| 引用本文: | 苗新刚,汪苏,李晓辉,彭新改.大构件相贯线焊接机器人多层多道焊轨迹规划[J].材料科学与工艺,2010,18(5):629-634.DOI:10.11951/j.issn.1005-0299.20100508. |
| MIAO Xin-gang,WANG Su,LI Xiao-hui,PENG Xin-gai.Track fitting for multi-path/multi-layer big frame intersection line welding robot[J].Materials Science and Technology,2010,18(5):629-634.DOI:10.11951/j.issn.1005-0299.20100508. |
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| 摘要: |
| 为了提高大型相贯线焊接构件在使用机器人做埋弧多层多道焊接时的示教和焊接效率,提出了一种焊道轨迹规划方法.设计了一种焊缝填充策略,即各焊层的焊接高度一致,每层中的焊道数与所在层数相同,所有焊道的横截面积相等;推导出多层多道焊的焊道轨迹规划公式,对第二层的第一道焊缝进行示教一次,其余焊道的轨迹即可通过公式求出;按照焊缝搭接的原则,对每个焊道的起弧点的位置进行规划,并详细设计了搭接轨迹的方案.仿真结果显示,该方法能够满足多层多道焊缝填充规划的要求,为机器人焊接时的离线编程提供了理论基础. |
| 关键词: 相贯线 填充策略 多层多道焊 轨迹规划 |
| DOI：10.11951/j.issn.1005-0299.20100508 |
| 分类号:TP242 |
| 基金项目: |
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| Track fitting for multi-path/multi-layer big frame intersection line welding robot |
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MIAO Xin-gang1, WANG Su1, LI Xiao-hui2, PENG Xin-gai3
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1.School of Mechanical Engineering and Automation,Beijing University of Aeronautics and Astronautics,Beijing 100191,China;2.Beijing Institute of Control Engineering,Beijing 100190,China;3.China Petroleum Pipeline Engineering Corporation,Langfang 065000,China
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| Abstract: |
| In order to increase robot efficiency of teaching and playback,a method of track fitting was designed for big frame intersection line is widely used and it is needed in multi-pass welding.Firstly,a filling strategy was used,in which each layer height was equal,the number of beads in a certain layer was equal to the ordinal number of the layer,and the across areas of each beads were equal.Secondly,only one bead trace was teaching in the second layer,and the trace of other beads was worked out by relevant formula.Lastly,the beginning arc position of each bead was also designed.The results of simulation show that this method can satisfy for the multi-path/multi-layer welding,and it provids theory for the off line programming of robot. |
| Key words: intersection line filling strategy multi-path/multi-layer welding track fitting |
