Multipass Welding Planning And Analysis Of Weld Performance Based On KUKA Robot

In the manufacturing of shield machines,ships,and pressure vessels,Considering the requirements of welding quality,many medium-and-thick-plate welding processes require multipass welding,heavy welding work,bad working environment,and great strength of welders' labor.It is urgent to use robots instead of manual work to carry out the welding operation.However,in these Robot industries,there is only small batch and discrete manufacturing mode,where the conventional method of machine instruction reproduction and off-line programming is difficult to apply.In this passage,Multipass automatic welding planning related technologies for robot were carried out studied to promote the application of welding robots in such manufacturing modes.An unequal section planning strategy is proposed for actual situation and application requirements for manufacturing in the above fields,it can better meet the complex and changing conditions in actual welding production.Four models are derived and established to achieve robot automatic planning of multipass welding paths,that is cross-sectional area planning model of groove and weld,layer and pass distribution planning model,welding sequence planning model,posture change and swing parameter planning model.Second,it is based on unequal section planning strategies and KUKA robot welding system to develop the welding robot program,which makes it possible to achieve automatic programming of multipass welding path.And it will help to improve the level of automation and intelligent multi-pass welding robot programming.Directed against the situation in actual welding,the size and fitting up gap of workpieces groove cannot be guaranteed,the coping strategy is deduced when the groove deviation occurs,according to the unequal section planning strategy.Through welding experiments,it is verified that unequal section planning strategies and robot multi-pass welding programs can deal with multiple kinds of workpiece groove deviations.It has Improved the applicability and adaptability of unequal section planning and robot multipass welding procedures.The quality of multi-pass welds meeting the requirements is verified by detecting the mechanical properties of welded joints and analyzing weld microstructure and fracture.And unequal cross-section planning strategies and robot multi-pass welding program are applied to the actual welding production of the cutter box of shield machine.