基于力觉遥控焊接遥示教焊缝辨识技术

Investigation of welding seam identifying based on force sensing in remote teaching

在遥控焊接遥示教过程中,基于视觉焊缝空间示教点辨识精度低,无法满足遥示教要求,为此将力觉技术引入焊缝示教点标定中,设计了基于力觉遥控焊接遥示教焊缝辨识系统,主要包括焊缝辨识信号采集系统,软件处理系统,焊缝辨识受力模型和辨识过程算法等。通过焊缝辨识过程算法,判断六维力各力状态是否有突变,根据突变判断探针在坡口中实际位置区域,进一步根据六维力大小确定焊缝具体示教点,试验表明,该方法增加遥示教焊缝辨识速度,提高遥控示教精度和效率。

Because the identifying precision of welding seam based on vision sensing is too low to meet the requirements of remote welding teaching,the welding seam identifying(WSI)system is designed based on force sensing,which mainly includes the collecting system of WSI signal,software system,the force model and WSI arithmetic.The teaching point is accurately calculated out by the sharp changes of six-dimensional force based on the WSI arithmetic.The experimental results show that the WSI speed is increased,and the precision and efficiency of the remote teaching is improved by WSI arithmetic.