基于激光位移传感器的角焊缝位姿检测

针对工字梁、箱梁等焊接结构自动化生产中工件偏移和偏转问题，提出了一种基于激光位移传感器的角焊缝位姿检测方法。建立了角焊缝位姿的弧长模型，分析了角焊缝位姿对弧长的影响规律;基于傅里叶分析，提出了角焊缝位姿解耦算法，实现了对角焊缝横向偏差、纵向偏差、坡口角度和工件偏转角度的检测；通过对存在坡口间隙和定位焊缝的角焊缝进行位姿检测试验。结果表明，所提出方法具有检测误差小、抗干扰能力强等优点，在焊接自动化生产中具有良好的应用前景。

Pose Detection of Fillet Welds Based on Laser Displacement Sensor

To solve workpiece offset and deflection problems of welded I-beam and box beam structures in automation production, a pose detection method of fillet welds was proposed based on laser displacement sensors. An arc length model of fillet welds was established, the effects of weld poses on arc length were analyzed. Based on Fourier analysis, a decoupling algorithm was put forward for pose detection, which realized the detections of lateral deviations, longitudinal deviations, groove angles and deflection angles of fillet welds. The pose experiments on the fillet welds with root gaps and tack welds were detected. The results show that the method has small detection error and good anti-interference capability, which has good application prospects in welding automation productions.