Research On Groove Weld Bead Arrangement And Error Correction Method Of Jacket Intersecting Structure

Offshore wind power equipment has the characteristics of complex working environment,long product cycle,high value,and difficult maintenance.Most of these offshore engineering equipment are based on jacket connection structures,and their welding processes have problems such as complex spatial curves,small welding space,and difficult to ensure welding quality,which heavily rely on high-level manual welding.Although traditional industrial robot welding can directly complete the welding of the intersection line of the jacket,due to the lack of optimal weld bead layout planning,it is still unable to ensure the stability of welding quality.Aiming at the above existing problems,this paper establishes a theoretical model of intersecting structural grooves,and verifies the correctness of the groove model through MATLAB simulation software.It further proposes a parabolic contour model,designs a weld bead planning and layout strategy based on the parabolic model,solves the size of the actual error angle,constructs a model of the actual groove,and proposes a method for correcting the groove error layout strategy,and carries out experimental verification.The main work accomplished in this article includes:.(1)A groove theoretical model of circular pipe intersecting structure is established.The mathematical model of the intersection line is established using the spatial analytical method,and then the parametric equation of the intersection line is given.The dihedral angle,groove angle,and actual cutting angle at any position of the intersection line are solved in turn.A new analytical method,the vector coplanar method,is further proposed to solve the groove vectors of the main pipe and the branch pipe,completing the establishment of the mathematical model of the intersection structure groove,and model programming and simulation calculations are performed using MATLAB.The results show that the MATLAB simulation results are consistent with the theoretical model of the intersection line groove.(2)A parabolic hypothesis model is proposed.A welding bead planning and layout strategy based on the parabolic model is designed,and the method of multi-layer and multi-pass welding bead layout is studied using the equal area method and the equal height method.The formula of multi-layer and multi-pass welding bead layout algorithm is further derived,thereby completing the multi-layer and multi-pass welding bead layout;The simulation of multi-layer and multi-pass welding bead layout is carried out using MATLAB,and the simulation results are consistent with the multi-layer and multi-pass welding bead layout algorithm;Finally,the multi-layer and multi-channel layout verification is completed through robot welding experiments.The results show that the simulated weld bead layout results are consistent with the contour of each layer and each pass of the V-groove tested,further demonstrating that the proposed multi-layer and multi-pass layout algorithm based on the parabolic model is feasible and accurate.(3)A method for correcting groove errors in weld bead placement is proposed.Firstly,calculate the actual error angle,construct the actual groove model of the intersecting structure,and calculate the total area of the actual groove and its error area;Secondly,the error corrected multi-layer and multi-pass weld bead layout formula and weld bead process parameters are derived to complete the correction of the groove error,and the actual groove of the intersection structure after the error correction is simulated.Finally,robot multi-layer and multi-pass welding experiments were carried out.The results show that the contours of each layer and each pass of the asymmetric V-groove in the test are consistent with the simulation results.