Simulation Of Wall Surface Cross Welding Tracking Control Of Wheeled Mobile Welding Robot With Rotating Arc Sensing

At present,in the field of industrial manufacturing,many large-scale mechanical equipment are processed by welding.For example,large ships are manufactured in sections and assembled by welding.The workload is large and the environment is harsh.The welding of the hull wall is difficult,the manual welding efficiency is low,the cost is high and there is danger.Therefore,robots can be used instead of manual to achieve automatic welding.In this paper,a new type of wheeled mobile welding robot is used as a platform to carry out theoretical simulation research on the tracking of the horizontal welding seam of the robot,which provides a theoretical basis for the robot wall welding.The robot uses a rotating arc sensor to identify the deviation.The robot body has a moving mechanism of the composite magnetic wheel,and the bottom has a magnetic adsorption mechanism,which can provide the adsorption force of the wall welding of the robot.Through the analysis of the force of the wall of the robot,the safety condition of the robot is obtained.Pro/E is used to establish the 3D model of the robot,and ADAMS is introduced to build the virtual prototype model of the robot.The motion simulation of the robot prototype model is carried out to verify the correctness of the robot model.The robot can perform wall weld simulation research.According to the composition of the robot,the robot body only tracks the weld seam coarsely.The horizontal slider needs to adjust the welding gun to accurately track the weld seam.The PID controller is designed for the robot body,and the fuzzy PID controller is designed for the slider part to improve the weld seam tracking accuracy.RN(negative zero)and RP(positive zero)are added to the fuzzy tuning rule of the PID parameter to realize the accurate tracking of the weld trajectory.In order to simulate the rotation arc extraction deviation,the virtual weld seam is established according to the wire model,and the arc length is obtained.Using the feature plane method,the MATLAB fitting can be used to obtain the characteristic plane projection slope under different deviations,and the deviation slope is linearly fitted to obtain V-based Formula for calculating the deviation of the weld.The ADAMS and MATLAB are used to establish the simulation model of the weld seam tracking control of the robot,and the V-shaped transverse welds with different angles of the groove are tracked.The simulation results show that the tracking accuracy of the robot wall is high,and the correctness of robot model and controller is verified.