基于焊枪姿态与熔池形貌的不同焊工焊接行为的测量与分析
发布时间：2018-11-02 19:31
【摘要】：熟练焊工通过观察熔池表面三维形态实时调整焊枪姿态从而保证在复杂工况下良好的焊缝成形。这表明焊工经验和技能的实质是焊枪姿态与熔池的交互行为,但目前尚无有效的方法和手段清晰地描述出焊工的这种经验和技能。为了研究焊枪姿态与熔池形貌的交互行为,采用动态倾角传感器实时传感焊枪姿态的方法,结合激光视觉传感技术,搭建焊枪姿态与熔池形貌实时传感系统平台,实现焊枪姿态与熔池形貌的实时传感。通过德国CLOOS弧焊机器人对倾角传感器进行标定,利用搭建的试验平台传感并分析不同水平焊工焊接过程试验,结果表明:倾角传感器的角β与?和的方均根误差C=0.019 6°,角β与α和的方均根误差C=0.031 7°,角α与γ和的方均根误差C=0.105 8°;焊接过程中,熟练焊工焊枪姿态平稳,波动较小,其对最佳熔池形貌维持能力强,焊缝成形好;新手焊工焊枪姿态波动较大,姿态突变较多,缺乏应对熔池形貌变化所必需的焊接经验和技能,对焊枪姿态角度的调整单一,焊缝成形差,余高不均。
[Abstract]:The skilled welder adjusts the welding torch posture in real time by observing the three dimensional shape of the weld pool surface so as to ensure good weld forming under complex working conditions. This indicates that the essence of welder's experience and skill is the interaction between welding torch posture and weld pool, but there is no effective method and means to describe the welder's experience and skill clearly. In order to study the interaction between welding torch posture and weld pool morphology, the real-time sensing system platform of welding torch attitude and weld pool morphology was built by using dynamic dip angle sensor and laser vision sensing technology. The real-time sensing of welding torch posture and weld pool morphology is realized. The inclination sensor is calibrated by CLOOS arc welding robot in Germany, and the welding process of different level welders is analyzed by using the set up test platform. The results show that the angle 尾 and? The square mean root error of sum is 0.019 6 掳, the square mean root error of angle 尾 and 伪 sum is 0.031 7 掳, and the square mean root error of angle 伪 and 纬 sum is 0.105 8 掳. In the welding process, the skilled welder welding torch posture is stable, the fluctuation is relatively small, its ability to maintain the best weld pool appearance is strong, the weld seam is formed well; The welding torch posture of the novice welder fluctuates greatly, the posture mutation is more, the welding experience and skill necessary to deal with the change of weld pool appearance are lacking, the adjustment of welding torch posture angle is single, the welding seam is poor, and the remaining height is uneven.
【作者单位】： 兰州理工大学省部共建有色金属先进加工与再利用国家重点实验室;
【基金】：973计划前期研究专项(2014CB660810) 国家自然科学基金(61365011) 省部共建有色金属加工与再利用国家重点实验室开放基金(SKLAB02015008)资助项目
【分类号】：TG40
本文编号：2306750
[Abstract]:The skilled welder adjusts the welding torch posture in real time by observing the three dimensional shape of the weld pool surface so as to ensure good weld forming under complex working conditions. This indicates that the essence of welder's experience and skill is the interaction between welding torch posture and weld pool, but there is no effective method and means to describe the welder's experience and skill clearly. In order to study the interaction between welding torch posture and weld pool morphology, the real-time sensing system platform of welding torch attitude and weld pool morphology was built by using dynamic dip angle sensor and laser vision sensing technology. The real-time sensing of welding torch posture and weld pool morphology is realized. The inclination sensor is calibrated by CLOOS arc welding robot in Germany, and the welding process of different level welders is analyzed by using the set up test platform. The results show that the angle 尾 and? The square mean root error of sum is 0.019 6 掳, the square mean root error of angle 尾 and 伪 sum is 0.031 7 掳, and the square mean root error of angle 伪 and 纬 sum is 0.105 8 掳. In the welding process, the skilled welder welding torch posture is stable, the fluctuation is relatively small, its ability to maintain the best weld pool appearance is strong, the weld seam is formed well; The welding torch posture of the novice welder fluctuates greatly, the posture mutation is more, the welding experience and skill necessary to deal with the change of weld pool appearance are lacking, the adjustment of welding torch posture angle is single, the welding seam is poor, and the remaining height is uneven.
【作者单位】： 兰州理工大学省部共建有色金属先进加工与再利用国家重点实验室;
【基金】：973计划前期研究专项(2014CB660810) 国家自然科学基金(61365011) 省部共建有色金属加工与再利用国家重点实验室开放基金(SKLAB02015008)资助项目
【分类号】：TG40
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1 汪新兵;面向等离子熔积直接成形熔池形貌检测[D];华中科技大学;2004年
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