Abstract
To study human welder behavior by sensing the welding torch posture and weld pool flow pattern, so as to provide a way to realize intelligent robot welding, a synchronous experiment system is setup with laser vision and a dynamic tilt sensor to precisely obtain the three-dimensional information of weld pool and torch posture. In the downward welding experiment, the data of reflected laser striped image of weld metal fluid flow and the change of torch posture are obtained. The algorithm for extracting weld metal fluid flow characteristic parameters is also written to obtain the weld pool flow pattern. Through the experiment analysis, it is found that the change of weld pool flow characteristic parameters and the change of torch posture have obvious coherence. The change of torch posture reflects the reaction and control ability of the human welder. The change of the weld pool flow characteristic parameters reflects that the welder maintains specific weld metal fluid flow pattern and obtains good weld forming ability.
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