Based On The Swing Arc Control And Arc Seam Tracking Sensor Error Processing Method

In modern manufacturing, the welding process is an important method, which includes the based production process of prautomobiles, ships, aircraft, aerospace, nuclear, petrochemical, power, electronics and other industrial sectors. With the development of science and technology, welding automation, robotics and artificial intelligence has become an important trend. Automated robot welding applications, welding automation is one of the important directions. In this paper, following studies has made in a sensor for the swing arc seam tracking robot:First, build a swing arc sensor welding robot system test platform. Improve the structure of the arc sensor, use of additional external welding torch swing coupler device made of black-box way to swing scanning torch. In the control algorithm part, replaced the commonly used current (voltage) Comparative Law and fuzzy control algorithm of the arc-length control algorithmSecond, on the characteristics of the swing arc sensor for low frequency (1-2Hz), a new sampling method: the gun Wiggler pointers linked to the swing into the coupler black box will generate pulses to generate the pulse position, respectively, around a quarter of the positioning pulse oscillation cycle is sampled, in a swing cycle to complete two sampling periods, to ensure a more accurate reflection of the signal sampling bias weld information.Third, the extraction information of bias in the weld, is mainly for the asymmetric V-groove, and advised an improved integral half-cycle comparison of unilateral left and right points to replace the common method, and through theoretical analysis and simulation of matlab verify the accuracy and reliability of the method type. Comparison between two methods of asymmetry in the V-groove weld in the use of results, which proved unilateral integral comparison method can solve the integral difference between left and right asymmetry in V-groove track when welding misjudgment.Finally, described arc sensor control system and applications, and used the electronic differential method-driven welding carriage, the cross slide frame to achieve a two-way adjustment and welding seam tracking car tracking and horizontal sliding horizontal turn coordinate the handling of aircraft. And intuitive to use test proved that the system can automatically track the high precision welding seam.