旋转电弧传感器焊枪空间姿态识别

Identification of welding torch attitude based on rotational arc sensor

旋转电弧传感器焊枪空间姿态识别主要包括焊枪偏差和焊枪倾角的识别,是实现焊缝跟踪和提高焊接质量的必要条件.首先建立了焊枪倾角和偏差变化与电弧长度变化的数学模型,在此基础上提出了特征平面焊枪空间姿态检测算法,该算法充分利用了旋转电弧传感器检测得到的三维信息,采用最小二乘方法构建特征平面,根据特征平面与坐标平面交线的斜率来检测焊枪的左右偏差和倾角.结果表明,将该算法用于焊枪倾角和左右偏差的检测,其倾角检测误差为±7.85°,偏差检测误差为±0.42 mm,满足实际焊接工程需要.

Welding torch attitude identification is the necessary condition to realize automatic welding seam tracking and improve welding quality,which includes the detection of welding torch deviation and inclination.First a mathematical model of arc length is built,and then the character plane method is presented. Based on the three-dimension information acquired by rotational arc sensor and the character plane built by least-square fitting method,the deviation and the inclination of welding torch are obtained through calculating the intersection line slope of the character plane with the coordinate plane.The experiment results show that measure error of inclination is approximately ±7.85°,and the error of deviation is approximately ±0.42 mm;both of them meet the needs of real welding project.