焊接电弧传感器的研究现状和对未来的展望

The research and future prospects of the arc sensor

Weld seam tracking is to ensure that the premise of quality and welding automation, and sensors are the basis for achieving this prerequisite. Welding sensor according to the different ways of sensing additional sensors can be divided into two major categories and arc sensors. Most of the traditional seam tracking is an additional type of sensor, for example, touch sensors, electromagnetic sensors and a variety of optical sensors, such sensors is the sensor and the common problems is the separation of the arc, the sensor detection point arc with a certain distance away , a large arc in the welding seam will affect tracking performance. The arc sensor using the arc welding process, the current waveform or the change of arc voltage waveforms obtained ARC Centre has deviated from the seam as the sensor information and real time, tracking well. Arc sensor is its biggest advantage of the anti-arc, high temperature and strong magnetic fields are strong, and it is always consistent with the overall arc, simple structure, low cost, at present, arc welding sensor as a means of sensors much national attention, many foreign welding equipment research and manufacturing organizations are working to develop this area. Early start of the study of industrial countries, have developed a variety of arc scan forms (such as double wire tie, swing and rotation) of the arc sensor, suitable for submerged arc welding, TIG and MIG / MAG welding methods, such as different, and some have been used in welding production. Many countries on the production of arc welding robot equipped with swing arc sensor tracking device.
1 Classification of arc sensor
1.1 Swing scanning arc sensor
Swing arc scanning is currently the most widely used sensor of a welding arc sensor, which needs a swing arc sensor device, in the horizontal direction of the weld seam tracking back and forth and achieve. Used in arc welding robot sensors do not need to swing on a swing device, driven by the robot arm for horizontal swing to torch. However, the impact of structural factors by robots, robot beat frequency of 10Hz is generally less as shown in Figure 1a. In the high-speed arc welding and weld large cases, the tracking performance will be affected.
M KODAMA invented an electromagnetic high-speed swing arc sensor, the sensor on both sides of this arc has a permanent magnet and exciting coil, when the excitation coil of the DC current through a certain frequency, the conductive rod swing will produce a certain frequency to achieve seam tracking. This high-speed swing arc sensor generally can beat frequency adjustable between 0 ~ 40Hz, 0 ~ 4mm adjustable swing, the maximum welding speed 400mm / sec. It features small size, less weight 1Kg, the structure shown in Figure 1b.
1.2 Double wire parallel arc sensor
The arc sensor using two separate parallel arc welding on the workpiece, the welding wire around the two current (voltage) difference between the provision of two electric arc welding has deviated from the centerline of information, thus can be realized seam tracking. According to the two arc parameters and compare the difference between the reference value can also be achieved between the tip and the surface distance adjustment. This sensing method is the use of arc static characteristic parameters change as the sensor signal, use the same two parameters were independent loop power parallel groove welding, torch structure more complex, there are certain difficulties in implementation, so the utility on restricted.
1.3 high-speed rotating arc sensor scan
The arc sensor to rotate the arc instead of the swing arc, the rotation frequency up to 100Hz. Twentieth century, the eighties, NKK Corporation of Japan has invented a rotating arc sensor, and applied to the narrow gap weld, the principle shown in Figure 2: conductive rod as the cone of the bus, around the cone axis of rotation (revolution) , and not conducting rod around its axis of rotation (rotation), and the magnitude of cone movement at the top of a small diameter of this structure is to adjust the scanning cone angle adjustment, the sensor need to use a gear drive, the structure large, affecting the accessibility of welding torch. NKK Corporation of this technology in ships, boilers and structure to be applied in production, and achieved remarkable results.
CH Kim Korea produced a high-speed rotating arc sensor, shown in Figure 3, the sensor tip depend on the eccentricity to achieve the arc of the rotating tip of the eccentricity is the arc radius. Although it's rotating body is relatively simple, compact, but its high-speed rotation, the wire tip must be in the same rotational speed, which exacerbated the tip of the loss.
Germany U. Dilthey also done a lot of high speed rotating arc sensor research, production and made the arc seam tracking sensors.
In China, starting from the late eighties, to Tsinghua University, Academy of Pan Jiluan research group headed by the rotating arc sensor has done a lot of research work, and has made valuable scientific research. In 1993, Tsinghua University doctoral student in the doctoral student fees Liao sword jump agricultural research, based on the successful development of a hollow shaft motor-driven rotating scan sensors, and access to a national patent, shown in Figure 4. This high-speed rotating arc sensor scan design using the hollow shaft to the hollow motor as the prime mover, skew conductive rod through the hollow shaft motor. In the hollow shaft end, through the coaxial bearings installed aligning conductive rod, the conductive rod eccentric position is zero,-aligning bearings can be installed on the motor shaft or housing. The bottom of the hollow shaft, the eccentric sleeve installed in the shaft, the eccentric sleeve kit installed in the eccentric hole, aligning bearing kit installed in the eccentric hole, conductive rod installed in the bearing hole. By the eccentricity of the department conducting rod inside and outside the respective eccentricity eccentric sleeve and inner eccentric relative to the angle of the eccentric sleeve and decided to turn. When the motor rotates, the bearings will be struck down as a tapered conductive bus bar around the axis as the motor revolution, or as conical swing.
In recent years, Nanchang University in Jiangxi Province Key Laboratory of robotics and welding automation on the basis of this high-speed rotating arc sensor scan and vibration in small areas such as in-depth and meticulous research, and was further improved, produced a prototype, the prototype installed in the arc welding robot successfully carried out in real time tracking, Figure 5 for the installation of the hollow shaft in the robot rotating arc sensor.
2 arc welding performance sensor
2.1 weld arc sensor
Rotating arc welding and arc for the sensor or in a straight line swing weld when significantly different, the different movements of the welding arc weld under way have been studied, Figure 6 for three kinds of arc welding during exercise seam forming comparison chart. Rotation in the arc mode, the width of the weld movement pattern than the other two a slight increase in penetration has been reduced, weld reinforcement slightly reduced, due to high-speed rotation arc, droplet by the rotating centrifugal force the role of the pool to the surrounding fired, resulting in increasing the width of the pool; rotation frequency of the larger arc of rotation, a point arc in the reduced length of stay, and accordingly, the arc force on the role of pool at the bottom of shortening the time penetration decrease; the effect of centrifugal force and the scope of the expansion of the arc, weld reinforcement decreases.
Seam welding in the horizontal angle, high-speed rotating arc forming significantly improved, the protruding shape of the weld arc improved high-speed rotation. The horizontal angle of the high-speed rotating arc weld were studied welding at the horizontal angle, the rotating arc pressure acting on the molten pool on the surface of the effect of reduced dispersion and improved the smoothness of the weld. Rotating welding on both sides of the weld penetration in all of the increase, and tend to the web, it is because of the high-speed rotating arc and arc power to heat evenly scattered around, reducing erosion of the arc root of the weld pool the role of the rotation arc of the weld pool will produce stirring force, weakened the molten pool of metal gravity, Figure 7 is a straight line rotating arc welding and weld welding angle control diagram. In the actual use of rotating arc welding sensor, adjust the angle between the gun and the web to get good welds.
2.2 arc sensor research in high-speed welding
In the actual welding production in order to improve productivity, often require high-speed welding, other welding sheet metal, in order to avoid welding to wear, but also need high-speed welding. In order to study the high-speed rotating arc welding sensor performance, three kinds of arc movement pattern (ie, the arc in a straight line, swing movement and high-speed rotation) welding was studied. Figure 8 shows the movement pattern of three welding arc weld diagram. Linear motion in the high-speed welding torch when the weld is poor, there are undercut and weld there was a "hump" weld metal, which is due to higher welding current, welding speed faster, then, arc weld pool the role of liquid metal in the back of a strong, deep crater, and not enough liquid metal to fill the crater on both sides, thus creating a biting edge. As shown in Figure 8a; torch swinging motion in the high-speed welding of the weld as shown in Figure 8b, weld wavy, and the shape is poor, severely undercut; Figure 8c is a high-speed rotation welding torch in the weld when the map , weld, and no undercut, because the high-speed rotation arc to arc and dispersion forces on the molten pool, crater depth decreases, reducing the arc of the high-speed rotation arc on the back of the role of the liquid metal pool thus forming a good weld.
High-speed rotating arc welding robot tracking control of high speed, the sample for the thickness of 3.2mm, 500mm long, wavy lap joint, the welding current is 300A, the rotation frequency is 50Hz, the tracking speed of 120cm / min. M KODAMA developed high-speed electromagnetic drive swing arc sensor in the welding current 530A, when the oscillation frequency of 20Hz welding speed can reach 120cm/min.
3, a mathematical model of arc sensor
3.1 The mathematical model of the static arc sensor
Static model refers to the atmosphere, welding, power supply parameters, wire feed welding torch and the workpiece speed and distance are constant, stable arc burning conditions, the relationship between the various physical quantities. The results show that the external characteristic features to ease the power down, the torch height (H) and the current average value (I) the relationship between the range can be used as a large linear system to deal with.
Work in the arc basic fixed (fixed wire feed speed and the external characteristic), the arc sensor static model is:
H = - Kst I + C
Where: Kst for the welding torch height and the relationship between welding current factor; I for the current sample value; C is the maximum theoretical value of the welding torch height. If Kst, C is known, then I can calculate based on current actual value of the welding torch height H, and then compared with the given value, the difference is the amount of welding torch height adjustment.
3.2 The dynamic mathematical model of arc sensor
Dynamic mathematical model of arc sensor quantitatively describes the relationship between input and output. Studies suggest that: For the dynamic response with excellent welding power, its dynamic characteristics can be considered as the proportion of outside links, the dynamic model is first-order model; when the external characteristic for the inertia, the arc for the second-order dynamic model of the sensor model.
Through theoretical and experimental research that in arc welding power supply has a good dynamic quality, the mathematical model is zero and a pole with a first-order system; but will change the dynamic characteristics of arc welding power source is first-order system, the mathematical model is zero and two poles with a second order system.
Filaments submerged arc sensor on the research, has been a dynamic model of the arc sensor, and the second order model; power dynamic corner frequency the greater the amplitude frequency characteristics of arc sensor transition frequency to high frequency movement. Therefore, the power dynamic quality will directly affect the sensor performance.
3.3 arc weld the mathematical model of the sensor
Established a high-speed rotating arc sensor mathematical model of weld. Selected four major welding parameters, namely welding voltage U, welding current I, K and spin rotation frequency diameter D. Taking into account the process parameters (U, I, K and D) and the interaction of an item have a major impact on the weld, using a regression orthogonal design, with two-level orthogonal table L16 (215) conducted 16 tests, I got high weld penetration depth and weld width and arc welding parameters between the sensor model. The mathematical model for the rotating arc welding sensor parameter selection provides a theoretical basis.
3.4 Other mathematical model
Korea's C-H Kim on rotating arc sensor wire melting characteristics of the dynamic simulation. Ignoring the radiation, consider the heat source for the Gaussian heat source, rotating around the rotational arc sensor, the average heat input to the pool as a quasi-steady temperature field of heat input, the establishment of a welding torch at a constant speed of the temperature field under the workpiece the mathematical model, and simulate a typical pool shape.
4 arc the applications of sensor technology
Over the years, many foreign workers in the welding arc sensor on an intensive study and research applied to practical production. Currently, the vast majority of arc welding robots are equipped with swing arc sensor, such as Germany CLOOS the ROMAT 76SW robot and Japan, Panasonic Pana-Robo robot on the installation of the swing arc sensor. Rotating arc sensor applications are increasingly common, such as rotating arc sensor developed by Tsinghua University, Dongfeng Motor Company used car storage pump automatic girth welding, South Korea HAN GIL Autowelding produced by rotating arc sensor can be used for arc welding and automatic welding robot shown in Figure 9. Panasonic's YA-11KMR51 type arc welding robot also installed a rotating arc sensor, shown in Figure 10.
5 Conclusion
Arc sensor as a real-time sensing devices and other types of sensors, compared with a structure is relatively simple, low cost, fast response characteristics, is an important sensor welding direction, with a strong vitality and prospects. Mainly used in two aspects: one is mainly used in arc welding robot, on the other hand is mainly used in automatic welding with Oldham.
In the future should focus on the arc sensor and three-dimensional information extraction performance of welding technology. Space in the welding seam, the welding torch position and orientation to be adjusted as can be satisfied with the weld. Arc current up and down and around the sensor can only capture two-dimensional information, before and after the extraction of information still to be in-depth research in order to adjust the posture for robot arc welding in all position welding. Through the efforts of welding science and technology workers, the intelligent tracking ability will be stronger.

焊接电弧传感器的研究现状和对未来的展望

焊缝跟踪是保证焊接质量和焊接自动化的前提，而传感器是实现这一前提的基础。焊接传感器根据传感方式的不同可以分为附加式传感器和电弧传感器两大类。传统的焊缝跟踪传感器多数是附加式的，例如，接触式传感器、电磁传感器和各种光学传感器，这类传感器共同的问题就是传感器与电弧是分离的，传感器的检测点离开电弧有一定的距离，在焊接大弧度的焊缝时会影响跟踪效果。而电弧传感器利用焊接过程中的电弧电流波形或电弧电压波形的变化来获得电弧中心是否偏离焊缝作为传感信息，实时性强，跟踪效果好。电弧传感器的最大优势在于它的抗弧光、高温及强磁场能力很强, 同时它与焊接电弧总是统一的整体,结构简单紧凑，成本也较低，目前, 电弧传感器作为一种焊接传感手段倍受各国重视, 国外许多焊接设备研究和制造机构都在努力开发这一领域。工业发达国家的研究起步较早, 已研制出多种电弧扫描形式(如双丝并列、摆动和旋转) 的电弧传感器, 适合于埋弧焊、TIG和MIG／MAG 等不同焊接方法, 有些已用于焊接生产。许多国家所生产的弧焊机器人上均配有摆动式电弧传感跟踪装置。
1 电弧传感器的分类
1.1摆动扫描式电弧传感器
　　摆动扫描式电弧传感器是目前应用最广的一种焊接电弧传感器，这种电弧传感器需要一套摆动装置，在焊缝的横向方向来回摆动而实现焊缝跟踪。用在弧焊机器人上的摆动电弧传感器不需要摆动装置，通过机器人手臂带动焊枪作横向摆动即可。但受机器人结构因素的影响，机器人的摆动频率一般在10Hz以下，如图1a所示。在高速焊接和焊缝弧度大的情况下，其跟踪效果会受到影响。
M KODAMA发明了一种电磁高速摆动电弧传感器，这种电弧传感器的两侧分别有永磁铁和激励线圈，当激励线圈通过一定频率的直流电流时，导电杆便会产生一定频率的摆动，从而实现焊缝的跟踪。这种高速摆动的电弧传感器的摆动频率一般可在0～40Hz之间可调，摆幅0～4mm可调，最大焊接速度400mm/秒。其特点是体积小，重量在1Kg以下，其结构如图1b所示。
1.2双丝并列电弧传感器
　　这种电弧传感器利用两个彼此独立的并列电弧对工件进行施焊，其左右两焊丝的焊接电流（电压）差值提供两个电弧之间的中心线是否偏离焊缝的信息，据此可实现焊缝跟踪。根据两个电弧参数和参考值比较的差值也可以实现导电嘴与工件表面间距离的调整。这种传感方式是利用电弧静态特性参数的变化作为传感信号，同时要用两个参数相同的独立回路电源并列进行坡口焊接，焊枪结构较复杂，实现上有一定的困难，所以实用上受到限制。
1.3 高速旋转扫描电弧传感器
　　这种电弧传感器以旋转电弧的方式代替了摆动电弧，其旋转频率高达100Hz。二十世纪八十年代，日本NKK公司发明了一种旋转式电弧传感器，并应用到窄间隙焊缝中，其原理如图2所示：导电杆作为圆锥的母线，绕圆锥轴线旋转（公转），而并不绕导电杆自身轴线旋转（自转），并且在锥顶处运动的幅度很小，这种结构调节扫描直径的方法是调节园锥顶角，传感器需用一级齿轮减速传动，结构较大，影响了焊炬的可达性。这种技术在NKK公司的船舶、锅炉及结构生产中得以应用，且取得了显着的成效。
　　韩国的C-H Kim制作了一种高速旋转电弧传感器，如图3所示，这种传感器依靠导电嘴的偏心来实现电弧的旋转运动，导电嘴的偏心度就是电弧的旋转半径。虽然它的转动机构比较简单、紧凑，但其在高速旋转时，焊丝在导电嘴中必须以同样的转速旋转，这就加剧了导电嘴的损耗。
　　德国的U.Dilthey也在高速旋转电弧传感器方面做了大量的研究工作，制作了电弧传感器并进行了焊缝跟踪。
　　在我国，从八十年代末期开始，以清华大学潘际銮院士为首的课题组，在旋转电弧传感器方面做了大量的研究工作，并取得了有价值的科研成果。1993年，清华大学博士生廖宝剑在博士生费跃农的研究成果的基础上，研制成功了一种空心轴电机驱动的旋转扫描传感器，并获得了国家专利，如图4所示。这种高速旋转扫描电弧传感器采用了空心轴设计，以空心马达作为原动机，导电杆斜穿过马达空心轴。在空心轴上端，通过同轴安装的调心轴承支撑导电杆，该位置处导电杆偏心量为零，调心轴承可安装在电机轴上或机壳上。在空心轴的下端，外偏心套安装在轴上，内偏心套安装于外偏心套内孔中，调心轴承安装于内偏心套内孔中，导电杆安装于轴承内孔中。该处导电杆偏心量由内外偏心套各自偏心量及内偏心套相对外偏心套转过的角度而决定。当电机转动时，下调心轴承将拨动导电杆作为圆锥母线绕电机轴线作公转，或称为圆锥摆动。
　　近几年，南昌大学江西省机器人与焊接自动化重点实验室在此基础上对这种高速旋转扫描电弧传感器在小型化和减振等方面进行了深入细致的研究，并作了进一步的改进，制作了样机，样机安装在弧焊机器人上成功地进行了实时焊缝跟踪，图5为安装在机器人上的空心轴旋转电弧传感器。
2 电弧传感器焊接工艺性能
2.1 电弧传感器的焊缝成形
　　旋转电弧传感器的焊接与电弧作摆动或作直线运动时的焊缝成形有明显的不同，对焊接电弧的不同运动方式下的焊缝成形进行了研究，图6为电弧作三种运动时的焊缝成形比较图。在电弧旋转运动方式下，焊缝的宽度较其它两种运动方式略有增加，熔深有所减小，焊缝余高也略有减小,这是由于电弧高速旋转，熔滴受到旋转离心力的作用而向周围射向熔池，导致熔池的宽度增加；旋转电弧的转动频率较大，电弧在某点的停留时间缩短，相应地，电弧力对熔池底部的作用时间缩短，熔深减小；由于离心力的作用和电弧作用范围的扩大，焊缝余高减小。
　　在水平角焊缝焊接中，高速旋转电弧的成形明显有所改善，突起的焊道形状由于电弧的高速旋转而得到改善。对高速旋转电弧的水平角焊缝成形进行了研究，在水平角焊时，旋转电弧作用在熔池上的压力由于作用面的分散而降低，改善了焊道的平滑度。旋转运动焊时的焊缝在两边的熔深都有所增大，且偏向腹板，这是因为电弧的高速旋转使热源和电弧力均匀地向四周分散，降低了电弧对熔池根部的冲刷作用，电弧的旋转还会对熔池产生搅拌力，减弱了熔池金属的重力作用，图7为直线焊接和旋转电弧焊接时角焊缝成形对照示意图。在用旋转电弧传感器进行实际焊接时，可调节焊枪与腹板之间的角度，得到理想的焊缝。
2.2 电弧传感器在高速焊中的研究
　　在实际焊接生产中，为了提高生产率，常常需要高速焊接，另外，焊接薄板时，为了避免焊穿，也需要高速焊接。为了研究旋转电弧传感器的高速焊接性能，对三种电弧运动方式（即电弧作直线运动、摆动运动和高速旋转运动）的焊接进行了研究。图8为三种电弧运动方式焊接的焊缝成形示意图。焊枪在直线运动高速焊时的焊缝成形差，有咬边现象，并且焊缝还出现了“驼峰”焊道，这是由于焊接电流较大，焊速较快，这时，电弧对熔池液体金属的后排作用很强，弧坑很深，又没有足够的液体金属来填满弧坑两侧，因此形成咬边。如图8a所示；焊枪在摆动运动高速焊时的焊缝如图8b所示，焊缝呈波浪形，且成形差，咬边严重；图8c是焊枪在旋转运动高速焊时的焊缝图，焊缝成形好，无咬边现象，这是因为电弧的高速旋转使电弧力对熔池的作用分散，弧坑深度减小，电弧的高速旋转降低了电弧对熔池液体金属的后排作用，因而焊缝的成形好。
　　采用高速旋转电弧焊接机器人进行了高速跟踪控制的研究，试样为板厚3.2mm,长500mm的波浪形搭接接头，在焊接电流为300A、旋转频率为50Hz 时的跟踪速度达到了120cm/min。M KODAMA 研制的电磁驱动高速摆动电弧传感器在焊接电流530A、摆动频率20Hz时的焊接速度能达到120cm/min。
3 电弧传感器的数学物理模型
3.1电弧传感器的静态数学模型
　　静态模型指气氛、焊材、电源参数、送丝速度以及焊炬与工件距离都不变，电弧稳定燃烧的条件下，各物理量之间的关系。研究结果表明，对于外特性为缓降特性的电源来说，焊枪高度（H）和电流平均值（I）之间的关系在很大范围内可作为线性系统来处理。
　　在电弧工作基本固定(固定送丝速度和电源外特性) 时，电弧传感器的静态模型为：
H = - Kst I + C
　　式中: Kst为焊炬高度与焊接电流的关系因子；I为电流采样值；C为最大焊炬高度理论值。如果Kst 、C已知,则根据I 即可推算出当前焊炬高度的实际值H ,然后与给定值进行比较，其差值即为焊炬高度的调节量。
3.2电弧传感器的动态数学模型
　　电弧传感器动态数学模型定量地描述了输入与输出之间的关系。研究认为：对于具有极好动态响应的焊接电源，其动态外特性可视为比例环节，其动态模型为一阶模型；当电源外特性为惯性环节时，电弧传感器的动态模型为二阶模型。
　　通过理论和实验研究，认为在弧焊电源具有较好的动态品质时，数学模型是具有一个零点和一个极点的一阶系统；而将弧焊电源的动态特性改变为一阶系统时，数学模型是具有一个零点和两个极点的二阶系统。
　　通过对细丝埋弧焊电弧传感器的研究，得到了电弧传感器的动态模型，并且为二阶模型；电源动态特性转折频率越大，电弧传感器幅频特性转折频率向高频段移动。因此，电源动态品质的优劣直接影响着传感器的性能。
3.3 电弧传感器焊缝成形的数学模型
　　建立了高速旋转电弧传感器焊缝成形的数学模型。选用4个主要的焊接规范参数，即焊接电压U、焊接电流I、旋转频率K及旋转直径D。考虑到各工艺参数（U、I、K和D）的一次项及交互作用对焊缝成形有重要影响，采用一次回归正交设计，用二水平正交表L16（215）进行16次试验，得到了焊缝的余高、熔深和焊缝宽度与电弧传感器焊接工艺参数之间的数学模型。该数学模型的建立为旋转电弧传感器焊接工艺参数的选择提供了理论基础。
3.4 其它数学模型
　　韩国的C－H Kim对旋转电弧传感器的焊丝熔化特点进行了动态仿真。在忽略辐射的情况下，考虑热源为高斯热源，把旋转电弧传感器旋转一圈对熔池的平均热输入作为准稳态温度场的热输入，建立了焊枪在恒定焊速下工件的温度场分布的数学模型，并模拟了典型的熔池形状。
4 电弧传感器技术的应用状况
　　长期以来，许多国内外的焊接工作者对电弧传感器进行了深入细致的研究，并将研究成果应用到实际的生产中。目前，绝大部分的弧焊机器人都安装了摆动式电弧传感器，如德国CLOOS的ROMAT 76SW型机器人和日本松下的Pana-Robo 型机器人就安装了摆动式电弧传感器。旋转电弧传感器的应用也越来越普遍，如清华大学研制的旋转电弧传感器应用于东风汽车公司的汽车贮气筒环缝的自动焊中，韩国的HAN GIL Autowelding公司生产的旋转电弧传感器可用于弧焊机器人和自动焊中，如图9所示。日本松下的YA-11KMR51型弧焊机器人也安装了旋转电弧传感器，如图10所示。
5 结束语
　　电弧传感器作为一种实时传感的器件与其它类型的传感器相比，具有结构较简单、成本低、响应快等特点，是焊接传感器的一个重要的发展方向，具有强大的生命力和应用前景。主要应用在两方面：一方面主要用在弧焊机器人上，另一方面主要用在带有十字滑块的自动焊。
　　今后应着重对电弧传感器三维信息的提取及其焊接工艺性能进行研究。在焊接空间焊缝时，焊枪位姿要随着焊缝进行调整，才能得到满意的焊缝。目前的电弧传感器只能采集上下和左右二维信息，前后信息的提取还有待深入的研究，以便于弧焊机器人调整姿态进行全位置焊接。通过焊接科技工作者的努力，其智能跟踪能力将会更强。