关键词: 焊工经验, 焊枪姿态, 倾角传感, 熔池形貌

Abstract: Experienced skilled welders can ensure weld pool shape well by adjusting to the welding torch orientation according to the change of weld pool they observed under complicated working conditions. It indicates that the essence of the welders' experience and skills are the interactive behaviours of welding torch orientation and weld pool shape. Unfortunately, there is no effective method and mean to describe them out clearly. To solve this problem, a sensor system of welding torch orientation and weld pool shape is built with the principle of attitude sensing and laser vision sensing technology. The CLOOS arc welding robot is used to verify accuracy of sensor, it indicates that the root mean square value of β and γ is 0.019 6°, β and α is 0.031 7°, α and γ is 0.105 8°, respectively. Through sensing and analyzing welding test operated by different welders, it shows that during the welding process, welding torch of skilled welder is stable and small fluctuate. The skilled welder has a better maintain weld pool shape ability. A well bead weld can be formed with the skilled welder; the welding torch of new welder is fluctuated and mutated frequently. They lack the required welding experience and skills response to the change of weld pool shape so that the welding torch angle is adjusted singly. The weld seam shape is bad and the residual high is uneven.

Key words: angle sensor, weld pool shape, welders' experience, welding torch orientation