上海交通大学学报

上海交通大学学报（自然版） ›› 2015, Vol. 49 ›› Issue (03): 348-352.

• 金属学与金属工艺 • 上一篇    下一篇

基于旋转电弧传感机器人立焊焊缝的跟踪

乐健，张华，叶艳辉，范宇   

  1. (南昌大学 江西省机器人与焊接自动化重点实验室， 南昌  330031）
  • 收稿日期:2014-05-29 出版日期:2015-03-30 发布日期:2015-03-30
  • 基金资助:

    国家高技术研究发展计划（863）项目(2013AA041003)资助

Robot Tracking of Vertical Welding Seam Based on Rotating Arc Sensor

LE Jian,ZHANG Hua,YE Yanhui,FAN Yu   

  1. (Key Laboratory of Robot and Welding Automation of Jiangxi, Nanchang University,Nanchang 330031, China)
  • Received:2014-05-29 Online:2015-03-30 Published:2015-03-30

摘要：

摘要：  为了实现机器人对立焊焊缝的准确跟踪,提高焊接的质量和效率，减少焊接工人的劳动强度，对采样电流进行组合滤波,利用“绝对差法”对第1个采样点到第32个采样点进行线性回归,拟合直线的斜率作为偏差,以偏差和偏差的变化率作为模糊控制器的输入,经过输入量的模糊化、模糊推理和输出量的清晰化,控制水平滑块伸缩跟踪立焊焊缝.通过路径规划,使焊枪从上倾45°变成下倾45°.利用基于水平滑块伸缩跟踪焊缝与路径规划组合的方法对立焊焊缝进行跟踪.实验结果表明：利用该算法,基于旋转电弧传感机器人跟踪立焊焊缝的可靠性好,精确度高.

关键词: 旋转电弧传感器, 偏差识别, 模糊控制, 路径规划, 焊缝跟踪

Abstract:

Abstract： In order to achieve robot tracking of vertical welding seam accurately, improve the quality and efficiency of welding, and reduce labor intensity of welders, the sampling current was filtered by method of combination. Linear regression was done by using the method of “absolute difference” from the first sampling point to the 32th sampling point to regard the slope of fitting line as a deviation. The deviation and deviation change rate was used as the input of the fuzzy controller. The vertical welding seam was tracked by controlling level slider telescopic after fuzzification of the input, fuzzy reasoning and defuzzification of the output. The welding torch was made to move from updip 45 degrees to downdip 45 degrees by path planning. The vertical welding seam was tracked by combining path planning and horizontal slider telescopic. Experimental results show that the robot can well track the vertical welding seam based on rotating arc sensor by using the algorithm, which have good reliability and high accuracy.

Key words: rotating arc sensor, offset identification, fuzzy control, path planning, tracking weld seam

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