Research On Automatic Detection Of Space Weld Manipulator

The quality reliability of complex space welds is particularly important.For example,intubation welded structures widely used in the power industry,such space welds are mainly used for manual welding and testing,which cannot meet modern industrial automation,informationization and Intelligent development needs.In view of the above problems,this paper studies the trajectory planning and automatic detection technology for space welds.In terms of theoretical methods,information geometry is used to identify the abrupt points in the motion trajectory to ensure the smooth motion of the space weld welding and detection process.Specifically,a trajectory mutation point identification method based on the special Euclidean group information geometry is proposed.The trajectory mutation point is identified in advance by using the Riemann mean difference of the current point and some points before and after.And then speed smoothing is performed near these mutation points.The effectiveness of the Riemann mean method for identifying trajectory breakpoints is verified by the six-axis manipulator kinematics inverse method.In engineering technology application,for the in-line intersecting weld,the model is calculated to calculate the intersecting line trajectory,and the ultrasonic transducer is used to detect the posture of the weld along the pedestal and the cannula surface to generate the intersecting weld inspection trajectory.Combined with six-axis manipulator and ultrasonic phased array detection technology to achieve automatic detection,the results of intersecting wire weld inspection experiments show that the above control and detection methods can effectively achieve automatic detection of space welds,meeting the requirements of motion detection for ultrasonic testing.