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实时检测焊枪的前后倾角,实现焊枪姿态的及时校正,是保证焊缝跟踪精度与焊缝质量的重要因素。通过建立带倾角的旋转电弧弧长数学模型,提出一种带收敛系数的积分差值法来实时检测焊枪相对于焊缝的前后倾角。最后,通过Matlab/Simulink仿真和试验对该方法的正确性和有效性进行了论证。
Real-time detection of the gun before and after the inclination to achieve timely correction of the gun attitude is to ensure that the weld tracking accuracy and weld quality is an important factor. By establishing a mathematic model of arc arc length with rotating angle, a method of integral difference with convergence coefficient is proposed to detect the fore and aft angle of welding torch relative to the weld seam in real time. Finally, the correctness and validity of this method are demonstrated by Matlab / Simulink simulation and experiment.