一种用于窄间隙焊缝跟踪系统的多极阵列电容传感器

焊缝跟踪系统是实现智能焊接的关键技术之一，针对窄间隙焊缝中焊缝实时跟踪困难等问题，文中设计了一种基于边缘电场技术的多极阵列电容传感器，并通过结合了小波滤波与非线性映射技术的电容信号处理技术，实现了该传感器对窄间隙焊缝坡口形貌的重构.首先，建立了该传感器的数学模型，得到了多极阵列电容传感器的相关理论数值，并结合有限元仿真分析，优化了传感器结构.随后，通过电容信号处理技术实现了对传感器电容信号的提取及优化，获得了焊枪偏移及焊缝偏差信号，完成了焊缝坡口形貌重构.结果表明，多极阵列电容传感器应用于窄间隙焊缝跟踪系统是可行的，对窄间隙焊缝跟踪具有重要意义.

A cylindrical capacitance sensor suitable for automatic arc tracking system of narrow gap weld

Seam tracking system is one of the key technology to realize intelligent welding. Aiming at the problems of welding seam tracking in narrow gap, such as the difficulty of real time seam tracking weld seam of sensor, a new multipole array capacitive sensor based on fringe electric field technology is designed. And the welding seam surface reconstruction is realized through the capacitive signal processing technology based on wavelet filtering and nonlinear mapping technology. Firstly, a mathematical model of multipole array capacitive sensing is established, and the capacitive sensor structure is optimized through theory calculation results and finite element simulation analysis. Subsequently,The capacitive signal of the sensor is extracted and optimized with the help of capacitance signal processing technology, the welding gun offset,and weld deviation are both obtained. The results show that the reconstructed weld surface is basically the same as the narrow gap weld in the experiment, and it is feasible for the multipole array capacitive sensor applying to narrow gap weld tracking, which is of great significance for narrow gap weld tracking.