磁控电弧传感技术及其焊缝跟踪机器人的分析-magnetic control arc sensing technology and analysis of weld seam tracking robot.docx

ABSTRACTABSTRACTIIIIABSTRACTThe degree of automation and intelligent continuous improving is the objective needs of modern production technology. As to achieving the automation and intelligence welding process, it must to use robot and other automated equipment. The sensor technology is one of the key technologies in the seam tracking robot , because it decided the accuracy of the entire tracking system. But there is not a very good seam-tracking sensors can be well used in industrial production now, so develop new seam-tracking sensor has great practical significance.In this paper,the basic theory of a new seam-tracking sensor-magnetic arc sensor was detailed analyzed and researched, and designed a seam- tracking robot that based on magnetic-arc sensor technology, resolved some key issues, the complete content as follows:Analyzed the basic theory of the magnetic-control arc sensor. Analyzed the basic principle and work process of the magnetic-control arc sensor,and established the motion equation and analyzed the movement behavior of arc;established the mathematical model of the magnetic-control arc swing, analyzed the various factors that affect the sensor in theory;established the mathematical model of the magnetic- control arc swing to the typical weld,and simulated using MATLAB/simulink.Design the structure of the magnetic-control arc sensor , including the mechanical structure of device of the magnetic field,exciting power source,part of signal gathering and processing and positioning signal. The Butterworth filter was adopt, and achieved good effect.Analyzed the various factors that affecting magnetic-control arc sensor, including sensor parameters,and the external factors,such as the welding current, gas flow. Analyzed the law that magnetic-control arc sensor to the shape of seam.These laws provided academic foundation for the application of the magnetic-control arc sensor and the basis to design the structure of seam-tracking robot.(5) Deviation criteria la