Design And Research Of Container Welding Seam Tracking System

Welding technology is a connection method by heating metal,which plays an important role in daily manufacturing activity.Shipping containers are the important parts of the modern logistics system,meanwhile the most production process of them use manpower rather than mechanize.The manpower manufacturing process have some special problems,including limit quantities,complex process,low accuracy and high-cost.With the more severe challenges in the high manufacturing cost and the shortages of welding engineers,the researches of welding robot and automation technologies becomes the reasonable solution for the challenges above.In this thesis,the major elements are the research on the applied technologies of welding robots,including the analysis in manufacturing process,cost requirements and the production efficiency,meanwhile the weld tracking technology is also studied.In this thesis,the welding tracking system is based on the Yaskawa MA1400 robot,the fringe laser sensors and the industrial persona l computers,which are connected with Ethernet.The relationship between the measurement coordinate and the base coordinate is established by calibrating the sensors and using the coordinate transformation methods.Also,the feature points extraction of la p weld and butt weld are studied,and the clearance datas,such as the workpiece clearance data and clearance data,are handled to realize the seam tracking by using the wavelet transform,interpolation and other methods.In view of the complex front-wall corrugated plate,the paper adopts the trajectory synthesis method to realize the requirements of seam tracking and the experiment system is designed to test them.