CN105598559B - Fillet welding seam tracking system and method based on ultrasonic wave oscillatory scanning - Google Patents
Fillet welding seam tracking system and method based on ultrasonic wave oscillatory scanning Download PDFInfo
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- CN105598559B CN105598559B CN201610149289.2A CN201610149289A CN105598559B CN 105598559 B CN105598559 B CN 105598559B CN 201610149289 A CN201610149289 A CN 201610149289A CN 105598559 B CN105598559 B CN 105598559B
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- welding
- temperature
- seam tracking
- tracking system
- ultrasonic
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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
Abstract
The invention discloses a kind of fillet welding seam tracking system and method based on ultrasonic wave oscillatory scanning, it mainly solves the technical problems such as existing seam tracking system structure and computing are numerous and diverse, with high costs, tracking is unstable, and it is primarily adapted for use in the automatic welding of angle welding.The system does swing using ultrasonic sensor while exports scanning signal；Discrete signal gathers and processing unit is sampled and filter amplifying processing；Data process of fitting treatment device carries out data fitting to sampled signal using weighted least-squares method identification angle welding center；Correction control apparatus, using feedforward plus the Intelligent adjustment of feedback, is corrected to departure according to the scanning signal of ultrasonic sensor and the temperature characterisitic of device for detecting temperature, exports certain correcting feature；Performs device receives correcting feature driving welding torch and realizes fillet welding seam tracking.
Description
Technical field
The present invention relates to welding robot and automatic field, is related specifically to a kind of angle based on ultrasonic wave oscillatory scanning
Seam tracking system and method.
Background technology
The automated production level of current China fillet weld seam production line is not high, is also used mostly in welding production workshop
Manual welding or semi-automatic welding so that welding productivity is not high, the production cycle length, and in welding process flue dust compared with conference
Worker's health is endangered, production environment is poor；Other existing seam tracking system structure be present and computing is numerous and diverse, cost is high
Hold high, track the technical problem such as unstable, the system being tracked mostly using CCD vision sensors at present is by arc light, electromagnetic field
Serious interference, and the problem of aluminium alloy is reflective serious in welding aluminum alloy be present.At the same time ultrasonic sensor is welding
Scooping out the velocity of sound in use, by Influence of Temperature Field, and causes application of the ultrasonic wave in terms of welding to acquire a certain degree of difficulty.It is of the present invention
A kind of fillet welding seam tracking system and method based on ultrasonic wave oscillatory scanning, play the weight for promoting fillet weld seam automation development
Act on.
The content of the invention
In order to preferably solve the defects of current welding method is present, the stability of welding system, precision and adaptive are improved
Should be able to power, improve welding productivity, improve welding surroundings, reduce labor intensity, obtain high-quality welding workpiece, it is proposed that Yi Zhongji
In the fillet welding seam tracking system and method for ultrasonic wave oscillatory scanning.It is to the effect that：It includes ultrasonic sensor, discrete letter
Number collection with processing unit, data process of fitting treatment device, correction control apparatus, device for detecting temperature, performs device, welding torch, weldering
Connect power supply etc..The present invention utilizes the scanning signal of ultrasonic sensor output, the temperature characterisitic of combination temperature monitoring device, data
Fit processor is using weighted least-squares method identification angle welding center, and correction control apparatus is using feedforward plus the intelligence tune of feedback
Section is corrected to departure, and performs device drives welding torch to carry out fillet welding seam tracking according to correcting feature.
The technical solution adopted by the present invention is：
The first step：Ultrasonic sensor does oscillating motion while exports scanning signal, installs ultrasonic wave on the rotary shaft
Transmitter, drives rotary shaft motion under the drive of servomotor after deceleration device slows down, and ultrasonic receiver receives simultaneously
Scanning signal.
Second step：Discrete signal gathers the scanning signal received with the collecting part of processing unit according to ultrasonic receiver
The sampling of even angle is done, sampled signal is transported into process part is filtered and enhanced processing.
3rd step：Because the spread speed of ultrasonic wave is relevant with temperature field, and the temperature field formed in welding process is multiple
Welding temperature field signal miscellaneous changeable, that data process of fitting treatment device feeds back according to device for detecting temperature, it is different there will be temperature field
The data model of scedasticity becomes homoscedasticity data model, ensure that the good statistics of temperature parameter estimator, using adding
Least square method is weighed by way of temperature-compensating and then accurately identifies angle welding center.
4th step：Correction control apparatus is according to the scanning signal, output characteristics and device for detecting temperature of ultrasonic sensor
Temperature characterisitic, system carries out on-line study and adjustment, feedback deviation amount e is leveled off to zero, and now feed-forward regulation occupies leading
Control action, feedback regulation are not involved in controlling, and performs device drives welding torch to carry out fillet welding seam tracking according to correcting feature, works as system
Feedback regulation restarts when there is disturbance deviation, realizes the intelligent control of feedforward plus feedback.
A kind of fillet welding seam tracking system and method based on ultrasonic wave oscillatory scanning of the present invention, its advantage
It is：Angle welding scanning is carried out using ultrasonic sensor, ultrasonic wave is not easy to be influenceed by factors such as arc light, electromagnetic fields；Discrete signal
Collection carries out discrete sampling with processing unit, reduces data sample space, is that the curve of follow-up data process of fitting treatment device is intended
Conjunction reduces amount of calculation；Data process of fitting treatment device is using weighted least-squares method identification angle welding center, and there will be temperature field
The data model of heteroscedasticity becomes homoscedasticity model, ensure that the good statistics of temperature parameter estimator；Corrective control
Using feedforward plus the intelligent control of feedback, device for detecting temperature monitors device in real time, can improve the precision of system and adaptive
Ability.
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- servomotors in figure, 2- deceleration devices, 3- rotary shafts, 4- ultrasonic transmitters, 5- ultrasonic receivers, 6 jiaos
Weld seam, 7- welding torches, 8- ultrasonic sensors, 9- device for detecting temperature.
Embodiment
It is next further with embodiment with reference to accompanying drawing in order to preferably describe technical scheme and beneficial effect
Detailed statement.
The invention discloses a kind of fillet welding seam tracking system and method based on ultrasonic wave oscillatory scanning, it is wrapped embodiment 1
Include ultrasonic sensor, discrete signal collection and processing unit, data process of fitting treatment device, correction control apparatus, temperature monitoring
Device, performs device, welding torch, source of welding current etc..The present invention utilizes the scanning signal of ultrasonic sensor output, combination temperature prison
The temperature characterisitic of device is surveyed, data fit processor is using weighted least-squares method identification angle welding center, correction control apparatus
Departure is corrected using the Intelligent adjustment of feedforward plus feedback, performs device drives welding torch to carry out fillet welding according to correcting feature
Seam tracking, refering to Fig. 1-Fig. 4.
The invention discloses a kind of fillet welding seam tracking system and method based on ultrasonic wave oscillatory scanning, and step is embodied in it
It is rapid as follows：
The first step：Ultrasonic transmitter 4 is arranged in the rotary shaft 3 driven by servomotor 1, and servomotor 1 is through slowing down
Driving rotary shaft 3 makes ultrasonic transmitter 4 carry out oscillatory scanning after device 2 slows down, and ultrasonic receiver 5 receives scanning letter simultaneously
Number, as shown in figure 3, ultrasonic sensor does oscillatory scanning, output scanning signal scanning weld information, scanning angle α, refer to
Fig. 3.
Second step：Discrete signal gathers the scanning signal received with the collecting part of processing unit according to ultrasonic receiver
Even angle discrete sampling is done, N number of discrete scanning signal is gathered, is recorded as X successively1、X2、X3……Xn, process part is to this N
Individual sampled signal is filtered enhanced processing, to carry out follow-up data process of fitting treatment.
3rd step：Sampled signal after filter amplifying processing is transported to data process of fitting treatment device and carries out calculation process.
Because SVEL is with field of welding temperature about, it is necessary to just can guarantee that the accurate of data fitting by the way of temperature-compensating.
Establish data model：Yi=β0+β1X1i+β2X2i+…+βkXki+ei
And data model exists in checkout procedure：
That is temperature error item eiWith explanatory variable XiBetween there is correlation, namely there is temperature field Singular variance in data model
Property.
There will be the data model of temperature field heteroscedasticity to become homoscedasticity model for data process of fitting treatment device, in order to protect
The good statistics of temperature parameter estimator has been demonstrate,proved, has been usedThe data model is removed, it is become a new data
Model：
Exist in new data model：
Meet homoscedasticity.Remember that temperature parameter estimator is 1/ei, that is, original explained variable YiAnd explanation
Variable XiAll divided by
Then the variable after conversion is carried out curve fitting using common least square method.
ByIn S (X) formula
Seek a function Y=S*(X), makeFormula obtains minimum, is converted into and asks Extreme point problem.
The necessary condition of extreme value is now sought by function, can now be obtained in the hope of extreme point by way of temperature-compensating
Extreme point i.e. angle welding center.
4th step：Correction control apparatus such as Fig. 2 is according to the scanning signal, output characteristics and temperature monitoring of ultrasonic sensor
The temperature characterisitic of device, system carry out on-line study and adjustment, feedback deviation amount e is leveled off to zero, now feed-forward regulation according to
Real time temperature characteristic quickly occupies leading control action in advance, it would be possible to which caused deviation eliminates so that feedback regulation is not joined
With control, performs device, by driving stepper motor welding tractor and cross balladeur train routing motion, drives welding torch according to correcting feature
Fillet weld seam tracking is carried out, the feedback regulation restarting when system occurs disturbing deviation, realizes feedforward plus the intelligence fed back
Control, refering to Fig. 2.
The present invention of embodiment 2 can apply to fillet welding seam tracking at any angle simultaneously.
Described above is the optimal embodiment of the present invention, it is noted that is not departing from the principle of the invention
Under the premise of some improvement for making, protection scope of the present invention can be regarded as entirely.
Claims (4)
1. a kind of fillet welding seam tracking system based on ultrasonic wave oscillatory scanning, it mainly solves existing seam tracking system knot
Structure and computing is numerous and diverse, with high costs, the unstable technical problem of tracking, is primarily adapted for use in the automatic welding of angle welding, it is special
Sign is：It include ultrasonic sensor, discrete signal collection with processing unit, data process of fitting treatment device, correction control apparatus,
Device for detecting temperature, performs device, welding torch, the source of welding current；Ultrasonic sensor include servomotor, deceleration device, rotary shaft,
Ultrasonic transmitter and ultrasonic receiver, ultrasonic sensor are connected installed in the front of welding torch with device for detecting temperature, surpassed
Sonic sensor is with device for detecting temperature with torch motion；Discrete signal gathers includes collecting part and processing unit with processing unit
Point；Performs device includes stepper motor, welding tractor and cross balladeur train.
2. a kind of fillet welding seam tracking system based on ultrasonic wave oscillatory scanning according to claim 1, it is characterized in that：Utilize
The scanning signal of ultrasonic sensor output, the temperature characterisitic of combination temperature monitoring device, data process of fitting treatment device, which uses, to be added
Least square method identification angle welding center is weighed, correction control apparatus carries out school using the Intelligent adjustment of feedforward plus feedback to departure
Just, performs device drives welding torch to carry out fillet welding seam tracking according to correcting feature.
3. a kind of fillet welding seam tracking system based on ultrasonic wave oscillatory scanning according to claim 1, it is characterized in that：Data
The welding temperature field signal that process of fitting treatment device feeds back according to device for detecting temperature, there will be the data mould of temperature field heteroscedasticity
Type becomes homoscedasticity data model, ensure that the good statistics of temperature parameter estimator, is led to using weighted least-squares method
Excess temperature compensation mode so that accurately identify angle welding center.
4. a kind of fillet welding seam tracking system based on ultrasonic wave oscillatory scanning according to claim 1, it is characterized in that：Correction
Control device according to the scanning signal of ultrasonic sensor and the temperature characterisitic of device for detecting temperature, system carry out on-line study with
Adjustment, feedback deviation amount e is set to level off to zero, now feed-forward regulation occupies leading control action, and feedback regulation is not involved in controlling, when
Feedback regulation restarts when disturbance deviation occurs in system, realizes the intelligent control of feedforward plus feedback.
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| CN106735750B (en) * | 2017-02-23 | 2019-02-01 | 湘潭大学 | A kind of fillet weld automatic tracking method based on composite ultrasonic phased-array transducer |
| CN108723550B (en) * | 2018-05-28 | 2020-04-14 | 西南交通大学 | Feedforward compensation GTA filler wire additive manufacturing forming height feedback control method |
| CN112846551B (en) * | 2019-11-28 | 2022-06-21 | 湘潭大学 | Rotary ultrasonic-electric arc combined type welding seam tracking method |
| CN111331225B (en) * | 2020-01-17 | 2021-11-30 | 湘潭大学 | Welding seam tracking method for welding inner circular tube of boiler |
| 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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