Abstract

It is of great economic benefit to realize the automatic welding of 90° welds, and difficulty of automatic welding of 90° welds is the machine identification of the corner points of 90° welds. The math model of welding-torch pose was built, and the identification algorithms of wire extension, welding deviations, and tilt angles of welding torch have been studied respectively. In this paper, three pattern recognition algorithms are studied, and they are used to identify the corner points of 90° welds based on variation characteristics of wire extension, welding deviations, and tilt angles of welding torch, respectively. At the same time, accuracy values of three recognition algorithms have been researched respectively. On this basis, the recognition method of the corner points of 90° welds based on multi-sensor signal fusion technology has been studied in three-dimensional directions, and the calculation method for the total accuracy of corner point identification has been analyzed. At last, the corner point recognition experiments of 90° welding seam were carried out, and the change curves of wire extension, welding deviations, and tilt angles have been analyzed respectively. The welding results indicated that the corner point of 90° welding seam could be identified stably, accurately, and quickly by using the methods in this article.

中文翻译：

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基于多传感器信号融合技术的90°焊接角点识别研究

摘要

实现90°焊缝的自动焊接具有巨大的经济利益，而90°焊缝的自动焊接的难点在于对​​90°焊缝的角点进行机械识别。建立了焊炬姿态数学模型，研究了焊丝伸出，焊缝偏差和焊枪倾斜角度的识别算法。本文研究了三种模式识别算法，分别根据焊丝延伸量的变化特性，焊接偏差和焊枪倾斜角度来识别90°焊缝的角点。同时，分别研究了三种识别算法的精度值。在此基础上，在三维方向上研究了基于多传感器信号融合技术的90°焊缝角点识别方法，分析了角点识别总精度的计算方法。最后进行了90°焊缝拐角识别实验，分别分析了焊丝延伸，焊接偏差和倾斜角的变化曲线。焊接结果表明，采用本文方法可以稳定，准确，快速地识别出90°焊缝的拐角。分别分析了焊丝延伸，焊接偏差和倾斜角的变化曲线。焊接结果表明，采用本文方法可以稳定，准确，快速地识别出90°焊缝的拐角。分别分析了焊丝延伸，焊接偏差和倾斜角的变化曲线。焊接结果表明，采用本文方法可以稳定，准确，快速地识别出90°焊缝的拐角。