Method and system for automatic robot welding based on multilayer and multi-pass welding of curved surfaces

Abstract

The invention discloses a method and system for automatic robot welding based on multilayer and multi-pass welding of curved surfaces. The method comprises the following steps of: S1, extracting a surfacing parameter of a welding pass from a database; S2, extracting and processing a welding-pass characteristic curve according to the surfacing parameter so as to determine welding path information needed in welding; S3, calculating posture information of a welding gun according to the welding path information; and S4, automatically generating a robot operating program according to the welding path information and the posture information of the welding gun, and carrying out welding operation according to the operating program. According to the invention, a specific computation model and an arrangement strategy are established according to the relevant parameters of the current welding pass needing to carry out multilayer and multi-pass welding so as to calculate the whole movement locus and the welding-gun posture needed by welding accurately, and the operating program of a robot controller is automatically generated for carrying out corresponding welding action, so that the welding quality is guaranteed and the working efficiency of welding of a robot is greatly increased.

Description

technical field [0001] The invention relates to industrial welding technology, in particular to a method and system for robot automatic welding based on curved surface multi-layer multi-pass welding. Background technique [0002] At present, in some industrial productions, multi-layer and multi-pass welding is generally used to improve the welding quality of special thick plate welding. Guide vane surfacing) to complete the guide vane welding. [0003] Guide vane surfacing welding is actually a groove fillet weld with a thickness of more than 80--100mm between the curved surface and the curved surface. The characteristic of multi-layer multi-pass welding is that the weld is not a straight weld, but a spatial curve, and the length of the curve As the welding layer increases and becomes shorter, manual surfacing or manual robot online teaching is usually used to complete the guide vane surfacing operation. [0004] However, the welding quality of previous manual surfacing or...

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Problems solved by technology

[0004] However, the welding quality of previous manual surfacing or robot online teaching depends on the technical level of the operator, and the quality cannot be guaranteed

Among them, manual surfacing welding is more difficult, especially the welding of the transition surface. It is even more difficult to build a smooth transition surface between the surfacing welding surface and the supporting surface after the groove surfacing welding

However, manual teaching takes up the working time of the robot, and the efficiency is very low. The online teaching method generally adopted, before the previous weld is welded, it is theoretically impossible to program the trajectory of the next weld, just like building a "castle in the sky".

At present, although some robot companies have launched multi-layer multi-pass welding software packages, they have limitations, such as limited number of weld beads, welding track points, and weld layers, let alone variable-length weld calculations, and manual programming also costs More time, which leads to low work efficiency

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