Control method and system for a trackless autonomous crawling all-position arc welding robot with wheels and permanent magnet caterpillar belts

• US 7,498,542 B2
• Filed: 12/19/2005
• Issued: 03/03/2009
• Est. Priority Date: 08/19/2003
• Status: Active Grant

• Current Assignee: Beijing Bo Tsing Technology Co., Ltd.
• Original Assignee: Bingyi Yan, Hua Zhang, Jiluan Pan, Lisheng Gao, Qinying Lu
• Inventors: Zhang, Hua, Gao, Lisheng, Yan, Bingyi, Pan, Jiluan, Lu, Qinying
• Primary Examiner(s): Stoner; Kiley
• Assistant Examiner(s): PATEL, DEVANG R
• Application Number:
  US11/311,521
• Publication Number:
  US 20060144835A1
• Time in Patent Office: 1,170 Days
• Field of Search: None
• US Class Current: 219/124.1
• CPC Class Codes: B23K 37/0258 Electric supply or control circuits therefor
• CPC Class Codes: B23K 37/0264 magnetically attached to the workpiece
• CPC Class Codes: B23K 37/0294 Transport carriages or vehicles
• CPC Class Codes: B23K 9/127 Means for tracking lines during arc welding or cutting copying in general B23Q35/00
• CPC Class Codes: B23K 9/1274 Using non-contact, optical means, e.g. laser means

Abstract

A method and system are provided for a trackless autonomous crawling all-position arc welding robot with wheels and permanent magnet caterpillar belts. A sensor detects a welding seam position and transmits the position to a tracking controller. The tracking controller sends instructions to a welding torch which may be moved in generally horizontal and vertical directions based upon the instructions. Additionally, a crawler drive controller receives the welding seam position and sends a control signal to an AC servomotor drive that positions the crawler based on the control signal.

Claims

1. A control method for a trackless autonomous crawling all-position arc welding robot with wheels and permanent magnet caterpillar belts, said method comprising the steps of:

timely detecting a position image signal of the a welding seam using a laser CCD sensor;

transmitting said position image signal to a tracking controller after signal processing;

sending out instructions by from the tracking controller upon receipt of said position image signal;

moving a welding torch in one of a vertical and horizontal direction upon said instructions via a bi-directional driving mechanism and a cross slide;

wherein said welding torch is fixed on said cross slide;

when a horizontal slide shift signal is sent out as a horizontal slide of said cross slide moves, synthetically transmitting said image signal and said horizontal slide shift signal to a crawler drive controller via a programmable logic controller (PLC);

said crawler drive controller sending out instructions to drive two permanent magnet caterpillar belts respectively and thereby drive and turn a crawler via an AC servomotor drive;

said PLC coordinating said cross slide and said crawler in combined tracking control, and movements of said cross slide and said crawler enabling said welding torch to track the welding seam and ensuring alignment precision, without placing a track, performing teaching or programming.

2. The method of claim 1, further comprising:

transmitting welding current and voltage feedback signals to a welding power supply controller, wherein the welding power supply controller adaptively controls a welding power supply upon receipt of the current and voltage feedback signals.

3. The method of claim 1, further comprising:

sending out control signals from a weaving controller to select an amplitude of weaving, a frequency of weaving, pausing of the weaving and timing of the weaving of the welding torch and the control signals make the welding torch perform the weaving via a weaving drive of welding torch.

4. The method of claim 1, wherein, said PLC can coordinate welding power supply control, welding torch weaving control and welding program control, to adapt them to different welding positions and joint types of the work-piece.

5. The method of claim 1, further comprising:

controlling welding parameters needing adjusting or manual intervening during the welding with a manual controller.

6. The method of claim 1, further comprising:

controlling the one or more permanent caterpillar belts of the crawler by generating or removing magnetic force via a magnetic circuit switch;

wherein the magnetic circuit switch is turned on during crawler operation, a magnet body generates magnetic lines passing through a work-piece, and wherein the a load carrying capacity of the crawler can be up to approximately 120 kg; and

turning off the magnetic circuit switch when the crawler is not in operation so that no magnetic lines pass through the work-piece, thereby removing magnetic attraction to work-piece, and allowing the crawler to be easily removed from the work-piece.

7. The method of claim 1, further comprising:

controlling a moving speed of the one or more permanent magnet caterpillar belts of the crawler by the crawler drive controller and the AC servomotor drive, and turning the crawler through the control of a difference between speeds of the one or more permanent magnet caterpillar belts and a turning and safety device engaged with the one or more permanent magnet caterpillar belts.