Pose identification method of arc sensing welding gun

Abstract

The invention provides a welding gun pose identification method based on arc vector space characteristic analysis. A rotating arc sensor is used for decomposing sampled time signals to arc left-right and front-back position signals by a rotating arc scanning unit circle; the arc left-right and front-back position signals and arc sensing signals form three component vectors of three-dimensional space arc vectors; arc sensing signals in a one-dimensional space are converted to the three-dimensional space arc vectors; arc vector spaces with different characteristic bases as substrates are built according to arc moving rules and groove types; then, representation rules of welding gun poses in different vector spaces to the arc vectors are analyzed; and arc vector characteristic values reflecting the welding gun poses are extracted. The method can effectively identify the information of such multiple welding gun poses as left-right and front-back positions and deflection angles of the welding gun relative to welding lines by the extracted arc vector characteristic values, can be applied to such multiple places as welding line groove identification, welding line automatic tracking and welding gun pose adjustment, and is higher in practical value.

Description

technical field [0001] The invention belongs to the technical field of arc-sensing welding seam automatic tracking welding, and in particular relates to a welding torch pose recognition method based on arc vector space feature analysis. Background technique [0002] The basic principle of the arc sensor is to use the welding current change caused by the change of 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 advantages of strong anti-interference ability, good accessibility, and strong real-time performance. The rotating arc sensor uses a rotating arc to scan the weld groove of the workpiece. The rotating scanning frequency is high and the speed is fast, which can obtain higher sensing sensitivity. The scanned groove has a large amount of information. Compared with other types of arc sensors, It has a better application prospect. [0003] At present, the research on automatic s...

AI Technical Summary

Problems solved by technology

From related literature reports, it can be found that for the research on arc sensor deviation recognition, the deviation or attitude that can be identified at present mainly includes the left and right deviation of the weld (or welding torch), the inclination angle of the welding torch, etc., and the position and attitude information recognized is relatively limited, which is difficult Meet the requirements of modern arc welding robots in seam tracking and welding torch attitude adjustment

The purpose of the present invention is to provide a welding torch pose recognition method that can effectively identify multiple welding torch pose information in view of the shortcomings of the prior art, such as insufficient recognition of the arc sensing welding torch pose, and provide a basis for the application and promotion of the rotating arc sensing technology. Base

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