The welding robot system designed in this paper is helpful to realize welding automation. The closed loop control system and algorithm of arc rotating speed have been designed, so arc rotating speed was stabilized near the set value and the tracking accuracy of fillet weld has been improved by the rotating arc sensor. A data acquisition system and a motion control system have been designed based on multi-sensor technology. The mapping relationship between the features in the welding seam image and the pose of the welding gun was established, so as to realize the identification of the pose of the welding gun based on three-wire laser vision sensing technology. The effect of wire extension, welding currents and welding voltages on the current waveform was investigated based on the rotating arc sensor. By using the designed system and algorithm, the welding deviations recognition experiment, the arc rotating speed control experiment and the tracking experiment of the right-angle welding seam have been carried out. The experimental results showed that the welding deviations were located within ±1mm, and the welding robot can track the complex welding seam accurately and reliably.

中文翻译：

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自主移动焊接机器人的系统设计

本文设计的焊接机器人系统有助于实现焊接自动化。设计了电弧转速闭环控制系统和算法，使电弧转速稳定在设定值附近，并通过旋转电弧传感器提高了角焊缝的跟踪精度。设计了基于多传感器技术的数据采集系统和运动控制系统。建立焊缝图像特征与焊枪位姿的映射关系，实现基于三线激光视觉传感技术的焊枪位姿识别。基于旋转电弧传感器，研究了焊丝延伸、焊接电流和焊接电压对电流波形的影响。通过使用设计的系统和算法，进行了焊接偏差识别实验、电弧转速控制实验和直角焊缝跟踪实验。实验结果表明，焊接偏差位于±1mm，焊接机器人可以准确可靠地跟踪复杂焊缝。