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Research of Digitize Rotating Arc Welding Seam Tracking System

Author: LiXiangWen
Tutor: HongBo
School: Xiangtan University
Course: Mechanical and Electronic Engineering
Keywords: Seam Tracking Arc sensor Eigenvectors Wavelet Transform
CLC: TP242.2
Type: Master's thesis
Year: 2009
Downloads: 50
Quote: 1
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Abstract


Most of the welding industry using traditional manual welding and semi-automatic welding , they are there labor intensity of production , unstable welding quality , low labor efficiency dependence for skilled workers in particular weld workpiece The bulk welding production , the low level of automation , poor seam tracking . For these drawbacks, the introduction of the rotating arc as seam tracking sensor , arithmetic processing to extract the signal having the essential characteristics of the actual current , so as to achieve the identification of the weld seam tracking system ultimately achieve high precision . Firstly, in the physical structure on the basis of the existing wheeled robot , depending on the modeling idea weld tangent agencies to simplify the law and general kinematic model the three kinematic model for the wheeled robot control method provides a different model programs. Second , using MATLAB / Simulink simulation capabilities of the wheeled robot 's moving parts and rotating arc sensor motor control simulation , the ideal simulation results provide reference for subsequent hardware and software control . Then, in arc signal processing , through the analysis of a variety of different hardware and software filtering scheme , select the most suitable wheeled robot system program , the extracted horizontal and vertical feature vector signal at the same time provided to remove noise of the waveform . Weld identification using the Fourier transform of the lateral deviation of the arc signal identification scan arc sensing signal frequency domain analysis and extraction of the reaction groove lateral deviation signal eigenvectors ; vertical deviation recognition , this article first times using the wavelet transform, extracting wavelet harmonic amplitude as the characterization of the size of the welding torch stem elongation , in order to determine a longitudinal groove in the direction of deviation . Finally , the subject of design and implementation of modular software and hardware filtering , the arc signal Fourier and wavelet processing , based on the CPLD fuzzy control method , and developed as the core DSP and CPLD control , microcontroller robot control panel digitized arc seam tracking system . Through experiments , to achieve a variety of welding groove weld automatic tracking of a variety of welding methods , and to verify the feasibility of the digitized paper designs rotating arc seam tracking system .

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CLC: > Industrial Technology > Automation technology,computer technology > Automation technology and equipment > Robotics > Robot > Industrial robots
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