Multi-pass path planning for thick plate by DSAW based on vision sensor

Purpose – This paper aims to solve the problem that the changing of groove size and assembly gap would affect the precision of the multi-pass path planning and the welding quality and realize the automatic welding of a thick plate. Design/methodology/approach – First, a double-sided double arc welding (DSAW) system with a self-designed passive vision sensor was established, then the image of the groove was captured and the characteristic parameters of groove were extracted by image processing. According to the welding parameters and the extracted geometry size, multi-pass path planning was executed by the DSAW system. Findings – A DSAW system with a self-designed passive vision sensor was established which can realize the welding thick plate by double-sided double arc by two robots. The clear welding image of the groove was acquired, and an available image processing algorithm was proposed to accurately extract the characteristic parameters of the groove. According to the welding parameters and the extrac...