A Method for Controlling Full Position Trajectory of Pipeline Butt Weld

Abstract

The invention relates to a method for controlling the full position trajectory of a pipeline butt weld, comprising: generating a main path of the pipeline butt weld trajectory through an industrial robot teaching reproduction system, and completing a root welding process according to the main path. The main path is taken as the center trajectory, the center trajectory is combined with the swing arc compensation to determine the filling welding trajectory, and the filling welding process is completed according to the filling welding trajectory. Complete the cover welding process according to the center trajectory. The trajectory control method realizes the automatic control of the welding trajectory of the pipeline butt weld from root welding, filling welding to cover welding, effectively improves the automation of pipeline welding, effectively shields the interference of current discrete values ​​on compensation values, and improves the welding torch sway The precision of the compensation value.

Description

technical field [0001] The invention relates to the field of welding technology, in particular to a method for controlling the full position track of a pipeline butt weld. Background technique [0002] At present, the all-position welding trajectory control scheme of large diameter and long oil and gas pipelines generally adopts the swing arc tracking method. This method uses real-time collection of the current value when the welding torch swings, and then compares the collected current values ​​on both sides of the relative swing center and calculates the difference. , output the compensation amount to the motion actuator of the welding torch to ensure that the swing center of the welding torch is located in the center of the weld bead. The disadvantage of the existing scheme in the welding of pipe butt welds is that the weld must be tracked by swinging, and Only the base metal must be on both sides of the welding torch to be effective, so this method can only be used in th...

AI Technical Summary

Problems solved by technology

[0004] The application provides a method for controlling the full-position trajectory of the pipeline butt weld, which solves or partially solves the problem that the welding trajectory control method in the prior art cannot use swing arc tracking in root welding and cover welding, and cannot meet the requirements of all-position welding. Trajectory control requirements, low welding seam tracking accuracy and poor anti-interference ability in the welding process, realized the automatic control of the welding trajectory of the pipe butt weld from root welding, filling welding to cover welding, effectively improved The degree of automation of pipeline welding, the effective shielding of the interference of the current discrete value on the compensation value, and the technical effect of improving the accuracy of the welding torch sway compensation value

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