Real Time Tracking Method of 3D Zigzag Welding Robot Swing GMAW Based on Online Trajectory Detection

doi:10.3901/JME.2022.14.116

Abstract

Abstract: 3D zigzag-line welding seams are extensively found in the manufacturing of marine engineering equipment, heavy lifting equipment, and logistics transportation equipment. They are typical complex trajectory welds, and they are mainly automatically welded through teaching.A large number of repeated teaching work severely limits welding efficiency and quality. Realizing real-time tracking of welds is an effective way to improve welding quality and efficiency. Aiming at the problem of real-time tracking of 3D zigzag-line welding seams, a robot swinging GMAW real-time tracking system based on trajectory detection is established.Firstly, a method based on point cloud data processing is proposed to detect the starting pose of 3Dzigzag-line welding seam, and the pose information is obtained by the online fast extraction method to realize the online detection of 3Dzigzag-line welding seam trajectory. Secondly, the weld deviation is obtained by using the swing arc deviation identification method. Finally, a real-time tracking method of 3D zigzag-line welding seam robot swing GMAW based on on-line trajectory detection is proposed, and the fuzzy PID control method is used to realize the real-time tracking of 3D zigzag-line welding seam. Welding experiments for typical 3D zigzag-line welding seams with a folding angle range of 130° -230° show that the detection error of the starting position is less than 0.4 mm, the attitude estimation error is less than 1.8°, and the welding seam tracking error does not exceed 0.4 mm, satisfying the Requirements for real-time tracking of 3D zigzag-line welding seams.

Key words: 3D zigzag-line welding seam, gas metal arc welding, online trajectory detection, seam tracking

CLC Number:

TG409

JIA Aiting, HONG Bo, LI Xiangwen, GAO Jiapeng, WU Gefei, QU Yuanyuan. Real Time Tracking Method of 3D Zigzag Welding Robot Swing GMAW Based on Online Trajectory Detection[J]. Journal of Mechanical Engineering, 2022, 58(14): 116-125.

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