Abstract
There are lots of rectangular fillet welds in the shipyard, and it is mainly welded by manual welding with low accuracy and poor reliability, so it is necessary to study a welding robot that can accurately track the rectangular fillet weld. Firstly, the mathematical model of the space posture of the arc welding gun has been established, path planning of the rotation of the welding robot has been studied when the welding robot tracks the linear fillet weld, and the inclination angle of the arc welding gun has been identified. Secondly, the control algorithm of the linear fillet weld tracking has been studied, and the tracking algorithm of the rectangular fillet weld has been researched. Finally, the tracking experiment of the rectangular fillet weld has been done in the laboratory and the shipyard. Experimental results showed that welding accuracy and reliability could be improved by using robotic welding instead of manual welding.
Similar content being viewed by others
References
Ku N, Cha JH, Lee KY, Kim J, Kim TW, Ha S, Lee D (2010) Development of a mobile welding robot for double-hull structures in shipbuilding. J Mar Sci Technol 15(4):374–385
Le J, Zhang H, **ao Y (2017) Circular fillet weld tracking in GMAW by robots based on rotating arc sensors. Int J Adv Manuf Technol 88(9):2705–2715
Shen HY, Lin T, Chen SB, Li LP (2010) Real-time seam tracking technology of welding robot with visual sensing. J Intell Robot Syst 59(3):283–298
Xu YL, Lv N, Zhong JY, Chen HB, Chen SB (2012) Research on the real-time tracking information of three-dimension welding seam in robotic GTAW process based on composite sensor technology. J Intell Robot Syst 68(2):89–103
Liu SY, Wang GR, Zhang H, Jia JP (2010) Design of robot welding seam tracking system with structured light vision. Chin J Mech Eng 23(4):436–442
Nele L, Sarno E, Keshari A (2013) An image acquisition system for real-time seam tracking. Int J Adv Manuf Technol 69(9):2099–2110
Gu WP, **ong ZY, Wan W (2013) Autonomous seam acquisition and tracking system for multi-pass welding based on vision sensor. Int J Adv Manuf Technol 69(1):451–460
Xu YL, Fang G, Lv N, Chen SB, Zou JJ (2015) Computer vision technology for seam tracking in robotic GTAW and GMAW. Robot Comput Integr Manuf 32(2):25–36
Le J, Zhang H, Wu F, Yuan FY (2015) Tracking on right-angle weld with drain holes by robot. Adv Intell Syst Comput 363:57–65
Xu YL, Zhong JY, Ding MY, Chen HB, Chen SB (2013) The acquisition and processing of real-time information for height tracking of robotic GTAW process by arc sensor. Int J Adv Manuf Technol 65(5):1031–1043
Mao ZW, Li SY, Ge WT, Pan JL, Zhang H (2011) Tracking and technique of large fillet weld seam of mobile welding robot. Trans China Welding Inst 32(2):33–36
Gao YF, Zhang H, Mao ZW (2009) Welding gun inclination detection and curved fillet weld joint tracking. Weld J 88(3):45s–53s
Le J, Zhang H, Li JW (2016) Space curved fillet weld joints tracking by robots based on rotational arc sensors in GMAW. Ind Robot: An Int J 43(6):636–646
Author information
Authors and Affiliations
Corresponding author
Rights and permissions
About this article
Cite this article
Le, J., Zhang, H., Chen, X. et al. Rectangular fillet weld tracking by robots based on rotating arc sensors in gas metal arc welding. Int J Adv Manuf Technol 93, 2813–2826 (2017). https://doi.org/10.1007/s00170-017-0633-2
Received:
Accepted:
Published:
Issue Date:
DOI: https://doi.org/10.1007/s00170-017-0633-2