Research on the Real-time Tracking Information of Three-dimension Welding Seam in Robotic GTAW Process Based on Composite Sensor Technology

Aiming at the shortcomings of teaching-playback robot that can??t track the three-dimensional welding seam in real time during GTAW process, this paper designed a set of composite sensor system for tracking the three-dimensional welding seam based on visual sensor and arc sensor technology, which can effectively acquire three-dimensional welding seam information, such as clear images of seam and pool and stable arc voltage signals. The characteristic values of weld image and arc voltage signals were accurately extracted by using proper processing algorithm, and the experiments have been done to verify the precision of processing algorithms. The results demonstrate that the error is very small, which is accurate enough to meet the requirements of the subsequent real-time tracking and controlling during the welding robot GTAW process.