Research On The Design And Trajectory Planning Algorithm Of The Fully Automatic Surfacing Device For Underwater Connecting Flange

The connection technology of deep-sea oilfield underwater production equipment is one of the core technologies of offshore oil engineering.Research on reliable sealing and precise connection of underwater connectors at home and abroad has overcome major technical difficulties and has been widely applied to underwater production systems.Corrosion-resistant chemicals in deep-sea oil and gas must take anti-corrosion measures on production systems and equipment.Connector flange high-quality and high-efficiency overlay welding stainless steel technology is an important technical means in the manufacturing of offshore engineering equipment.The research of this topic is based on the overlay welding process,and the flanges used in large quantities in offshore petroleum engineering are taken as the research object.To solve the problem that the existing displacement equipment cannot stably mount and displace the flange workpiece of this subject,a fully automatic overlay welding device suitable for flanges of different sizes is designed,and offline programming is used as a control method,and each overlay welding is proposed.A coordinated motion trajectory planning algorithm with continuous optimal arc surfacing as the target of the best welding seam position.Firstly,according to the requirements of the overlay welding task,the overall design of the overlay welding device is included,including the overall structure design of the positioner,the drive system,the card mounting system design and selection,and the conceptual design of the welding operation machine and the completion of the 3D construction of the NX software mold.Based on the idea of coupling and decoupling at the end of the kinematic chain,complete the kinematic model establishment of the kinematic chain of the positioner kinematic chain and the kinematic chain of the welding manipulator and the kinematic forward / backward solution algorithm.Then,based on the coupling relationship between the end of the welding torch and the coordinate system of the discrete points of the weld,a coordinated motion equation of the two kinematic chains is established.It provides a theoretical basis for the cooperative surfacing algorithm of the positioner and the manipulator and the algorithm of the trajectory planning of the transition seam.This paper researches the coordinated overlay welding trajectory planning algorithm of the flange workpiece based on the optimal weld attitude.The flat welding and boat welding in the welding process are used as the optimal attitude of the weld.The planning of the surfacing path and the welding process,and then the geometric information extraction of the workpiece to be welded and the establishment of the welding seam curve parameter equation are established.The surfacing welding mathematical model is established by combining the surfacing path,and the mathematical discrete thinking is combined with two discrete methods.Discrete the spatial weld curve and establish a discrete welding point coordinate system with the optimal weld attitude as the constraint.The transition welding seam algorithm is proposed to complete the transition process of the two surfacing surfaces,so that the welding gun can track the weld in real time.Ensure the continuity of the surfacing process to avoid arc breaks.The GUIDE development environment based on MATLAB software completes the independent development of offline programming software for coordinated overlaying of the positioner and the manipulator.The kinematics model and solution of the positioner and the manipulator are used to solve the coordinated motion relationship and the geometric information extraction of the workpiece.Welding seam curve planning and curve parameter equations,welding seam discretization method,transition section trajectory algorithm,etc.are the programming ideas and basis.Through the input of workpiece geometric parameters and process parameters,the positioner and manipulator can be obtained during the overlay welding process.The textual data of the joint variables were combined with ADAMS software to build a positioner and a welding manipulator to build a welding overlay simulation system to simulate the kinematics of the device,verifying the rationality and feasibility of the welding overlay device and trajectory planning algorithm.