基于焊枪倾角信息融合的弯曲焊缝轨迹跟踪

Curved weld-seam tracking based on information fusion of welding gun inclinations

文中介绍了以轮式移动机器人为被控对象,以旋转电弧作为传感器,根据傅里叶变换后的一次谐波分量对焊枪偏差和倾角进行检测,同时根据焊枪的移动状态判断焊枪与焊缝切向之间的夹角.基于T-S模糊逻辑系统对旋转电弧传感器采集的焊枪倾角和焊枪与焊缝切向之间的夹角进行融合.以焊枪偏差和融合后的焊枪倾角作为输入,以机器人左右车轮和水平滑块的运动作为输出,构成双输入多输出控制系统.基于模糊控制理论设计控制器,实现焊缝跟踪的同时对焊枪倾角进行调整,并通过实际焊接试验验证了控制器的跟踪效果.

In the welding of curved weld-seam,in order to obtain a high quality of weld,it is necessary to keep the welding gun tracking the weld-seam and meanwhile to adjust the inclination of welding-gun. In this paper,a wheeled mobile welding robot was developed,and a rotational arc sensor was used to detect the welding-gun deviations as well as its inclinations based on the Fourier transform of the welding currents. Meanwhile,the inclinded angles between the welding-gun and the weld-seam were calculated based on the state of the moving robot,and then the information of welding-gun inclinations and inclined angles were fused based on the T-S fuzzy logic. A two-input and multiple outputs control system was built,in which the welding-gun deviations and the fused inclinations was set as inputs,and the motion of wheels and welding-gun was set as outputs. Based on the fuzzy control theory,a controller was designed,and the welding-gun inclinations were adjusted during the weld-seam tracking. The validity of the proposed method was proved through actual welding experiments.