Automatic welding technology is a solution to increase welding productivity and improve welding quality in offshore pipe welding. To increase welding productivity, it is necessary to save time during the assembly/disassembly of the guide track from the welding carriage and pipe to move the next station. The guide track consists of a pneumatic system that does not separate the welding carriage, and two welding carriages operate on a half-pipe joint to increase productivity. These welding carriages automatically operate under the controller command. An automatic welding system consists of a DC motor module, a step motor module, a welding control module, a welding monitoring module, and a central control module. The control systems incorporate control modules and transmit commands to each module for an automatic welding system. In order to minimize the inevitable misalignment between the centerline of the welding seam and the welding torch for each welding pass, a moving average algorithm for seam tracking is proposed, which was proven to be suitable for the root pass, filling pass, and cap pass. Welding experiments were also carried out to verify the validity of the weld seam tracking system.
Research on Welding Seam Tracking System of Car Body Welding Robot for Aluminum Alloy EMU
