Design of Mobile Welding Robot System for Lattice Fillet Welds in Base Ship
Aiming at the current situation that the grid fillet welds'space in large cabins is small and it is difficult for large-scale automation equipment and workers to complete the welding operation with high quality,a mobile welding robot system that can perform continuous right-angle fillet weld welding was designed.The robot was composed of a mechanical structure and a circuit control system.The mechanical structure includes a biaxial rear driving body,a telescopic contact sensor,a robot lifting and rotating composite mechanism and a welding torch pose adjustment mechanism.The hardware of the electronic control system includes PLC controller,travel limit switch,stepper motor and supporting driver,DC deceleration motor and supporting motion state control board.In addition,the kinematic model of the robot in the welding process of right-angle fillet weld was established,and the values of the extension and contract speeds of the welding torch and the rotational angular speed of the robot in each weld section were obtained for the weld divided into 10 sections,which provided the data basis of PLC programming for the tracking control process of the right-angle fillet weld.Based on the retractable contact sensor,the path tracking of the straight fillet weld was realized.The experiments show that the robot can realize the continuous welding of right-angle fillet welds and straight fillet welds in small space,and the welding seam forming quality is good,and there are no bad conditions such as weld penetration,blowhole,weld flash,undercut and crack.
mobile welding robotretractable contact sensorlifting rotary composite mechanismseam tracking
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