The Study Of Lap Welding Based On Mobile Robot With Rotating Arc Sensor

In modern industrial production, welding is an important processing link, with the continuous development of industrial technology, traditional manual welding method can not meet the modern high-tech product manufacturing quality and quantity requirements. Welding automation and intelligent is the direction of development of welding technology. In the large structures welding production process, there are a large number of lap joints, and the seam tracking of lap welds is in low level of intelligent, according to this current situation, this paper study of mobile robot with rotating arc sensor on lap joints welding, and achieved automatic tracking of lap joints, this is the great significance to improve productivity and product quality.The contents of this paper include these parts:Firstly, a summary of the welding mobile robot was introduced in this paper. Then the research of lap joints was made a systematic introduction, the lap welding, tracking sensors, and research status of weld seam tracking control were carried out in a detailed description. And the automatic control of welding automation technology also introduced.Secondly, research on the application of rotating arc sensor signal denoising method. For the signal characteristics, an effective combination of signal filtering method applied in rotating arc sensor is put forward. And it is proved in experiments that this method can more effectively restrain the interference of the arc signal and retain the useful information of signal characteristics.In order to study the deviations identification methods in lap joints, integral difference method, characteristic harmonic detection method and neural network method were used in deviation extract of lap joints in rotating arc welding, also fusion algorithm of these three methods was used to extract the deviation of lap joints, experiments show that, from the experimental data after single processing, the fusion algorithm of these three methods could extract the deviation information much better, and lay a solid foundation of seam tracking of lap joints. Finally, because of the modeling difficulty of welding processes, fuzzy control methods are used to design seam tracking controller to control the cross slider for the lap joints seam tracking. By using this controller, achieved the welding seam tracking of straight line lap joints and small curvature broken line lap joints. Through the lap joints welding seam tracking experiment, the fuzzy controller could achieve better seam tracking results.