CN105598559A - Fillet weld tracking system and method based on ultrasonic swing scanning - Google Patents
Fillet weld tracking system and method based on ultrasonic swing scanning Download PDFInfo
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- CN105598559A CN105598559A CN201610149289.2A CN201610149289A CN105598559A CN 105598559 A CN105598559 A CN 105598559A CN 201610149289 A CN201610149289 A CN 201610149289A CN 105598559 A CN105598559 A CN 105598559A
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- 238000000034 method Methods 0.000 title claims abstract description 23
- 238000003466 welding Methods 0.000 claims abstract description 56
- 230000033228 biological regulation Effects 0.000 claims abstract description 4
- 230000003534 oscillatory effect Effects 0.000 claims description 13
- 238000013499 data model Methods 0.000 claims description 11
- 230000009123 feedback regulation Effects 0.000 claims description 6
- 238000013485 heteroscedasticity test Methods 0.000 claims description 5
- 238000005070 sampling Methods 0.000 abstract description 5
- 230000003321 amplification Effects 0.000 abstract description 2
- 238000001914 filtration Methods 0.000 abstract description 2
- 238000012806 monitoring device Methods 0.000 abstract description 2
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- 230000005672 electromagnetic field Effects 0.000 description 2
- 238000004364 calculation method Methods 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000003500 flue dust Substances 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/12—Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
- B23K9/127—Means for tracking lines during arc welding or cutting
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- Butt Welding And Welding Of Specific Article (AREA)
Abstract
The invention discloses a fillet weld tracking system and method based on ultrasonic swing scanning, which mainly solve the technical problems of complex structure and operation, high cost, unstable tracking and the like of the conventional weld tracking system and are mainly suitable for automatic welding of fillet welds. The system utilizes the ultrasonic sensor to swing and simultaneously output scanning signals; the discrete signal acquisition and processing device performs sampling and filtering amplification processing; the data fitting processing device performs data fitting on the sampling signals and identifies the fillet weld center by adopting a weighted least square method; the correction control device adopts feedforward and feedback intelligent regulation according to the scanning signal of the ultrasonic sensor and the temperature characteristic of the temperature monitoring device to correct the deviation amount and output a certain correction characteristic; and the execution device receives the correction characteristic and drives the welding torch to realize fillet weld tracking.
Description
Technical field
The present invention relates to welding robot and automatic field, specially refer to a kind of based on ultrasonicThe fillet welding seam tracking system and method for ripple oscillatory scanning.
Background technology
The automated production level of current China fillet weld seam production line is not high, produces in weldingWorkshop also adopts manual welding or semi-automatic welding mostly, makes welding productivity not high, rawThe product cycle is long, and in welding process, flue dust is healthy compared with conference harm workman, production environmentPoor; There is structure in existing seam tracking system in addition and computing is numerous and diverse, with high costs, trackingThe technical problem such as unstable, the system that mostly adopts CCD vision sensor to follow the tracks of is at present subject toArc light, the interference of electromagnetic field are serious, and in the time of welding aluminum alloy, exist aluminium alloy reflective seriousProblem. Meanwhile ultrasonic sensor velocity of sound in welding application is subject to Influence of Temperature Field, and leadsCausing the application of ultrasonic wave aspect welding acquires a certain degree of difficulty. The one the present invention relates to is based on ultrasonicThe fillet welding seam tracking system and method for ripple oscillatory scanning, plays and advances fillet weld seam automation to send outThe important function of exhibition.
Summary of the invention
In order better to solve the defect that current welding method exists, improve the stable of welding systemProperty, precision and adaptive ability, improve welding productivity, improve welding surroundings, reduce workIntensity, obtains high-quality welding work pieces, now proposes a kind of angle welding based on ultrasonic wave oscillatory scanningTracking system and method. It is to the effect that: it comprises that ultrasonic sensor, discrete signal adoptCollection and treating apparatus, data fitting treating apparatus, correction control apparatus, device for detecting temperature,Actuating unit, welding torch, the source of welding current etc. The present invention utilizes the scanning of ultrasonic sensor outputSignal, in conjunction with the temperature characterisitic of device for detecting temperature, data fitting processor adopting weighting minimumSquare law identification angle welding center, it is right that the intelligence that correction control apparatus adopts feedforward to add feedback regulatesDeparture is proofreaied and correct, and actuating unit drives welding torch to carry out fillet welding seam tracking according to correcting feature.
The technical solution used in the present invention is:
The first step: ultrasonic sensor does oscillating motion output scanning signal simultaneously, is arranged on and revolvesUltrasonic transmitter in rotating shaft, under the drive of servomotor through deceleration device deceleration rear driveRotating shaft motion, ultrasonic receiver receives sweep signal simultaneously.
Second step: the collecting part of discrete signal collection and treating apparatus is according to ultrasonic receiverThe sweep signal receiving is done the sampling of even angle, sampled signal is transported to processing section and carries outFiltering is processed with amplification.
The 3rd step: because hyperacoustic spread speed is relevant with temperature field, and shape in welding processThe temperature field becoming is complicated and changeable, and data fitting treating apparatus feeds back according to device for detecting temperatureWelding temperature field signal, the data model that has temperature field heteroscedasticity is become to homoscedasticityData model, has ensured the good statistical of temperature parameter estimator, adopts weighted least-squaresMethod is by the mode of temperature-compensating and then accurately identify angle welding center.
The 4th step: correction control apparatus is according to the sweep signal of ultrasonic sensor, output characteristicsWith the temperature characterisitic of device for detecting temperature, system is carried out on-line study and adjustment, makes feedback deviationAmount e levels off to zero, and now feed-forward regulation occupies leading control action, and feedback regulation does not participate in controlSystem, actuating unit drives welding torch to carry out fillet welding seam tracking according to correcting feature, when disturbing appears in systemWhen dynamic deviation, feedback regulation is restarted, and realizes the Based Intelligent Control that feedforward adds feedback.
A kind of fillet welding seam tracking system and the side based on ultrasonic wave oscillatory scanning the present invention relates toMethod, its beneficial effect is: adopt ultrasonic sensor to carry out angle welding scanning, ultrasonic wave is difficult forAffected by the factor such as arc light, electromagnetic field; Discrete signal collection and treating apparatus carry out discrete sampling,Reduce data sample space, for the curve of follow-up data process of fitting treatment device has reduced meterCalculation amount; Data fitting treating apparatus adopts weighted least-squares method identification angle welding center, will depositBecome homoscedasticity model at the data model of temperature field heteroscedasticity, ensured that temperature parameter estimatesThe good statistical of metering; Correction control apparatus adopts to feedover and adds the Based Intelligent Control of feedback, temperatureMonitoring device Real-Time Monitoring, can improve precision and the adaptive ability of system.
Brief description of the drawings
Fig. 1 is the fillet welding seam tracking system and method block diagram based on ultrasonic wave oscillatory scanning.
Fig. 2 is correction control apparatus signal diagram.
Fig. 3 is ultrasonic sensor block diagram.
Fig. 4 is ultrasonic sensor, device for detecting temperature and welding torch position block diagram.
1-servomotor in figure, 2-deceleration device, 3-rotating shaft, 4-ultrasonic transmitter,5-ultrasonic receiver, 6 angle weldings, 7-welding torch, 8-ultrasonic sensor, 9-temperature monitoringDevice.
Detailed description of the invention
In order better to describe technical scheme of the present invention and beneficial effect, next by reference to the accompanying drawingsWith the further detailed statement of embodiment.
Embodiment 1 the invention discloses a kind of fillet welding seam tracking based on ultrasonic wave oscillatory scanningSystem and method, it comprises ultrasonic sensor, discrete signal collection and treating apparatus, dataProcess of fitting treatment device, correction control apparatus, device for detecting temperature, actuating unit, welding torch, welderingConnect power supply etc. The present invention utilizes the sweep signal of ultrasonic sensor output, in conjunction with temperature monitoringThe temperature characterisitic of device, in data fitting processor adopting weighted least-squares method identification angle weldingThe heart, the intelligence that correction control apparatus adopts feedforward to add feedback regulates proofreaies and correct departure, holdsLuggage is put according to correcting feature and is driven welding torch to carry out fillet welding seam tracking, consults Fig. 1-Fig. 4.
The invention discloses a kind of fillet welding seam tracking system and side based on ultrasonic wave oscillatory scanningMethod, its concrete implementation step is as follows:
The first step: ultrasonic transmitter 4 is arranged on the rotating shaft 3 being driven by servomotor 1,Servomotor 1 carries out ultrasonic transmitter 4 through deceleration device 2 deceleration rear drive rotating shafts 3Oscillatory scanning, ultrasonic receiver 5 receives sweep signal simultaneously, as shown in Figure 3, ultrasonic waveSensor does oscillatory scanning, output scanning signal scanning weld seam information, and scanning angle is α, ginsengRead Fig. 3.
Second step: the collecting part of discrete signal collection and treating apparatus is according to ultrasonic receiverThe sweep signal of accepting is done even angle discrete sampling, gathers N discrete sweep signal, successivelyBe recorded as X1、X2、X3……Xn, processing section is carried out filtering to this N sampled signal and is putLarge processing, to carry out follow-up data fitting processing.
The 3rd step: the sampled signal after filter amplifying processing is transported to data fitting treating apparatusCarry out calculation process. Because SVEL is relevant with field of welding temperature, need to adopt temperature-compensatingMode guarantee data fitting precisely.
Set up data model: Yi＝β0+β1X1i+β2X2i+…+βkXki+ei
And data model exists in checkout procedure:
Be temperature error item eiWith explanatory variable XiBetween there is correlation, be also data model exist temperatureA degree heteroscedasticity.
The data model that has temperature field heteroscedasticity is become Tongfang by data fitting treating apparatusPoor property model, in order to have ensured the good statistical of temperature parameter estimator, usesGoExcept this data model, make it become a new data model:
In new data model, exist:
Meet homoscedasticity. Note temperature parameter estimator is 1/ei, namely original being explainedVariable YiWith explanation variable XiAll divided by
Then adopt common least square method to carry out curve fitting to the variable after conversion.
ByIn S (X) formula, ask a function Y=S*(X), makeFormula obtains minimum, is converted into and asks Extreme point problem.
Now asked the necessary condition of extreme value by function, can, in the hope of extreme point, now pass through temperatureThe namely center of angle welding of extreme point that the mode of compensation obtains.
The 4th step: correction control apparatus is if Fig. 2 is according to the sweep signal of ultrasonic sensor, defeatedGo out the temperature characterisitic of characteristic and device for detecting temperature, system is carried out on-line study and adjustment, makes anti-Feedback departure e levels off to zero, and now feed-forward regulation accounts for according to real time temperature characteristic in advance fastAccording to leading control action, issuable deviation is eliminated, make feedback regulation not participate in controlling,Actuating unit drives welding tractor and cross balladeur train to coordinate fortune according to correcting feature by stepper motorMoving, drive welding torch to carry out fillet weld seam tracking, feedback regulation in the time that disturbance deviation appears in systemRestart, realize the Based Intelligent Control that feedforward adds feedback, consult Fig. 2.
Embodiment 2 the present invention can be applied to fillet welding seam tracking at any angle simultaneously.
Described above is optimum embodiment of the present invention, it should be pointed out that not de-From some improvement of making under the prerequisite of the principle of the invention, entirely can regard protection model of the present invention asEnclose.
Claims (4)
1. the invention discloses a kind of fillet welding seam tracking system and method based on ultrasonic wave oscillatory scanning, it is mainly to solve existing seam tracking system structure and computing is numerous and diverse, with high costs, follow the tracks of the technical problems such as unstable, the automatic welding that is mainly applicable to angle welding, is characterized in that: it comprises ultrasonic sensor, discrete signal collection and treating apparatus, data fitting treating apparatus, correction control apparatus, device for detecting temperature, actuating unit, welding torch, the source of welding current etc.; Ultrasonic sensor comprises servomotor, deceleration device, rotating shaft, ultrasonic transmitter and ultrasonic receiver, and ultrasonic sensor and device for detecting temperature are connected and are arranged on the front of welding torch, and three is connected and moves with welding torch; Discrete signal collection and treating apparatus comprise collecting part and processing section; Actuating unit comprises stepper motor, welding tractor and cross balladeur train.
2. the fillet welding seam tracking system and method based on ultrasonic wave oscillatory scanning according to claim 1, it is characterized in that: the present invention utilizes the sweep signal of ultrasonic sensor output, in conjunction with the temperature characterisitic of device for detecting temperature, data fitting processor adopting weighted least-squares method identification angle welding center, the intelligence that correction control apparatus adopts feedforward to add feedback regulates proofreaies and correct departure, and actuating unit drives welding torch to carry out fillet welding seam tracking according to correcting feature.
3. according to the fillet welding seam tracking system and method based on ultrasonic wave oscillatory scanning described in claim 1 and 2, it is characterized in that: data fitting treating apparatus is according to the welding temperature field signal of device for detecting temperature feedback, the data model that has temperature field heteroscedasticity is become to homoscedasticity data model, ensure the good statistical of temperature parameter estimator, adopted weighted least-squares method by the mode of temperature-compensating and then accurately identify angle welding center.
4. according to the fillet welding seam tracking system and method based on ultrasonic wave oscillatory scanning described in claim 1 and 2, it is characterized in that: correction control apparatus is according to the temperature characterisitic of the sweep signal of ultrasonic sensor and device for detecting temperature, system is carried out on-line study and adjustment, make feedback deviation amount e level off to zero, now feed-forward regulation occupies leading control action, feedback regulation does not participate in controlling, and in the time that disturbance deviation appears in system, feedback regulation is restarted, and realizes the Based Intelligent Control that feedforward adds feedback.
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106735750A (en) * | 2017-02-23 | 2017-05-31 | 湘潭大学 | A kind of angle welding automatic tracking method based on ultrasound phase-control array sensor |
| CN108723550A (en) * | 2018-05-28 | 2018-11-02 | 西南交通大学 | The GTA silk filling increasing material manufacturing forming height feedbacks of feedforward compensation |
| CN111331225A (en) * | 2020-01-17 | 2020-06-26 | 湘潭大学 | Welding seam tracking method for welding inner circular tube of boiler |
| CN112355440A (en) * | 2020-10-29 | 2021-02-12 | 哈尔滨工业大学（威海） | Underwater welding seam ultrasonic tracking system and algorithm |
| CN112846551A (en) * | 2019-11-28 | 2021-05-28 | 湘潭大学 | Rotary ultrasonic-electric arc combined type welding seam tracking method |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106735750A (en) * | 2017-02-23 | 2017-05-31 | 湘潭大学 | A kind of angle welding automatic tracking method based on ultrasound phase-control array sensor |
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| CN108723550A (en) * | 2018-05-28 | 2018-11-02 | 西南交通大学 | The GTA silk filling increasing material manufacturing forming height feedbacks of feedforward compensation |
| CN112846551A (en) * | 2019-11-28 | 2021-05-28 | 湘潭大学 | Rotary ultrasonic-electric arc combined type welding seam tracking method |
| CN112846551B (en) * | 2019-11-28 | 2022-06-21 | 湘潭大学 | Rotary ultrasonic-electric arc combined type welding seam tracking method |
| CN111331225A (en) * | 2020-01-17 | 2020-06-26 | 湘潭大学 | Welding seam tracking method for welding inner circular tube of boiler |
| CN111331225B (en) * | 2020-01-17 | 2021-11-30 | 湘潭大学 | Welding seam tracking method for welding inner circular tube of boiler |
| CN112355440A (en) * | 2020-10-29 | 2021-02-12 | 哈尔滨工业大学（威海） | Underwater welding seam ultrasonic tracking system and algorithm |
| CN112355440B (en) * | 2020-10-29 | 2022-08-05 | 哈尔滨工业大学（威海） | Ultrasonic tracking system for underwater welding seam |
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