基于六轴机器人的管道全位置焊接工艺研究

Research for all-position welding process of pipeline based on six-axis robot

针对工厂化预制管道的焊接工艺特点,利用工业六轴焊接机器人摆动焊接功能对管道进行了全位置焊接。介绍了示教焊接的相关参数及使用方法,设计了焊接参数平滑过渡拟合插值算法,利用插值算法进行了焊接参数规划,得到焊接电压、电流等焊接控制参数相应的规则函数式。采用摆动焊接实验系统进行了焊接工艺试验,设计了全位置焊接试验工艺,试验中使用六点标定法对焊枪进行了标定,确保焊枪在每个焊接位置都保持最佳焊接姿态,试验得到了良好的焊接结果。

According to the welding process characteristics of the prefabricated pipeline,the all-position welding of the pipeline was carried out based on the swing welding function of the industrial six-axis welding robot. The parameters and methods of teaching welding were studied, the smooth transition interpolation algorithm for welding parameters was de signed, and the welding parameters planning was carried out by interpolation algorithm so that the rule functions of welding control parameters such as welding voltage and current were obtained. The welding process test was carried out by using experimental system of swinging welding. The all-position welding test process was designed,and the welding torch was calibrated by six points method to keep optimum posture of torch at each position. The good welding result was obtained by the test.