人工智能-机器学习-移动机器人旋转电弧传感焊枪偏差与倾角检测及角焊.pdf资源-CSDN文库

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摘耍

车轮进行协调控制

，

釆用焊枪偏差信息获得机器人运动方向和焊缝走向之间的

角度偏差

，

控制车轮转弯

，

并采用预测控制原理对控制量进行修正

，

实现水平

弯曲角焊缝的平滑跟踪

。

在船舱格子形角焊缝焊接中

，

存在

度的直角转弯

，

给跟踪控制带來了很

大难度

。

文中详细介绍了如何利用焊枪倾角信息检测拐角点

，

利用超声波传感

器测量前方焊缝位置的方法

。

并对机器人的运动学模型进行推导

，设计控制器

实现此类焊缝的跟踪焊接

。

对于变化角度较大的折线角焊缝跟踪问题

，

设计带有转动关节的焊枪

，

并

将该焊枪置于移动机器人平台上

，

设计控制器利用焊枪偏差和倾角信息

，

首次

实现在焊缝跟踪的同时对焊枪的倾角进行调整

。

最后通过实际焊接试验证明了本文研究工作的有效性

。

另外

，

本文所设计

的焊缝跟踪系统在九江同方江新造船厂进行了生产现场实际试用

，

取得了预期

的效果

。

关键词

：

焊缝跟踪

；

移动焊接机器人

：

模糊控制

；

旋转电弧传感器

；

焊枪倾角

Abstract

ABSTRACT

With

the

development

modem

industry,

there

growing

application

large

welding

structures,

there

are

many

curved

fillets

and

broken-lined

fillets

need

welded.

For

improvement

production

efficiency

and

guarantee

product

quality,

essential

realize

arc

welding

automation

the

manufacturing

these

workpieces.

Because

the

large

scale,

these

structures

must

been

welded

out

workshop,

the

arm

welding

robot

can

not

used

and

the

welding

paths

are

not

easily

pre-programmed.

Moreover

necessary

control

welding

torch

moving

along

with

the

seams

and

adjust

the

torch^s

inclination

simultaneously

for

obtain

highly

welding

quality

when

tracking

these

seams.

this

dissertation,

wheeled

mobile

robotic

arc

welding

seam

tracking

system

developed,

and

the

system

uses

rational

arc

sensor

detect

the

deviation

and

inclination

welding

torch.

The

main

research

contents

are:

the

filtering

welding

currents;

the

identification

welding

torch

deviation

and

inclination;

the

control

methods

designing

for

automatic

tracking

curved

fillets,

lattice

box

fillets

and

broken-lined

fillets.

consideration

the

tact

that

welding

current

signals

are

often

disturbed

outside

noises,

soft

threshold

wavelet

filtering

method

applied

process

the

welding

current

signals,

that

make

the

welding

current

shape

obviously

smoothed

and

the

signal-to-noise

ratio

much

improved.

researched

theory

and

experiments

that

the

character

harmonic

method

can

used

detect

deviation

and

inclination

welding

torch

simultaneously.

The

results

show

that

the

traditional

method

using

the

amplitude

one-order

harmonic

detect

deviation

would

result

big

error

when

the

inclination

not

zero.

For

improve

the

detection

precition,

the

character

plane

method

developed

this

dissertation,

which

fits

the

arc

currents

plane

three

dimensions

using

least-square

fitting

method.

The

deviation

welding

torch

obtained

through

calculating

the

intersection

line

slope

the

fitting

plane

with

the

plane,

and

(he

inclination

calculated

through

the

intersection

line

slope

the

fitting

plane

with

III

Abstract

the

plane.

Because

the

deviation

and

inclination

projected

two

orthogonal

planes,

they

can

decoupled.

multi-segment

controller

designed

track

lined

fillet

and

small

curvature

fillet,

which

composed

proportion

controller

and

selftuming

fuzzy

controller

control

horizontal

slider.

When

the

deviation

large

the

proportion

controller

will

used

quickly

reduce

the

deviation,

othenvirse

the

sel&tuming

fuzzy

controller

will

used

avoid

overshoot

and

achieve

smooth

tracking,

and

the

immunity

feedback

method

applied

modify

proportion

gene

fuzzy

controller.

For

the

curved

seam

tracking

problem

predictive

fuzzy

controller

designed

coordinate

control

cross-slider

and

wheels.

This

method

uses

the

information

weld

torch

deviation

estimate

the

robofs

orientation

errors,

and

uses

predictive

control

theories

offset

the

control

outputs.

The

experiment

results

show

that

the

presented

method

valid

track

curved

fillets.

the

welding

lattice

box

fillets,

there

are

many

right-angle

comers

that

make

tracking

seam

become

very

difficult.

The

method

using

welding

torch

inclination

detect

the

comer

and

using

ultrasonic

sensor

detect

the

position

frontage

seam

detail

discussed

this

dissertation.

The

mathematical

model

mobile

robot

built

and

the

controller

designed

tracking

these

seams.

For

the

broken-lined

welding

seams

tracking

problem,

welding

torch

with

rotation

axis

designed

which

placed

the

flat

mobile

robot.

controller

proposed

that

use

the

welding

torch

deviation

and

inclination

information

input

values,

meantime

use

the

mathematical

model

mobile

robot

control

rotation

axis,

horizontal

silder

and

wheels

track

welding

seam

and

adjust

torch

inclination.

the

last

though

experiment

results

show

that

the

feasibility

and

validity

this

research

work.

addition,

the

designed

arc

welding

seam

tracking

system

was

tried

out

Jiujiang

Tbngfang

Jiangxin

Shipyard

Co.,

Ltd,

and

anticipant

result

acquired.

Key

Words:

Welding

seam

tracking;

Mobile

welding

robot;

Fuzzy

control;

Rotational

arc

sensor;

Welding

torch

inclination

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