Research On Bended Fillet Weld Seam Tracking Control System Of New-style Mobile Welding Robot

At present, the common fillet weld in ship building and the bended fillet weld in containers welding are manually or semi-mechanized processed. According to this actuality, a kind of new-style mobile welding robot based on rotating arc seam tracking is developed. The innovative mobile machine, rotating arc welding, welding seam recognition method are applied in the robot to satisfy the automation welding requests such as bended, flexed and other irregular fillet weld, and the fuzzy control technique is adopted to irregular seam tracking of the robot. The contents of the paper include these parts:Firstly, the hardware platform of welding seam tracking control system of the mobile robot is established. The industrial computer is used to construct the control system. The connection between the industrial computer, the sensor and the robot is built by data collected card and data output card.Secondly, the information processing control system of the rotating arc sensor is established. The AT89C51 is used as digital controller core unit to complete steady modulation for rotation frequency in the rotation arc sensor. The welding seam deviation information is acquired from the rotation arc sensor.Thirdly, the seam-tracking harmonically controlling algorithm of robot is designed. Through the advanced simulation method used by ADAMS and MATLAB, the regulated control between the 2-dimension movement platform of the mobile robot and itself is importantly developed. Applying parallel control and on the foundation of simple fuzzy control, a kind of fuzzy controller, which is divided into three control models, is designed to control the robot on seam tracking.Finally, the automatic tracking welding of some kinds of common bended welding seam such as line, curve, flexed and complex bended seam is carried out. The experiment indicates that the robot control system has made an excellent tracking effect of the bended welding seams.