Research Of Welding Seam Tracking Mobile-robot Based On Rotating Arc Sensor

As the total amount of steel products for the welding increased, the welding which is the primary means for material processing in the engineering is applied more and more widely. Because of the welding work is intensity, the working conditions with many welding fumes that may make human body damage.The people who willing to engage in welding workers is lesser now ,especially the people born in 80s and 90s who is the only child in a family is going to the main worker.So realize the welding automation is urgent.The main goal of this paper is to realize a stable weld seam tracking system.Firstly, The paper Analyse the characteristics of the arc welding sensor and the reason why it is not suitable for the long time work. Then we make thermal analysis to the Rotating arc Torch and find out the reason why the signal of arc welding sensor is unstable. Based on above researches, we design module of electric conduction rod with cooling system to solve the problem that the Rotating arc Torch is too hot in the process of long time operation. We also make a optimum design to the whole arc welding sensor, including embedding the encoding disk and its circuits, optimizing path of water, air and electricity. Moreover, we make the Rotating arc Torch.Secondly, Apply mathematical modeling to study the weld seam tracking system which uses cross-slider as actuatoran, analyze the effects that the motion of cross-slider has on arc welding sensor, build motion model of dynamical arc and make simulation analysis, confirm the range of rotating frequency and the speed of slide.Thirdly, the paper analyze the movement of mobile robot platform, construct motion equation of the mobile platform which is controlled by deviation angle and welding speed,and employs PID algorithm to control the motor that is used for the mobile platform.Then,Build modeling to analyze the welding current, and draw a conclusion that extreme point can reflect deviation angle, based on these studies, we use Comparison Method of interval integral to get the Approximate Value of weld deviation angle. Finally, The author analyze the mobile platform which is controlled by weld deviation angle and the method of using cross-slider controlled by weld deviation to track the weld seam,we also use High-Performance industrial chip to simplify the circuits of controlling weld seam tracking system and realize weld seam tracking.