厚板弧焊机器人自定义型焊道编排策略

Self-defining path layout strategy for thick plate arc welding robot

多层多道焊路径的自动规划是实现厚板机器人焊接的关键技术之一.对典型的单面V形和双面K形坡口多道焊路径规划策略进行了研究,建立了基于图形多层多道焊离线规划模块,通过特征建模、焊接顺序、焊道参数及规划类形等设置,系统可自动生成多层多道焊路径的位置和姿态,重点推导了自定义型多道焊路径规划策略,并对单面V形坡口多层多道S形焊缝进行自定义型路径规划,实现了机器人多道焊的仿真和运动程序的快速生成,提高了示教灵活度和效率.

Automatic path-layout of multi-pass welding is one of key technologies for thick plate arc welding robot.Multi-pass path-layout strategy of single-sided V-groove and double-sided K-groove is researched.Multi-pass path-layout model based on graph is developed through feature modeling,welding sequence and layout types and so on.Position and attitude of multi-pass path can be automatically generated.Self-defining layout algorithm of multi-pass path-layout is deduced in detail.Moreover,Self-define layout is used to S-seam multi-pass welding of single-sided V-groove.Multi-pass welding simulation and motion program of an arc welding robot are quickly generated,flexibility and efficiency of teach improving.