【摘要】：熟練焊工通過觀察熔池表面三維形態(tài)實時調(diào)整焊槍姿態(tài)從而保證在復(fù)雜工況下良好的焊縫成形。這表明焊工經(jīng)驗和技能的實質(zhì)是焊槍姿態(tài)與熔池的交互行為,但目前尚無有效的方法和手段清晰地描述出焊工的這種經(jīng)驗和技能。為了研究焊槍姿態(tài)與熔池形貌的交互行為,采用動態(tài)傾角傳感器實時傳感焊槍姿態(tài)的方法,結(jié)合激光視覺傳感技術(shù),搭建焊槍姿態(tài)與熔池形貌實時傳感系統(tǒng)平臺,實現(xiàn)焊槍姿態(tài)與熔池形貌的實時傳感。通過德國CLOOS弧焊機器人對傾角傳感器進(jìn)行標(biāo)定,利用搭建的試驗平臺傳感并分析不同水平焊工焊接過程試驗,結(jié)果表明:傾角傳感器的角β與?和的方均根誤差C=0.019 6°,角β與α和的方均根誤差C=0.031 7°,角α與γ和的方均根誤差C=0.105 8°;焊接過程中,熟練焊工焊槍姿態(tài)平穩(wěn),波動較小,其對最佳熔池形貌維持能力強,焊縫成形好;新手焊工焊槍姿態(tài)波動較大,姿態(tài)突變較多,缺乏應(yīng)對熔池形貌變化所必需的焊接經(jīng)驗和技能,對焊槍姿態(tài)角度的調(diào)整單一,焊縫成形差,余高不均。
[Abstract]:The skilled welder adjusts the welding torch posture in real time by observing the three dimensional shape of the weld pool surface so as to ensure good weld forming under complex working conditions. This indicates that the essence of welder's experience and skill is the interaction between welding torch posture and weld pool, but there is no effective method and means to describe the welder's experience and skill clearly. In order to study the interaction between welding torch posture and weld pool morphology, the real-time sensing system platform of welding torch attitude and weld pool morphology was built by using dynamic dip angle sensor and laser vision sensing technology. The real-time sensing of welding torch posture and weld pool morphology is realized. The inclination sensor is calibrated by CLOOS arc welding robot in Germany, and the welding process of different level welders is analyzed by using the set up test platform. The results show that the angle 尾 and? The square mean root error of sum is 0.019 6 擄, the square mean root error of angle 尾 and 偽 sum is 0.031 7 擄, and the square mean root error of angle 偽 and 緯 sum is 0.105 8 擄. In the welding process, the skilled welder welding torch posture is stable, the fluctuation is relatively small, its ability to maintain the best weld pool appearance is strong, the weld seam is formed well; The welding torch posture of the novice welder fluctuates greatly, the posture mutation is more, the welding experience and skill necessary to deal with the change of weld pool appearance are lacking, the adjustment of welding torch posture angle is single, the welding seam is poor, and the remaining height is uneven.
【作者單位】： 蘭州理工大學(xué)省部共建有色金屬先進(jìn)加工與再利用國家重點實驗室;
【基金】：973計劃前期研究專項(2014CB660810) 國家自然科學(xué)基金(61365011) 省部共建有色金屬加工與再利用國家重點實驗室開放基金(SKLAB02015008)資助項目
【分類號】：TG40

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