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| 基于旋转电弧传感的空间位置曲线焊缝跟踪 | |
| 引用本文： | 熊震宇,张华,潘际銮.基于旋转电弧传感的空间位置曲线焊缝跟踪[J].焊接学报,2003,24(5):37-41. |
| 作者姓名： | 熊震宇 张华 潘际銮 |
| 作者单位： | 1. 南昌航空工业学院,材料系,南昌,330034 2. 南昌大学,机电学院,南昌,330029 3. 清华大学,机械工程系,北京,100084 |
| 基金项目： | 国家自然科学基金(59875034) |
| 摘 要： | 采用空心轴电机驱动的旋转式扫描焊炬作为电弧传感器，以示教再现式弧焊机器人为控制对象，介绍了焊缝跟踪系统的组成。以理想状态的旋转电弧传感信号处理方法为基础，研究了平焊、横焊及立焊位置焊缝偏差的识别方法。采用模糊控制方法，设计了机器人焊缝跟踪控制系统。实现了空间曲线焊缝的自动跟踪，大大提高了示教再现式弧焊机器人的自动化程度。 |
| 关 键 词： | 电弧传感器 机器人 焊缝跟踪 旋转式扫描焊炬 示教再现 空间位置曲线 |
| 文章编号： | 0253-360X(2003)05-37-05 |
| 收稿时间： | 2003/1/20 0:00:00 |
Seam tracking for space position based on rotating arc sensor |
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| XIONG Zhen-yu,ZHANG Hua and PAN Ji-luan.Seam tracking for space position based on rotating arc sensor[J].Transactions of The China Welding Institution,2003,24(5):37-41. | |
| Authors: | XIONG Zhen-yu ZHANG Hua and PAN Ji-luan |
| Affiliation: | XIONG Zhen-yu,ZHANG Hua,PAN Ji-luan Dept.of Material Engineering,Nanchang Institute of Aeronautic Technology,Nanchang 330034,China Nanchang University,Nanchang 330029,China Tsinghua university,Beijing 100084,China |
| Abstract: | The seam tracking system is introduced, where the rota-ting arc sensor drived with hollow axle motor is used, the teaching arcwelding robot is used as controlling object. Based upon the signal process-ing method for the real state on the rotating arc sensor, the methods ofseam recognition for space position such as flat position, horizontal posi-tion and vertical position are studied. A fuzzy control approach is utilizedfor designing the welding seam tracking system, which is successfully ap-plied to seam tracking for above positions and will inerease greatly the au-tomatization of teaching welding robot. |
| Keywords: | arc sensor robot seam tracking |
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