CN117532226B - Intelligent planning method for welding layer path of robot for multi-layer thick-wall member - Google Patents

Intelligent planning method for welding layer path of robot for multi-layer thick-wall member Download PDF

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CN117532226B
CN117532226B CN202311656155.6A CN202311656155A CN117532226B CN 117532226 B CN117532226 B CN 117532226B CN 202311656155 A CN202311656155 A CN 202311656155A CN 117532226 B CN117532226 B CN 117532226B
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welding
weld
layer
thick
height
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CN117532226A (en
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薛忠亮
徐福宝
郑晓辉
王成虎
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Nanjing Yaoshi Software Technology Co ltd
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Nanjing Yaoshi Software Technology Co ltd
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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
    • B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
    • B23K37/02—Carriages for supporting the welding or cutting element
    • B23K37/0252—Steering means
    • 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
    • B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0081—Programme-controlled manipulators with master teach-in means
    • 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)
  • Physics & Mathematics (AREA)
  • Optics & Photonics (AREA)
  • Robotics (AREA)
  • Butt Welding And Welding Of Specific Article (AREA)

Abstract

The invention discloses a dynamic intelligent planning method for a multi-layer-channel thick-wall member robot self-adaptive welding layer channel, which comprises the following steps: calculating the height of a welding line of the front side of the backing welding based on welding parameters of the backing welding and a welding line size model of the back side of the backing welding, wherein the height of each filling layer of the welding line of the front side of the backing welding is fixed; calculating an arc voltage fluctuation index of the previous filling layer and substituting the arc voltage fluctuation index into a welding gun height deviation model of the filling layer to obtain a welding gun height deviation value relative to the previous filling layer; calculating the actual groove angle of the thick-wall member according to the thermal deformation model of the groove angle of the thick-wall member; based on a global contour local area principle and an actual groove angle of a thick-wall member, obtaining technological parameters and welding gun postures of each layer of each pass of welding seam; the total height of the weld was calculated and compared to the pipe wall thickness: and if the total height of the welding line is larger than the wall thickness of the pipeline, stopping the next filling welding planning. The invention ensures stable welding quality through the dynamic intelligent planning of the layer path of the thick-wall member.

Description

Intelligent planning method for welding layer path of robot for multi-layer thick-wall member
Technical Field
The invention relates to the technical field of robot multi-layer road welding, in particular to an intelligent planning method for a multi-layer road thick-wall member robot welding layer road.
Background
At present, robot welding of thick-wall components mainly depends on manual teaching, an operator sets fixed points and welding parameters of the welding robot according to groove sizes and formed welding seam conditions, the number of fixed points is multiple, the setting of the welding parameters is extremely dependent on experience of the operator, normally, the fixed point positions can be determined only by multiple empty calibration, production efficiency is greatly reduced, and welding quality fluctuation is large.
Aiming at the problems, in the prior art, a welding line is simplified into a trapezoid or a diamond by establishing a thick-wall member model, and the thick-wall member is filled based on the principle of equal area or equal height, but the thick-wall member is not an ideal groove without a staggered edge in consideration of factors such as assembly precision, thick-wall member processing and the like, and meanwhile, the height of a bottoming welding line cannot be obtained after bottoming welding, so that the height of a welding gun cannot be accurately adjusted and a filling layer is planned.
CN114309932a discloses a high-efficiency welding method suitable for ultra-narrow gap welding of thick-wall titanium alloy components, by adjusting the included angle between the laser beam and the end of the welding wire and the distance between the laser beam and the end of the welding wire, the welding wire is melted smoothly, and welding spatter is reduced; however, the method accurately adjusts the height of the welding gun and plans the filling layer, and cannot realize the dynamic intelligent planning of the multi-layer channels of the thick-wall member.
CN115446830a discloses a robot nonstandard component intelligent control multi-layer multi-channel welding system, which comprises a data packet module, a data extraction unit, an automatic adjustment unit, a data processing unit, a command execution module and a data packet cleaning module, so as to shoot welding, extract welding piece data, calculate, automatically adjust welding settings and transmit commands to a welding gun; according to the method, aiming at the non-uniformity of groove gaps and misalignment amounts of wall thickness members and the fluctuation of welding seam formation in the horizontal direction caused by shrinkage of the groove in the welding process, further, the welding seam formation is poor caused by the blocking of welding wire movement in the subsequent welding process, so that the fixed groove filling and planning cannot be performed simply according to the original angle of the groove.
Disclosure of Invention
This section is intended to outline some aspects of embodiments of the application and to briefly introduce some preferred embodiments. Some simplifications or omissions may be made in this section as well as in the description of the application and in the title of the application, which may not be used to limit the scope of the application.
The present invention has been made in view of the above-described problems occurring in the prior art.
The invention aims to provide a multilayer-channel thick-wall member robot self-adaptive welding layer-channel dynamic intelligent planning method, which realizes the layer-channel dynamic intelligent planning of a thick-wall member, the intellectualization of a welding process and ensures the stability of welding quality.
The invention provides the following technical scheme: calculating the height of a front welding line of the backing welding based on welding parameters of the backing welding and a size model of a back welding line of the backing welding, wherein the height of each filling layer of the front welding line of the backing welding is fixed;
Calculating an arc voltage fluctuation index of the previous filling layer and substituting the arc voltage fluctuation index into a welding gun height deviation model of the filling layer to obtain a welding gun height deviation value relative to the previous filling layer;
Calculating the actual groove angle of the thick-wall member according to the thermal deformation model of the groove angle of the thick-wall member;
Based on a global contour local area principle and an actual groove angle of the thick-wall member, obtaining technological parameters and welding gun postures of each layer of each welding seam;
the total height of the weld was calculated and compared to the pipe wall thickness:
If the total height of the welding line is larger than the wall thickness of the pipeline, stopping the next filling welding planning, and otherwise, continuing.
Further, before calculating the height of the weld on the front side of the backing weld, an automatic TIG backing weld back side weld size model and a single-pass weld size model are also required to be established, and a laser scanner is started to scan the groove of the thick-wall member so as to obtain the groove misalignment amount and groove gap of the thick-wall member and collect electric signals in the welding process by using a welding parameter collecting device;
and setting a backing welding parameter based on the bevel misalignment amount of the thick-wall member and the bevel gap.
Further, establishing the single-pass weld size model includes:
the mathematical expression formula of the model between the sectional area, the melting width and the residual height of the single-pass welding seam and the wire feeding speed, the swing amplitude and the welding current value is as follows:
Wherein S d、hd、Dd、vw and f are the cross-sectional area, the residual height, the melting width, the wire feeding speed and the swing amplitude of the single-pass welding seam respectively, and e 1、e2、e3、r1、r2、r3、Φ1、Φ2 and phi 3 are constants and related to materials.
Further, establishing the automatic TIG backing weld back weld size model includes:
The back welding seam is simplified into a trapezoid by utilizing a welding seam simplification rule, and based on the fact that the thick-wall component has a staggered edge, the welding width of the back welding seam is asymmetric relative to the center of a gap and the wetting angles of the back welding seam and grooves on two sides;
The calculation formula of the wetting angle of the back weld joint and the grooves on two sides is as follows:
Wherein, theta h is the wetting angle of the back weld and the higher side slope, theta L is the wetting angle of the back weld and the lower side slope, and a 1、a2、b1、b2、c1、c2 and p are constants.
Further, the weld simplification rule includes:
The welding lines of the first filling layer are trapezoidal, the tail welding line of each layer is simplified to be trapezoidal, and the other welding lines are simplified to be parallelograms.
Further, the height of the weld joint on the front side of the backing weld is the distance from the upper surface of the weld joint to the bottom of the slope of the higher side.
Further, the calculation formula of the height deviation of the filling layer welding gun is as follows:
Wherein h A is the set fill level height, and X and Y are constants.
Further, obtaining the welding gun pose includes:
The angle calculation of the bisector position of the angle formed by the horizontal connecting line of the center point of the pass weld joint section and the vertex of the groove section deviating from the vertical direction is expressed by the following mathematical formula:
wherein H is the wall thickness of the pipeline, and DeltaY ij and DeltaZ ij are the horizontal distance and the vertical distance between the center point of the section of the welding seam of the jth pass of the ith layer and the center point of the lower surface of the first filling layer respectively.
The invention has the beneficial effects that:
1. The invention models the back weld size of the double-sided forming weld joint of the backing weld, which is beneficial to clearly determining the backing weld height;
2. The invention determines the surface forming fluctuation condition of the welding seam of the previous layer by collecting the welding electric signal of the previous layer, corrects the height deviation of the welding gun of the next filling layer, is beneficial to the stable movement of the welding wire in the welding process, and ensures the forming quality of the welding seam;
3. according to the invention, the influence of heat accumulation on the groove angle is considered, and the welding parameters of the pass are adjusted, so that the weld bead planning is closer to the actual situation, and the welding quality is ensured.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the description of the embodiments will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art. Wherein:
FIG. 1 is a flow chart of an intelligent planning method for a welding layer of a multi-layer thick-wall member robot;
FIG. 2 is a schematic view of a bevel according to the present invention;
FIG. 3 is a model drawing of the back weld forming dimensions of an automatic TIG backing weld in accordance with the present invention;
FIG. 4 is a schematic view of a weld plan according to the present invention;
fig. 5 is a schematic view of the gun posture according to the present invention.
Detailed Description
So that the manner in which the above recited objects, features and advantages of the present invention can be understood in detail, a more particular description of the invention, briefly summarized above, may be had by reference to the embodiments, some of which are illustrated in the appended drawings. All other embodiments, which can be made by one of ordinary skill in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, but the present invention may be practiced in other ways other than those described herein, and persons skilled in the art will readily appreciate that the present invention is not limited to the specific embodiments disclosed below.
Example 1
In the prior art, welding lines are formed in the horizontal direction due to non-uniformity of groove gaps and misalignment amounts of wall thickness members and shrinkage of grooves in the welding process, so that welding lines are formed poorly due to blocked movement of welding wires in the subsequent welding process, and the wall thickness members are subjected to different degrees of angular deformation due to heat accumulation effect in the multi-layer welding process, so that fixed groove filling and planning cannot be performed simply according to the original angles of the grooves.
According to an embodiment of the invention, in combination with the flowchart shown in fig. 1, an intelligent planning method for a welding layer path of a multi-layer thick-wall member robot comprises the following steps:
s1: establishing a back weld size model and a single-pass weld size model of the automatic TIG backing weld;
s2: starting a laser scanner to scan the groove of the thick-wall member to obtain the edge-staggering quantity and the groove gap of the thick-wall member and an electric signal in the welding process, and setting a backing welding parameter based on the edge-staggering quantity and the groove gap of the thick-wall member;
S3: calculating the height of a front welding line of the backing welding based on welding parameters of the backing welding and a size model of a back welding line of the backing welding, wherein the height of each filling layer of the front welding line of the backing welding is fixed;
s4: calculating an arc voltage fluctuation index of the previous filling layer and substituting the arc voltage fluctuation index into a welding gun height deviation model of the filling layer to obtain a welding gun height deviation value relative to the previous filling layer;
s5: calculating the actual groove angle of the thick-wall member according to the thermal deformation model of the groove angle of the thick-wall member;
S6: based on a global contour local area principle and an actual groove angle of the thick-wall member, obtaining technological parameters and welding gun postures of each layer of each welding seam;
s7: the total height of the weld was calculated and compared to the pipe wall thickness:
a: if the total height of the welding seam is larger than the wall thickness of the pipeline, stopping the next filling welding planning;
b: if the total height of the welding line is smaller than the wall thickness of the pipeline, continuing to fill the welding plan next.
As an example, the electrical signal during the welding process may be acquired using a welding parameter acquisition device.
As an example, the weld simplification rule is that the first filler layer weld is trapezoidal, the last weld of each layer is simplified to be trapezoidal, and the remaining welds are simplified to be parallelograms.
As an example, the packing layer is planned in such a way that the number of passes per layer is the same as the number of layers of the layer and the cross-sectional area of each weld in each layer is the same.
In an alternative embodiment, the thick-walled member is angularly deformed based on the heat accumulation effect, so that the actual bevel angle of the thick-walled member is calculated from the thick-walled member bevel angle thermal deformation model when planning the next layer of filling.
Preferably, in the embodiment of the invention, the groove size of the thick-wall member is obtained by scanning the thick-wall member through the laser scanner, and meanwhile, the backing welding height is calculated based on the welding parameters of backing welding and the size model of the welding seam on the back of backing welding, so that the height adjustment and planning of the welding gun of the subsequent filling layer are facilitated, the welding gun height deviation value of the filling layer is obtained according to the arc voltage fluctuation index of the previous filling layer and the welding gun height deviation model of the filling layer in order to ensure smooth welding wire swinging in the welding process.
Preferably, in the embodiment of the invention, for the problem of groove size change caused by angular deformation in the multi-layer process of the thick-wall member, a thick-wall member groove angle thermal deformation model is provided, so that the actual angle of the thick-wall member is calculated, and each welding parameter and each welding gun posture of each layer are determined according to the single-channel welding seam size model and the welding gun posture model.
The implementation and/or effects of certain examples of the present invention are described in more detail below in conjunction with the flowcharts shown in fig. 2-5 and some preferred or alternative examples of the present invention.
The established automatic TIG bottoming back weld forming size model can refer to the schematic diagrams of figures 2 and 3.
Referring to fig. 2, the back weld is simplified to be trapezoidal, and based on the presence of the misalignment of the thick-walled member, referring to fig. 3, the back weld width exhibits asymmetry with respect to the center of the gap and the wetting angle of the back weld with the both-side grooves.
In an alternative embodiment, the height of the higher side groove to the back weld surface and the back weld width are calculated as follows:
Wherein D is the width of the back weld joint, I is the welding current, D is the groove gap, m is the groove misalignment amount, θ is the original groove angle, h is the height from the groove on the higher side to the surface of the back weld joint, and alpha, beta, gamma, lambda, delta, k 1 and k 2 are constants;
In an alternative embodiment, the proportionality coefficient of the distance of the groove gap center to the edge of the weld at the back of the higher side bevel and the distance of the groove gap center to the edge of the weld at the back of the lower side bevel is calculated as follows:
Wherein μ is a proportionality coefficient, t 1 is a residence time of the higher side groove, t 2 is a residence time of the lower side groove, and a and b are constants;
in an alternative embodiment, the wetting angle of the back weld with the two grooves, respectively, is calculated as follows:
Wherein, theta h is the wetting angle of the back weld and the higher side slope, theta L is the wetting angle of the back weld and the lower side slope, and a 1、a2、b1、b2、c1、c2 and p are constants.
Further, the single-pass weld size model is established and comprises models between the sectional area, the melting width and the residual height of the single-pass weld and the wire feeding speed, the swing amplitude and the welding current value respectively, and the mathematical expression formula is as follows:
Wherein S d、hd、Dd、vw and f are the cross-sectional area, the residual height, the melting width, the wire feeding speed and the swing amplitude of the single-pass welding seam respectively, and e 1、e2、e3、r1、r2、r3、Φ1、Φ2 and phi 3 are constants and related to materials.
The height of the weld on the front side of the backing weld includes the distance from the upper surface of the weld to the bottom of the higher side slope.
As an example, the wire feed amount calculation formula in one swing period in the primer welding is as follows:
Wherein M f is the wire feeding amount in one swinging period in backing welding, l is the swinging length, S is the sectional area of the welding wire, v h is the welding speed, and ρ w is the welding wire density.
As an example, the calculation formula of the underlying weld cross-sectional area is as follows:
where ρ 2 is the density of the weld.
As an example, the calculation formula of the back weld cross-sectional area below the bottom of the higher side bevel in the backing weld is as follows:
By way of example, the height of the weld bead is solved according to the following equation:
Wherein h 1 is the height of the backing weld.
It should be noted that, obtaining the height offset value of the welding gun relative to the previous filling layer includes:
the calculation formula of the arc voltage average value of each pass of welding seam of the last filling layer is as follows:
Wherein U is an acquired arc voltage value;
the calculation formula of the arc voltage fluctuation index of each pass of welding seam of the last filling layer is as follows:
the calculation formula of the arc voltage fluctuation index of the previous filling layer welding bead is as follows:
δF＝max{δ1,δ2,...,δn}
the calculation formula of the height deviation of the filling layer welding gun is as follows:
Wherein h A is the set fill level height, and X and Y are constants.
Still further, according to the thick-wall member groove angle thermal deformation model, the mathematical expression formula for calculating the actual groove angle of the thick-wall member is as follows:
Where θ i is the groove angle at the time of planning the ith filler layer, i n is the previous n passes of welding current, τ θ is a constant.
In the embodiment of the invention, based on the principle of global equal-height and local equal-area and the actual groove angle of the thick-wall member, the process parameters of each layer of each pass of welding seam are calculated as follows:
the calculation formula of the cross sections of the weld joints of different times is as follows:
s ij is the sectional area of the j-th weld joint of the ith layer.
As an example, the calculation of weld parameters includes a non-end pass weld and an end pass weld.
In an alternative embodiment, the calculation formula for the weld bead width for the non-final pass is as follows:
In an alternative embodiment, the welding current, wire feed speed, and swing amplitude of the non-last pass weld are calculated based on a single pass weld size model, specifically according to the following set of equations:
As an example, the end pass weld wobble amplitude is calculated as follows:
as an example, the welding current and wire feed speed of the end pass weld are calculated according to the following set of equations:
It should be further noted that, acquiring the welding gun pose includes:
Referring to fig. 5, the calculation process of the angle deviating from the vertical direction specifically includes the following steps of:
wherein H is the wall thickness of the pipeline, and DeltaY ij and DeltaZ ij are the horizontal distance and the vertical distance between the center point of the section of the welding seam of the jth pass of the ith layer and the center point of the lower surface of the first filling layer respectively.
Preferably, aiming at the problems that due to assembly precision and thick-wall member processing factors, a thick-wall member is not an ideal groove without a fault edge and the height of a bottoming weld cannot be obtained, the embodiment of the invention accurately obtains the height of the weld and is beneficial to the planning of a subsequent filling layer by modeling the size of the weld on the back of the bottoming weld, and in order to ensure smooth movement of a welding wire in the welding process, the invention establishes a filling layer welding gun height deviation model.
Preferably, for the problem of the change of the groove size of the thick-wall member caused by the heat accumulation effect, the embodiment of the invention establishes the groove angle thermal deformation model to realize the weld joint planning and the welding parameters to be more in line with the actual conditions, thereby greatly improving the weld joint quality.
The setting of the foregoing parameters and the method for comparing the wall thickness of the pipeline may be performed by using methods and means in the prior art, which are not described in detail in this example.
It should be noted that the above embodiments are only for illustrating the technical solution of the present invention and not for limiting the same, and although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that the technical solution of the present invention may be modified or substituted without departing from the spirit and scope of the technical solution of the present invention, which is intended to be covered in the scope of the claims of the present invention.

Claims (3)

1. An intelligent planning method for a welding layer of a multi-layer thick-wall member robot is characterized by comprising the following steps:
Calculating the height of a front welding line of the backing welding based on welding parameters of the backing welding and a size model of a back welding line of the backing welding, wherein the height of each filling layer of the front welding line of the backing welding is fixed;
Before calculating the height of the backing welding front weld, an automatic TIG backing welding back weld size model and a single-pass weld size model are also required to be established, and a laser scanner is started to scan a groove of a thick-wall member so as to obtain the groove misalignment amount and the groove gap of the thick-wall member and collect electric signals in the welding process by using a welding parameter collecting device;
Setting backing welding parameters based on the bevel misalignment amount of the thick-wall member and the bevel gap, and establishing the single-pass weld size model, wherein the method comprises the following steps:
the mathematical expression formula of the model between the sectional area, the melting width and the residual height of the single-pass welding seam and the wire feeding speed, the swing amplitude and the welding current value is as follows:
；
s d、hd、Dd、vw and f are respectively the sectional area, the residual height, the melting width, the wire feeding speed and the swing amplitude of a single-pass welding seam, and e 1、e2、e3、r1、r2、r3、Φ1、Φ2 and phi 3 are constants and related to materials;
establishing a size model of the back weld of the automatic TIG backing weld, which comprises the following steps:
The back welding seam is simplified into a trapezoid by utilizing a welding seam simplification rule, and based on the fact that the thick-wall component has a staggered edge, the welding width of the back welding seam is asymmetric relative to the center of a gap and the wetting angles of the back welding seam and grooves on two sides;
The calculation formula of the wetting angle of the back weld joint and the grooves on two sides is as follows:
；
wherein, theta h is the wetting angle of the back welding seam and the higher side slope, theta L is the wetting angle of the back welding seam and the lower side slope, and a 1、a2、b1、b2、c1、c2 and p are constants;
the height of the backing weld is solved according to the following equation:
；
Wherein h 1 is the height of the backing weld, S is the cross section area of the back weld below the bottom of the higher side slope in the backing weld;
Calculating an arc voltage fluctuation index of the previous filling layer and substituting the arc voltage fluctuation index into a welding gun height deviation model of the filling layer to obtain a welding gun height deviation value relative to the previous filling layer; the method for obtaining the height offset value of the welding gun relative to the previous filling layer comprises the following steps:
the calculation formula of the arc voltage average value of each pass of welding seam of the last filling layer is as follows:
；
Wherein U is an acquired arc voltage value;
the calculation formula of the arc voltage fluctuation index of each pass of welding seam of the last filling layer is as follows:
；
the calculation formula of the arc voltage fluctuation index of the previous filling layer welding bead is as follows:
；
the calculation formula of the height deviation of the filling layer welding gun is as follows:
；
wherein h A is the height of the filling layer, and X and Y are constants;
Calculating the actual groove angle of the thick-wall member according to the thermal deformation model of the groove angle of the thick-wall member; the mathematical expression formula is as follows:
；
Wherein, theta i is the groove angle when the ith filling layer is planned, i n is the welding current of the previous n times, and tau θ is a constant;
Based on a global contour local area principle and an actual groove angle of the thick-wall member, obtaining technological parameters and welding gun postures of each layer of each welding seam;
the technological parameters of each weld joint of each layer are obtained as follows:
the calculation formula of the cross sections of the weld joints of different times is as follows:
；
S ij is the sectional area of a j-th weld joint of the ith layer;
Acquiring the welding gun posture comprises the following steps:
The calculation process of the angle of the specific deviation from the vertical direction at the bisector position of the angle formed by the horizontal connecting line of the center point of the pass weld joint section and the vertex of the groove section is as follows:
；
Wherein H is the wall thickness of the pipeline, and DeltaY ij and DeltaZ ij are the horizontal distance and the vertical distance between the center point of the section of the welding seam of the ith layer and the center point of the lower surface of the first filling layer respectively;
the total height of the weld was calculated and compared to the pipe wall thickness:
If the total height of the welding line is larger than the wall thickness of the pipeline, stopping the next filling welding planning, and otherwise, continuing.
2. The intelligent planning method for a welded lane of a multi-lane thick-walled component robot according to claim 1, wherein the weld simplification rule comprises:
The welding lines of the first filling layer are trapezoidal, the tail welding line of each layer is simplified to be trapezoidal, and the other welding lines are simplified to be parallelograms.
3. The intelligent planning method for the welding layer path of the multi-layer thick-wall member robot according to claim 1, wherein the height of the weld joint on the front side of the backing weld is the distance from the upper surface of the weld joint to the bottom of the higher side slope.
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Citations (8)

* Cited by examiner, † Cited by third party
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