基于高频脉冲插值的二维焊后焊缝跟踪系统研制

Research on Two-dimensional Postwelding Seam Tracking System Based on Interpolation with High-frequency Pulses

大型平面结构件焊接后,会使材料产生焊接残余应力,需要对焊后焊缝进行即时处理。目前锤击、超声冲击、喷丸等焊后焊缝应力消除技术均采用人工作业或轨道作业,全自动焊后焊缝识别并高精度跟踪技术尚不成熟。本文对一种高频脉冲插值二维跟踪系统进行了软硬件设计和实验研究,采用恒速扫描定位算法结合极坐标实现机器人姿态控制,采用高频脉冲线性插值细分方法实现高精度角度测量。本系统可有效避免在飞溅、残渣等焊后复杂工况下,采用机器视觉和其他传感器无法有效识别焊后焊缝的现状,具有广泛的工业应用前景。

After welding the large-scale planar structural parts, the material will produce welding residual stress. It is necessary for instant postwelding Seam treatment. At present, hammering, ultrasonic impacting, shot blasting and other methods for relieving the residual welding stress of postwelding seam are using manual or track operations. The technology of automatic identification with high precision tracking for postwelding seam is not yet mature. This paper takes the hardware and software design and exper- imental research for a two-dimensional postwelding seam tracking system based on interpolation with high-frequency pulses. It uses constant speed scanning positioning algorithm combined with polar coordinates to achieve robot attitude control and high-fre- quency pulse linear interpolation method to achieve high-precision angle measurement. The system can effectively avoid that the use of machine vision and other sensors can not effectively identify the status of postwelding seam in the condition of the splash, residue and other complex conditions after welding. The system has a wide range of industrial applications.