CN110091039A - Unilateral double V-groove multi-layer multi-pass welding paths planning method and system - Google Patents

Unilateral double V-groove multi-layer multi-pass welding paths planning method and system Download PDF

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Publication number
CN110091039A
CN110091039A CN201910469271.4A CN201910469271A CN110091039A CN 110091039 A CN110091039 A CN 110091039A CN 201910469271 A CN201910469271 A CN 201910469271A CN 110091039 A CN110091039 A CN 110091039A
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welding
groove
layer
welding bead
bead
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CN110091039B (en
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孙俊生
温永策
殷宪铼
高进强
卢庆亮
杨云
郝小东
崔凯
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Shandong University
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Shandong University
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K9/00—Arc welding or cutting
    • B23K9/24—Features related to electrodes
    • B23K9/28—Supporting devices for electrodes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K9/00—Arc welding or cutting
    • B23K9/32—Accessories
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Physics & Mathematics (AREA)
  • Plasma & Fusion (AREA)
  • Arc Welding In General (AREA)
  • Butt Welding And Welding Of Specific Article (AREA)

Abstract

The present disclosure proposes unilateral double V-groove multi-layer multi-pass welding paths planning method and systems, comprising: models to the welding bead arrangement of the unilateral double V-groove angle joint of right side opening；Welding bead planning uses equal height type filling Strategy, and backing run cross section is fitted with right angled triangle, and first of welding bead of every layer of second layer or more is fitted using right-angled trapezium, last to use trapezoidal fitting together, remaining welding bead is then fitted with diamond shape；Determine the number of plies and road number, welding torch position, welding gun inclination angle and the welding gun amplitude of oscillation of unilateral double V-groove welding；Path planning is carried out based on determining posture of welding torch, realizes the welding to unilateral double V-groove multilayer multiple tracks.The disclosure establishes multi-pass welding path planning model for unilateral double V-groove, needs user to determine the height of backing run and filler pass, can calculate the results such as position, posture, the amplitude of oscillation, the welding condition of welding gun using model.

Description

Unilateral double V-groove multi-layer multi-pass welding paths planning method and system
Technical field
This disclosure relates to welding technology field, more particularly to unilateral double V-groove multi-layer multi-pass welding paths planning method And system.
Background technique
Mechanization intelligence becomes the Developing mainstream of processing manufacturing industry.In recent years with the increase of cost of labor, robot The reduction of price and the growth of flexibility demand, greatly improve the demand of industrial robot, and robot becomes current important Industrial mode of production, therefore substitute artificial production using welding robot and become the head of improving production efficiency and product quality Want scheme.
In robotics, path includes position and the posture of robot tool.For welding robot, path of welding Planning includes determining welding gun terminal position and two, welding gun inclination angle problem.Welding gun pose and weld shape are closely related.Existing skill Exist in art: describing the pose of welding gun coordinate system with label point, and it is further proposed that robot tool establishment of coordinate system is existed Welding gun end, z-axis are overlapped with welding gun central axes and are directed toward inside welding gun, then it is posture of welding torch that z-axis, which is directed toward,.Simultaneously further It is proposed, the collision of welding gun and groove in order to prevent, take the posture of welding gun on pad and groove section two vertex line institute at The angular bisector position at angle, and the formula for calculating welding gun inclination angle is proposed, it has been finally completed the path rule of multi-layer multi-pass welding It draws.
In the prior art there is also: for trapezoidal welding bead, welding gun inclination angle is 0 °, and welding torch position is in trapezoidal and vertically divides equally On line, for parallelogram welding bead, needing to tilt welding gun, welding gun is on the perpendicular bisector of parallelogram long side, Welding gun inclination angle is demonstrated on this basis and swings influence molding for welding bead section.And by founding mathematical models, determine The position of welding bead label point and posture realize multi-layer multi-pass welding path planning.
In the prior art there is also: to by robot kinematics, it is determined that welding bead coordinate system and welding wire coordinate system, Transformation matrix between welding gun coordinate system, robot end's coordinate system, and based on this, according to the track pair of known welding bead It is planned the track of unknown welding bead.Welding bead coordinate system is established in groove cross section, by mathematical derivation, it is determined that weldering The transformation matrix of road position and posture of welding torch completes path of welding planning.
Cutter head of shield machine belongs to slab, special heavy plate welding structural element, generallys use manual welding now, and welding quality is steady It is qualitative it is poor, production efficiency is low.Accordingly, it is considered to substitute human weld using robot welding.But slab, special heavy plate machine at present The adaptive ability of device people's welding machine is poor, and slab, special heavy plate multi-layer multi-pass welding are using there is also many problems.Above-mentioned welding The path planning prior art is not fully suitable for slab, the application of special heavy plate multi-layer multi-pass welding.
Summary of the invention
The purpose of this specification embodiment is to provide unilateral double V-groove multi-layer multi-pass welding paths planning method, establishes Multi-pass welding path planning model, is needed user to determine the height of backing run and filler pass, can be counted using model Calculate the results such as position, posture, the amplitude of oscillation, the welding condition of welding gun.
This specification embodiment provides unilateral double V-groove multi-layer multi-pass welding paths planning method, passes through following technology Scheme is realized:
Include:
The welding bead arrangement of the unilateral double V-groove angle joint of right side opening is modeled；
Welding bead planning uses equal height type filling Strategy, and backing run cross section is fitted with right angled triangle, every layer first Welding bead is fitted using right-angled trapezium, last to use trapezoidal fitting together, remaining welding bead is then fitted with diamond shape；
Determine the number of plies and road number, welding torch position, welding gun inclination angle and the welding gun amplitude of oscillation of unilateral double V-groove welding；
Path planning is carried out based on determining posture of welding torch, realizes the welding to unilateral double V-groove multilayer multiple tracks.
Further technical solution models the welding bead arrangement of the unilateral double V-groove angle joint of right side opening, specifically:
Each layer is all made of welding sequence from left to right, if right side base material plate thickness is t, bevel angle θ, with groove Root is that origin establishes coordinate system；
If backing run height is hd, every layer of bead height of second layer or more is h；
It enables the bottom edge length of right-angled trapezium equal with its length of the hypotenuse, is regarded as a part of diamond shape；
If backing run area is Szs, right-angled trapezium welding bead area is Szt, diamond shape welding bead area is Sr, trapezoidal welding bead face Product is St；
Backing run welding gun centerline is on groove angular bisector, and diamond shape welding bead welding gun centerline is in long pair of diamond shape On the perpendicular bisector of linea angulata, because right-angled trapezium to be considered as to a part of diamond shape, the welding gun centerline of right-angled trapezium welding bead In on imaginary diamond shape long-diagonal perpendicular bisector, the welding gun center line of trapezoidal welding bead is overlapped with trapezoidal center line；
If backing run welding gun inclination angle is αzs, right-angled trapezium welding bead welding gun inclination angle is αzt, diamond shape welding bead welding gun inclination angle is αr。
The timing really of further technical solution, the number of plies and road number, the unilateral double V-groove path planning of bottom, by right side Base material plate thickness t, backing run height hd, filler pass height h finds out total number of plies n needed for filling up groove according to formula (1):
Further technical solution, in order to guarantee to fill up groove, takes greater than formula (1) calculated result when n is not integer Smallest positive integral nz, an amendment is carried out to the layer height of weld seam, revised layer height is taken as hz, hzIt is calculated by formula (2):
If the layer number of plies is i, the total sectional area S of i-th layer of weld seamiAre as follows:
I ∈ [2, n in formulaz]；
The area of right angled triangle welding bead are as follows:
The bottom edge length of right-angled trapezium welding bead is consistent with the side length of diamond shape welding bead, bottom edge length l and area SztIt is respectively as follows:
The area S of diamond shape welding beadrAre as follows:
Calculate [(Si-Szt)/Sr] ratio Q, the integer part of Q is denoted as N, fractional part is denoted as C, right-angled trapezium with Diamond shape welding bead number is determined according to decimal C, if C >=critical value, right-angled trapezium and diamond shape welding bead number are ri=N+1, pushes away Know that the trapezoidal welding bead area of most end is St=C*SrIf C < critical value, right-angled trapezium and diamond shape welding bead number are ri=N, most end Trapezoidal welding bead area is then St=(C+1) * Sr.According to test result, when critical value takes 0.4, welding bead molding is preferable.
Further technical solution, the determination of welding torch position: welding torch position is welding gun in the coordinate system of groove cross section Position, i.e. arcing point coordinate；
If abscissa, the ordinate of the i-th road Cengj welding bead are respectively yij、zij；
Abscissa, the ordinate of backing run arcing point are respectively as follows: y11=0, z11=0；
The layer above for backing welding, every layer in addition to the trapezoidal welding bead of most end, the abscissa of remaining welding bead are as follows:
I ∈ [2, n in formulaz], j ∈ [1, ri]；
The abscissa of i-th layer of trapezoidal welding bead of most end are as follows:
I ∈ [2, n in formulaz], j=ri+1；
The ordinate of i-th layer of welding bead are as follows:
zij=hd+(i-2)hz (10)
I ∈ [2, n in formulaz], j ∈ [1, ri+1]；
Further technical solution, the planning of welding gun inclination angle: for backing run, welding gun centerline is flat in groove angle On separated time, so, the welding gun inclination alpha of backing runzsAre as follows:
Further technical solution needs to plan the inclination angle of welding gun when welding right-angled trapezium welding bead and diamond shape welding bead Spend αztWith αr, so that welding gun is on diamond shape long-diagonal perpendicular bisector, obtain αztWith αrValue are as follows:
θ is bevel angle in formula.
Further technical solution, for guarantee bottom welding bead welding gun accessibility, need to judge welding gun whether with groove side Wall touches, and model is touched in foundation, finds out ordinate z value, as long as plate thickness t meets t < z, that is, can avoid welding gun and touches with weldment.
Model step is touched in further technical solution, foundation are as follows: by welding wire, torch nozzle contour edge and groove side Edge is reduced to three lines, respectively ls、lb、lrIf straight line lsWith lbSlope is kb, straight line lrSlope is kr, torch nozzle radius For rq；
According to geometrical relationship it is found that lbIt is with y-axis anglelrIt is 90 ° of-θ with y-axis angle, then slope kb, Slope krIt is respectively as follows:
kr=tan (90 ° of-θ) (14)
WhenI.e. θ > 30 ° when, no matter plate thickness be how much will not all be rebuffed；
If θ < 30 °, straight line l can be obtainedrEquation are as follows:
Z=tan (90 ° of-θ) y (15)
Straight line l where welding wiresEquation are as follows:
According to functional relation, straight line l can be found outbEquation are as follows:
Joint type (15) and formula (17), find out ordinate z value, as long as plate thickness t meets t < z, that is, can avoid welding gun and weldment It touches；
By the coordinate (0, z of bottom right-angled trapezium welding bead arcing pointi1) formula (16) are substituted into, obtain intercept b value are as follows:
B=zi1 (18)
By formula (15) and formula (17) equations simultaneousness, b value is substituted into, two straight-line intersection ordinate z are obtained are as follows:
As long as meeting t < z welding gun would not touch with weldment.
Further technical solution, welding gun amplitude of oscillation planning step:
In unilateral V groove, for right-angled trapezium welding bead, since it is close to groove side wall, can not use swing welding to prevent Only welding gun touches side wall, and for trapezoidal welding bead, amplitude of oscillation R is calculated by formula (20) and determined:
θ is bevel angle in formula, and i is current layer number, hzFor layer height, hdFor backing welding layer height, riIt is current Layer diamond shape welding bead number, m are the modifying factor for considering melting pool shape.
This specification embodiment provides unilateral double V-groove multi-layer multi-pass welding path planning system, passes through following technology Scheme is realized:
Include:
Model building module is configured as: being modeled to the welding bead arrangement of the unilateral double V-groove angle joint of right side opening；
Welding bead planning uses equal height type filling Strategy, and backing run cross section is fitted with right angled triangle, every layer first Welding bead is fitted using right-angled trapezium, last to use trapezoidal fitting together, remaining welding bead is then fitted with diamond shape；
Path planning module is configured as: determining the number of plies and road number, welding torch position, welding gun of unilateral double V-groove welding Inclination angle and the welding gun amplitude of oscillation；
Path planning is carried out based on determining posture of welding torch, realizes the welding to the multilayer multiple tracks of unilateral double V-groove.
A kind of welding robot, the welding robot include its controller, and the controller is configured as executing above-mentioned The step of unilateral double V-groove multi-layer multi-pass welding paths planning method, and the posture of welding torch based on determined by the method controls The movement of welding gun.
Compared with prior art, the beneficial effect of the disclosure is:
The disclosure establishes multi-pass welding path planning model for unilateral double V-groove, and user is needed to determine backing welding The height in road and filler pass can calculate position, posture, the amplitude of oscillation, welding condition of welding gun etc. using model and tie Fruit.
The disclosure has determined welding gun inclination angle, while aiming at the problem that thick plates welding gun is easy to touch with groove side wall, building The rebuffed model of welding gun is found.
The core of disclosure equal height type filling Strategy is that layer height is equal, it is first determined the height of backing run and filler pass Degree determines the number of plies and road number for filling up groove, and the welding bead number of this layer is then determined by calculating every layer of cross-sectional area, and Determine the starting point position of every one of welding bead.
Detailed description of the invention
The Figure of description for constituting a part of this disclosure is used to provide further understanding of the disclosure, the disclosure Illustrative embodiments and their description do not constitute the improper restriction to the disclosure for explaining the disclosure.
Fig. 1 is that the unilateral double V-groove of embodiment of the present disclosure fills schematic diagram；
Fig. 2 (a)-Fig. 2 (d) is the welding gun pose and starting point position schematic diagram of embodiment of the present disclosure；
Fig. 3 is the rebuffed model schematic of unilateral double V-groove welding gun of embodiment of the present disclosure；
Fig. 4 is the unilateral double V-groove angle and plate thickness upper limit value relational graph of embodiment of the present disclosure；
Fig. 5 (a)-Fig. 5 (b) is that the welding gun amplitude of oscillation of embodiment of the present disclosure calculates schematic diagram.
Specific embodiment
It is noted that following detailed description is all illustrative, it is intended to provide further instruction to the disclosure.Unless Otherwise indicated, all technical and scientific terms used herein has and disclosure person of an ordinary skill in the technical field Normally understood identical meanings.
It should be noted that term used herein above is merely to describe specific embodiment, and be not intended to restricted root According to the illustrative embodiments of the disclosure.As used herein, unless the context clearly indicates otherwise, otherwise singular shape Formula be also intended to include plural form, additionally, it should be understood that, when in the present specification use term "comprising" and/or When " comprising ", existing characteristics, step, operation, device, component and/or their combination are indicated.
Examples of implementation one
This embodiment disclose unilateral double V-groove multi-layer multi-pass welding paths planning methods, to the unilateral V-type slope of right side opening The welding bead arrangement of bicker connector is modeled；
Welding bead planning uses equal height type filling Strategy, and backing run cross section is fitted with right angled triangle, the second layer and with Upper every layer first of welding bead is fitted using right-angled trapezium, last to use trapezoidal fitting together, remaining welding bead is then fitted with diamond shape；
Determine the number of plies and road number, welding torch position, welding gun inclination angle and the welding gun amplitude of oscillation of unilateral double V-groove welding；
Path planning is carried out based on determining posture of welding torch, realizes the welding to unilateral double V-groove multilayer multiple tracks.
In welding production, double V-groove is common in the docking of steel plate, and the angle joint, T connector in actual welding structure are more To be common, which mostly uses out unilateral double V-groove, as shown in Figure 1 to penetrate.
Embodiment of the present disclosure models the welding bead arrangement of the unilateral double V-groove angle joint of right side opening.For to greatest extent Guarantee welding gun accessibility, each layer is all made of welding sequence from left to right.If right side base material plate thickness be t, bevel angle θ, Build the origin coordinate system as shown in Figure 1 in groove root.Welding bead plans proposed adoption equal height type filling Strategy, if backing run is high Degree is hd, every layer of bead height of second layer or more is h.Backing run cross section is fitted with right angled triangle, the second layer and with Upper every layer first of welding bead is fitted using right-angled trapezium, last to use trapezoidal fitting together, remaining welding bead is then fitted with diamond shape. It enables the bottom edge length of right-angled trapezium equal with its length of the hypotenuse, a part of diamond shape can be regarded as in this way, which is imagination Diamond shape facilitates subsequent planning.
If backing run area is Szs, right-angled trapezium welding bead area is Szt, diamond shape welding bead area is Sr, trapezoidal welding bead face Product is St.Backing run welding gun centerline is on groove angular bisector, being shown in shown in Fig. 2 (a), diamond shape welding bead welding gun center line On perpendicular bisector in diamond shape long-diagonal, see shown in Fig. 2 (c), because right-angled trapezium to be considered as to a part of diamond shape, The welding gun centerline of right-angled trapezium welding bead on imaginary diamond shape long-diagonal perpendicular bisector, seeing shown in Fig. 2 (b), trapezoidal welding bead Welding gun center line is overlapped with trapezoidal center line, is seen shown in Fig. 2 (d).If backing run welding gun inclination angle is αzs, right-angled trapezium welding bead Welding gun inclination angle is αzt, diamond shape welding bead welding gun inclination angle is αr, asterisk indicates starting point position in Fig. 2 (a)-Fig. 2 (d).
In specific embodiment, the determination of the number of plies and road number: because having unilateral double V-groove and top fillet welding simultaneously Seam, so needing to be planned respectively.Applying in engineering at most is fillet weld in the flat position of the section for right angle isosceles, Size of welds For K, variable bit is welded at ship type, can be regarded as the double V-groove that angle is 90 ° in this way, carries out the path of welding rule of V groove It draws.
For the unilateral double V-groove path planning of bottom, by right side base material plate thickness t, backing run height hd, filling weldering Road height h (1) can find out total number of plies n needed for filling up groove according to the following formula:
When n is not integer, in order to guarantee that groove can be filled up, the smallest positive integral n greater than formula (1) calculated result is takenz, Simultaneously as the total cross-sectional area of weld metal can be greater than the cross-sectional area of groove when taking biggish integer, weld seam is caused to occur Protrusion, therefore, it is necessary to the layer height to weld seam to carry out an amendment, and revised layer height is taken as hz, hzIt is calculated by following formula (2):
If the layer number of plies is i, the total sectional area S of i-th layer of weld seamiAre as follows:
I ∈ [2, n in formulaz]。
The area of right angled triangle welding bead are as follows:
Right-angled trapezium welding bead bottom edge length is consistent with diamond shape welding bead side length, bottom edge length l and area SztIt is respectively as follows:
Diamond shape welding bead area SrAre as follows:
Calculate [(Si-Szt)/Sr] ratio Q, the integer part of Q is denoted as N, fractional part is denoted as C.Right-angled trapezium with Diamond shape welding bead number is determined according to decimal C, if C >=0.4, right-angled trapezium and diamond shape welding bead number are ri=N+1, can be with Deduce that the trapezoidal welding bead area of most end is St=C*SrIf C < 0.4, right-angled trapezium and diamond shape welding bead number are ri=N, most end ladder Shape welding bead area is then St=(C+1) * Sr.0.4 is a critical value, is determined according to test result, when which takes 0.4, Appearance of weld is preferable.
In specific embodiment, the determination of welding torch position:
After determining the number of plies, road number, it is also necessary to derive position of the welding gun in groove section coordinate system, i.e. arcing point Coordinate.If abscissa, the ordinate of the i-th road Cengj welding bead are respectively yij、zij。
Abscissa, the ordinate of backing run arcing point are respectively as follows: y11=0, z11=0.
The layer above for backing welding, every layer in addition to the trapezoidal welding bead of most end, the abscissa of remaining welding bead are as follows:
I ∈ [2, n in formulaz], j ∈ [1, ri]。
The abscissa of i-th layer of trapezoidal welding bead of most end are as follows:
I ∈ [2, n in formulaz], j=ri+1。
The ordinate of i-th layer of welding bead are as follows:
zij=hd+(i-2)hz (10)
I ∈ [2, n in formulaz], j ∈ [1, ri+1]。
In specific embodiment, the planning of welding gun inclination angle:
For backing run, welding gun centerline on groove angular bisector, so, the welding gun inclination angle of backing run αzsAre as follows:
To guarantee appearance of weld, make geometric figure of the section of weld joint true form as far as possible close to fitting, in welding right angle ladder Need to plan the inclination angle alpha of welding gun when shape and diamond shape welding beadztWith αr, so that welding gun is on diamond shape long-diagonal perpendicular bisector, As shown in Fig. 2 (b) and Fig. 2 (c).By mathematical derivation it can be concluded that, αztWith αrValue are as follows:
θ is bevel angle in formula.
Equally, it is the welding gun accessibility for guaranteeing bottom welding bead, needs to judge whether welding gun touches with groove side wall.It will weldering Silk, torch nozzle contour edge and bevelled edge are reduced to three lines, respectively ls、lb、lr.If straight line lsWith lbSlope is kb, Straight line lrSlope is kr, torch nozzle radius is rq, as shown in Figure 3.
According to geometrical relationship it is found that lbIt is with y-axis anglelrIt is 90 ° of-θ with y-axis angle, then slope kb、 Slope krIt is respectively as follows:
kr=tan (90 ° of-θ) (14)
WhenI.e. θ > 30 ° when, no matter plate thickness be how much will not all be rebuffed.If θ < 30 °, such as Fig. 3 institute Show, establish coordinate system, straight line l can be obtainedrEquation are as follows:
Z=tan (90 ° of-θ) y (15)
Straight line l where welding wiresEquation are as follows:
According to functional relation, straight line l can be found outbEquation are as follows:
Joint type (15) and formula (17), find out ordinate z value, as long as plate thickness t meets t < z, that is, can avoid welding gun and weldment It touches.By the coordinate (0, z of bottom right-angled trapezium welding bead arcing pointi1) formula (16) are substituted into, available intercept b value are as follows:
B=zi1 (18)
By formula (15) and formula (17) equations simultaneousness, b value, available two straight-line intersections ordinate z are substituted into are as follows:
As long as meeting t < z welding gun would not touch with groove side wall.Likewise, assuming that torch nozzle radius is 10mm, in first diamond shape welding bead coordinate zi1In the case where taking different value, the relationship of bevel angle Yu plate thickness upper limit value is depicted Figure, as shown in Figure 4.
As shown in Figure 4, compared to double V-groove, unilateral double V-groove welding needs higher zi1Value just can guarantee welding gun It is not touched with groove side wall.This is because unilateral double V-groove is in the lesser situation of bevel angle, bottom space is smaller, simultaneously Only opening unilateral groove causes welding gun to be closer to groove side wall in the horizontal direction, therefore also requires higher zi1Value.
In a particular embodiment, the welding gun amplitude of oscillation is planned:
In unilateral V groove, referring to Fig. 5 (a), the amplitude of oscillation of diamond shape welding bead can be calculated according to formula (21) to be determined, only for straight The trapezoidal welding bead in angle can not use swing welding to prevent welding gun from touching side wall since it is close to groove side wall.For trapezoidal weldering Road is calculated by formula (20) and is determined with reference to Fig. 5 (b), amplitude of oscillation R:
θ is bevel angle in formula, and i is current layer number, hzFor layer height, hdFor backing welding layer height, riIt is current Layer diamond shape welding bead number, m are the modifying factor for considering melting pool shape, generally 2~3mm.
For every layer of diamond shape welding bead, welding gun is located on its long-diagonal perpendicular bisector.Because being fitted welding bead, institute using diamond shape With bead height hzOnce it is determined that long-diagonal AC length also determines therewith, amplitude of oscillation R are as follows:
θ is bevel angle in formula, and m is the modifying factor for considering melting pool shape, generally 2~3mm.
Examples of implementation two
This specification embodiment provides unilateral double V-groove multi-layer multi-pass welding path planning system, passes through following technology Scheme is realized:
Include:
Model building module is configured as: being modeled to the welding bead arrangement of the unilateral double V-groove angle joint of right side opening；
Welding bead planning uses equal height type filling Strategy, and backing run cross section is fitted with right angled triangle, every layer first Welding bead is fitted using right-angled trapezium, last to use trapezoidal fitting together, remaining welding bead is then fitted with diamond shape；
Path planning module is configured as: determining the number of plies and road number, welding torch position, welding gun of unilateral double V-groove welding Inclination angle and the welding gun amplitude of oscillation；
Path planning is carried out based on determining posture of welding torch, realizes the welding to unilateral double V-groove multilayer multiple tracks.
The specific implementation process of module is referring to the unilateral double V-groove multi-pass welding in examples of implementation one in the embodiment The particular technique content for connecing paths planning method, is no longer described in detail herein.
Examples of implementation three
This specification embodiment provides a kind of welding robot, and the welding robot includes its controller, the control Device processed is configured as the step of executing above-mentioned unilateral double V-groove multi-layer multi-pass welding paths planning method, and is based on the method The movement of identified posture of welding torch control welding gun.
The specific implementation process of method is referring to the unilateral double V-groove multi-pass welding in examples of implementation one in the embodiment The particular technique content for connecing paths planning method, is no longer described in detail herein.
It is understood that in the description of this specification, reference term " embodiment ", " another embodiment ", " its The description of his embodiment " or " first embodiment~N embodiment " etc. means described in conjunction with this embodiment or example specific Feature, structure, material or feature are included at least one embodiment or example of the invention.In the present specification, to upper The schematic representation for stating term may not refer to the same embodiment or example.Moreover, the specific features of description, structure, material The features such as material, can be combined in any suitable manner in any one or more of the embodiments or examples.
The foregoing is merely preferred embodiment of the present disclosure, are not limited to the disclosure, for the skill of this field For art personnel, the disclosure can have various modifications and variations.It is all the disclosure spirit and principle within, it is made any Modification, equivalent replacement, improvement etc., should be included within the protection scope of the disclosure.

Claims (10)

1. unilateral double V-groove multi-layer multi-pass welding paths planning method, characterized in that include:
The welding bead arrangement of the unilateral double V-groove angle joint of right side opening is modeled；
Welding bead planning uses equal height type filling Strategy, and backing run cross section is fitted with right angled triangle, and second layer or more is every First of welding bead of layer is fitted using right-angled trapezium, last to use trapezoidal fitting together, remaining welding bead is then fitted with diamond shape；
Determine the number of plies and road number, welding torch position, welding gun inclination angle and the welding gun amplitude of oscillation of unilateral double V-groove welding；
Path planning is carried out based on determining posture of welding torch, realizes the welding to unilateral double V-groove multilayer multiple tracks.
2. unilateral double V-groove multi-layer multi-pass welding paths planning method as described in claim 1, characterized in that right side opening The welding bead arrangement of unilateral double V-groove angle joint is modeled, specifically:
Each layer is all made of welding sequence from left to right, if right side base material plate thickness be t, bevel angle θ, with groove root its Origin is establishing coordinate system；
If backing run height is hd, every layer of bead height of second layer or more is h；
It enables the bottom edge length of right-angled trapezium welding bead equal with its length of the hypotenuse, is regarded as a part of diamond shape；
If backing run area is Szs, right-angled trapezium welding bead area is Szt, diamond shape welding bead area is Sr, trapezoidal welding bead area is St；
Backing run welding gun centerline is on groove angular bisector, and diamond shape welding bead welding gun centerline is in diamond shape long-diagonal On perpendicular bisector, because right-angled trapezium to be considered as to a part of diamond shape, the welding gun centerline of right-angled trapezium welding bead is in imagination On diamond shape long-diagonal perpendicular bisector, the welding gun center line of trapezoidal welding bead is overlapped with trapezoidal center line；
If backing run welding gun inclination angle is αzs, right-angled trapezium welding bead welding gun inclination angle is αzt, diamond shape welding bead welding gun inclination angle is αr。
3. unilateral double V-groove multi-layer multi-pass welding paths planning method as described in claim 1, characterized in that the number of plies and road Number timing really, the unilateral double V-groove path planning of bottom, by right side base material plate thickness t, backing run height hd, filler pass Height h finds out total number of plies n needed for filling up groove according to formula (1):
4. unilateral double V-groove multi-layer multi-pass welding paths planning method as claimed in claim 3, characterized in that when n is not whole When number, in order to guarantee to fill up groove, the smallest positive integral n greater than formula (1) calculated result is takenz, one is carried out to the layer height of weld seam and is repaired Just, revised layer height is taken as hz, hzIt is calculated by formula (2):
If the layer number of plies is i, the total sectional area S of i-th layer of weld seamiAre as follows:
I ∈ [2, n in formulaz]；
The area of right angled triangle welding bead are as follows:
Right-angled trapezium welding bead bottom edge length is consistent with diamond shape welding bead side length, bottom edge length l and area SztIt is respectively as follows:
The area S of diamond shape welding beadrAre as follows:
Calculate [(Si-Szt)/Sr] ratio Q, the integer part of Q is denoted as N, fractional part is denoted as C, and right-angled trapezium and diamond shape weld Road number is determined according to decimal C, if C >=critical value, right-angled trapezium and diamond shape welding bead number are ri=N+1, deduces most end Trapezoidal welding bead area is St=C*SrIf C < critical value, right-angled trapezium and diamond shape welding bead number are ri=N, the trapezoidal welding bead of most end Area is then St=(C+1) * Sr, according to test result, when critical value takes 0.4, appearance of weld is preferable.
5. unilateral double V-groove multi-layer multi-pass welding paths planning method as claimed in claim 4, characterized in that welding torch position Determination: welding torch position is position of the welding gun in the coordinate system of groove cross section, i.e. arcing point coordinate；
If abscissa, the ordinate of the i-th road Cengj welding bead are respectively yij、zij；
Abscissa, the ordinate of backing run arcing point are respectively as follows: y11=0, z11=0；
The layer above for backing welding, every layer in addition to the trapezoidal welding bead of most end, the abscissa of remaining welding bead are as follows:
I ∈ [2, n in formulaz], j ∈ [1, ri]；
The abscissa of i-th layer of trapezoidal welding bead of most end are as follows:
I ∈ [2, n in formulaz], j=ri+1；
The ordinate of i-th layer of welding bead are as follows:
zij=hd+(i-2)hz (10)
I ∈ [2, n in formulaz], j ∈ [1, ri+1]。
6. unilateral double V-groove multi-layer multi-pass welding paths planning method as described in claim 1, characterized in that welding gun inclination angle Planning: for backing run, welding gun centerline on groove angular bisector, so, the welding gun inclination alpha of backing runzsAre as follows:
Need to plan the inclination angle alpha of welding gun when welding right-angled trapezium and diamond shape welding beadztWith αr, so as to be in diamond shape long for welding gun On diagonal line perpendicular bisector, α is obtainedztWith αrValue are as follows:
θ is bevel angle in formula.
7. unilateral double V-groove multi-layer multi-pass welding paths planning method as described in claim 1, characterized in that guarantee bottom The welding gun accessibility of layer welding bead, needs to judge whether welding gun touches with groove side wall, and model is touched in foundation, finds out ordinate z value, As long as plate thickness t meets t < z, that is, it can avoid welding gun and touched with groove side wall.
8. unilateral double V-groove multi-layer multi-pass welding paths planning method as described in claim 1, characterized in that the welding gun amplitude of oscillation Planning step:
In unilateral V groove, swing welding can not be used to prevent from welding since it is close to groove side wall right-angled trapezium welding bead Rifle touches side wall, and for trapezoidal welding bead, amplitude of oscillation R is calculated by formula (20) and determined:
θ is bevel angle in formula, and i is current layer number, hzFor layer height, hdFor backing welding layer height, riFor current layer water chestnut Shape welding bead number, m are the modifying factor for considering melting pool shape.
9. unilateral double V-groove multi-layer multi-pass welding path planning system, characterized in that include:
Model building module is configured as: being modeled to the welding bead arrangement of the unilateral double V-groove angle joint of right side opening；
Welding bead planning uses equal height type filling Strategy, and backing run cross section is fitted with right angled triangle, and second layer or more is every First of welding bead of layer is fitted using right-angled trapezium, last to use trapezoidal fitting together, remaining welding bead is then fitted with diamond shape；
Path planning module is configured as: determine the welding of unilateral double V-groove the number of plies and road number, welding torch position, welding gun inclination angle and The welding gun amplitude of oscillation；
Path planning is carried out based on determining posture of welding torch, realizes the welding to unilateral double V-groove multilayer multiple tracks.
10. a kind of welding robot, the welding robot includes its controller, and the controller is configured as executing above-mentioned power Benefit requires the step of 1-8 any described unilateral double V-groove multi-layer multi-pass welding paths planning method, and is based on the method institute The movement of determining posture of welding torch control welding gun.
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