| 摘要 |
An automatic mark welding robot which can be adsorbed onto a curved surface during adsorption, can track an abnormal welding point when an abnormal welding operation is generated during welding, and can realize automation of the total posture welding on a three-dimensional curved surface by detecting a projected length of a wire, and a control method of the automatic mark welding robot are provided. An automatic mark welding robot comprises: guide rails(701) which has a rack gear installed on an upper surface thereof, a rail-holding part formed on a lower part thereof, and handle-formed brackets formed at both ends thereof, wherein the rail-holding part comprises a ball caster and an electromagnet; a carriage having a plurality of guide rollers, a carriage drive motor, and horizontal and vertical shafts; a welding torch(705) movably mounted on the horizontal shaft and connected to a welding machine(708) by a cable; a laser pointer fixed onto a side end of the welding torch to recognize a working reference line; a controller connected to the carriage, the welding machine and an operating computer by cables; a pendent(709) which is connected to the controller by a cable and has an LCD panel, a key pad and a control switch; hinges installed in a proceeding direction and a vertical direction of the guide rails; vacuum adsorption pads which are adsorbed onto a curved surface using elasticity generated during adsorption and a force of the hinges; and pad-holding shafts installed at both ends of the vacuum adsorption pads to adjust an elevation of the vacuum adsorption pads in a direction perpendicular to the guide rails.
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