ABSTRACT Robot welding technology for complex curve in thick-walled pipes is crucial for for engineering applications. The Y-groove weld, characterized by a unilateral V-shaped groove with a blunt edge and commonly found in T-joints, is extensively utilized of class D welding seam in thick-walled pipes. To enhance welding efficiency and quality, simulation platform and an experimental platform have established for collaborative welding robots. A welding robot is employed to realize motions of seam tracking and arc motion, and a clamping robot is employed to realize motions of spatial position. Proposed a welding strategy involving multi-layer and multi-pass welding techniques for Y-groove weld. Developed mathematical models to maintain constant linear speed interpolation of the Tool Center Point (TCP) and equiangular interpolation of the pipe in coordinated welding process. Implemented a curve fitting algorithm for class D welding seam to determine end poses of both robots, ensuring flat welding accuracy while adhering to chord error limit and constant linear speed principle. These algorithmic models have been verified through testing using MATLAB and ADAMS. By inputting the final data into the experimental platform for coordinated welding, a good coordinated welding effect is achieved, which verifies the feasibility and effectiveness of the proposed model.
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