On the Key Technologies of Intelligentized Welding Robot

摘要

This paper addresses on key intelligentized technologies for robotic welding, which contains computer vision technology for recognizing weld seam and starting, locally autonomous guiding and tracking seam, real-time intelligent control of weld penetration, seam forming and welding pool dynamics. A locally autonomous intelligentized welding robot (LAIWR) systems was developed, which could realize detecting and recognizing weld surroundings by visual sensing technology, identifying the initial position of weld seam, autonomously guiding weld torch to the weld starting and tracking the seam, real-time control of pulsed GTAW pool dynamics by vision computing and intelligent strategies.