特征谐波法在焊枪姿态检测中的应用

Application of Characteristic Harmonic Method in Welding Torch Attitude Identification

以旋转电弧作为传感器,研究了利用特征谐波法进行焊枪空间姿态检测的若干问题。建立了焊枪空间姿态变化和电弧长度变化的数学模型。从理论上证明了焊枪偏差、焊枪倾角以及焊接方向与焊缝方向的夹角对特征谐波法检测结果的影响。发现当焊接方向与焊缝方向的夹角较小时,可以采用一次谐波的余弦分量系数表征焊枪偏差,正弦分量系数表征焊枪倾角。试验结果表明,将特征谐波法用于焊枪偏差和焊枪倾角的检测,其倾角检测误差为±7.77°,偏差检测误差为±0.69mm,满足实际焊接工程需要。

The problems of applying characteristic harmonic method to identity welding torch attitude based on rotational arc sensor were researched. A mathematical model was built to describe the relationship between arc length and welding torch attitude. The effect of welding torch deviation, welding torch inclination, and the angle between welding direction and welding seam direction to the detection results of using characteristic harmonic method was proved in theory. It shows that the cosine component of first harmonic can be used to calculate welding torch deviation, and the sinusoidal component can be used to calculate welding torch inclination. The experimental results show that the measurement error of welding torch inclination is approximate ±7.77°, and the error of deviation is approximate 4-0.69mm,that can be suited for real welding project.