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.

Innovative Robotic System for MAG Welding with Two Filler Metal Wire Feeders

The article describes an innovative robotic MAG method for the welding for ship elements. The method involves the use of two wire feeders and one torch, making it possible to weld two different steel grades. In addition, the robot application is equipped with an off-line programming DTPS system (Desk Top Programming & Simulation System) as well as an arc sensor, a gas nozzle touch sensor and a laser touch sensor featuring a seam finding function. The system is also provided with a welding parameter monitoring and archiving system.