groove, a data collection card performs collection processing and wavelet real-time online recursive denoising, real-time seam deviation vector information e'(k+1) is obtained and is compared with a deviation predicted value e''(k+1) obtained by means of a least-squares method, an optimal seam deviation e(k+1) is obtained by optimization, a model is strictly controlled by the dynamic seam tangent method according to change rate of the optimal seam deviation and that of a deviation absolute value, a welding cart and a cross slider are driven, a welding torch is kept moving in the tangential direction of a large-curvature curved seam center line at certain speed, and accordingly, automatic seam tracking is achieved. The large-curvature curved seam tracking method is mainly applied to automatic tracking of large-curvature curved seams.

Description

technical field [0001] The invention relates to the field of automatic welding seam tracking of an arc-sensing wheeled mobile robot, in particular to a large-curvature bending welding seam tracking method based on a dynamic welding seam tangent method. Background technique [0002] At present, seam tracking is a very important research field in the field of welding automation. There are a large number of curved welds in the welding of large ship cabins, decks, hulls, and large spherical tanks, and automatic tracking of these curved welds is realized. , and keeping the welding speed as constant as possible is a necessary condition to ensure welding efficiency and weld quality. The wheeled mobile welding robot has the characteristics of simple mechanism, strong adaptability and high flexibility. Therefore, the wheeled mobile welding robot is used for bending welds Tracking has become an important research direction in the field of welding automation. [0003] The arc sensing ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B23K9/127
CPCB23K9/1276
Inventor 洪波柳健洪宇翔王谦
Owner XIANGTAN UNIV
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