移动焊接机器人, 角焊缝, 旋转电弧传感, 焊缝跟踪

Aimed at welding requirements for fillet welding in narrow space of large scale structures, this paper put forward one new kind mobile welding robot system based on rotating arc sensor, which included wheeled mobile body, two-dimensional motion platform, rotating arc sensor and ultrasonic sensor. The system used two stage track strategies, one was the robot body rough tracking, the other was the two-dimensional motion platform accurate tracking. Rotating arc sensor was used as the seam tracking sensor, ultrasonic sensor was used as obstacle avoidance sensors.The kinematic model was established and the parameter self-tuning fuzzy controller was designed. Experimental results show that the robot system can achieve automatic welding for big fillet welding in narrow spaces.