Narrow Space For Autonomous Mobile Welding Robot’s Structural Design And Experimental Research

With the increasingly high demand for mechanical engineering production automation, welding robot is more and more widely used, especially in the shipbuilding, which has created a lot of benefit. Therefore, it has also become the driving force behind the ship welding robot technology research and development. Although China is the largest shipbuilding country, the total shipbuilding output among the best in the world, but the the shipbuilding cycle length and low production efficiency, welding robot technology has become a major factor affecting the development of China’s shipbuilding industry. During the process of ship building, there are many narrow space as similar lattice type, which is inconvenient for welding and the environment is bad. In accordance with this background, designing an autonomous mobile welding robot to track the weld seam in a narrow space. The robot use two-wheel differential driving to complete the coarse tracking, and use the cross slide to complete the accurate tracking. Two tracking control to make the robot welding torch work along the center of the weld seam. The main contents of the article are as follows:First, determine the motion actuators of autonomous mobile welding robot, including mobile platforms and welding torch adjustment mechanism. The mobile platform adopts the two-wheel differential driving, the robot motion is flexible, control simply; welding torch adjusting mechanism use the cross slide to micro adjust the movement of the welding torch.Secondly, after the completion of the selection of the robot movement mechanism, using the Pro/E drawing software to draw a three-dimensional model of the welding robot, completing the robot virtual platform, which is conducive to the improvement and optimization of the assembly relationships of the robot structure.Thirdly, kinematics analysis and modeling of the robot actuators, mobile platform and the two-dimensional motion platform. With the Mechanism/Pro to establish the robot virtual prototyping, debug robot performance, to lay the foundation for the subsequent technology development and research. Finally, according to the project requirements and research background, designing some experiments, such as vertical position welding, experimental data and experimental results verify the stability of the robot’s motion, the reliability of the robot’s working.