Joining test of telerobotic welding rapid tool changing interface

According to the equipment maintenance in dangerous environment,the remote welding robot has to prepare much more than the welding task for the welding and process after welding.Rapid tool changing interface meets the requirement of kinds of tools changing in the remote maintenance,which improves the generability of the remote welding robot but enhances the complexity of teleoperation.So the practical application key of rapid tool changing interface is feasibility verification of interface joining operation.The testing environment is composed of the video feedback,force feedback,teleoperation joy stick and human-robot interface etc.According to the feedback information,the tool joining was tele-handled by the control mode of tele-teaching.The teleoperation time and the changing of the force and force moment was recorded.Results show that the rapid tool changing interface is competent in the tool joining task.