基于正弦摆焊的弧焊机器人焊缝跟踪系统的研究

针对弧焊机器人在焊接过程中示教轨迹和实际焊缝位置存在偏差的问题，提出一种基于正弦摆焊的电弧传感方案。首先规划了弧焊机器人正弦摆焊轨迹，对采集到的焊接电流进行谐波提取来获得焊缝位置的横向偏差，然后根据偏差信息纠正机器人的示教轨迹。把这种方案应用在具有对称坡口的焊缝上进行跟踪，取得了良好的效果。

Research on Weld Joint Tracking System for Arc Welding Robots Based on Sine Weaving Weld

An arc sensor scheme based on sine weaving weld is put forward in this paper to solve the problem of deviation between the instruction trajectory and the actual seam location in robot welding process. Firstly, the sine weaving trajectory of arc welding robot was planned and the harmonic extraction method was taken to obtain lateral deviation of the seam location from the collected welding current. And then, the instruction trajectory of the robot was corrected according to the deviation. The scheme was applied to track weld joint with symmetric groove, which brought about good results.