Abstract
A three-dimensional laser sensor is combined with an alternating current pulsed metal inert gas welding robot system to detect information about the variation of joint gap width and deviation of the joint position relative to the welding torch. Together with the joint tracking and torch direction adjustment, electrode negative polarity ratio and welding speed are also controlled adaptively according to the variation of joint gap width during welding. As a result, a high tolerance of joint gap variation is obtained and bead shape becomes more uniform and of reasonable quality in welding of aluminium alloy sheets.
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