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Circular fillet weld tracking in GMAW by robots based on rotating arc sensors

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Abstract

In order to reduce the welding cost, improve the welding quality, and enhance the automation level of the welding, the circular fillet weld tracking algorithm was studied based on the coordinated movement between wheels and a horizontal slider, and the tracking algorithm can eliminate the impact on the welding quality due to roundness errors of the circular fillet weld in the plane. Furthermore, the circular fillet weld tracking algorithm was studied based on the vertical slider moving up or down, and this algorithm can eliminate the influence on the welding quality due to flatness errors of the circular fillet weld in the vertical direction. By using the circular fillet weld tracking algorithm that robots track the circular fillet weld based on the coordinated movement among wheels, the vertical and horizontal sliders, a large number of experiments have been done in the laboratory and the factory. For example, robots tracked the circular fillet weld with different diameters in the laboratory, and the circular fillet weld of the flat bottom container was tracked by robots in the factory. At last, the deviation that the arc welding gun deviated from the weld seam was analyzed, and the experimental results show that the robot based on the rotating arc sensor can track the circular fillet weld with high accuracy and good reliability by using the designed algorithm in gas metal arc welding.

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Authors and Affiliations

  1. Key Laboratory of Robot & Welding Automation of Jiangxi, Nanchang University, Nanchang, Jiangxi, China

    Jian Le, Hua Zhang & Yong Xiao

Authors
  1. Jian Le
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  2. Hua Zhang
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  3. Yong Xiao
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Corresponding author

Correspondence to Jian Le.

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Le, J., Zhang, H. & Xiao, Y. Circular fillet weld tracking in GMAW by robots based on rotating arc sensors. Int J Adv Manuf Technol 88, 2705–2715 (2017). https://doi.org/10.1007/s00170-016-8990-9

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  • DOI: https://doi.org/10.1007/s00170-016-8990-9

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