机器人多层多道焊接的路径规划  

Path Planning for Robotic Multi-path/Multi-layer Welding

作　　者：危文灏[1] 贠超[1] 宋德政[1] 王伟[1] 

机构地区：[1]北京航空航天大学机器人研究所,北京100191

出　　处：《机器人》2014年第3期257-262,270,共7页Robot

基　　金：北京市科技计划项目(Z111104059111003)

摘　　要：为了运用机器人实现多层多道复杂空间轨迹的自动化焊接,提高特定焊接结构的加工质量与效率,针对中厚壁管件的相贯线焊缝进行了路径规划.在满足焊接工艺要求的基础上,建立了焊接坡口模型以作为预制管件的制造依据与路径规划算法的设计基础.通过对围绕接管轴线旋转任一角度的焊缝截面的分析,提出了多层多道的焊道排布策略,确定了每条焊道的位置,同时规划了机器人焊枪末端位姿,开发了多层多道机器人焊接离线编程系统.仿真结果表明,各条焊道位置准确.在实际焊接实验中,机器人焊接连续性好、效率高,焊缝填充均匀、致密且美观.In order to achieve automatic welding along a complex spatial trajectory in robotic multi-path/multi-layer weld-ing, and increase processing quality and productivity of specific welding structures, path planning of intersecting welding seams for intermediate or thick wall pipes is implemented. Conforming to the welding technology principles, the welding groove model is established for the purpose of manufacturing the prefabricated pipes and devising the path planning algo-rithm. Through the analysis on the welding seams’ section which convolutes around the insert pipe’s axis at any angle, an arrangement strategy for multi-path/multi-layer welding beads is proposed with definite positions of each welding bead. Meanwhile, the position and orientation of welding gun tip is planned, and an off-line programming system for robotic multi-path/multi-layer welding is developed. The simulation results show the accurate positions of each welding bead. In actual welding experiments, good continuity and high productivity are realized with the robotic welding process, and uniform and compact welding seam filling with good appearance is achieved.

关 键 词：焊接机器人 多层多道焊 路径规划 离线编程 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]