Fillet weld tracking system and method based on ultrasonic swing scanning

Abstract

The invention discloses a fillet weld tracking system and method based on ultrasonic oscillatory scanning. The fillet weld tracking system and method mainly solve the technical problems that an existing welding seam tracking system is complicated and overloaded in structure and operation, high in cost and unstable in tracking and are mainly suitable for automatic welding of fillet welds. According to the system, an ultrasonic sensor is utilized, and a scanning signal is output while oscillation is conducted; a discrete signal collecting and processing device is used for conducting sampling and filtering amplification processing; a data fitting processing device is used for conducting data fitting on a sampled signal, and the fillet weld center is recognized through a weighted least square method; a correcting control device adopts feedforward and feedback intelligent adjustment according to the scanning signal of the ultrasonic sensor and the temperature characteristic of a temperature monitoring device to conduct correction on a deviation value and output a certain correction characteristic; an execution device receives the correction characteristic to drive a welding torch to achieve fillet weld tracking.

Description

technical field [0001] The invention relates to the field of welding robots and automation, in particular to a fillet weld tracking system and method based on ultrasonic swing scanning. Background technique [0002] At present, the automatic production level of the fillet weld welding production line in my country is not high, and most of the welding production workshops still use manual welding or semi-automatic welding, which makes the welding productivity low and the production cycle long, and the smoke and dust in the welding process will endanger the health of workers. The environment is poor; in addition, the existing seam tracking system has technical problems such as complex structure and calculation, high cost, and tracking instability. There is a serious problem of aluminum alloy reflection. At the same time, the sound velocity of ultrasonic sensors in welding applications is affected by the temperature field, which makes it difficult to apply ultrasonic waves in we...

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Problems solved by technology

[0002] At present, the automatic production level of the fillet weld welding production line in my country is not high, and most of the welding production workshops still use manual welding or semi-automatic welding, which makes the welding productivity low and the production cycle long, and the smoke and dust in the welding process will endanger the health of workers. The environment is poor; in addition, the existing seam tracking system has technical problems such as complex structure and calculation, high cost, and tracking instability. There is a serious problem of aluminum alloy reflection

At the same time, the sound velocity of ultrasonic sensors in welding applications is affected by the temperature field, which makes the application of ultrasonic waves in welding difficult.

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