基于斜三角形摆弧的中厚板多层单道焊接路径规划

Path planning of multi-layer single-pass welding of medium and heavy plate based on oblique triangle swinging arc

针对中厚板结构件焊接较为复杂的问题,研究应用于中厚板焊缝的摆弧路径,提出一种基于空间直线斜三角形摆弧的轨迹算法,实现中厚板焊缝的焊接。首先,研究空间直线斜三角形摆弧轨迹算法来计算摆弧路径各插补点位置信息。然后,由插补点位置信息结合焊缝特征进行焊枪位置规划、焊道速度规划。其次,将所得到的各焊接路径算法生成的插补点输入至MATLAB进行仿真验证。最后,搭建实验平台,进行摆弧生成实验、焊接实验。实验结果表明:该算法是可行的,可以应用于实际焊接工程中。

Aiming at the complex welding problem of medium and thick plate members,swing arc path applied to the weld of medium and thick plate is studied,and a trajectory algorithm based on spatial straight line oblique triangle swing arc is proposed to realize the weld welding of medium and thick plate.Firstly,the spatial straight line oblique triangle swing arc trajectory algorithm is studied to calculate the position information of each interpolation point of the swing arc path.Secondly,based on the position information of interpolation points and weld characteristics,the welding torch position planning and weld pass velocity planning are carried out.Then,the interpolation points generated by the obtained welding path algorithms are input to MATLAB for simulation verification.Finally,the experiment platform is set up to carry out the swing arc generation experiment and welding experiment.The experimental results show that the algorithm is feasible and can be applied to actual welding engineering.