摘要
针对石油平台导管架管道T型焊缝的多层多道焊路径规划问题进行了研究.结合管道坡口切割标准和焊接标准计算T型接头各法剖面二面角及焊缝尺寸;按照各焊道等截面假设,规划各法剖面对应V型坡口的焊层及焊道位置;通过计算T型焊缝上各点对应坡口角规划焊枪姿态.规划结果被用于近海石油平台导管架轨道式移动焊接机器人的离线编程仿真中.
A program of platform arc robot torch's posture planning for the T joint's welding is proposed.The dihedral angles and groove sizes of T joints are worked out by the international standard of pipeline manufacturing and welding.Then the planning strategy of welding layer and bead is programmed according to the size of the V-groove.The postures of torch are calculated through the groove angles.The planning results are used in the offshore platform arc robot off-line programming,and the simulation shows this method could be used in the T joint's multi-pass planning well.
出处
《上海交通大学学报》
EI
CAS
CSCD
北大核心
2010年第S1期155-159,共5页
Journal of Shanghai Jiaotong University
基金
2009年天津市自然基金资助项目(09JCYBJC04900)
关键词
导管架弧焊机器人
离线编程
轨迹规划
空间坡口
多层多道焊
offshore platform arc robot
off-line programming
posture planning
space groove
multi-pass welding
