Two-mode intelligent coordinating control of position for the welding positioner

A new intelligent control method for welding positioner is proposed. Applying an improved fuzzy controller and a variable PID controller, a two-mode intelligent coordinating controller ( TMICC ) is designed on basis of fuzzy logic and rules. The simulation and experimental results show that this control system can obtain better dynamic and static characteristics.

A method of initial welding position guiding for arc welding robot based on visual servo control

In order to solve the visual guiding task of initial welding position for arc welding robot, this paper presents a practice prone image based visual servo control strategy without calibration, and we perform validating experiments on a nine DOF arc welding robot system. Experimental results illustrate presented method has the function to fulfill the task of welding robot initial positioning with certain anti jamming ability. This method provides a basis for guiding welding gun to initial welding pose with real typical seam’s image properties to replace flag block properties, and is a significant exploit to realize visual guiding of initial welding position and seam tracing in robot welding system.

A high-precision control system for robotic welding positioner

Aiming at the robotic welding positioner with characteristic of parameter change, load change, nonlinearity, and an intelligent control system was researched and developed. This control system used a two-mode controller that based on Fuzzy and PID control method. The results of simulation show that the dynamic and steady performances of the intelligent controller are better than that of single PID or Fuzzy controller. This paper has made a detail theoretical analysis of the constitution design and real-time controlled software and brought up the design and fulfillment method of multi-task real-time control software of high precisely and numerically controlled welding positioner, which has a good result in practice.

Design strategy of intelligent CAD for welding positioner scheme design

Traditional CAD technique does not support the design processes such as function definition, conceptual design and preliminary design, which are most creative and play significant roles on the design quality. Because scheme design has close relationship with product structure, performance and technology cost, it is important for applying the intelligent CAD of scheme design to improve the quality and competitive level of the product. The definition and function of welding positioner are discussed in this paper. The new definition of welding positioner extends the research scope of welding positioner to welding fixture and welding positioning motion mechanism. The design process of welding fixture and positioning motion system is described, and the cased based and knowledge based design strategy of welding positioner scheme design intelligent CAD is then put forward, which lays foundation for developing proto type system of welding positioner scheme design.

Application of Image Morphology in Detecting and Extracting the Initial Welding Position

A method of image morphology in detecting and extracting the initial welding position during the autonomous welding process is described.During the process,firstly visual sensing technology is used to capture the straight seam image,and secondly the image edges are detected by morphological corrosion edge detection algorithm,with which can retain the critical information while filter other interferences effectively at the same time.Then morphological processing algorithm is used to conduct the direction of filter by selecting the multidirectional linear structuring elements and finally get the initial weld position point coordinates with the Hough transform.The algorithm is simple,rapid,self-adaptability with high accuracy for interferences except long lines so as to accomplish the entire process of detecting the initial welding position.It can meet the practical demands of automatic guidance for robotic welding.

An artificial neural network for detecting weld position in arc welding process

A kind of self organizing artificial neural network used for weld detection is presented in this paper, and its concepts and issues are discussed. The network can transform the weld visual information into typical patterns and match with the weld data collected on line, and so realize the accurate detection of the weld position in arc welding process.

Research on laser-arc hybrid welding technology for long-distance pipeline construction

In recent years, the research on pipeline laser-arc hybrid welding technology has been the important and difficult in the field of welding all over the world. China Petroleum Pipeline Research Institute Co. Ltd. has firstly developed pipeline laser-arc hybrid welding system in China, and executed the welding tests based on X70/X80 steel. Preliminary experiment results showed that hybrid welding could meet the requirements of related standards such as API1104,ASME,etc., the mechanical properties of girth seam are qualified in the case that there were no internal defects. With the development of high-power fiber laser and the continuous improvement of welding equipment, laser-arc hybrid welding technology for pipeline field welding will be available soon.

Study on full automatic arc welding machine for spherical tank

A full automatic welding machine for spherical tanks' all position multi layer welds has been developed. This machine is mainly composed of a two dimension seam tracking system based on microcomputer's memory and a welding tractor as well as rail. The main features of the machine are: while welding the first layer of a seam, its microcomputer system can analyze and store the tracing information from a two dimension sensor, and control the welding head device to realize two dimension real time tracing; while welding the second layer up to the top layer of the seam, it can realize two dimension tracing based on the memorial data, automatically determine the layer number and continually sway the welding head. The welding test shows that the machine has good tracing and welding behavior, and is suitable for spherical tank's all position multi layer welds.