大型三维复杂构件双机器人协同焊接智能路径规划方法

Intelligent Path Planning Method for Collaborative Welding Large-scale Three-dimensional Complex Component with Dual Robot

大型三维复杂构件是船舶、海洋装备、集装箱等的重要组成部分,其焊缝种类较多、空间分布复杂,部分焊缝存在协同同步弧焊焊接、焊接方向等特殊焊接工艺约束,现有协同焊接规划方法难适用于这类复杂场景。提出全局与局部相结合的双机器人协同焊接路径规划多阶段寻优方法;建立复杂构件三维空间焊缝模型以及双焊接机器人协同模型;根据协同同步焊焊缝的数量将构件划分出相应数量的分块,通过蚁群算法求解每一焊接分块的局部路径规划近似最优解;通过遗传粒子群算法进行多分块间的全局路径规划。仿真结果表明:通过分块划分多阶段寻优的方法可以有效地解决特殊焊接工艺约束下的大型三维复杂构件双机器人同步焊接路径规划问题。

Large-scale three-dimensional complex components are important components of ships,marine equipment and containers.There are many kinds of weld joints and complex spatial distribution in the components,and some of the weld joints have special welding process constraints such as collaborative synchronous arc welding and welding direction,so the existing collaborative welding path planning method is difficult to be applied to such complex scenarios.A multi-stage optimization method for dual robot collaborative welding path planning combining global and local was proposed.The three-dimensional space welding joint model of complex components and the dual welding robot collaborative model were established.According to the number of collaborative synchronous welds,the components were divided into corresponding number of small blocks,and the approximate optimal solution of local path planning for each weld block was solved by ant colony algorithm.Global path planning between multiple blocks was carried out by genetic particle swarm optimization algorithm.The results show that the method of multi-stage optimization based on block division can effectively solve the problem of dual robot synchronous welding path planning for large-scale three-dimensional complex components under special welding process constraints.