ALGORITHM AND IMPLEMENTATION OF AUTO-SEARCHING WELD LINE FOR WELDING MOBILE ROBOT

An algorithm of auto-searching weld line for welding mobile robot is presented. Auto-searching weld line is that the robot can automatically recognize a weld groove according to the characteristics of the weld groove before welding, and then adjust itself posture to the desired status preparing for welding, namely, it is a process that the robot autonomously aligns itself to the center of welding seam. Firstly, the configuration of welding mobile robot with the function of auto-searching weld line is introduced, then the algorithm and implementation of auto-searching weld line are presented on the basis of kinematics model of the robot, at last trajectory planning among auto-searching weld line is investigated in detail. The experiment result shows that the developed welding mobile robot can successfully implement the task of auto-searching weld line before welding, tracking error precision can be controlled to approximate ±1.5 mm, and satisfy the requirement of practical welding project.

Control algorithm based on trajectory and orientation of oblique intersection line welding-cutting robot

Working principle for a four-axis oblique intersection line welding robot is analyzed. A mathematical model for welding torch orientation angle is established, and an interpolation algorithm based on time division is proposed. The algorithm makes all interpolation points fall on a required curve in theory with no accumulated errors and a direct interpolation control on the saddle-shaped curve trajectory and space orientation angle can be achieved. It is shown by MATLAB simulation that the algorithm is real-time and fully meets the precision requirement. The algorithm has been applied to real robots.

Study on general inverse kinematics of rotating/tilting positioner for robotic arc welding off-line programming

Off line programming provides an essential link between CAD and CAM, whose development will result in greater use of robotic arc welding. An arc welding system with a robot and a rotating/tilting positioner is one of the most typical workcells. The inverse kinematics of robot and positioner is the foundation of the off line programming system. The previous researchers only focused on a special solution of the positioner inverse kinematics, which is the solution at down hand welding position. In this paper, we introduce a method for representing welding position. Then a general algorithm of rotating/tilting positioner inverse kinematics is presented, and an approach to find the unique solution of the inverse kinematics is discussed. The simulation experiment results show that the general algorithm can improve the ability of robotic arc welding off line programming system to program all types of welding positions.

Numerical Study on Welding Line Behavior of Deep Drawing TWB Process

The FEM technology is used to analyze the welding line movement behavior of deep drawing TWB sheet with different thickness. It is found that high stress fields are concentrated around the welding line and large residual stresses are left. The effect of the welding line movement is like a rigid string and the selected nodes of the thin part near the welding line show the related larger strain.

Study on intelligent welding mobile robot with the function of auto-searching weld line

The development of welding robots suitable for specially unstructured working enviroments has been become an important development direction of industrial robot application because large-scale welding structures have been used more and more widely in modern industry. In this paper, an intelligent mobile robot for welding of ship deck with the function of autosearching weld line was presented. A wheeled motion mechanism and a cross adjustment slider are used for the welding robot body. A sensing system based on laser-PSD （position sensitive detector） displacement sensor was developed to obtain two dimensional deviation signals during seam tracking. A full-digital control system based on DSP and CPLD has also been realized to implement complex and high-performance control algorithms. Furthermore, the system has still the function of auto-searching weld line according to the characteristics information of weld groove and adjusting posture itself to the desired status preparing for welding. The experiment of auto-searching welding line shows that the robot has high tracing accuracy, and can satisfy the requirement of practical welding project.

Generalized CAPP and synthetic evaluation strategy for production line of accuracy welding

This paper presents generalized CAPP （G-CAPP） method which deals with macro process planning for multiobjective in the planning stage of production line of accuracy welding （PLAW） based on the features of accuracy welding production （ AWP ）. G-CAPP offers foundations for prototype design and general equipment sorting, production capacity predication and production analysis by means of simulation and optimization. A synthetic hierarchy evaluation （SHE） model for G-CAPP established according to the planning objective is utilized to estimate the alternate processing plans by using membership function and analytic hierarchy process （AHP） of operational theory. The assembly welding line of hydraulic torque converter （HTC） is as an example of typical A WP to explicate G-CAPP and synthetic evaluating strategy of PLAW. The feasible and rational process configuration strategies of HTC assembly welding line are pointed oat under different planning objective.

On-line measurement of electrical variables of the transducer during ultrasonic welding and cutting

A measurement system for high power electrical variables with ultrasonic frequency was established. It can measure the effective values of the voltage and the current, the active power, the phase difference of voltage and current, the frequency of the transducer during ultrasonic welding and cutting. In sampling circuits of the system, the measured current is sensed by using a no capacitance and no inductance precision resistor and is treated with a difference amplifier, the measured voltage is processed by using a proportional amplifier. For achieving good amplitude frequency characteristics and rapid measurement of high frequency signals, the resistors, capacitors and amplifiers used in the system are rationally selected. Calibrating experiments show that relative errors are less than 1% for voltage and current effective values and less than 2.5% for active power, and absolute errors are ±1 Hz for frequency and ±1.7° for phase difference of voltage and current in the range of 17～23 kHz .

Automatic girth welding and performance evaluation of the joints of hot-induction-bend and line pipes with different wall thickness

During the process of laying long-distance oil and gas transmission pipelines, the hot-induction-bend method is extensively used when the direction has to be changed. By considering the pipeline＇ s ongoing processing and loading states during service, the pipeline that is generally used exhibits thicker walls than those that are observed in the line pipe. As such, during pipeline construction, hot-induction-bend and line pipes with different wall thickness are girth-welded. The chemical composition of hot-induction-bend and line pipes differs, with the carbon content being particularly higher in the hot-induction-bend pipe;it also depicts a higher carbon equivalent, which makes it possible to modify the girth of the pipe. In this study, using Baosteel＇ s standard X70M UOE hot- induction-bend and line pipes, solid-wire automatic gas-metal-arc girth welding was performed and the performance of the girth-welded joint was evaluated. Furthermore,the weldability of the pipeline girth and the microstructure of the girth-welded joint were analyzed. The results reveal that Baosteel＇ s standard UOE hot-induction-bend and line pipes exhibit good girth weldability, and their technical quality can be guaranteed in case of consumer field- construction applications.

Off-line simulation of robot welding of radar pedestal

A study of the interference simulation based on robot welding of the radar pedestal was carried out by using the KUKA Sim Pro simulation software and off-line program technology. Compared with the actual robot welding process, it was found that the trajectory of the simulated robot welding process in line with that recorded in the actual welding process, and the actual limit and interference appeared at the same place as the simulation process. There was no interference phenomenon on the outside weld-seam; on the internal weld-seam, especially on the weld-joint of support plate connected to the cylinder, a phenomenon of interference appeared. It was helpful to use the simulation method to guide the actual robot welding so as to protect robot from impacting and reduce the weld defects.

Path Planning of Planar Kinked Line Seam by Visual Servoing for Robotic Welding

Welding path planning can substitute for the manual teaching process of the robot and can promote the autonomous level of the robotic welding. A path planning method by visual servoing was presented, in which the optimal angle of charge-coupled device (CCD) camera was also planned. Aiming at planning two forms of kinked line seams, obtuse angle seam and right angle seam, a practicable solution was put forward. In this solution, the intersection of two adjacent straight segments is detected in each local seam image, and if intersection is found, the seam errors are calculated using the next straight segment. The experimental results show that kinked line seam can be well planned using this solution.

Study on path planning and compensation of off-line programming for thick walled curve welding

Thick walled curve welding are usually joined by multi-layer and multi-pass welding, which quality and efficiency could be improved by off-line programming of robot welding. However, the precision of off-line programming welding path was decreased due to the deviation between the off-line planned welding path and the actual welding path. A path planning algorithm and a path compensation algorithm of multi-layer and multi-pass curve welding seam for off-line programming of robot welding are developed in this paper. Experimental results show that the robot off-line programming improves the welding efftcieney and precision for thick walled curve welding seam.

Welding technique and quality of large diameter X70 line pipe for gas transmission of China

X70 grade large diameter line pipe with helical and longitudinal seam SAW was developed and used in West-East Pipeline Project of Petrochina. The operation pressure of the pipeline was designed as 10 MPa, with diameter of 1016 mm OD. This project represents the first high-pressure, large diameter and high strength grade gas pipeline in China. All the factors affecting the safety of the pipeline shall be considered. The welds quality of line pipe is very important for safety of the pipeline. Acicular ferrite type X70 grade pipeline steel was adopted for the base material. The welds performances of X70 line pipes with 1016mm OD and 14.6-21.0 mm WT has reached a very high level, especially of low temperature Charpy V impact toughness of welds metal. Welding technique and quality status of X70 line pipe of China are investigated in this paper.

Study on dynamic optimization of the double railway suspended vehicle for automatic transportation in the welding shop

The 2DOF dynamic equations of the doable railway suspended vehicle for automatic transportation in the welding shop are established. The sensitivities are analyzed. The parameter design is researched in ADAMS in terms of the inner railway radius, wheelbase, gauge, girder length of the doable railway suspended vehicle for automatic transportation in the welding product line. The mutual-restriction among the design variables is discussed and the selective ranges of the variables are confirmed. The result shows that the stability of the doable railway suspended vehicle for automatic transportation in the welding product line depends on parameters of the inner railway radius, wheelbase, gauge, girder length. The optimal results of the optimal objective and design variables have research significance for the virtual prototype of the doable suspension railway automation vehicle. The optimal results are input into the simulation model iteratively and the simulation results are fed back to the physical prototype. The veracity and reliability of peoformance forecast are improved so that the manufacture cost of the doable suspension railway automation vehicle is reduced significantly.

Numerical simulation of residual stress and deformation for submerged arc welding of Q690D high strength low alloy steel thick plate

The finite element simulation software SYSWELD is used to numerically simulate the temperature field,residual stress field,and welding deformation of Q690D thick plate multi-layer and multi-pass welding under different welding heat input and groove angles.The simulation results show that as the welding heat input increases,the peak temperature during the welding process is higher,and the residual stress increases,they are all between 330–340 MPa,and the residual stress is concentrated in the area near the weld.The hole-drilling method is used to measure the actual welding residual stress,and the measured data is in good agreement with the simulated value.The type of post-welding deformation is angular deformation,and as the welding heat input increases,the maximum deformation also increases.It shows smaller residual stress and deformation when the groove angle is 40°under the same heat input.In engineering applications,under the premise of guaranteeing welding quality,smaller heat input and 40°groove angle should be used.

Numerical simulation method for weld line development in micro injection molding process

In order to reduce the "trial-mold" risk and cost,numerical simulation method was applied to micro injection molding weld line development investigation. The micro tensile specimen which has the size of 0.1 mm(depth) ×0.4 mm(width) ×12 mm(length) in test area was selected as the objective part,and polypropylene(PP) as the experimental material. Respectively with specific commercial software(Mold Flow) and general computational fluid dynamic(CFD) software(Comsol Multiphysics) ,the simulation experiments for development of weld line in micro injection molding process were executed and the real comparison experiments were also carried out. The results show that during micro injection molding process,the specific commercial software for normal injection molding process is not valid to describe the micro flow process,the shape of flow front in micro cavity flowing which is important in weld line developing study and the contact angle due to surface tension are not able to be simulated. In order to improve the simulation results for micro weld line development,the general CFD software,which is more flexible in user defining function,is applied. The results show better effects in describing micro fluid flow behavior. As a conclusion,as for weld line forming process,the numerical simulation method can give a characteristic analysis results for processing parameters optimizing in micro injection molding process;but for both kinds of softwares quantitative analysis cannot be obtained unless the boundary condition and micro fluid mathematic model are improved in the future.

Study on motion simulation of arc welding robot based on UG

The motion simulation of arc welding robot is the basis of the system of robot off-line programming, and it has been one of the important research directions. The UGNX 4. 0 is adopted to establish 3D simulating model of MOTOMAN-HP6 arc welding robot. The kinematic model under link-pole coordinate system is established by the second development function offered by UG/OPEN API and the method of programming using VC ＋＋ 6. 0. The methods of founding model and operational procedures are introduced, which provides a good basis for off-line programming technique under Unigraphies condition.

Mechanism of weld-line movement within hydroforming of tailor-welded tube

To reveal the reason of weld-line movement in hydroforming of a tailor-welded tube (TWT) with dissimilar thickness,the stress ratio of axial stress to circumferential stress is derived by mechanical analysis and analyzed between the thicker and thinner tubes,as well as the property of the axial strain. During TWT hydroforming,tensile strain along axial direction happens on the thinner tube. On the contrary,compressive strain happens on the thicker tube. Experiments are conducted to varify the weld-line movement regularity and strain distribution. It indicates that the weld-line moves from the thinner part to the thicker during TWT hydroforming. The thinning ratio of the thinner tube is bigger than that of the thicker tube,especially in the zone near weldline. Stress ratio difference between the thicker tube and the thinner tube is the main reason of weld-line movement and non-uniform thinning ratio distribution.

Semi-analytic Solution of Steady Temperature Fields During Thin Plate Welding

Usually, it is very difficult to find out an analytical solution to thermal conduction problems during high temperature welding. Therefore, as an important numerical approach, the method of lines （MOLs） is introduced to solve the temperature field characterized by high gradients. The basic idea of the method is to semi-discretize the governing equation of the problem into a system of ordinary differential equations （ODEs） defined on discrete lines by means of the finite difference method, by which the thermal boundary condition with high gradients are directly embodied in formulation. Thus the temperature field can be obtained by solving the ODEs. As a numerical example, the variation of an axisymmetrical temperature field along the plate thickness can be obtained.

Study of fractal character of the fusion line in dissimilar welded joint

The fractal dimension of the fusion line in different dissimilar welded joints is measured with Box Dimension Method.The non scale region of the fusion line with fractal character is calculated. The fusion line in the dissimilar welded joint is proved to be a fractal structure. The change and influence factors of the fractal dimension of the fusion line are studied.

Development of the High Toughness Spirally Submerged Arc Welded Pipe Line

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