共查询到19条相似文献,搜索用时 62 毫秒
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为了提高焊接的质量和效率,必须实现机器人对仰焊焊缝的自动跟踪. 利用组合滤波的方法对焊接电流进行滤波. 采用最小二乘法对第16个采样点至第48个采样点进行线性拟合,拟合直线的斜率作为偏差. 以偏差和连续三次偏差之和作为模糊控制器的输入,以水平滑块伸缩速度对应的脉冲数作为模糊控制器的输出. 连续三次偏差的绝对值都大于0.9时,认为到达焊缝终点. 进行了仰焊焊缝跟踪试验、仰焊焊缝终点检测和流水孔的通过试验. 结果表明,利用该算法,机器人跟踪仰焊焊缝的准确度高,可靠性好,能够准确地识别出仰焊焊缝终点和通过流水孔. 相似文献
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针对磁控摆动电弧扫描焊缝获取有用信息量少的问题,提出了一种基于Kalman滤波的磁控旋转电弧传感器焊缝跟踪偏差预测方法. 文中简述了磁控旋转电弧传感器的基本原理,对磁控旋转电弧的运动轨迹进行了仿真,利用位置传感器对电弧进行定位,采用四分圆周采样法,运用Kalman滤波原理进行滤波处理,分析了这种方法的基本原理和计算步骤,在此基础上得到空间曲线焊缝的偏差信息,并引入加权预测矫正因子对焊缝的偏差信息进行预测矫正. 结果表明,该方法用于磁控旋转电弧焊缝自动跟踪可行,提高了焊缝跟踪的精度,为预测方法用于焊缝偏差算法提供了科学依据. 相似文献
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通过对现有电弧传感器的扫描信号进行深入研究,提出了一种摆动旋转电弧传感器,在分析其信号特点的基础上,推导出焊枪空间姿态与弧长变化之间的数学关系,建立了该电弧传感器的弧长数学模型.考虑到焊接电弧信号的特点与复杂性,采用了Gabor小波滤波器来消除信号中的噪声干扰,并对滤波后的采样数据进行了特征向量提取,降低了数据的维度,根据欧式距离的原理设计了焊枪姿态分类器,采用模型参数的最速下降法对焊枪的空间姿态进行了实时识别.结果表明,摆动旋转电弧传感器的焊枪空间姿态识别算法简单、获取信息量大,为提高焊缝跟踪的精度提供了理论依据. 相似文献
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基于高精度双轴机器人旋转电弧传感焊接系统及PID控制策略,建立其系统虚拟样机联合控制仿真模型,以跟踪V形坡口直线焊缝为例,在模型中提取焊炬高度变化关系和焊接点坐标数值,采用特征平面法获取引入干扰的焊缝左右偏差,整定PID参数控制双轴机器人移动平台,进行焊接跟踪仿真,可知当偏差e=1时最大跟踪误差为0.0038mm,平均误差为0.0007217 mm。结果表明,采用虚拟样机技术考虑焊接系统动态特性和特征平面法获取焊缝左右偏差可以保证跟踪精度,有利于焊缝自动跟踪的研究,并可以节省成本,为焊接自动化水平的提升贡献新思路。 相似文献
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设计了一种基于旋转电弧传感的弯曲焊缝轮式移动焊接机器人机构,采用中间两轮差速驱动,前后对称布置一万向轮的结构,增加了机构的灵活性并降低了控制的难度;用两个直流伺服电机控制十字滑块实现左右与上下运动,采用旋转电弧传感器使焊枪与传感器一体,不仅结构紧凑,而且具有实时性。支撑焊枪的支板采用组合装配方式,对于折角变化频繁或折角较大的焊缝使用增加一转动关节的支板。该机器人结构紧凑、灵活,可实现对平面弯曲船形焊缝及各种平面弯曲角焊缝的自动焊接。 相似文献
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为了提高基于旋转电弧传感机器人跟踪角焊缝的准确度,解决基于水平滑块伸缩跟踪焊缝时水平滑块行程不够的问题. 通过组合滤波方法,可以滤除焊接电流中的大部分噪声. 利用最小二乘直线去拟合某些采样点,用拟合直线的斜率进行偏差识别. 以偏差和最近三次偏差之和作为模糊控制器的输入量,经过模糊化,模糊推理,单点集重心法使模糊量清晰化,完成了模糊控制器的设计. 再通过两轮差速运动跟踪角焊缝. 最后进行了角焊缝的跟踪. 结果表明,利用该方法,解决了跟踪焊缝时水平滑块行程不够的问题,基于旋转电弧传感机器人跟踪角焊缝的可靠性好,准确度高. 相似文献
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Using highspeed camera image measuring and processing, the contour of the weld pool was extracted accurately in pulsed metal inert gas (P-MIG) welding. Based on this extraction method, time and frequency domain characteristics at different points along the contour of the weld pool were analyzed for one pulse one droplet and one pulse two droplets, respectively. The results show that, because of the wave super position that was created by the pulsed arc and droplet impacting the weld pool, the oscillation amplitude along the weld pool fluctuated and decreased with an increase in distance from the point to the arc center. The oscillation near the arc center was complex and intense for one pulse two droplets, and the amplitude were relatively small because the oscillation caused by the pulsed arc could be offset by the molten droplet impact. The weld pool oscillation that was caused by the pulsed arc was stronger than that caused by the droplet. 相似文献
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0 IntroductionThequalityofweldedstructuredependsmainlyonthemeltingandsolidifyingprocessofweldpoolifthematerialandstructuralfactorsareprescribed .Thereforethekeyproblemofarcweldingiswhetherandhowtocontrolthemeltingprocessofweldpool.Theidealsolutionforab… 相似文献
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Study on weld formation in a novel rotating arc horizontal GMAW 总被引:1,自引:0,他引:1
A novel rotating arc horizontal welding process was developed for solving the sagging of the molten pool which bottlenecks the application and the development of the horizontal welding. The principle of the effect of the rotating arc on the molten pool is that the rotating arc process not only can reduce the welding heat input by prolonging the welding path in the same welding distance caused by the arc rotation, but also disperse the arc force to affect the sidewall periodically to support the molten metal near the upper sidewall. The effects of the rotating speed and arc voltage on the weld formation were studied.The results indicate that there is an appropriate range of the rotating speed and the arc voltage to obtain the defect free horizontal welding. 相似文献