In order to obtain a good quality of the welding result, it is important to trace the orbit automatically and to determine the position of the welding torch in the welding robots. This paper presents an automatic tracing system and a control method for the automatic seeking of the position of weld joint. The automatic tracing system is a four-wheeled robot with a Z4W-V25R OMRON sensor. Under the control of the method, the automatic tracing system can find the position of the weld joint automatically and adjust the position of the torch parallel to the welding line. The width of the groove and the entrance angle can be obtained from the information from the sensor. The locomotion control of the mobile robot is separated into three driving motions. The first is the robot moving ahead in a straight line until the sensor detects the weld groove, then moving back for a given distance and finally the robot starts to turn until the welding torch arrives at the centre of the groove and the moving direction of the robot runs parallel to the weld joint. The turning process is composed of three-stage Fresnel functions. The experiment has been carried out to verify the effectiveness of the proposed method. These results are shown to coincide well with the simulation results.
The control of a mobile robot to find the weld joint automatically
Welding and Cutting ; 6 , 6 ; 334-338
2007
5 Seiten, 8 Bilder, 10 Quellen
Aufsatz (Zeitschrift)
Englisch
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