Research On The Trajectory And Welding Procedure Of Pipe-pipe Intersecting Line Welding By Robot

In the research, three main research contents were included in this paper on all-position welding of pipe-pipe intersecting line by robot. They are respectively research on the theoretical key technology about welding robot of pipe-pipe intersecting line, technological test on all-position welding and the forming quality by all-position welding.The pipe-pipe intersecting line was made by two long hollow pipe which is the typical saddle-shape space curve. The process of downhand welding, vertical position welding and overhead welding is included in the space curve welding by robot. And all-position welding would be used during these type welding style. This study was started by the feature of pipe-pipe intersecting line welding joint. And welding style of pipe-pipe intersecting line by robot was also discussed in this paper. The ralationship between workpiece coordinate system and six axles under robot coordinate system was fitted by MATLAB. This means the equation of welding torch posture was solved in this paper. The theoretical explanation of upgrade and downgrade welding feature in all-position welding was analysed. As well as the choosing reason of droplet transfer style during welding process. All these explanation and analysis are the basic of pipe-pipe intersecting line welding experiments by robot.Twenty-two welding parameters were used to point at the feature of pipe-pipe intersecting line all-position welding by robot. The influence of welding process and welding shape which made by all the welding parameters was analysed. In addition, the principle of setting on welding parameters in welding experiments was provided by this.Before welding, the joint and welding torch posture would be setted. Firstly, all-position welding experiment of two different joint forms would be done by robot. After finished welding, the welding shape, penetration, and the macroscopic pattern of welding seam were observed and compared. The assessment of welding shape would be given. And the reason of forming welding defects would be analyzed as well. Finally, welding shape and microstructure were discussed and analysed to prove the rationality of pipe-pipe intersecting line welding experiments.The research on trajectory and welding procedure of pipe-pipe intersecting line robotic welding not only can optimize the welding test, but also can save the cost of production, increase welding effection and improve welding quality. In a word, this is imperative important to actual industrial production.