The Precision Evaluation Analysis Method In Three Dimensional Space Based On The Magnetron-Filament Submerged Arc Welding Robot

As the development of computer science, internet, intelligent manufacture, artificial intelligence and other technology, industrial intelligent manufacture has become to be the developing trend of industrial technology. In the field of welding, with the deepening integration of robotic automation technology and computer technology, welding automation has become to be the direction of future development in welding technology. In this paper, physical characteristic of welding arc is studied under the condition of combined action in longitudinal and transverse magnetic field. According to the physical properties of the welding arc in bidirectional magnetic field environment, the using of bidirectional magnetic control arc sensor in seam tracking is designed. Electromagnetic simulation software COMSOL is used for optimizing parameters in bidirectional magnetic control arc sensor. The bidirectional magnetic control arc sensor is designed based on the optimized parameters, and the effect of bidirectional magnetic control arc sensor on the precision of seam tracking is tested through the experiments. In order to do a further evaluation about the precision of seam tracking under bidirectional magnetic control arc sensor based on three-dimensional space, an evaluation method about the precision analysis of seam tracking is established. To test the correctness of accuracy model, using the simulation software MATLAB is carried out to simulation analyze the three dimensional space weld. In this paper, the tracking system of bidirectional magnetic control arc sensor seam is used.The effect of bidirectional magnetic control arc sensor and traditional magnetron arc sensor is analyzed on tracking accuracy for seam through the method of simulation and experimental. The main research content of this paper are as follows: 1. To analyze the working principle of the bidirectional magnetron arc sensor, the physical effects of the longitudinal magnetic field and the transverse magnetic field are analyzed on the welding arc. The advantages of the new type of bidirectional magnetic controlled arc sensor is compared with the traditional arc sensor. On the basis of effect of the magnetic field on the welding arc, the structure of the bidirectional magnetic controlled arc sensor is optimized. 2. The structure design of tracking sensor in the bidirectional magnetic arc seam is finished and the water cooling system of the bidirectional magnetic controlled arc sensor are designed. The relationship between the longitudinal excitation system and the transverse excitation system is selected, and the related physical parameters of the bidirectional magnetic controlled arc sensor are optimized. 3. Using the electromagnetic simulation software COMSOL, the electromagnetic simulation and analysis are worked for the bidirectional magnetic arc sensor. The excitation current, magnetic conductivity and air gap of the bidirectional magnetic controlled arc sensor are simulated and analyzed. Based on the experimental results, the influence of the seam tracking signal on the bidirectional magnetic control arc sensor is verified. Influences of the traditional magnetic control arc sensor and the dual direction magnetic arc sensor are analyzed and compared on the seam tracking accuracy. 4. On the basis of the 3D space, the mathematical model for the evaluation method is established on tracking accuracy of seam, it is simulated and analyzed by MATLAB. The model consists of the welding current, welding torch height and welding speed of welding parameters. The effect of welding current and welding speed on the weld tracking accuracy is studied respectively. The effectiveness and accuracy of the three-dimensional precision seam tracking model are verified.