弧焊机器人摆动跟踪时摆幅与频率的模糊模式识别

FUZZY PATTERN RECOGNITION OF WEAVING AMPLITUDE AND FREQUENCY IN SEAM TRACKING OF ARC WELDING ROBOT

针对10 mm厚钢板V形坡口接头的弧焊机器人摆动跟踪焊接,实时测量电弧电压和焊接电流的瞬时值,对其进行两次统计处理,构建不同摆幅和摆动频率时的焊接电参数特征矢量,采用模糊模式识别技术,建立了焊接电参数特征矢量与摆动焊接摆幅和频率的内在联系,为定量研究摆幅和频率对V形坡口焊缝成形的影响提供依据。

The transient values of welding voltage and current are measured in real-time under the condition of arc welding robot-based seam tracking on V groove of 10 mm-thick mild steel plates. Statistical processing for the transient values are carried out for two times, and the characteristic vector is set up for describing the welding electrical parameters under different levels of weaving amplitude and frequency. Employing the fuzzy pattern recognition technique, the relationship between the characteristic vector and the weaving amplitude ＆ frequency is developed to provide the basis for analyzing quantitatively the effects of weaving amplitude ＆ frequency on weld penetration of V groove joints.