【作者】 石玗； 王雪宙； 周海； 张刚；

【Author】 SHI Yu;WANG XueZhou;ZHOU Hai;ZHANG Gang;State Key Laboratory of Advanced Processing and Recycling of Nonferrous Metals, Lanzhou University of Technology;

【机构】 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；

【摘要】 经验丰富的熟练焊工通过观察熔池状态、进而调整焊枪的姿态,来实现熔池流态的最优控制,从而保证在复杂条件下良好的焊缝成型。熟练焊工对焊枪三维姿态的调控蕴含了丰富的焊工经验,这种经验是经长期训练形成的一种感觉,目前尚无有效的方法和手段实现焊工经验的参数化并将之用于自动化焊接中。因此,文中提出了采用动态倾角传感器来实时传感焊枪三维姿态的研究方法,通过德国CLOOS弧焊机器人,对动态倾角传感器进行了标定,得到传感器横滚角、俯仰角、航向角的误差分别为±0.73o、±0.62o、±1.15o,满足焊接过程中焊枪姿态传感的精度要求。在给定焊接参数的条件下,分别对熟练焊工和初级焊工在TIG焊接过程中的焊枪姿态进行了实时采集,并对采集数据进行了对比分析,结果表明,熟练焊工和初级焊工区别最大的是对横滚角和俯仰角的控制,航向角的变化不大,初步表明焊枪的横滚角和俯仰角对焊工经验影响较大。更多还原

【Abstract】 By carefully observing the fluent state of weld pool and adjusting weld arc length and space angle of welding torch, skilled welder can manage to control the weld pool to ensure well weld quality. Controlling welding torch of skilled welders contain rich welders’ experienced which is a feeling forming from a long term training. It has not an effective way to parameterize it. Also there is no useful method using it in the automatic welding. Therefore, using a dynamic angle sensor to detect the real-time gesture of weld torch is put forward in this passage. The dynamic angle sensor is calibrated by the Germany CLOOS Arc Welding Robot. The root-mean-square error for roll angle, pitch angle and track angle are ±0.73o、±0.62o、1.15o,respectively. All the parameters are the same except for weld torch gesture, we had carried out lots of TIG weld test which were executed by senior and junior workers and recorded the real-time torch angle, according to the experiment, it is found that the biggest difference between senior and junior workers is roll angle and pitch angle during the welding process. So, a preliminary conclusion can be found that it is the roll angle and pitch angle that matter the weld quality.更多还原