Welding gun space attitude recognition method based on arc sensor

A technology of arc sensor and space attitude, which is applied in the direction of arc welding equipment, welding rod characteristics, welding equipment, etc., can solve the problems of limited space attitude of welding gun and difficult recognition of space attitude information, etc., achieve accurate recognition, avoid low recognition efficiency, and ensure The effect of efficiency and quality

Active Publication Date: 2017-07-21
XIANGTAN UNIV
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Problems solved by technology

[0005] In order to solve the shortcomings of existing methods or technologies and better promote the development of automatic welding, in view of the current automatic welding of complex trajectory welds, the spatial p

Method used

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  • Welding gun space attitude recognition method based on arc sensor
  • Welding gun space attitude recognition method based on arc sensor
  • Welding gun space attitude recognition method based on arc sensor

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Embodiment 1

[0030] Embodiment 1: The system block diagram of a welding torch spatial posture recognition method based on an arc sensor in the present invention is as follows figure 1 As shown, it includes arc sensor, hardware filter, attitude recognition controller; the space attitude of arc sensor and weld bevel is as follows figure 2 As shown, in the welding process, the arc sensor scans the weld groove, collects the arc sensing signal reflecting the distance change of the welding torch in the weld groove scanning area relative to the workpiece weld, and passes the hardware filter to the arc sensing signal After filtering, it is sent to the attitude recognition controller. The attitude recognition controller includes a data sampling and signal processing module, a data conversion module, and a welding torch attitude processing module; through the data sampling and signal processing module, the output signal of the hardware filter is uniformly sampled and clipped and limited, and throug...

Embodiment 2

[0063] Embodiment 2: Through the method of the present invention, the arc sensor is used to scan the weld bevel during the welding process, and when welding under the welding torch space posture with deflection angle and roll angle, the output signal of the arc sensor is collected and passed through the hardware The output signal waveform after filtering by the filter is as follows: Figure 9 As shown, it can be seen that there are a small amount of pulse spikes in the arc signal;

[0064] The arc signal waveform after arc signal sampling and software filtering module processing is as follows: Figure 10 As shown, it not only eliminates and limits the pulse peak amplitude, but also maintains the overall characteristics of the original signal;

[0065] Through the data conversion module, the harmonic components containing the spatial attitude information of the welding torch are retained, and the arc signal harmonic waveform obtained after processing is as follows: Figure 11...

Embodiment 3

[0067] Embodiment 3: The present invention is also applicable to other spatial attitude recognition of welding torches based on welding seam groove scanning ranging sensors.

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Abstract

The invention discloses a welding gun space attitude recognition method based on an arc sensor. The welding gun space attitude recognition method based on the arc sensor is used for automatically recognizing the welding gun space attitude of a complex trajectory weld joint. A system used by the method scans weld grooves through the arc sensor, an arc sensing signal for reflecting the distance change of a welding gun relative to the workpiece weld joint in the weld groove scanning area is collected, the arc sensing signal is filtered and treated and is converted into a welding gun height signal, the deflection angle of the welding gun relative to the workpiece weld joint is recognized through an even harmonic feature phase method according to the influence features of different welding gun space attitudes and interference noise to the welding gun height signal, the pitch angle of the welding gun relative to the workpiece weld joint is recognized through one time of harmonic feature vector orthogonal method, and the roll angle of the welding gun relative to the workpiece weld joint is recognized through multiple times of harmonic feature vector cross coupling algorithms. The method can accurately recognize the different welding gun space attitudes, can be used for automatic deviation rectification and correction of welding guns in automatic welding and robot welding, and is the important guarantee for achieving intelligent and flexible welding.

Description

technical field [0001] The invention relates to the field of automatic welding, in particular to a method for recognizing the spatial posture of a welding torch based on an arc sensor. Background technique [0002] At present, automatic welding, robot welding and intelligent welding have become the development trend of welding technology. During the welding process, automatic identification and adjustment of the welding torch position and posture is an important part of automatic and intelligent welding, and it is also an important guarantee for improving welding quality and welding efficiency. [0003] In order to identify and detect the position and posture of the welding torch during the welding process, various types of sensors and technical solutions have been developed and applied. For example, the "Measurement and Feedback Device for the Spatial Attitude of the Welding Torch Relative to the Weld Seam" in the patent number "201410552913.4" uses an angle sensor to meas...

Claims

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Application Information

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IPC IPC(8): B23K9/095B23K9/32B23K9/28
CPCB23K9/0956B23K9/28B23K9/32
Inventor 洪波尹力李湘文李毅张贤锌
Owner XIANGTAN UNIV
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