移動型ロボットによる薄綱板のTIG溶接 : 溶接線倣い制御及び溶込み制御システム(機械力学,計測,自動制御)

概要

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A small mobile robot with automatic welding system of steel plates was developed. It has functions of automatic seam tracking and weld penetration control. The image of welding lines including straight and angled line were acquired by CCD camera that was set on tip of the robot arm. The welding line was detected by applying some image processing to the image. In this welding robot system, acceleration and deceleration of welding speed are conducted to reduce welding process time. In this case, welding current is controlled in accordance with the speed change to keep the weld penetration optimum. The control system was constructed using Neural Network in which geometric parameters of the molten pool were inputted to the input layer and the optimum weling current was outputted to the output layer. The geometric parameters of the molten pool are obtained by applying the image processing to the image captured by another CCD camera. The effectiveness of the mobile welding robot system was confirmed by some welding control experiments.
2010-08-25