CN106944719B - Posture of welding torch recognition methods based on multi-pole capacitance sensor - Google Patents
Posture of welding torch recognition methods based on multi-pole capacitance sensor Download PDFInfo
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- CN106944719B CN106944719B CN201710384582.1A CN201710384582A CN106944719B CN 106944719 B CN106944719 B CN 106944719B CN 201710384582 A CN201710384582 A CN 201710384582A CN 106944719 B CN106944719 B CN 106944719B
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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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- 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
- B23K9/1272—Geometry oriented, e.g. beam optical trading
- B23K9/1276—Using non-contact, electric or magnetic means, e.g. inductive means
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- Mechanical Engineering (AREA)
- Geometry (AREA)
- Measurement Of Length, Angles, Or The Like Using Electric Or Magnetic Means (AREA)
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Abstract
The invention discloses a kind of posture of welding torch recognition methods based on multi-pole capacitance sensor, identification and adjustment for multi-pass welding or narrow gap welding gun welder space gesture.The system that this method uses carries out detection identification using groove pattern of the multi-pole capacitance sensor to weld seam；The capacitance between pole plate pair in multi-pole capacitance sensor reflects the topographical information of groove, enhanced processing is filtered and converted to capacitance signal using control and signal conversion circuit, signal is iterated using conjugate gradient iterative algorithm, seam center is calculated, by its with based on 3 points seam center in 4 centering algorithm posture of welding torch databases compare, rapidly extracting goes out distance of the welding gun relative to workpiece weld seam, deflection angle characteristic signal；Movement mechanism obtains the deflection angle signal of posture of welding torch identification controller output by driver and cross balladeur train and the posture of biaxial movement device Butt welding gun is driven to carry out distance and deflection angle adjustment.
Description
Technical field
The present invention relates to field of automatic welding, and in particular to a kind of posture of welding torch based on multi-pole capacitance sensor
Recognition methods.
Background technique
Currently, in the big machineries manufacturing such as engineering machinery, offshore equipment, rail vehicle, manual welding is gradually
Production line is exited, automatic welding machine people, automatic welding special plane and intelligent welding have become the hair of welding technique
Exhibition trend, and during the welding process, how welding robot and special welding machine identify welding torch position posture and are adjusted automatically
Section is intelligent welding, improves one of welding efficiency and the important link of welding quality.
In order to make welding robot and special welding machine identify welding torch position posture during the welding process and be adjusted automatically
Section, multiple sensors and technical solution are able to develop and apply.But the sensor of identification welding torch position posture used at present
Generally space angle of the one-side measurement welding gun of angular transducer relative to weld seam；There are also the angles of view-based access control model sensor
Measuring technique, because the topographical surface of weld groove and multi-pass welding is uneven, the application of visual sensor is also received
Very big limitation.
Comparatively, the advantage of the posture of welding torch recognition methods based on multi-pole capacitance sensor is fairly obvious,
Multi-pole capacitance sensor is based on image and technology is presented, and the sensor not influence vulnerable to arc light and spatter passes through
Technology is presented in multiple electrode capacitive transducer image, shows the pattern of weld seam, using corresponding image processing algorithm, is welded
Rifle passes through the mutual cooperation of biaxial movement device and cross balladeur train relative to workpiece weld seam accurately distance and angle, adjusts welding gun
Angle, ensure that welding quality while improving welding efficiency, and the posture of welding torch recognition methods principle is simple, scheme
As processing is accurate convenient.
Summary of the invention
In order to solve deficiency existing for existing method and technical aspect, preferably push automatic welding machine people, from
The development of dynamicization special welding machine, during current complicated track multi-pass welding automatic welding, gun welder space gesture is difficult
With identification, the identification of spatial attitude information is restricted or recognition time is too long, there is a problem of delay etc., proposes in the present invention
A kind of posture of welding torch recognition methods based on multi-pole capacitance sensor, it is characterized in that: being based on multi-pole capacitance sensor
Posture of welding torch recognition methods use device include multi-pole capacitance sensor, control and signal conversion circuit, welding gun appearance
State identification controller and movement mechanism；Multi-pole capacitance sensor includes 16 pieces of capacitor plates, longitudinal shielding pole plate, insulating layer
And shielding case, capacitor plate are divided into excitation capacitor plate and measurement capacitor plate；Posture of welding torch identification controller includes that data are adopted
Sample and signal processing module, based on 3 points 4 centering algorithms posture of welding torch database and posture of welding torch compare extraction module；
Movement mechanism includes driver, cross balladeur train and biaxial movement device；Driver is by obtaining the output of posture of welding torch identification controller
Distance and deflection angle, driving biaxial movement device rotation adjustment angle of welding gun simultaneously drive the horizontal and vertical movement of cross balladeur train；Institute
State based on 3 points 4 centering algorithms posture of welding torch database include 3 points 4 centering algorithms and welding experience database,
According to section of weld joint pattern obtained in welding experience, using 3 points 4 centering algorithms calculate corresponding section of weld joint pattern
The distance of welding gun deflection angle and welding gun relative to workpiece weld seam, and the characteristic signal of deflection angle and distance is stored in base
In 3 points 4 centering algorithms posture of welding torch database in for call；Described 3 points 4 centering algorithms refer to weld seam cut
Face pattern is triangle or quadrangle, and if it is triangle, welding gun axis is the middle line of the triangle upper bottom edge；If it is four
Side shape then takes the line at upper and lower bottom edge midpoint as welding gun axis；The posture of welding torch recognition methods is passed using multi-pole capacitor
Sensor acquires the capacitance data that capacitor plate is measured in array capacitor；By control and signal conversion circuit to multi-pole capacitor
Sensor output capacitance signal carry out C V convert and utilize operational amplifier amplification；Voltage signal after conversion is using altogether
Yoke Gradient Iteration algorithm is finally inversed by section of weld joint pattern to capacitance imaging reverse temperature intensity, the pattern with based on 3 points 4 points pairs
Section of weld joint pattern in the posture of welding torch database of middle algorithm compares, rapidly extracting go out welding gun relative to workpiece weld seam away from
From, deflection angle characteristic signal；Movement mechanism obtains the distance and deflection angle of posture of welding torch identification controller output by driver
Signal simultaneously drives cross balladeur train and the posture of biaxial movement device Butt welding gun to carry out distance and deflection angle adjustment.
Multi-pole capacitance sensor of the present invention, it is characterized in that: the multi-pole capacitance sensor includes 16 pieces
Capacitor plate, it is longitudinal to shield pole plate, insulating layer, shielding case；Capacitor plate is divided into excitation pole plate and measuring pad, each pole plate pair
Capacitance be Ci-j(i, j are respectively to motivate pole plate and measuring pad), the capacitance between pole plate pair can regard inside workpiece as
Superposition to capacitor difference contribution, the measurement of a capacitance can be regarded as workpiece grooves in the throwing of a direction or angle
Shadow data.First select pole plate 1 to motivate pole plate, remaining is measuring pad, obtains capacitance C1-2, C1-3, C1-4……C1-16, by
It is always to be grounded in measuring circuit input terminal, for each capacitance of measurement mutually without influence, it is sharp that pole plate 2 is selected in measurement next time
Pole plate is encouraged, capacitance C is obtained2-3, C2-4, C2-5……C2-16, until selecting pole plate 15 to motivate pole plate, pole plate 16 is measurement pole
Plate obtains capacitance C15-16, it is contemplated that the principle of reciprocity of circuit can obtain in measurement processThe independent electricity of group
Capacitance；Because there can be natural capacity between adjacent plate, it is intrinsic to reduce that longitudinal pole plate is set between adjacent plate
The influence of capacitor；The effect of insulating layer and shielding case is the electric field for masking capacitor plate and distributing to sensor external, using more
Pole array capacitor sensor image is presented technology and first has to improve its anti-interference ability, and the sensitivity field that needs are measured is placed on sensing
Inside device.
Posture of welding torch identification controller of the present invention, it is characterized in that: the posture of welding torch identification controller includes data
Sampling and signal processing module, based on 3 points 4 centering algorithms posture of welding torch database, posture of welding torch compare extract mould
Block；Data sampling and signal processing module are mainly to carry out data to the voltage signal that control and signal conversion circuit obtain to adopt
Then sample is iterated processing to voltage signal using conjugate gradient iterative algorithm, to capacitance imaging reverse temperature intensity, is finally inversed by
Section of weld joint pattern；Posture of welding torch compare extraction module pass through the section of weld joint pattern that will identify that with based on 3 points 4 points pairs
Section of weld joint pattern in the posture of welding torch database of middle algorithm compares, rapidly extracting go out welding gun relative to workpiece weld seam away from
From, deflection angle characteristic signal.
It is of the present invention based on 3 points 4 centering algorithms posture of welding torch database, it is characterized in that: database master
If including 3 points 4 centering algorithms and welding experience database, according to section of weld joint pattern obtained in welding experience, benefit
With 3 points 4 centering algorithms welding gun deflection angle for calculating corresponding section of weld joint pattern and welding gun relative to workpiece weld seam
Distance, and by the characteristic signal of deflection angle and distance be stored in based on 3 points 4 centering algorithms posture of welding torch database
In for call.General section of weld joint pattern is triangle or quadrangle, if it is triangle, the posture of that welding gun be this three
The middle line of angular upper bottom edge；If it is quadrangle, then take the line at upper and lower bottom edge midpoint as welding gun axis；In posture of welding torch
Be stored in advance in database it is a large amount of based on 3 points the corresponding welding gun phase of the calculated different section of weld joint patterns of 4 centering algorithms
Distance, deflection angle characteristic signal for workpiece weld seam.
Movement mechanism of the present invention, it is characterized in that: the movement mechanism includes driver, cross balladeur train and biaxial movement
Device；The distance and deflection angle that driver is exported by obtaining posture of welding torch identification controller, driving biaxial movement device rotation adjustment
Angle of welding gun；Driver drives the horizontal and vertical movement of cross balladeur train by the distance obtained, is located at welding gun relative to weld seam
Suitable spatial attitude.
Detailed description of the invention
Fig. 1 is based on multi-pole capacitance sensor gesture recognition method system block diagram
Fig. 2 is multi-pole capacitor sensor structure figure
Fig. 3 be based on 3 points 4 centering algorithms posture of welding torch database data treatment process figure
Fig. 4 is that the posture of welding torch of quadrangle section of weld joint determines method
Fig. 5 is that the posture of welding torch of triangle section of weld joint determines method
Specific embodiment
In order to preferably express the technical solution and beneficial achievement entirely invented, with reference to the accompanying drawings and examples to this hair
It is bright to be described in further details.But the implementation of the present invention is not limited to this.
Embodiment one: the invention proposes it is a kind of based on 3 points 4 centering algorithms welding posture database such as Fig. 3 institute
Show, because being related to middle layer weld seam during multi-pass welding, pattern is more complicated, from typical multi-pass welding
Section of weld joint pattern in extract welding gun axis process it is as shown in Figure 4, Figure 5；The gray scale obtained by computer generated image system
Display fitting joint edge boundary line, extracts the characteristic point in each road section of weld joint pattern；If there is two characteristic points a, b, then
According to the seam cross-section appearance and size in welding experience database, quadrangle abcd as shown in Figure 4 is obtained, takes ab, cd respectively
Midpoint e, f of two lines section connect ef, then ef is welding gun axis.The extraction process of welding gun deflection angle is as follows:
Assuming that the coordinate value of each characteristic point is (xi,yi), i is characterized a little；
A, the coordinate value of tetra- points of b, c, d is respectively a (xa,ya)、b(xb,yb)、c(xc,yc)、d(xd,yd)；
The coordinate value of the midpoint ab e is
The coordinate value of the midpoint cd f is
The then inclination angle of welding gun
If only one characteristic point A in the section of weld joint pattern of identification, according to the weld seam in welding experience database
Cross-sectional morphology size obtains triangle ABC as shown in Figure 5, takes the midpoint BC D, connects AD, and the straight line where line segment AD is to weld
The axis of rifle.
Assuming that the coordinate value of each characteristic point is (xi,yi), i is characterized a little；
A, the coordinate value of B, C are respectively as follows: A (xA,yA)、B(xB,yB)、C(xC,yC)；
The coordinate value of the midpoint BC D is
The then inclination angle of welding gun
Depending on welding gun is relative to stem elongation degree of the distance L according to welding wire in specific welding method, welding conditions of weld seam.
Embodiment two: a kind of system block diagram of the posture of welding torch identification based on multi-pole capacitance sensor of the present invention is as schemed
Shown in 1, including multi-pole capacitance sensor, control and signal conversion circuit, posture of welding torch identification controller and movement mechanism.
The entity structure of multi-pole capacitance sensor is indulged as shown in Fig. 2, the multi-pole capacitance sensor includes 16 pieces of capacitor plates
To shielding pole plate, insulating layer, shielding case；Longitudinal pole plate is set between adjacent capacitive plates to reduce the influence of natural capacity；
The electric field distributed using insulating layer and shielding case mask capacitor pole plate to sensor external.
Posture of welding torch identification controller includes data sampling and signal processing module, based on 3 points 4 centering algorithms
Posture of welding torch database and posture of welding torch compare extraction module；Control and signal are turned by data sampling and signal processing module
It changes the voltage signal that circuit obtains and carries out data sampling, processing is iterated to voltage signal using conjugate gradient iterative algorithm,
It is finally inversed by section of weld joint pattern；Posture of welding torch compare extraction module pass through the section of weld joint pattern that will identify that with based on 3 points
Section of weld joint pattern in the posture of welding torch database of 4 centering algorithms compares, and rapidly extracting goes out welding gun relative to workpiece weld seam
Distance, deflection angle characteristic signal.
Propose it is a kind of based on 3 points 4 centering algorithms posture of welding torch database, it is characterized in that: section of weld joint pattern
It is triangle or quadrangle, if it is triangle, then takes the middle line of the triangle upper bottom edge as welding gun axis；If it is four
Side shape then takes the line at upper and lower bottom edge midpoint as welding gun axis；It is stored in advance in posture of welding torch database a large amount of based on three
Point distance, deflection angle of the corresponding welding gun of the calculated different section of weld joint pattern of 4 centering algorithms relative to workpiece weld seam
Characteristic signal.
A kind of posture of welding torch recognition methods based on multi-pole capacitance sensor of the present invention the following steps are included:
Step 1: multi-pole capacitance sensor measures capacitance signal
The groove type of workpiece is identified using multi-pole capacitance sensor in the welding process, the multi-pole
Capacitance sensor includes 16 pieces of capacitor plates, longitudinal to shield pole plate, insulating layer, shielding case；Capacitor plate be divided into excitation pole plate and
Measuring pad, the capacitance of each pole plate pair are Ci-j(i, j are respectively to motivate pole plate and measuring pad), select first pole plate 1 for
Pole plate is motivated, remaining is measuring pad, obtains capacitance C1-2, C1-3, C1-4……C1-16, measurement selects pole plate 2 for excitation next time
Pole plate obtains capacitance C2-3, C2-4, C2-5……C2-16, until selecting pole plate 15 to motivate pole plate, pole plate 16 is measurement pole
Plate obtains capacitance C15-16, obtained altogether in measurement processGroup data, i.e. 120 groups of capacitances, the electricity between every group of pole plate pair
Capacitance can regard that the superposition that inside workpiece contributes the capacitor difference, the measurement of a capacitance can be regarded as workpiece slope as
Data for projection of the mouth in a direction or angle；
Step 2: control and signal conversion
Obtain the capacitance between every group of pole plate pair by multi-pole capacitance sensor, but due to capacitance only have it is several
FF or several pF, it is very small, it is provided with control in the present invention and signal conversion circuit, control circuit is mainly responsible for control
The timing of pole plate excitation, measures the capacitance between correct pole plate pair in turn；Signal conversion circuit is firstly the need of filtering stray electrical
Hold and distribution capacity, output voltage generated by current detector, and voltage value is amplified by ac amplifier circuit, using with it is sharp
The reference signal for encouraging voltage identical frequency carries out multiplying, obtains signal progress low-pass filtering to be proportional to measured capacitance Cx
Direct current output V0, there are in latch for the voltage value that 120 groups of capacitances are converted into.It is identical as pumping signal due to using
The AC signal of frequency is demodulated, and the control with good frequency selection effect and signal conversion circuit are constituted.
Step 3: 120 groups of V in control and signal conversion circuit latch will be stored in0Value is input to computer generated image system
In system, it is iterated operation using conjugate gradient iterative algorithm, utilizes gray scale to show to by the image generated, differentiates the shape of weld seam
Looks.
Step 4: posture of welding torch identification controller will be in the section of weld joint structural parameters of acquisition and posture of welding torch database
Section of weld joint pattern compares, and extracts the deflection angle and distance parameter of suitable welding gun opposite piece weld seam in the database,
And the deflection angle of selection and distance feature parameter are transmitted in movement mechanism driver, drive cross balladeur train and biaxial movement device
Distance of the deflection angle and welding gun of movement adjustment welding gun relative to workpiece weld seam.
The above is only a preferred embodiment of the present invention, it is noted that without departing from the principle of the present invention
Made several improvement, are all considered as protection scope of the present invention.
Claims (1)
1. a kind of posture of welding torch recognition methods based on multi-pole capacitance sensor, it is characterized in that: being based on multi-pole capacitor
The device that the posture of welding torch recognition methods of sensor uses include multi-pole capacitance sensor, control and signal conversion circuit,
Posture of welding torch identification controller and movement mechanism；Multi-pole capacitance sensor include 16 pieces of capacitor plates, longitudinal shielding pole plate,
Insulating layer and shielding case, capacitor plate are divided into excitation capacitor plate and measurement capacitor plate；Posture of welding torch identification controller includes
Data sampling and signal processing module, based on 3 points 4 centering algorithms posture of welding torch database and posture of welding torch comparison mention
Modulus block；Movement mechanism includes driver, cross balladeur train and biaxial movement device；Driver is by obtaining posture of welding torch identification control
The distance and deflection angle of device output, driving biaxial movement device rotation adjustment angle of welding gun simultaneously drive the horizontal and vertical fortune of cross balladeur train
It is dynamic；It is described based on 3 points 4 centering algorithms posture of welding torch database include 3 points 4 centering algorithms and welding experience number
According to library, according to section of weld joint pattern obtained in welding experience, using 3 points 4 centering algorithms calculate corresponding section of weld joint shape
Distance of the welding gun deflection angle and welding gun of looks relative to workpiece weld seam, and deflection angle and the characteristic signal of distance are stored
For calling in the posture of welding torch database of algorithm in based on three 4 points couples of Dian；Described 3 points 4 centering algorithms refer to weldering
Stitching Cross Section Morphology is triangle or quadrangle, and if it is triangle, welding gun axis is the middle line of the triangle upper bottom edge；If
It is quadrangle, then takes the line at upper and lower bottom edge midpoint as welding gun axis；The posture of welding torch recognition methods utilizes multi-pole electricity
Hold the capacitance data that capacitor plate is measured in sensor acquisition array capacitor；By control and signal conversion circuit to multi-pole
Capacitance sensor output capacitance signal carry out C V convert and utilize operational amplifier amplification；Voltage signal after conversion is adopted
With conjugate gradient iterative algorithm to capacitance imaging reverse temperature intensity, be finally inversed by section of weld joint pattern, the pattern with based on 3 points four
Section of weld joint pattern in the posture of welding torch database of point centering algorithm compares, and rapidly extracting goes out welding gun relative to workpiece weld seam
Distance, deflection angle characteristic signal；Movement mechanism obtains the distance and deflection of posture of welding torch identification controller output by driver
Angle signal simultaneously drives cross balladeur train and the posture of biaxial movement device Butt welding gun to carry out distance and deflection angle adjustment.
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Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107478145B (en) * | 2017-09-05 | 2019-05-21 | 湘潭大学 | A kind of tip formula multi-pole capacitance sensor of welding gun pose detection |
| CN109648224B (en) * | 2018-12-28 | 2021-02-09 | 湘潭大学 | Rotary double-capacitor type fillet weld tracking sensor |
| CN109570859A (en) * | 2019-01-09 | 2019-04-05 | 湘潭大学 | Welding gun pose identifying system based on electric inductance array sensor |
| CN111207659A (en) * | 2020-01-07 | 2020-05-29 | 河北科技大学 | Chip parameter detection method and device based on capacitor array |
| CN111230364B (en) * | 2020-02-20 | 2021-09-21 | 北京博清科技有限公司 | Welding gun angle guidance system and welding gun angle guidance method |
| CN113787247B (en) * | 2021-09-24 | 2022-11-11 | 潍坊新松机器人自动化有限公司 | Welding tracking device and tracking method thereof |
| CN114603566B (en) * | 2022-05-13 | 2022-08-16 | 季华实验室 | Robot welding track generation method and device, electronic equipment and storage medium |
| CN117102701B (en) * | 2023-10-24 | 2024-03-26 | 上海方菱计算机软件有限公司 | Compensation control method and device for groove cutting height, electronic equipment and storage medium |
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