Welding Gun Inclination Detection and Curved Fillet Weld Joint Tracking
نویسندگان
چکیده
It is important to adjust the welding gun's inclination during automatic curved-joint tracking of arc welding. In this paper, a novel method is proposed to detect the deviation and inclination of the welding gun based on the arc currents acquired by a high-speed rotational arc sensor. It uses a least-squares method to fit the arc currents to a plane in three dimensions. The deviation and inclination of the welding gun are projected to two orthogonal planes so that they can be decoupled and thus can be calculated separately. A mobile welding robotic system was developed, which consists of a differential driving vehicle and a cross-slider manipulator. A fuzzy controller was designed to control the robot wheels and the horizontal slider in the curved fillet weld tracking. Experiment results show that the detection errors of welding gun inclination and deviation are approximately ±7.85 deg and ±0.42 mm, respectively.
منابع مشابه
The effect of spring restraint on weld distortion in t-joint fillet welds
T-joint fillet welds are a very common occurrence found in industry today. Localized heating and cooling from the welding process lead to the rise of distortion and residual stresses. Weld fixturing is a common practice in industry used to address the problems associated with welding, however fixturing also creates problems of residual stresses being locked into the weldment. This research invo...
متن کاملIdentification of Key Gmaw Fillet Weld Parameters and Interactions Using Artificial Neural Networks
Fillet welds are one of the most commonly used weld joints but one of the most difficult to weld consistently. This paper presents a technique using Artificial Neural Networks (ANN) to identify the key Gas Metal Arc Welding (GMAW) fillet weld parameters and interactions that impact on the resultant geometry, when using a metal cored wire. The input parameters to the model were current, voltage,...
متن کاملExperimental Study on Strength and Ductility of Underwater Fillet Welds in Repairing Offshore Steel Structures
Underwater wet welding is one of the most common repair measures for corroded offshore steel structures. Few studies have been carried out systematically concerned with mechanical properties of such welds, thus current design provisions rely heavily on limited experimental data on welds made underwater and design properties for corresponding welds made in air. This paper presents a series of ex...
متن کاملMisalignment detection for friction stir welding or Enabling seam tracking for friction stir welding
This paper describes a technique for determining the position of the friction stir welding (FSW) tool with respect to the weld seam during welding. This technique is proposed for online misalignment detection or as a position estimator for in-process tracking of the weld seam for FSW.
متن کاملDevelopment of a real-time laser-based machine vision system to monitor and control welding processes
In this study, a laser-based machine vision system is developed and implemented to monitor and control welding processes. The system consists of three main modules: a laser-based vision sensor module, an image processing module, and a multi-axis motion control module. The laserbased vision sensor is designed and fabricated based on the principle of laser triangulation. By developing and impleme...
متن کامل