Study on Development of Intelligent Robot for Welding under Extreme Condition

为了研究极端条件下的自动焊接，构建了一种具有视觉传感器和电弧传感器系统的焊接机器人。此外，为了实现焊缝检测和焊缝稳定跟踪，对智能机器人的构建进行了尝试，取得的主要成果如下：1)为了在高压环境下稳定地进行焊接，尝试了弧长的模糊控制。2)构建了三维直角坐标焊接机器人，讨论了母材表面状态和接头形状对焊缝识别的影响。3)提出了一种利用多条扫描线检测焊缝位置的新方法(连续多向量连接法；CMVC法)，并验证了该方法的有效性。4)构建了具有激光照明系统的管道自主移动焊接机器人。5)提出了一种基于人工神经网络的焊缝检测和焊缝跟踪的新方法，并构建了机器人系统。通过实验研究，证实了该系统的有效性。

In order to investigate the automatic welding under extreme condition, a welding robot with visual sensor and arc sensor system was constructed. Moreover, in order to detect weld line and make seam tracking stably a construction of intelligent robot was tried.The main results obtained are summarized as follows :1)In order to perform welding stably under high pressure atmosphere, fuzzy control of arc length was tried. And it is confirmed that, if optimum parameters are selected, the control system constructed can be applied to the arc length control of high pressure welding.2)A three dimensional Cartesian coordinate welding robot was constructed and effects of surface condition of base metal and shape of joints on recognition of weld line are discussed. As the result, it is seen that, if optimum lighting system and reasonable image processing were applied, stable seam tracking can be performed.3)A new method to detect weld line position using plural scanning lines (Continuous Multi-vector Connecting Method ; CMVC method) was proposed and the effectiveness of the method was confirmed.4)A welding robot with laser lighting system which can move along a pipe autonomously was constructed. And it is confirmed that the system is effective on the automatic welding of butt and T-joint of pipes.5)A new method to detect weld line and make seam tracking by the artificial neural network was proposed and a robot system was constructed. As the experimental investigation, the effectiveness of the system was confirmed.