Skip to main content
SpringerLink
Log in

Acquisition and optimization of weld trajectory and pose information for robot welding of spatial corrugated web sheet based on laser sensing

  • ORIGINAL ARTICLE
  • Published:
The International Journal of Advanced Manufacturing Technology Aims and scope Submit manuscript

Abstract

Robot welding provides us a new inexpensive technology to fabricate corrugated web H-beam compared to traditional mill process. The key and challenged technology to realize the intelligent welding of the spatial curve seam is to acquire the trajectory and pose information. A practically viable and robust method based on laser sensing was proposed to solve the aforementioned key problem. Firstly, robot, laser sensor, CCD camera, encoder, working station, and computer to control the robot were integrated into a system. Next, the trajectory information was acquired by laser distance ranging sensor and encoder based on triangulation theory. The filtering and smoothing algorithm was developed to accurate the web data. The posture was established based on the trajectory information. The interactive communication between the computer and robot was established to in time control the moving of the robot. Lastly, the data which were processed by the improved amplitude-limiting filtering algorithm were transmitted to the robot. The robot executed the program files in order to complete the welding process. The results show that this method has a high practicality in robot automatic welding of corrugated web H-beam.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Institutional subscriptions

Similar content being viewed by others

References

  1. Zhang W, Zhou Q, Li Y, Cai Z, Wedera G (2000) Hot rolling technique and profile design of tooth-shape rolls: part 1. Development and research on H-beam with wholly corrugated webs. J Mater Process Technol 101(1):110–114

    Article  Google Scholar 

  2. Masaki H, Seiichi T, Takeshi K. Manufacture and manufacturing roll for H-shaped steel possessing corrugated at middle part of web: Japan, 54107778, 1981.04.13

  3. Li Y, Zhang W, Zhou Q, Qi X, Buckling WG (2000) Strength analysis of the web of a WCW H-beam: part 2: development and research on H-beam with wholly corrugated webs (WCW). J Mater Process Technol 101(1):115–118

    Article  Google Scholar 

  4. He J, Liu Y, Chen A, Yoda T (2012) Shear behavior of partially encased composite I-girder with corrugated steel web: numerical study. J Constr Steel Res 79:166–182

    Article  Google Scholar 

  5. Chen X, Huang Y, Chen S (2012) Model analysis and experimental technique on computing accuracy of seam spatial position information based on stereo vision for welding robot. Ind Robot Int J 39(4):349–356

    Article  Google Scholar 

  6. Chen S, Chen X, Li J, Lin T (2005) The research on acquisition of welding seam space position information for arc welding robot based on vision. J Intell Robot Syst 43:77–97

    Article  Google Scholar 

  7. Chen X, Chen S (2010) The autonomous detection and guiding of start welding position for arc welding robot. J Intell Robot Syst 37(1):70–78

    Google Scholar 

  8. Chen X, Chen S, Lin T, Lei Y (2006) Practical method to locate the initial weld position using visual technology. Int J Adv Manuf Technol 30(7):663–668

    Article  Google Scholar 

  9. Wang H, Sun F, Li X (2012) ABB advanced welding technology in the corrugated web H-shaped steel production. Metal Working 10:21–23

    Google Scholar 

  10. Muhammad J, Altun H, Abo-Serie E (2016) Welding seam profiling techniques based on active vision sensing for intelligent robotic welding. Int J Adv Manuf Technol 88(1–4)

  11. Pereira J, Bracarense A (2016) Analysis of distortion in welding joints in “X” and “V” reduced-scale models of segmented rings using continuous monitoring with laser sensors. Soldagem Inspecao 21(1):44–58

    Article  Google Scholar 

  12. Henrique G, Dutra J, Puhl E, Viviani A, Schwedersky M (2017) Welding joint features extraction algorithm for laser triangulation sensors applied to root pass control. Soldagem Inspeção 22(1):14–23

    Article  Google Scholar 

Download references

Acknowledgements

The authors would like to thank Jiangsu Beiren Robot System Co., Ltd. from China for providing the experimental equipment and part of the welding materials. Dr. Tao Lin is acknowledged for conducting a part of the experiments. Mr. Jie Yu conducted the experiments when he studied in the School of Material Science and Engineering, Jiangsu University. Professor Bruce Madigan and Dr. Nathan Huff from Montana Tech of Montana University, USA, are acknowledged for polishing the language.

Author information

Authors and Affiliations

  1. School of Mechanical and Electrical Engineering, Wenzhou University, Wenzhou, 325035, China

    Xizhang Chen & Jie Yu

Authors
  1. Xizhang Chen
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Jie Yu
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Xizhang Chen.

Rights and permissions

Reprints and permissions

About this article

Check for updates. Verify currency and authenticity via CrossMark

Cite this article

Chen, X., Yu, J. Acquisition and optimization of weld trajectory and pose information for robot welding of spatial corrugated web sheet based on laser sensing. Int J Adv Manuf Technol 96, 3033–3041 (2018). https://doi.org/10.1007/s00170-018-1716-4

Download citation

  • Received:

  • Accepted:

  • Published:

  • Issue Date:

  • DOI: https://doi.org/10.1007/s00170-018-1716-4

Keywords

Search

Navigation