The invention discloses a multi-mechanical-arm space-
time synchronization control method for coiled
pipe welding, and belongs to the technical field of
automation control, and the method comprises the steps: in a primary
laser and TIG
hybrid welding execution stage, carrying out real-
time data acquisition on a
welding area of a workpiece, carrying out real-
time deviation detection, and once real-time welding deviation is detected, carrying out time-space synchronization on the welding area of the workpiece; a local correction mechanism is triggered immediately, and deviation is prevented from being accumulated in the single
welding process; after one-time welding is completed, the workpiece enters a transition area, global contour reconstruction is conducted on a welded section of the workpiece through three-dimensional scanning equipment, global deviation recognition is conducted, and unprocessed
hysteresis deformation and accumulative errors are covered and corrected in real time; on the basis of the analysis result of the global deviation recognition, double correction is conducted on secondary welding, and cooperative control over space track correction and technological parameter
adaptation is achieved; and after secondary welding is completed, the correction effect is evaluated through a double-layer evaluation mechanism, and the stability of the correction process is ensured.