双轴机器人旋转电弧传感直线焊缝跟踪仿真研究

Research on Line Seam Tracking Simulation Based on Double-axis Robot and Rotating Arc Sensor

基于高精度双轴机器人旋转电弧传感焊接系统及PID控制策略,建立其系统虚拟样机联合控制仿真模型,以跟踪V形坡口直线焊缝为例,在模型中提取焊炬高度变化关系和焊接点坐标数值,采用特征平面法获取引入干扰的焊缝左右偏差,整定PID参数控制双轴机器人移动平台,进行焊接跟踪仿真,可知当偏差e=1时最大跟踪误差为0.0038mm,平均误差为0.0007217 mm。结果表明,采用虚拟样机技术考虑焊接系统动态特性和特征平面法获取焊缝左右偏差可以保证跟踪精度,有利于焊缝自动跟踪的研究,并可以节省成本,为焊接自动化水平的提升贡献新思路。

Based on the welding system with high accuracy double-axis robot and rotating arc sensor and PID control strategy, the virtual prototype of weld seam tracking co-control simulating model was established. Taking the example of V-groove line weld seam, the variation of weld torch and the coordinate values of welded point was extracted in the model, the weld seam deviation attached to disturbance with the character plane method was obtained. Adjusting PID parameters to control the moving platform composed with the double-axis robot, the weld seam tracking system is simulated with the results that the maximum error is 0.0038 mm and the average error is 0.0007217 mm when the weld seam deviation is 1 mm. The simulating results show that this approach with virtual prototype technology taking dynamical characteristic into consideration and the character plane method getting the weld seam deviation can ensure the tracking accuracy, is beneficial to the research of automatic seam tracking, which can save the welding cost and contribute a new idea for enhancing the welding automation level.