Automation of main pipe-rotating welding scheme for intersecting pipes

摘要

Main pipe-rotating welding scheme for intersecting pipes can enhance welding quality by translating all of the welding position to horizontal vertical position. For purpose of the automation of this welding scheme, this article presents an automatic welding algorithm with a general description of the kinematic character, which is applicable to different welding equipment. Geometrical models containing pipes' parameters and welding torch's posture and dynamic model adequately expressing the welding process are established successively. Two different piecewise linear fitting methods used for real-time interpolation and off-line programming are introduced and analyzed subsequently. A three-dimensional simulation and a welding experiment with a 6-axis machine tool verify the feasibility of the algorithm.