The Control System Design Of Orbital Welding Robot For Stiffener In I-beam

Steel structure plant have a lot of stiffener in I-beam,because of its different specifications and a variety of weld types,the manual welding cannot meet the requirements of the efficiency and quality.Therefore,our research group design a kind of orbital mobile welding robot based on rotating arc sensor combined with the welded characteristics of stiffener in I-beam.This paper focus on related technology of this robot control system.This paper introduce the composition of the robot system,including the track mobile platform,the four degrees of freedom actuator,the welding system and the control system.The embedded hardware system based on PC104 bus is used as the robot control system,and the related hardware circuit is designed to build the hardware control system of welding robot.A set of key control system is designed to improve the convenience and reliability of the system.This paper design a method of measuring the deviation of the welding torch,and the position information of the torch can deviates from the center of the weld by accurately processing the rotating arc sensor signal.At the same time,the trajectory planning of the rectangular corners of the stiffener in I-beam is carried out to coordinate the movement of the turntable and the horizontal slider to complete the welding of the rectangular corners.The results show that the control system can precisely control the robot to complete the welding work of the stiffener in I-beam with the weld seam tracking control method.Finally,this paper do some research in the vertical plane welding of stiffener in I-beam.The trajectory planning of the vertical plane welding of the welding torch is completed by controlling the coordinated movement of the swing mechanism and the horizontal slider.The practicability of the rotating arc sensor is verified by welding experiments.Combined with the trajectory planning of right-angle weld,the trajectory planning of rectangular weld in vertical plane is completed.The welding experiments of rectangular weld in vertical plane are carried out to verify the feasibility of orbital welding robots for rectangular weld in vertical plane.