The method of identifying and locating the starting point of fillet weld based on ultrasonic sensor

Abstract

The invention discloses an ultrasonic sensor based method and system for recognition and positioning of a fillet weld initial point, and applies to recognition and positioning of a welding initial point of a long right-angle weld by means of a special automatic welding machine. According to the system, the ultrasonic sensor is adopted for positioning sampling, and a start point positioning controller is adopted for performing signal processing and data sampling on output signals; when horizontal recognition and positioning are performed, the sampled data are subjected to low value removal processing, an initial position is recognized with a maximum likelihood recognition algorithm, and a servo motor is driven to perform horizontal positioning through operation processing of positioning information; when longitudinal recognition and positioning are performed, a longitudinal distance of the ultrasonic sensor and the end part of a welding wire in a plane where a welding gun is located is set to be a longitudinal distance of the initial point; closed-loop regulation is performed by adopting a self-adaptive control method combining fuzzy control and PID (proportion integration differentiation) control according to output signals and output features of the ultrasonic sensor as well as multiple feedback signals of a distance measurement module, the speed of a speed regulator for regulating the servo motor is controlled, and the longitudinal positioning of the initial point is completed.

Description

technical field [0001] The invention relates to the field of automation, and relates to a method for identifying and locating the starting point of a fillet weld based on an ultrasonic sensor. Background technique [0002] For the welding production line of long right-angle welds, our country is still in the semi-automatic welding stage. In the actual welding process, most of the positioning of the starting point of the weld is done manually or through fixtures. There are generally problems such as low welding efficiency or inaccurate positioning of the starting point due to clamping errors such as workpiece processing. In order to improve welding quality and welding efficiency, a method for identifying and locating the starting point of fillet welds based on ultrasonic sensors is proposed, which will play a positive role in further promoting the automation of welding production. At present, the application number "201510077096.6" published by the China Intellectual Propert...

AI Technical Summary

Problems solved by technology

[0003] In order to solve the deficiencies in the existing technology and better promote the process of welding equipment automation, in the current welding production line for long right-angle welds, the starting point positioning is performed manually or by fixtures, resulting in low welding efficiency. Or due to the problem of inaccurate positioning of the starting point due to clamping errors such as workpiece processing, a method for identifying and locating the starting point of fillet welds based on ultrasonic sensors is proposed.

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