Research On CNC Seam Tracking System Based On Rotating Arc Sensor

With the comprehensive implementation of the industrial 4.0 and the intelligent manufacturing innovation strategy with Chinese characteristics,the problems and challenges faced by the traditional welding manufacturing industry in the process of upgrading and transformation are self-evident,and the development of automatic welding equipment is more and more intelligent.At present,due to numerous welding equipment structure complex,the problems of high economic cost,poor practicability and tracking instability lead to unsatisfactory results in industrial applications,based on the CNC seam tracking system combined with the rotary arc sensor and the CNC welding machine,the B-spline algorithm is used to track the weld trajectory of the space curve,the reliability of the trajectory model is verified by MATLAB simulation,and a modified EKF algorithm is proposed to predict the weld deviation,and finally the test shows that the method can improve the precision of weld tracking effectively,and provides a new method to identify the weld deviation of the space curve.The main research contents of this paper are as follows:1.Design of CNC seam tracking system based on rotating arc sensor.According to the advantages of rotating arc sensor and CNC welding machine,a CNC seam tracking system based on rotating arc is established,the structure of CNC seam tracking system is discussed in detail,and the working principle of CNC seam tracking system is deeply studied and analyzed,a CNC seam tracking system is designed to meet the requirements of industrial applications.2.Based on time parameter B spline space curve welding trajectory planning.Based on the B-spline algorithm,the spline model of the weld seam is established,and the weld trajectory is interpolated based on the time parameter,finally,the result of the simulation of the weld trajectory of B-spline space curve based on the time parameter is better,and the planning of the speed is realized,it is shown that the trajectory planning method is feasible for the CNC seam tracking system.3.A method of predicting weld tracking deviation based on modified EKF algorithm is proposed.Based on the welding seam tracking deviation predictive control system of rotating arc sensor,the nonlinear deviation state estimation problem of weld seam is converted into linear estimation problem,the suboptimal estimation solution of EKF is used,and the error correction factor is introduced to estimate the optimal solution,aiming at the signal processing problem of rotating arc sensing the method is proved to be reliable by using the first half cycle extremum weighted integral comparison method.4.The test platform of CNC seam tracking system based on rotating ARC sensor is set up,and the test results show that the accuracy of weld trajectory planning is better than that of welding speed planning,and it also shows that the deviation prediction method is applied to the reliability of CNC seam tracking system,and improves the precision of weld tracking,it provides a new method for predicting the deviation of weld in space curve.