手工钨极惰性气体保护焊焊枪姿态的三维传感与分析

Sensing and Analysis of Three-Dimensional Welding Torch Orientation for Manual Gas Tungsten Arc Welding Process

针对焊工不能准确描述焊枪姿态调节的经验问题,根据焊枪姿态传感原理开发了基于LabVIEW软件平台的姿态角测量系统,完成了焊接过程中焊枪姿态角测量系统的研制,并采用德国CLOOS公司的弧焊机器人对所设计的姿态角测量系统进行标定与分析.结果表明,所设计的姿态角测量模块的姿态角β与γ和的均方根误差为0.019 6°,姿态角β与α和的均方根误差为0.031 7°,姿态角α与γ和的均方根误差为0.105 8°.通过采集并分析较为熟练的焊工与新手焊工在手工钨极惰性气体保护焊焊接过程中的焊枪姿态数据表明,较为熟练的焊工与新手焊工对焊枪姿态的控制主要体现在姿态角α和β的不同,两者的γ角差异较小,姿态角测量模块能够满足焊枪姿态测量的需要.

Skilled welders can ensure the quality of welding products by adjusting the welding torch attitude, by observing the 3D shape of weld pool. However, the experience of welding torch＇s gesture regulating cannot be described clearly. In order to solve this problem, an angle measuring module was applied to measure the three-dimensional dip angle of the welding torch with the principle of dip angle sensor. A measurement software system was developed based on LabVIEW. The communication between the soft- ware and hardware of the system was realized through the serial port conversion. The CLOOS arc welding robot was used to verify the accuracy of the sensor. The result indicates that the average accuracy of β and γ is 0.019 6°, that offl and a is 0. 031 7°, and that of a and 7 is 0. 105 8°, respectively. Compared to the experimental data of the skilled and the novice welder, the result shows that a skilled welder and a novice welder for welding torch attitude control is mainly re/lected in α and β. The designed system can meet the need of welding torch attitude measurement well.