Obstacle-avoiding automatic welding machine based on dual-welding-torch Synchronous linkage

A new two-torch welding machine is designed based on the parameter equation of the intersection line of vertical multi-tube with aluminum wing. Automatic welding machine is driven to use four servo axes which include XYZ-axis for interpolation and linkage and R-axis for real-time servo swing. Based on the Synchronous weld of two-welding torch, the welding torch angle is changed to avoid the aluminum wing obstacle in Y axis. The optimal welding angle of two-welding torch is real-timely gained through the synchronous swing. And then the parameter equation of the synchronized rotation angle of dual-welding-torch is established. The synchronized circulatory swing of two-welding torch is real-timely achieved based on dual-servo driving system and synchronous signal measurement. The test shows the two-welding torch synchronization is nicer and obstacle avoidance is reliable.