CN109702299A - A method of 90 ° of broken line fillet weld crosspoints are identified based on more transducing signal integration technologies - Google Patents
A method of 90 ° of broken line fillet weld crosspoints are identified based on more transducing signal integration technologies Download PDFInfo
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Abstract
The present invention provides a kind of methods for identifying 90 ° of broken line fillet weld crosspoints based on more transducing signal integration technologies, the described method includes: establishing mathematical model of the welding gun relative to weld seam pose, devise the method that crosspoint is identified along welding direction change of pitch angle feature based on welding gun, the method that crosspoint present position range is judged based on path planning, the detection method of accuracy of identification when having invented the method based on more transducing signal integration technologies identification crosspoint and having identified crosspoint based on more transducing signal integration technologies；A kind of method identifying 90 ° of broken line fillet weld crosspoints based on more transducing signal integration technologies through the invention, stability, accuracy and the rapidity of 90 ° of broken line fillet weld junction recognitions can be improved, the machine for helping to realize 90 ° of broken line fillet welds independently welds, robot can be improved to the adaptability of factory's adverse circumstances, the welding robot of research is set to be applied to production in practice, it solves the problems, such as Practical Project, generates economic benefit.
Description
Technical field
The present invention relates to robotic technology fields, specially a kind of to identify 90 ° of broken lines based on more transducing signal integration technologies
The method in fillet weld crosspoint.
Background technique
Currently, some simple weld seams realize Automation of Welding substantially, due to the needs of structure design, in factory
The weld seam of the discontinuous variation of pose is still mainly completed using human weld, and 90 ° of broken line fillet welds are a kind of typical in factory
There is the weld seam of mutation in pose, the welding capacity of such weld seam is very big, and the machine of 90 ° of broken line fillet welds of Yao Shixian independently welds,
Need to solve the machine recognition in 90 ° of broken line fillet weld crosspoints, therefore, it is necessary to invent a kind of 90 ° of broken line fillet welds intersection
The recognition methods of point, to solve the key technology that 90 ° of broken line fillet weld machines independently weld.
Summary of the invention
The purpose of the present invention is in view of the shortcomings of the prior art, providing a kind of based on 90 ° of more transducing signal integration technologies identification
The method in broken line fillet weld crosspoint, makes robot that the crosspoint of 90 ° of broken line fillet welds be recognized accurately, and solves 90 ° of broken line angles
The key technology of weld seam machine welding helps to realize the machine welding of 90 ° of broken line fillet welds.
To achieve the above object, the present invention provides the following technical solutions, and one kind is identified based on more transducing signal integration technologies
The method in 90 ° of broken line fillet weld crosspoints, which comprises mathematical model of the welding gun relative to weld seam pose is established, if
The method that crosspoint is identified along welding direction change of pitch angle feature based on welding gun has been counted, crosspoint is judged based on path planning
The method of present position range has been invented the method based on more transducing signal integration technologies identification crosspoint and has been believed based on more sensings
The detection method of accuracy of identification when number integration technology identification crosspoint；
A. mathematical model of the welding gun relative to weld seam pose are as follows: welding deviation e, welding gun with welding gun relative to weld seam
Inclination alpha in vertical plane of height h, welding gun, welding gun describe welding gun phase along the angle of inclination beta and welding gun rotation angle γ of welding direction
For the mathematical model of weld seam, welding gun is represented by F=(e, h, α, beta, gamma) relative to the mathematical model of weld seam pose；
B. it is described based on welding gun along the method that welding direction change of pitch angle feature identifies crosspoint include: welding gun along
The identification at welding direction inclination angle identifies crosspoint using mode identification method, identifies friendship based on welding gun change of pitch angle feature
The detection method of accuracy of identification when crunode；
The welding gun along welding direction inclination angle identification are as follows: rotary arc sensor drive electric arc rotate clockwise, edge
The direction welding of first straight bead of 90 ° of weld seams shaped zigzag lines, centered on rotating leftmost point by electric arc, on this both sides
Respectively take n point, wherein 5≤n≤16, with this 2n+1 sampled point (i, Ii) in sample rate current IiFor ordinate, sampling sequence number i is
Abscissa carries out straight line fitting using absolute difference method, and the slope of fitting a straight line indicates welding gun along welding direction backward less than 0
Inclination, size approximately linear relationship of the size and welding gun of slope absolute value along welding direction inclination angle, the absolute value of slope
Bigger, welding gun is also bigger along the absolute value at welding direction inclination angle；The slope of fitting a straight line is positive, and indicates welding gun along welding side
To turning forward, the size of slope indicates the size at welding gun inclination angle；
It is described to identify crosspoint using mode identification method: based on welding gun along welding direction change of pitch angle feature, benefit
The crosspoint of 90 ° of broken line fillet welds is identified with mode identification method, the mode identification method working principle is as follows:
In formula, HnIndicate the position of current pad；H1Indicate that current pad is located at the first segment of 90 ° of broken line fillet welds
In straight bead；H2Indicate that current pad is the crosspoint of 90 ° of broken line fillet welds；H3Indicate that current pad is located at 90 ° of broken lines
In the second segment straight bead of fillet weld；knIndicate the slope of current fitting a straight line；kn-1Indicate the oblique of a preceding fitting a straight line
Rate；It when being soldered to crosspoint, is mutated since weld seam posture exists, welding gun mutates along the inclination angle of welding direction, makes to weld
Meet current waveform mutation, kn-kn-1> 0.5 indicates that the slope of fitting a straight line is mutated；Flag is crosspoint mark,
When the value of flag is 0, the crosspoint of unidentified 90 ° of broken line fillet welds out is indicated, when the value of flag is 1, expression has been known
The crosspoint of 90 ° of broken line fillet welds is not gone out；
C. judge the method for crosspoint present position range described in based on path planning: when being soldered to crosspoint, welding gun is real
The angle, θ that border turns over meets following formula,
θReason- δ < θ < θReason+δ
In formula, when θ expression is soldered to the crosspoint of 90 ° of broken line fillet welds, welding gun is around the practical angle turned over of fulcrum
Degree；θReasonExpression is when being soldered to the crosspoint of 90 ° of broken line fillet welds, the point of theory that welding gun is rotated around fulcrum；δ is angle
Allowance, when expression is soldered to the crosspoint of 90 ° of broken line fillet welds, since actual 90 ° of broken line fillet welds are not 90 °, machine
There are the reasons such as skidding in people's wheel, the practical angle turned over of welding gun and welding gun theory turn over the maximum difference of angle；
D. the method based on more transducing signal integration technologies identification crosspoint described in: in three dimension directions research welding electricity
The variation of waveform is flowed, and identifies pose of the welding gun relative to welding groove；Current pad is total confidence level σ in crosspoint
(n) meet following formula,
In formula, σ (n) is total confidence level that current pad is crosspoint, and a (n) is to be identified based on stem elongation variation characteristic
The confidence level in crosspoint out, b (n) are the confidence level that crosspoint is identified based on welding gun change of pitch angle feature, and c (n) is based on weldering
The confidence level that change of error feature identifies crosspoint is connect, d (n) is the confidence that cross-point locations range is determined based on trajectory planning
Degree, when the angle that welding gun turns over is greater than θReason- 10 °, and it is less than θReasonAt+10 °, otherwise it is 0 that the value of d (n), which is 1,；B (n-1) is previous
The secondary confidence level that crosspoint is identified based on welding gun change of pitch angle feature, c (n-1) are preceding once based on welding deviation variation characteristic
Identifying the confidence level in crosspoint, η and μ are weight coefficient,Welding deviation variation characteristic is once based on before indicating
Identify the influence of the confidence level in crosspoint to being currently based on welding gun change of pitch angle feature and identifying crosspoint, similarly,Once identify that the confidence level in crosspoint is inclined to welding is currently based on based on welding gun change of pitch angle feature before indicating
Poor variation characteristic identifies the influence in crosspoint.
Further, the detection method of accuracy of identification when based on welding gun change of pitch angle feature identifying crosspoint are as follows:
The precision δ in crosspoint is identified along welding direction change of pitch angle feature based on welding gun3Meet following formula,
In formula, δ3To identify that accuracy of identification when crosspoint, r be along welding direction change of pitch angle feature based on welding gun
Electric arc radius of turn, α are inclination angle of the welding gun in vertical plane.
Further, the detection method of accuracy of identification when identifying crosspoint based on more transducing signal integration technologies are as follows:
Accuracy of identification when identifying crosspoint based on more transducing signal integration technologies is overall accuracy δ (n), and overall accuracy δ (n) meets
Following formula,
In formula, δ (n) is accuracy total when identifying 90 ° of broken line fillet weld crosspoints based on more transducing signal integration technologies,
A (n) is the confidence level that crosspoint is identified based on stem elongation variation characteristic, and b (n) is to be identified based on welding gun change of pitch angle feature
The confidence level in crosspoint, c (n) are the confidence level that crosspoint is identified based on welding deviation variation characteristic, δ1For based on stem elongation
Variation characteristic identifies the precision in crosspoint, δ2For the precision for identifying crosspoint based on welding gun change of pitch angle feature, δ3For based on
Welding deviation variation characteristic identifies the precision in crosspoint.
Compared with prior art, the beneficial effects of the present invention are:
A kind of side identifying 90 ° of broken line fillet weld crosspoints based on more transducing signal integration technologies through the invention
Stability, accuracy and the rapidity of 90 ° of broken line fillet weld junction recognitions can be improved in method, helps to realize 90 ° of broken line fillet welding
The machine of seam independently welds, and robot can be improved to the adaptability of factory's adverse circumstances, enable the welding robot quilt of research
It is applied to production in practice, solves the problems, such as Practical Project, generate economic benefit.
Detailed description of the invention
Fig. 1 is mathematical model figure of the welding gun of the invention established relative to weld seam pose；Fig. 1 (a) is deviated to the right for welding gun
Pose schematic diagram when weld seam；Fig. 1 (b) is pose schematic diagram when welding gun is upwardly deviated from weld seam；
Change procedure figure of the welding gun relative to weld seam posture when Fig. 2 is the present invention 90 ° of broken line fillet welds of welding；
Fig. 3 is the original the present invention is based on welding gun along 90 ° of weld seams shaped zigzag line crosspoints of welding direction change of pitch angle feature identification
Reason figure；Fig. 3 (a) is the scene figure before being soldered to crosspoint M；Fig. 3 (b) is scene figure when being soldered to crosspoint M；Fig. 3 (c)
To identify the scene figure when M of crosspoint；
Fig. 4 is the slope variation curve graph that welding gun of the present invention corresponds to fitting a straight line along welding direction inclination angle.
In figure: 1. fillet welds, 2. stem elongations, 3. ignition tips, 4. welding guns, 5. rotating arc sensor welding guns are in the horizontal plane
Projection, 6. horizontal sliders, the central point of 7. welding guns rotation, the crosspoint of 8.90 ° of broken line fillet welds, the 9. intersection points identified
It sets, 10. vertical steel plates, 11. horizontal steel plates.
Specific embodiment
A specific embodiment of the invention is further described with reference to the accompanying drawing.
A kind of method identifying 90 ° of broken line fillet weld crosspoints (8) based on more transducing signal integration technologies of the present invention
Include: the mathematical model for establishing welding gun (4) relative to weld seam pose, devises based on welding gun (4) along welding direction inclination angle
The method that variation characteristic identifies crosspoint (8) judges the method for crosspoint (8) present position range, hair based on path planning
The detection method of method and crosspoint (8) accuracy of identification based on more transducing signal integration technologies identification crosspoint (8) is illustrated.In detail
Thin narration embodiment is as follows:
1. establishing mathematical model of the welding gun (4) relative to weld seam pose
Fig. 1 is mathematical model of the welding gun (4) relative to weld seam pose established, and AB is straight bead, speed of welding v,
Using the current pad on weld seam as coordinate origin O, it is positive direction of the x-axis along the opposite direction of speed of welding, is straight up z-axis
Positive direction, y-axis is established according to the right-hand rule, electric arc and steel plate meet at point D, the projection of ignition tip (3) endpoint F in the horizontal plane
For point F ', the distance of point D to x-axis is the welding deviation e of welding gun (4) relative to weld seam；Ignition tip (3) endpoint F is to horizontal steel plate
(11) distance is h, indicates the height of welding gun (4)；Electric arc and the angle α of z-axis are the inclination angle of welding gun (4) in vertical plane；Electricity
The angle β of projection and x-axis of the arc on horizontal steel plate (11) is the inclination angle of welding gun (4) along welding direction；Welding gun (4) is around its axis
The angle γ of line rotation is the angle of welding gun (4) rotation.Therefore, welding gun (4) can be indicated relative to the mathematical model of weld seam pose
For F=(e, h, α, β, γ).
Fig. 2 is change procedure of the welding gun (4) relative to weld seam posture, robot welding when welding 90 ° of broken line fillet weld (1)
When 90 ° of broken line fillet weld HMT, be broken down into the linear weld seam HJ of welding, right angle welding seam JMR and linear weld seam RT, welding gun (4) from
The translation of position 1 is to position 2, and when being soldered to J point, ultrasonic sensor measures revolute central point P (7) to weldering at this time
The distance for stitching MT is equal to the radius of gyration, at this point, welding gun (4) is rotated around fulcrum P (7), meanwhile, horizontal slider (6) stretches out,
Make speed of welding v, is welded along linear weld seam HM, when being soldered to crosspoint (8) of 90 ° of broken line fillet welds, due to machine
People is not aware that current pad M is crosspoint (8), and therefore, passage path planning, virtual pad continues with speed of welding v
Point L is moved to from point M, welding gun (4) moves to position 5 from position 4, makes welding deviation of the welding gun (4) relative to weld seam, stem elongation
(2), signal of the welding gun (4) along the characterization such as inclination angle of welding direction welding gun (4) relative to weld seam pose mutates, according to letter
Number there is the feature of mutation, identifies the crosspoint (8) of 90 ° of broken line fillet welds, make robot each joint coordination movement, make welding gun
(4) it is rapidly returned back in setting range relative to the welding deviation of weld seam and stem elongation (2), and makes pad along 90 ° of broken line angles
The linear weld seam NT welding of the second segment of weld seam (1), makes the size v of speed of welding.When being soldered to point R, flat-face fillet weld is completed
The welding of JMR is stitched, welding gun (4) translational motion has welded linear weld seam RT.Therefore, 90 ° of broken line fillet welds (1) of robot welding
Whole process, welding gun (4) successively moves to position 2, position 3, position 4, position 5, position 6, position 7 and position from position 1
8, finally realize the machine recognition in crosspoint (8) and the tracking welding of 90 ° of broken line fillet welds (1).
2. devising the method for identifying crosspoint (8) along welding direction change of pitch angle feature based on welding gun (4)
Fig. 3 is the crosspoint (8) for identifying 90 ° of weld seams shaped zigzag lines along welding direction change of pitch angle feature based on welding gun (4), figure
3 (a) indicate to be soldered to before crosspoint M (8), since rotary arc sensor drives electric arc to rotate clockwise, along 90 ° of broken lines
The welding direction of first straight bead of weld seam (1) respectively takes n point on the both sides point L centered on leftmost point L,
In, 5≤n≤16, with this 2n+1 sampled point (i, Ii) in sample rate current IiFor ordinate, sampling sequence number i is abscissa, is carried out
Straight line fitting.Since electric arc rotates clockwise, one circle of rotation, constant duration acquires 64 welding currents, and point J is 1st corresponding
Sampled point, corresponding 17th sampled point of point I, corresponding 33rd sampled point of point L, corresponding 49th sampled point of point K, this 2n+1 are adopted
Sampling point (i, Ii) center of gravityMeet following formula,
In formula,2n+1 sampled point corresponds to the average value of sampling sequence number thus,2n+1 sampled point correspondence is adopted thus
The average value of sample electric current, n indicate the welding current number acquired respectively on the both sides point L, and i is the serial number of sampled point, IiIndicate i-th
The corresponding welding current of a sampled point.
To this 2n+1 sampled point (i, Ii), the slope k of fitting a straight line can be found out using absolute difference method1Meet following formula,
In formula, k1Indicate the slope of fitting a straight line；J is the mark of welding gun (4) along welding direction inclination angle, as (33-n)
When the value that a sampled point corresponds to welding current corresponds to the value of welding current greater than (33+n) a sampled point, inclination angle indicates the value of j
It is 1, when the value that (33-n) a sampled point corresponds to welding current corresponds to the value of welding current less than (33+n) a sampled point,
Inclination angle indicates that the value of j is -1；The meaning of other physical quantitys is identical as formula (1) and formula (2).
In Fig. 3 (a), electric arc is clockwise to point L and point K from point I, and arc length is elongated, and welding current becomes smaller, because
This, after carrying out straight line fitting to the sampled point of the two sides point L 2n+1, the slope of fitting a straight line indicates welding gun (4) along weldering less than 0
Direction is connect to tilt backwards, the size of slope absolute value and welding gun (4) along welding direction inclination angle the approximately linear relationship of size,
The absolute value of slope is bigger, and welding gun (4) is also bigger along the absolute value at welding direction inclination angle.In Fig. 3 (c), welding gun (4) along
Weld seam MN turns forward, and the sum of corresponding arc length of curve IL is greater than the sum of corresponding arc length of curve LK, makes curve IL
The sum of corresponding sample rate current is less than the sum of corresponding sample rate current of curve LK, therefore, using absolute difference method to the 2n on the both sides point L
After+1 sampled point carries out straight line fitting, the slope of fitting a straight line is positive, and indicates that welding gun (4) turn forward along welding direction,
The size of slope indicates the size at welding gun (4) inclination angle.In conclusion based on welding gun (4) along welding direction change of pitch angle feature,
May recognize that the crosspoint (8) of 90 ° of broken line fillet welds using the method for pattern-recognition, wherein pattern-recognition working principle is as follows,
In formula, HnIndicate the position of current pad；H1Indicate that current pad is located at the first of 90 ° of broken line fillet welds (1)
In section straight bead；H2Indicate that current pad is the crosspoint (8) of 90 ° of broken line fillet welds；H3Indicate that current pad is located at
In the second segment straight bead of 90 ° of broken line fillet welds (1)；knIndicate the slope of current fitting a straight line；kn-1Once fitting before indicating
The slope of straight line；When being soldered to crosspoint (8), due to weld seam posture exist be mutated, welding gun (4) along welding direction inclination angle
It mutates, so that welding current waveform is mutated, kn-kn-1> 0.5 indicates that the slope of fitting a straight line is mutated；flag
The crosspoint (8) of unidentified 90 ° of broken line fillet welds out is indicated, when the value of flag when the value of flag is 0 for crosspoint mark
When being 1, the crosspoint (8) for having had identified 90 ° of broken line fillet welds is indicated.
It is influenced since molten bath has welding groove, when ignoring what molten bath Butt welding gun (4) was identified along welding direction inclination angle
It influences, tracks welding technology based on path planning and based on rotating arc sensor, welding gun (4) is successively from the corresponding pose of Fig. 3 (a)
It is changed to Fig. 3 (b) and the corresponding pose of Fig. 3 (c), in Fig. 3 (a), the sum of corresponding arc length of curve IL is less than curve LK
The sum of corresponding arc length, so that the sum of corresponding sample rate current of curve IL is greater than the sum of corresponding sample rate current of curve LK；
In Fig. 3 (c), the sum of corresponding arc length of curve IL is greater than the sum of corresponding arc length of curve LK, so that IL pairs of curve
The sum of sample rate current answered is less than the sum of corresponding sample rate current of curve LK.Therefore, the sampled point of the two sides point L 2n+1 is carried out straight
Line fitting, the slope of fitting a straight line successively become larger.When on the linear weld seam MN of second segment that point I moves to 90 ° of broken line fillet welds (1)
When, the slope of fitting a straight line reaches maximum, and value is generally higher than 1, is mutated since weld seam posture exists, in a short time, makes defeated
The slope of fitting a straight line out is mutated into the value greater than 0 from negative, may recognize that the crosspoint (8) of 90 ° of broken line fillet welds at this time,
Therefore, the precision δ in crosspoint (8) is identified along welding direction change of pitch angle feature based on welding gun (4)3For Fig. 3 (c) middle conductor
The length of IO, meets following formula,
In formula, δ3For identification essence when crosspoint (8) is identified along welding direction change of pitch angle feature based on welding gun (4)
Degree；| IO | it is the length of line segment IO；| IK | it is the length of line segment IK；R is electric arc radius of turn, value 1.5mm；α is welding gun
(4) inclination angle in vertical plane, when downhand welding, value is 45 °, and appearance of weld is beautiful at this time.
Therefore, when identifying crosspoint (8) along welding direction change of pitch angle feature based on welding gun (4), if ignoring weldering
The influence in molten bath is connect, crosspoint (8) accuracy of identification is 2.121mm, and the worst error for identifying crosspoint (8) using the method is
2.121mm。
In conclusion when the 2n+1 sampled point to the two sides point L carries out straight line fitting, if the slope of fitting a straight line is small
In 0, then robot is welding the first segment right-angle side of 90 ° of broken line fillet welds (1)；If the slope of fitting a straight line be greater than 0, or
Person is mutated since weld seam posture exists, and there are Spline smoothings for input signal, the slope of adjacent twice fitting straight line occurs prominent
Become, when difference is greater than 0.5, show that robot is welding the crosspoint (8) of 90 ° of broken line fillet welds, therefore, is based on welding gun
(4) it may recognize that the crosspoint (8) of 90 ° of broken line fillet welds along the variation characteristic at welding direction inclination angle.
Welding gun (4) are based on along welding direction change of pitch angle feature 90 ° of broken line fillet weld crosspoints (8) of identification in order to verify
Validity, carried out identification crosspoint (8) during welding 90 ° of broken line fillet weld (1) using the method for the invention
Experiment.By formula (3) and formula (4) it is found that the slope of fitting a straight line and welding gun (4) have one-to-one correspondence along welding direction inclination angle
Therefore relationship, also, approximately linear relationship using formula (1) to formula (3), seek the slope of fitting a straight line, straight using fitting
Line slope variation characteristic characterizes welding gun (4) along welding direction change of pitch angle feature.Fig. 4 is welding gun (4) along welding direction
Inclination angle corresponds to the change curve of fitting a straight line slope, every 0.3 second, identifies the slope of once fitting straight line.It can be with from figure
It was found that when the angle that welding gun (4) is turned over around center of rotation be located at 35 ° to 44.9 ° within the scope of when, the slope of fitting a straight line less than 0,
Show the welding gun (4) identified along welding direction inclination angle less than 0 °, at this point, welding gun (4) is tilted backwards along welding direction, this
When, first right-angle side of 90 ° of broken line fillet welds is being welded, also, as welding gun (4) turns over becoming larger for angle, fitting is straight
The absolute value of line slope also becomes larger.From point a (44.9 °, -0.75) to point b (45.1 °, -0.3), point c (45.3 °, 0.69) and point d
(45.5 °, 1.2), the slope that welding gun (4) inclination angle corresponds to fitting a straight line become larger, and from point b to point c, by 0.3 second, welding gun (4) turned
The angle crossed becomes 45.3 ° from 45.1 °, and welding gun (4) has rotated 0.2 °, but the slope of fitting a straight line rises rapidly from -0.3
Once identify that the slope of fitting a straight line is big by 0.99 to 0.69, before the slope ratio of the fitting a straight line currently identified, and current knowledge
Not Chu welding gun (4) inclination angle correspond to the slope of fitting a straight line and be greater than 0, it is current to weld according to the algorithm for pattern recognition studied in formula (4)
Contact c is the crosspoint (8) of 90 ° of broken line fillet welds, and welding gun (4) is 45.3 ° around the angle that center of rotation turns at this time, thus complete
At the identification of crosspoint (8), by 0.3 second, when welding gun (4) around the angle that center of rotation turns over be 45.5 ° when, corresponding diagram 4
In point d, at this point, the slope of fitting a straight line be 1.2, further illustrate current pad be crosspoint (8).At 90 ° of broken line angles
At the crosspoint (8) of weld seam, there is mutation in weld seam posture, is equivalent to one step signal of input, makes the weldering as output signal
There is also approximated step variations along the inclination angle of welding direction for rifle (4).After identifying crosspoint (8), using path planning and
Welding technology is tracked based on rotating arc sensor, makes pad along the tangential direction of weld seam at current pad, tracking welding
The second segment straight bead of 90 ° of broken line fillet welds (1), the midpoint Fig. 4 d later fitting a straight line slope is both greater than 0, at this point, welding gun
(4) it turns forward along welding direction, welding gun (4) is greater than 0 ° along the inclination angle of welding direction.It has been finally completed based on welding gun (4)
The crosspoint (8) of 90 ° of broken line fillet welds is identified along welding direction change of pitch angle feature.
3. judging the method for crosspoint (8) present position range based on path planning
As shown in Figure 2, when being soldered to crosspoint (8) of 90 ° of broken line fillet welds, welding gun (4) is rotated around fulcrum (7)
Point of theory be θReason, due to rigging error, there is bending in steel plate, and wheels of robot, which exists, to skid, and ultrasonic distance measurement, which exists, to be missed
Difference, actual 90 ° of broken line fillet welds (1) are not 90 ° etc., when making crosspoint (8) for being soldered to 90 ° of broken line fillet welds, welding gun
(4) around the practical angle, θ turned over of center of rotation not equal to welding gun (4) the theoretical angle, θ turned overReason, therefore, it is soldered to crosspoint
(8) when, the angle, θ that welding gun (4) actually turns over meets following formula,
θReason- δ < θ < θReason+δ (6)
In formula, when θ expression is soldered to crosspoint (8) of 90 ° of broken line fillet welds, welding gun (4) is practical around fulcrum (7)
The angle turned over；θReasonWhen expression is soldered to crosspoint (8) of 90 ° of broken line fillet welds, welding gun (4) is rotated around fulcrum (7)
Point of theory；δ is angle allowance, when expression is soldered to crosspoint (8) of 90 ° of broken line fillet welds, due to actual 90 ° of broken lines
Fillet weld (1) is not 90 °, and wheels of robot has the reasons such as skidding, and the angle and welding gun (4) that welding gun (4) actually turns over are managed
By the maximum difference for turning over angle.
Therefore, only when welding gun (4) meets formula (6) around the angle, θ that fulcrum (7) turns over, just using based on dry
Elongation (2), welding deviation and welding gun (4) identify crosspoint (8) along welding direction change of pitch angle feature.Sentenced based on path planning
The angular range to break when to be soldered to crosspoint (8), it is possible to reduce program runtime increases by 90 ° of broken line fillet weld crosspoints
(8) real-time, the reliability identified.
4. method of the invention based on more transducing signal integration technologies identification crosspoint (8)
In the welding process, it is influenced since molten bath has welding groove, weldingvoltage has fluctuation, and wire feed rate is unstable
It is fixed, there are current interruption and the interference such as splash, make in the collected welding current of rotary arc sensor that there are many noises, although adopting
With the combined filter method based on soft-threshold wavelet filtering, but partial noise is still had in filtered welding current, it is single
The pure variation characteristic by a certain physical quantity in welding deviation, stem elongation (2) and welding gun (4) inclination angle comes reliable recognition crosspoint
(8) relatively difficult.Influence due to different operating conditions to welding current waveform is different, needs to study and be merged based on more transducing signals
Technology identifies crosspoint (8), in the variation of three dimension direction research welding current waveforms, and then identifies that welding gun (4) is opposite
In the pose of welding groove, stability, accuracy and the rapidity of crosspoint (8) identification are improved.When being soldered to 90 ° of broken line fillet welding
When crosspoint (8) of seam, the angle that welding gun (4) turns over is greater than θReason- 10 °, it is less than θReason+10°.Based on stem elongation (2) variation characteristic
It identifies that the reliability in crosspoint (8) is very good, when identifying crosspoint (8) based on stem elongation (2) variation characteristic, it is enabled to set
Reliability a is equal to 0.5；When crosspoint (8) out unidentified based on stem elongation (2) variation characteristic, its confidence level a is enabled to be equal to 0.Due to
In welding process, the welding gun (4) that identifies along the welding deviation that the inclination angle of welding direction and welding gun (4) deviate weld seam be easy by
It is different according to their degree affected by environment to the influence of working environment, it obtains and is identified based on welding gun (4) change of pitch angle feature
The confidence level of crosspoint (8) is b out, when identifying crosspoint (8) based on welding gun (4) change of pitch angle feature, the value of confidence level b
It is 0.4；When crosspoint (8) out unidentified based on welding gun (4) change of pitch angle feature, the value of confidence level b is 0.It is inclined based on welding
Poor variation characteristic identifies that the confidence level in crosspoint (8) is c, when identifying crosspoint (8) based on welding deviation variation characteristic,
The value of confidence level c is 0.1；When crosspoint (8) out unidentified based on welding deviation variation characteristic, the value of confidence level c is 0.When
Preceding pad is that total confidence level σ (n) of crosspoint (8) meets following formula,
In formula, σ (n) is total confidence level that current pad is crosspoint (8), and a (n) is to change spy based on stem elongation (2)
Sign identifies the confidence level of crosspoint (8), and b (n) is the confidence that crosspoint (8) are identified based on welding gun (4) change of pitch angle feature
Degree, c (n) is the confidence level that crosspoint (8) are identified based on welding deviation variation characteristic.D (n) is to determine to hand over based on trajectory planning
The confidence level of crunode (8) position range, when the angle that welding gun (4) turns over is greater than θReason- 10 °, and it is less than θReasonAt+10 °, the value of d (n)
It is 1, is otherwise 0.B (n-1) is the preceding primary confidence level that crosspoint (8) are identified based on welding gun (4) change of pitch angle feature, c (n-
It 1) is the preceding primary confidence level that crosspoint (8) are identified based on welding deviation variation characteristic, η and μ are weight coefficient,It is primary before indicating to identify the confidence level in crosspoint (8) to being currently based on welding gun based on welding deviation variation characteristic
(4) change of pitch angle feature identifies the influence of crosspoint (8), similarly,Welding gun (4) inclination angle is once based on before indicating
Variation characteristic identifies the confidence level in crosspoint (8) to the shadow for being currently based on welding deviation variation characteristic and identifying crosspoint (8)
It rings.
Under identifying that the total accuracy δ (n) of 90 ° of broken line fillet weld crosspoints (8) meets based on more transducing signal integration technologies
Formula,
In formula, δ (n) is that total accurate of 90 ° of broken line fillet weld crosspoints (8) is identified based on more transducing signal integration technologies
Degree, a (n) are the confidence level that crosspoint (8) are identified based on stem elongation (2) variation characteristic, and b (n) is to be become based on welding gun (4) inclination angle
Change the confidence level that feature identifies crosspoint (8), c (n) is the confidence that crosspoint (8) are identified based on welding deviation variation characteristic
Degree, δ1For the precision for identifying crosspoint (8) based on stem elongation (2) variation characteristic, δ2For based on welding gun (4) change of pitch angle feature
Identify the precision of crosspoint (8), δ3For the precision for identifying crosspoint (8) based on welding deviation variation characteristic.
It is found according to many experiments, as coefficient η=μ=0.1, current pad is total confidence level σ of crosspoint (8)
(n) when meeting 0.5≤σ (n), it is believed that current pad is the crosspoint (8) of 90 ° of broken line fillet welds, and final realize is stretched based on dry
Long (2), welding deviation and welding gun (4) identify 90 ° of broken line fillet welding along more transducing signal integration technologies at welding direction inclination angle
Known compared with identifying crosspoint (8) using single transducing signal based on more transducing signal integration technologies in the crosspoint (8) of seam
Not Chu crosspoint (8) good reliability, strong real-time.
The above only expresses the preferred embodiment of the present invention, and the description thereof is more specific and detailed, but can not be because
This and be interpreted as limitations on the scope of the patent of the present invention.It should be pointed out that for those of ordinary skill in the art,
Under the premise of not departing from present inventive concept, several deformations can also be made, improves and substitutes, these belong to protection of the invention
Range.Therefore, the scope of protection of the patent of the invention shall be subject to the appended claims.
Claims (3)
1. a kind of method for identifying 90 ° of broken line fillet weld crosspoints based on more transducing signal integration technologies, which is characterized in that described
Method includes: the mathematical model for establishing welding gun relative to weld seam pose, devises and is become based on welding gun along welding direction inclination angle
Change the method that feature identifies crosspoint, the method for crosspoint present position range is judged based on path planning, has invented and has been based on
Identification essence when more transducing signal integration technologies identify the method in crosspoint and identify crosspoint based on more transducing signal integration technologies
The detection method of degree；
A. mathematical model of the welding gun relative to weld seam pose are as follows: welding deviation e, welding gun height with welding gun relative to weld seam
H, inclination alpha of the welding gun in vertical plane, welding gun along the angle of inclination beta and welding gun rotation angle γ of welding direction describe welding gun relative to
The mathematical model of weld seam, welding gun are represented by F=(e, h, α, beta, gamma) relative to the mathematical model of weld seam pose；
B. described based on welding gun includes: welding gun along welding along the method that welding direction change of pitch angle feature identifies crosspoint
The identification at direction inclination angle identifies crosspoint using mode identification method, identifies crosspoint based on welding gun change of pitch angle feature
When accuracy of identification detection method；
The welding gun along welding direction inclination angle identification are as follows: rotary arc sensor drive electric arc rotate clockwise, along 90 °
The direction of first straight bead of weld seams shaped zigzag line is welded, and centered on the leftmost point of electric arc rotation, respectively takes n on this both sides
A point, wherein 5≤n≤16, with this 2n+1 sampled point (i, Ii) in sample rate current IiFor ordinate, sampling sequence number i is horizontal seat
Mark carries out straight line fitting using absolute difference method, and the slope of fitting a straight line indicates that welding gun is tilted backwards along welding direction less than 0,
For the size and welding gun of slope absolute value along the approximately linear relationship of size at welding direction inclination angle, the absolute value of slope is bigger,
Welding gun is also bigger along the absolute value at welding direction inclination angle；The slope of fitting a straight line is positive, indicate welding gun along welding direction to
Top rake, the size of slope indicate the size at welding gun inclination angle；
It is described to identify crosspoint using mode identification method are as follows: based on welding gun along welding direction change of pitch angle feature, to utilize
Mode identification method identifies the crosspoint of 90 ° of broken line fillet welds, and the mode identification method working principle is as follows:
In formula, HnIndicate the position of current pad；H1Indicate that current pad is located at the first segment straight line of 90 ° of broken line fillet welds
On weld seam；H2Indicate that current pad is the crosspoint of 90 ° of broken line fillet welds；H3Indicate that current pad is located at 90 ° of broken line fillet welding
In the second segment straight bead of seam；knIndicate the slope of current fitting a straight line；kn-1Indicate the slope of a preceding fitting a straight line；When
It when being soldered to crosspoint, is mutated since weld seam posture exists, welding gun mutates along the inclination angle of welding direction, makes welding current
Waveform mutates, kn-kn-1> 0.5 indicates that the slope of fitting a straight line is mutated；Flag is crosspoint mark, works as flag
Value be 0 when, indicate it is unidentified go out 90 ° of broken line fillet welds crosspoint, when the value of flag be 1 when, expression had identified
The crosspoint of 90 ° of broken line fillet welds；
C. the method that crosspoint present position range is judged based on path planning are as follows: when being soldered to crosspoint, welding gun is practical
The angle, θ turned over meets following formula,
θReason- δ < θ < θReason+δ
In formula, when θ expression is soldered to the crosspoint of 90 ° of broken line fillet welds, welding gun is around the practical angle turned over of fulcrum；θReason
Expression is when being soldered to the crosspoint of 90 ° of broken line fillet welds, the point of theory that welding gun is rotated around fulcrum；δ is angle allowance,
When expression is soldered to the crosspoint of 90 ° of broken line fillet welds, since actual 90 ° of broken line fillet welds are not 90 °, wheels of robot
In the presence of reasons such as skiddings, the practical angle turned over of welding gun turns over the maximum difference of angle with welding gun theory；
D. the method based on more transducing signal integration technologies identification crosspoint are as follows: study welding current in three dimension directions
The variation of waveform, and identify pose of the welding gun relative to welding groove；Current pad is total confidence level σ (n) in crosspoint
Meet following formula,
In formula, σ (n) is total confidence level that current pad is crosspoint, and a (n) is to identify friendship based on stem elongation variation characteristic
The confidence level of crunode, b (n) are the confidence level that crosspoint is identified based on welding gun change of pitch angle feature, and c (n) is inclined based on welding
Poor variation characteristic identifies the confidence level in crosspoint, and d (n) is the confidence level that cross-point locations range is determined based on trajectory planning,
When the angle that welding gun turns over is greater than θReason- 10 °, and it is less than θReasonAt+10 °, otherwise it is 0 that the value of d (n), which is 1,；B (n-1) is preceding primary
The confidence level in crosspoint is identified based on welding gun change of pitch angle feature, c (n-1) is preceding once based on the knowledge of welding deviation variation characteristic
Not Chu crosspoint confidence level, η and μ are weight coefficient,Once known based on welding deviation variation characteristic before indicating
Not Chu crosspoint influence of the confidence level to being currently based on welding gun change of pitch angle feature and identifying crosspoint, similarly,Once identify that the confidence level in crosspoint is inclined to welding is currently based on based on welding gun change of pitch angle feature before indicating
Poor variation characteristic identifies the influence in crosspoint.
2. according to claim 1 a kind of 90 ° of broken line fillet weld crosspoints are identified based on more transducing signal integration technologies
Method, it is characterised in that: the detection method of accuracy of identification when identifying crosspoint based on welding gun change of pitch angle feature are as follows: base
The precision δ in crosspoint is identified along welding direction change of pitch angle feature in welding gun3Meet following formula,
In formula, δ3To identify accuracy of identification when crosspoint along welding direction change of pitch angle feature based on welding gun, r is electric arc
Radius of turn, α are inclination angle of the welding gun in vertical plane.
3. according to claim 1 a kind of 90 ° of broken line fillet weld crosspoints are identified based on more transducing signal integration technologies
Method, it is characterised in that: the detection method of accuracy of identification when the identification crosspoint based on more transducing signal integration technologies are as follows: base
Accuracy of identification when more transducing signal integration technologies identify crosspoint is overall accuracy δ (n), under overall accuracy δ (n) meets
Formula,
In formula, δ (n) is accuracy total when identifying 90 ° of broken line fillet weld crosspoints based on more transducing signal integration technologies, a (n)
For the confidence level for identifying crosspoint based on stem elongation variation characteristic, b (n) is to identify intersection based on welding gun change of pitch angle feature
The confidence level of point, c (n) is the confidence level that crosspoint is identified based on welding deviation variation characteristic, δ1To be changed based on stem elongation
Feature identifies the precision in crosspoint, δ2For the precision for identifying crosspoint based on welding gun change of pitch angle feature, δ3For based on welding
Change of error feature identifies the precision in crosspoint.
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