Full-position track control method of pipeline butt weld joint

Abstract

The invention relates to a full-position track control method of a pipeline butt weld joint. The method includes the steps that a main path of a pipeline butt weld joint trace is generated through an industrial robot teaching and playing-back system, and a root welding procedure is completed according to the main path. The main path serves as a center trace. The center trace and swing arc compensation are composited so that a filling weld trace can be determined. A filling weld procedure is completed according to the filling weld trace. A cosmetic welding procedure is completed according to the center trace. Automatic control over the welding trace, from root welding and filling welding to cosmetic welding, of the pipeline butt weld joint is achieved through the trace control method, the automation degree of pipeline welding is effectively improved, interference of current discrete values with a compensation valve is effectively shielded, and precision of the welding torch transverse swing compensation value is improved.

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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