厚板大坡口多层多道焊接轨迹规划算法.pdfVIP

HotWorkingTechnology2022,Vol.51,No.15

·焊接技术·

厚板大坡口多层多道焊接轨迹规划算法

胡啸1,崔川，陈纬，赵世伟，,张卓1

(1.

太原030024)

摘要：针对厚板大坡口机器人多层多道焊接工艺，提出了一种多层多道焊接轨迹规划算法。首先通过机器人视觉

系统获取焊缝横截面几何尺寸，再根据坡口形状规划焊层数及各层道数，最终确定多层多道焊接起止位置。在焊接过程

中，为了避免重复多道焊接过热导致工件变形的问题，引人了对称型焊接方式进行焊接。利用RobotStudio软件离线编

程检验了算法的准确性，通过焊接测试验证了机器人焊接质量及效率。结果表明，该方法避免了手动示教的繁琐过程，

提高了焊接效率，焊接后坡口填充效果及焊缝成形良好。

关键词：多层多道焊；厚板；X形坡口；焊接机器人；离线编程

D0I:10.14158/j.cnki.1001-3814

中图分类号：TG409文献标识码：A

TrajectoryPlanningAlgorithmforThickPlateMulti-layerMulti-passWelding

withLargeGroove

HUXiao2,CUIChuan,CHENWei,ZHAOShiweil,ZHANGZhuol

(1.AdvancedControlandEquipmentIntelligentKeyLaboratoryofShanxiProvince,SchoolofElectronicInformation

Engineering,TaiyuanUniversityofScienceandTechnology,Taiyuan030024,China;2.KeyLaboratoryofCoalMine

ElectricalEquipmentandIntelligentControl,TaiyuanUniversityofTechnology,Taiyuan030024,China;3.RollingStationof

TechnicalCenterofTaiyuanHeavyMachineryGroupCo.,Ltd.,Taiyuan030024,China)

Abstract:Aimingatthemulti-layerandmulti-passweldingprocessofthickplatewithlargegroove,amulti-layerand

multi-channelweldingpathplanningalgorithmwasproposed.Firstly,thegeometricdimensionsoftheweldcross-sectionwere

obtainedbyrobotvisionsystem,andthenthenumberofweldlayerandthepassnumberofeachlayerareplannedaccording

tothegrooveshape,andfinallythestartingandendingpositionsofmulti-layerandmulti-passweldingweredetermined.Inthe

weldingprocess,inordertoavoidthedeformationofworkpiececausedbyrepeatedmulti-passwelding,symmetricalwelding

methodwasintroduced.RobotStudiosoftwareofflineprogrammingwasusedtoverifytheaccuracyoft