中厚板V形坡口多层多道焊机器人焊接技术研究

针对采用在线示教方式的中厚板V形坡口多层多道焊机器人焊接工艺进行了研究,结合机器人程序中的偏移指令设计了一种新的多层多道焊机器人焊接方法。通过对机器人焊接顺序、焊接路径进行规划,利用简化的焊道截面计算出各个目标点的偏移量,完成对机器人程序的编写。利用机器人离线编程软件Robot Studio以及实际的焊接设备对所提出的方法进行了试验验证。结果表明,该方法可有效减少示教次数,提高焊接效率,焊接后的V型坡口板填充效果以及焊缝成形良好。

Robot welding technology of V groove for heavy plate based on multi layer and multi pass welding

For multi layer and multi pass welding technology of V-type groove in medium and heavy plate, the robot welding was studied, and a new welding method of multi-layer multi-pass robot welding was designed with the deviation instruction in robot program. By planning the welding sequence and the welding path of the robot, the offset of each target point was calculated by using the simplified welding section, and the programming of the robot was completed. The proposed method was tested and validated by the robot off-line programming software RobotStudio and the actual welding equipment. The results show that the method can effectively reduce the frequency of teaching, improve the welding efficiency, the filling effect of the V-groove plate after welding and the weld appearance are good.