移动机器人波纹板折线角焊缝跟踪控制

Ripple line fillet seams tracking control of a mobile robot for container welding

在对集装箱波纹板形式的焊缝进行焊接时,不仅要控制焊枪跟踪焊缝移动,同时还要保证焊枪相对于焊接面的倾角.设计了一种移动焊接机器人,该机器人以轮式移动小车作为平台,配以可以伸缩和转动的执行机构控制焊枪运动.采用旋转电弧作为传感器对焊枪偏差和倾角同时进行检测,通过控制三个关节协调动作,实现焊缝跟踪的同时对焊枪倾角进行调整.还对机器人的运动学模型进行了研究,在此基础上结合模糊控制理论设计了控制器,最后通过实际焊接试验证明了所提出的方法的有效性.

For the container ripple line fillet seams tracking,it is necessary not only to control welding-torch moving along with the seams,but also to adjust inclination of the the torch perpendicular to the welding surface.In this paper,a wheeled mobile welding robot with a cross-slider manipulator that can extend and turn was developed.A rotational arc sensor was used to detect the welding-torch deviations and inclinations simultaneously.Through controlling three joints coordinate movement,welding seam tracking and welding-torch inclination adjusting were achieved.The kinematics model of the mobile robot is established,and with fuzzy control theory,a controller was designed.Through actual welding experiments,the validity of the proposed method is proved.