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Autonomous mobile welding robot for discontinuous weld seam recognition and tracking

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Abstract

In shipbuilding, there are many drain holes in the cabin, which lead to the discontinuity of the weld. The existing large welding manipulator cannot move independently and automatically to identify and track this kind of weld seam. At present, this kind of work is mainly done manually. In order to solve this problem, an autonomous mobile welding robot is developed, which can automatically identify all kinds of discontinuous welds seam and complete automatic welding. The tasks, structure, and working principle of welding robot are introduced. The mathematical model of the system is established, and the theoretical analysis and field application verification of related tasks are carried out. The results show that the welding robot can complete the automatic recognition and tracking welding of discontinuous welds seam with high accuracy and efficiency.

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Funding

This work is financially supported by the National Key Research and Development Program of China (2018YFB1305305).

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Authors and Affiliations

  1. College of Information Engineering, Nanchang Hangkong University, 330063, Nanchang, People’s Republic of China

    Liang Guo

  2. Robotics Institute, Shanghai University of Engineering Science, 201620, Shanghai, People’s Republic of China

    Hua Zhang

Authors
  1. Liang Guo
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  2. Hua Zhang
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Contributions

Hua Zhang guided the progress of the paper, and Liang Guo carried out the design and experiment. All the authors worked together to improve the viewpoint and structure of the paper.

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Correspondence to Liang Guo.

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Cite this article

Guo, L., Zhang, H. Autonomous mobile welding robot for discontinuous weld seam recognition and tracking. Int J Adv Manuf Technol 119, 5497–5509 (2022). https://doi.org/10.1007/s00170-021-08616-9

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  • DOI: https://doi.org/10.1007/s00170-021-08616-9

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