Identification of the space posture of arc welding guns with rotational arc sensors in GMAW

In order to improve welding quality and welding efficiency of the rectangular fillet weld in the shipbuilding industry, it is necessary to identify the space posture of the arc welding gun accurately. The mathematical model of the space posture of the arc welding gun has been established, and the space posture can be determined by four variables. Within a certain range, the mathematical model about the relationship between the welding current and the wire extension has been established in GMAW, and the height deviation that the arc welding gun is relative to fillet weld can be calculated by this mathematical model. In order to accurately calculate the horizontal deviation and the inclination angle, the main analysis method has been studied. By using the designed algorithm, the rectangular fillet weld tracking experiment and the tensile experiment have been done in the laboratory and shipyard. Experimental results showed that the robot could identify the space posture of the arc welding gun accurately, and track rectangular fillet welds with high accuracy and good reliability.