SUMMARYThe V-groove joint of thick wall intersecting pipes must be filled by multi-layer weld. The welding path of intersecting pipes is complicated, and hence multi-layer welds increase the complexity of the problem. This paper proposes a methodology for path planning of multi-layer weld of thick wall intersecting pipes. The methodology is based on measuring the electrode pose located in both side and front views of intersecting pipes. In order to compensate for the path deviation around the pipe circumference, the measured values are used to interpolate the path of each pass between two views. The methodology has been applied in a case study. Simulation results approve that multi-layer weld appropriately fills the V-groove joint space around the pipe circumference. In addition, collision avoidance between welding torch and pipes is considered by introducing a safety ring. While the robot wrist moves inside the safety ring, no collision occurs. Simulation results show the robustness of the proposed path planning method, introduced for collision avoidance.

中文翻译：

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考虑避碰的交叉管道多层焊接路径规划方法

总结厚壁相交管的V型槽接头必须采用多层焊缝填充。交叉管的焊接路径复杂，多层焊缝增加了问题的复杂性。本文提出了一种厚壁交叉管多层焊缝路径规划方法。该方法基于测量位于相交管道的侧视图和前视图中的电极姿势。为了补偿围绕管道圆周的路径偏差，测量值用于在两个视图之间插入每次通过的路径。该方法已应用于案例研究。模拟结果表明，多层焊缝适当地填充了管道圆周周围的 V 型槽接头空间。此外，通过引入安全环来避免焊枪和管道之间的碰撞。当机器人手腕在安全环内移动时，不会发生碰撞。仿真结果表明了所提出的路径规划方法的鲁棒性，用于避免碰撞。