The System Design of an Autonomous Mobile Welding Robot

The welding robot system designed in this paper is helpful to realize welding automation. The closed loop control system and algorithm of arc rotating speed have been designed, so arc rotating speed was stabilized near the set value and the tracking accuracy of fillet weld has been improved by the rotating arc sensor. A data acquisition system and a motion control system have been designed based on multi-sensor technology. The mapping relationship between the features in the welding seam image and the pose of the welding gun was established, so as to realize the identification of the pose of the welding gun based on three-wire laser vision sensing technology. The effect of wire extension, welding currents and welding voltages on the current waveform was investigated based on the rotating arc sensor. By using the designed system and algorithm, the welding deviations recognition experiment, the arc rotating speed control experiment and the tracking experiment of the right-angle welding seam have been carried out. The experimental results showed that the welding deviations were located within [Formula: see text][Formula: see text]mm, and the welding robot can track the complex welding seam accurately and reliably.

The Study on Weld Tracking of TIG Based on Rotating Arc

Aimed at the situation that the welding voltage is easy to be disturbed by the voice outside, median filtering and average filtering are adopted to filtering signal of the voltage the rotating arc sensor collected in this paper. They can make the voltage waveform get obvious improvement. In order to get information which the welding torch deviated the welding seam more accurately, left and right integration, Characteristic Harmonics method and welding torch deviation recognition algorithm are adopted to identify the deviations in this paper. Finally compare the two kinds of identification deviation methods and obtain better welding torch deviated information.