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Research on welding seam tracking algorithm for automatic welding process of X-shaped tip of concrete piles using laser distance sensor

Published online by Cambridge University Press:  18 April 2024

Cao Tri Huynh  and
Tri Cong Phung Open the ORCID record for Tri Cong Phung [Opens in a new window]
Cao Tri Huynh
Affiliation:
Faculty of Mechanical Engineering, Ho Chi Minh University of Technology (HCMUT), Ho Chi Minh City, Vietnam Vietnam National University Ho Chi Minh City, Ho Chi Minh City, Vietnam
Tri Cong Phung*
Affiliation:
Faculty of Mechanical Engineering, Ho Chi Minh University of Technology (HCMUT), Ho Chi Minh City, Vietnam Vietnam National University Ho Chi Minh City, Ho Chi Minh City, Vietnam
*
Corresponding author: Tri Cong Phung; Email: ptcong@hcmut.edu.vn
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Abstract

The manufacturing of the X-shaped tip of prestressed centrifugal concrete piles is nowadays done half automatically by combining the manual worker and the automatic welding robot. To make this welding process full automatically, the welding seam tracking algorithm is considered. There are many types of sensors that can be used to detect the welding seam such as vision sensor, laser vision sensor, arc sensor, or touch sensor. Each type of sensor has its advantages and disadvantages. In this paper, an algorithm for welding seam tracking using laser distance sensor is proposed. Firstly, the fundamental mathematics theory of the algorithm is presented. Next, the positioning table system supports the procedure is designed and manufactured. The object of this research is the fillet joint because of the characteristics of the X-shaped tip of the concrete piles. This paper proposes a new method to determine the welding trajectory of the tip using laser distance sensor. After that, the experimental results are received to verify the proposed idea. Finally, the improved proposal of the algorithm is considered to increase the accuracy of the suggested algorithm.

Keywords

concrete pilesindustrial manipulatorlaser distance sensorwelding seam trackingwelding positionX-shaped tip

Information

Type
Research Article
Information
Robotica , Volume 42 , Issue 6 , June 2024 , pp. 1796 - 1815
Copyright
© The Author(s), 2024. Published by Cambridge University Press

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