CN105171289A - Multilayer and multipass welding track planning method for variable-groove-width heavy and medium plates - Google Patents
Multilayer and multipass welding track planning method for variable-groove-width heavy and medium plates Download PDFInfo
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- CN105171289A CN105171289A CN201510642528.3A CN201510642528A CN105171289A CN 105171289 A CN105171289 A CN 105171289A CN 201510642528 A CN201510642528 A CN 201510642528A CN 105171289 A CN105171289 A CN 105171289A
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
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Abstract
The invention discloses a multilayer and multipass welding track planning method for variable-groove-width heavy and medium plates. A line laser sensor is used for carrying out groove scanning and measuring on variable-groove-width heavy and medium plate welding parts; variable groove information is collected according to certain sampling frequency; then key information extraction and data processing are carried out on collected grooves, a variable groove center curve is finished, and irregularly-discrete variable groove data points are fitted into multiple linearly-continuous line segments; and finally according to multilayer and multipass welding parameters of the heavy and medium plates, the variable groove center curve and the fitted multi-line-segment groove data are combined, and multilayer and multipass welding track planning of the variable-groove-width heavy and medium plates is completed. The method can be used for welding track planning of variable-groove-width welding parts and is simple, good universality and high practicality are achieved, and good application prospects are achieved.
Description
Technical field
The present invention relates to a kind of welding method, particularly a kind of multi-layer multi-pass welding method for planning track of the change groove width for cut deal welding.
Background technology
According to the difference of welding work pieces thickness, weldment can be divided into thin plate, middle plate and slab.Under normal circumstances, thin plate is the weldment of dinger thickness degree≤4.5mm, and middle plate refers to the weldment of thickness between 4.5 ~ 20mm, and slab is the workpiece that thickness is greater than 20mm.Middle plate, slab are referred to as cut deal traditionally.
Because cut deal thickness of workpiece is relatively thick, so generally adopt the welding method of multilayer multiple tracks during welding.Cut deal double V-groove as shown in Figure 1 have employed the welding manner in 4 layer of 10 road.The situation (below referred to as " change groove ") of the uneven change of groove width usually occurs when cut deal welds.This is mainly caused by two kinds of situations: one is that retaining wall on slope error causes; Because some weldment is when finished edge, adopt the mode hand cut such as acetylene flame, easily cause the appearance becoming groove.Two is in cut deal multi-pass welding termination process, due to the existence of sweating heat distortion, make after welding one is two-layer, often occur the skew of groove position or bevel shape torsional deformation, thus cause be partially welded, lack of penetration or burn the appearance of problem, and then welding quality brings adverse influence.
For this reason, need to propose a kind of cut deal multi-layer multi-pass welding method for planning track becoming groove width, be used for becoming groove workpiece for cut deal, implementation method is simple, and versatility is good, practical multi-layer multi-pass welding trajectory planning.
The Authorization Notice No. China national patent of invention that to be a key name of CN102357709B be " the multilayer multiple tracks automatic soldering method of the circumferential weld of pipe part ", the method is in welding process, described pipe part rotates relative to welding gun, and the welding position of described welding gun on three-dimensional and soldering angle can regulate, automatically to realize the automatic welding of circumferential weld.After adopting the welding method of this invention, in welding process, described pipe part rotates relative to welding gun, and the welding position of described welding gun on three-dimensional and soldering angle can regulate automatically, thus also accurately can regulate welding position and soldering angle relatively flexibly, automatically to carry out multi-layer multi-pass welding, form the circumferential weld with better mechanical performance.Before above-mentioned patent, case is only applicable to the welding of pipe part.
Chinese patent publication No. CN103934571A discloses a kind of slab robot welding system and multi-pass welding seam real-time tracking, planing method.This patent application can comprise the image of weld groove characteristic information by Real-time Obtaining when welding, and be passed to control system, and control system is by described Image Acquisition groove information, control constantly corrects the position of welding gun in welding system, described control system adjustment welding bead track and welding parameter simultaneously, realize the real-time planning of multilayer multiple tracks, can raise labour efficiency and the quality of production.
Before above-mentioned patent, case is all regulate welding torch position or angle by real-time online, or realize automatically carrying out multi-layer multi-pass welding by the mode of real time correction welding bead track,, there is the shortcomings such as low-response, versatility are not strong, have much room for improvement in this mode regulating in real time in welding process or plan.
Summary of the invention
Technical problem to be solved by this invention is the needs for the cut deal workpiece welding becoming groove width, and provide a kind of welding track planing method of multilayer multiple tracks, implementation method is simple, and versatility is good, the object of practical cut deal welding.
For solving the problems of the technologies described above, technical solution of the present invention is:
Become the cut deal multi-layer multi-pass welding method for planning track of groove width: utilize a line laser sensor, groove scanning survey is carried out to the cut deal welding work pieces becoming groove width, become groove information by certain sample frequency collection; Then, carry out key message extraction and data processing to the groove collected, finishing becomes groove center curve, and discrete irregular change groove data point is fitted to the multi-line section of LINEAR CONTINUOUS; Finally, according to cut deal multi-layer multi-pass welding parameter, and combine the multi-line section groove data after becoming groove center curve, matching, complete the cut deal welding track planning of the change groove width of multilayer multiple tracks.
Preferably, the cut deal multi-layer multi-pass welding method for planning track of described change groove width, is characterized in that comprising the steps:
(1) according to the welding work pieces drawing of design, obtain and become groove center curve trajectory coordinates, and generate welding robot movement locus program with this;
(2) welding robot drives line laser sensor movement with above-mentioned movement locus, carries out groove scanning survey;
(3) according to scanning survey groove data out, carry out processing the change groove information obtaining comprising groove width, and revise change groove center curve;
(4) by discrete irregular change groove, the multi-section-line groove of LINEAR CONTINUOUS is fitted to;
(5) after completing previous step, according to multi-layer multi-pass welding parameter, and combine the multi-section-line groove data after becoming groove center curve, matching, carry out the planning of cut deal welding track.
Preferably, described step (3) carries out following analyzing and processing further: if line laser sensor scan scope has been deflected away from groove measurement, then according to the groove data that the scanning part having deflected away from line laser sensor scan scope is out complete, the groove center curve that interpolation matching make new advances, and regenerate welding robot movement locus with this, and then re-start groove scanning survey, namely step (2) is got back to, until line laser sensor can measure all complete groove data in whole scanning process; If line laser sensor can measure all complete groove data in whole scanning process, then according to the data measured, analyze and calculate information such as becoming groove width, final correction becomes groove center curve.
Preferably, the concrete approximating method of described step (4) is: from the 3rd point and i=3, the starting point of s=1 and straightway is the 1st point; Calculate i point with s point, s+1 point,
..., i-1 point slope K
i,s, K
i, s+1,
..., K
i, i-1, and wherein maximum slope value assignment to max
k, minimum of a value assignment is to min
k; At this moment:
If (a) max
k-min
k> error tolerances ε, does not fit within i point on same straight line with point above, makes w=i-1, and s point with w point line, obtain straight line L
s,w; Then i-1 point assignment to s point, i.e. s=i-1; Whether whether the following i of judgement>=n sets up, and n is the number of discrete irregular point, be namely last data point, if i>=n sets up, is then connected with n point by n-1 point, obtains straight line L
n-1, n; If i>=n is false, then i=i+1, namely judges whether next point can fit within same straight line with point above;
If (b) max
k-min
k≤ error tolerances ε, fits within same straight line by i point with point above; Judge whether i>=n sets up afterwards, if be false, then i=i+1, namely judges whether next point can fit within same straight line with point above; If i>=n sets up, then s point is connected with n point, obtain straight line L
n-1, n.
Preferably, the idiographic flow of described step (5) is: suppose that becoming groove cut deal fits to r point, i.e. the multi-line section of r-1 section; From multi-section-line first point after matching, namely i=1 starts to calculate.In conjunction with cut deal multi-layer multi-pass welding parameter, and according to the change groove center curve that step (3) correction obtains, obtain becoming the welding track coordinate value (X that under the impact of groove center curve i-th is corresponding
bi, Y
bi); Then according to the change groove width after multi-line section matching, obtain groove width and change the coordinate offset value (X caused
pi, Y
pi), thus obtain the welding reference path coordinate (X of i-th
i, Y
i), wherein, X
i=X
bi+ X
pi, Yi=Y
bi+ Y
pi; Then, obtain this groove width numerical value after utilizing multi-line section matching, derive the speed of welding corresponding to i-th or the amplitude of oscillation; Then, judge whether i>=r sets up, if i>=r is false, by i+1 assignment to i, i.e. i=i+1, obtains the parameters such as welding reference path coordinate, speed of welding or the amplitude of oscillation of next point; If i>=r sets up, then according to tried to achieve parameter, generate the path of welding track in this Ceng Gai road.
After adopting such scheme, compared with existing cut deal welding method, the present invention has following outstanding feature:
The first, the automatic welding becoming groove section cut deal workpiece can be realized.Current robot cut deal automatic welding is generally used for the automatic welding of the constant or even variation of groove width (groove is one large one small, and homogenous linear changes).The present invention for the cut deal workpiece becoming groove, can realize the welding track planning of multilayer multiple tracks.
The second, by discrete irregular change groove section data linear fit, the needs of actual welding more can be met.Because weld width depends primarily on speed of welding and the amplitude of oscillation, the mode of adjustment speed of welding is usually adopted to control weld width.Discrete substandard change groove is fitted to the groove section of multiple LINEAR CONTINUOUS, can ensure that speed of welding changes preferably continuous, thus obtain good welding quality.
3rd, the inventive method is simple, practical.Because the present invention adopts line laser sensor to carry out groove scanning, and in conjunction with respective algorithms, just can complete corresponding trajectory planning, method is comparatively simple, is convenient to implement.
As can be seen here, becoming groove cut deal workpiece can realize automatic welding to utilize the present invention to guarantee, and it is simple to have method, and the advantages such as versatility is good, practical, therefore have very large researching value and feasibility.
Accompanying drawing explanation
Fig. 1 is cut deal multi-layer multi-pass welding schematic diagram common at present;
Fig. 2 is the workflow diagram of the embodiment of the present invention;
Fig. 3 is the change groove workpiece schematic diagram of the embodiment of the present invention;
Fig. 4 is that the embodiment of the present invention utilizes line laser sensor measurement to become groove schematic diagram;
Fig. 5 is the discrete irregular some multi-line section fitting theory figure of the embodiment of the present invention;
Fig. 6 is the discrete irregular some multi-line section matching flow chart of the embodiment of the present invention;
Fig. 7 is the discrete irregular some multi-line section matching schematic diagram of the embodiment of the present invention;
Fig. 8 is that the embodiment of the present invention becomes groove multilayer multiple tracks planning flow chart.
Detailed description of the invention
Below in conjunction with the drawings and specific embodiments, the invention will be further described.
Disclosed is a kind of cut deal multi-layer multi-pass welding method for planning track becoming groove width, as shown in Fig. 2 to Fig. 8, for preferred embodiment of the present invention, the present embodiment is for the change groove welding workpiece of uniform thickness (i.e. workpiece grooves constant thickness), dull and stereotyped (namely workpiece is plate workpiece).Certain following method is also applicable to other forms and becomes groove welding workpiece.
Cut deal welding work pieces generally adopts the welding manner of multilayer multiple tracks, and the concrete welding number of plies and number of channels design according to actual needs.V-butt workpiece shown in Fig. 1 adopts the welding procedure in 4 layer of 10 road, and needs before welding to carry out retaining wall on slope to welding work pieces.First carry out welding track planning before welding afterwards, concrete grammar is: utilize line laser sensor, carries out groove scanning survey to the cut deal welding work pieces becoming groove width, becomes groove information by certain sample frequency collection; Then, carry out key message extraction and data processing to the groove collected, finishing becomes groove center curve, and discrete irregular change groove data point is fitted to the multi-line section of LINEAR CONTINUOUS; Finally, according to cut deal multi-layer multi-pass welding parameter, and combine the multi-line section groove data after becoming groove center curve, matching, complete the cut deal welding track planning of the change groove width of multilayer multiple tracks.
As shown in Figure 2, the concrete steps of the method for the invention are as follows:
(1) according to the welding work pieces drawing of design, obtain and become groove center curve trajectory coordinates, and generate welding robot movement locus program with this.Be illustrated in figure 3 and become groove workpiece schematic diagram, in figure, 1 is welding gun for becoming groove center curve, 2,4 is groove for change groove workpiece (welding work pieces), 3.
(2) welding robot drives line laser sensor movement with above-mentioned movement locus, carries out groove scanning survey.Concrete, above-mentioned movement locus program is imported welding robot, and line laser sensor is fixed on welding robot, utilize welding robot to drive line laser sensor movement, carry out groove scanning survey.As shown in Figure 4, in figure: 2 is line laser sensor for becoming groove workpiece, 5.
(3) according to scanning survey groove data out, carry out processing the change groove information obtaining comprising groove width, and revise change groove center curve.Concrete, after line laser sensor scan completes, groove data are passed in host computer (i.e. industrial computer), analyzing and processing is carried out to groove measurement data, and calculate information such as becoming groove width.Because become groove center curve to be obtained by the mid point fitting along a series of groove section widths in groove direction of advance, so according to measuring the change groove width information obtained, can revise and become groove center curve.
In order to accurate correction becomes groove center curve again, following analyzing and processing can be carried out further:
If (reason may be the existence due to mismachining tolerance to find groove measurement to have deflected away from line laser sensor scan scope, the actual groove center curve that processes or groove width inconsistent with theoretical design load), so according to the groove data that the scanning part having deflected away from line laser sensor scan scope is out complete, the groove center curve that interpolation matching make new advances, and regenerate welding robot movement locus with this, and then re-start groove scanning survey (namely getting back to step 2), until line laser sensor can measure all complete groove data in whole scanning process.
If line laser sensor can measure all complete groove data in whole scanning process, then according to the data measured, analyze and calculate information such as becoming groove width, final correction becomes groove center curve.
(4) by discrete irregular change groove, the multi-section-line groove of LINEAR CONTINUOUS is fitted to.
Because the reason of line laser sensor sample frequency, the groove data that scanning survey obtains are discrete points.Again due to the reason such as processing technology and mismachining tolerance, become groove cut deal workpiece grooves width and usually change comparatively irregular.And during welding robot welding, be generally the weld width being adjusted groove by change speed of welding and the amplitude of oscillation.Therefore, if directly discrete irregular groove data are used for generating cut deal welding track, then often cause the delayed or change of welding too to suddenly change, thus welding quality be can not be guaranteed.
For this reason, when the cut deal welding becoming groove, the present invention adopts the multi-line section matching of discrete irregular point, and discrete irregular groove width data fitting is become end to end many line segments, thus obtains comparatively continuous print welding process.
Specifically can adopt following approximating method: fitting algorithm principle as shown in Figure 5, suppose plane has several discrete points s point, s+1 point,
..., i-1 point and i point, obtain the slope K of i point with s point line
i,s, i point is with the slope K of s+1 point line
i, s+1,
..., i point is with the slope K of i-1 point line
i, i-1, and wherein maximum slope value assignment to max
k, minimum of a value assignment is to min
k.If max
k-min
ktime≤error tolerances ε (ε is according to customer requirement oneself setting), s point, s+1 point,
..., i-1 point and i point all will fit within same straight line; If max
k-min
kduring > error tolerances ε, then put i not with a s point, s+1 point,
..., i-1 point fits within the same line.
Discrete irregular point fits to the detailed process of multi-line section as shown in Figure 6.From the 3rd point, namely i=3 starts to judge (at this moment, s=1, namely the starting point of straightway is the 1st point).Calculate i point with s point, s+1 point,
..., i-1 point slope K
i,s, K
i, s+1,
..., K
i, i-1, and wherein maximum slope value assignment to max
k, minimum of a value assignment is to min
k.At this moment:
If (a) max
k-min
k> error tolerances ε, meaning i point together point above (namely s point, s+1 point,
..., i-1 point) deviation is comparatively large, be not suitable for i point together point above to fit within same straight line.If max
k-min
k> ε, w=i-1(by the position coordinates assignment of i-1 point to w point, similar below), and s point with w point line, obtain straight line L
s,w, then i-1 point assignment to s point (i.e. s=i-1).Next, judge whether i >=n sets up (n is the number of discrete irregular point, namely needs the groove width number of matching), whether is namely last data point.If i>=n sets up, then n-1 point is connected with n point, obtain straight line L
n-1, n.If i >=n is false, then i=i+1(is by i+1 point, is assigned to i), namely judges whether next point can fit within same straight line with point above.
If (b) max
k-min
k≤ error tolerances ε, meaning i point together point above (namely s point, s+1 point,
..., i-1 point) deviation within the scope of allowing, i point can be fitted within same straight line with point above.If max
k-min
k≤ ε, judges whether i>=n sets up.If be false, illustrate that i is not also last data point, then i=i+1(is by i+1 point, is assigned to i), namely judges whether next point can fit within same straight line with point above.If i>=n sets up, namely i point is last data point, then connected with n point by s point, obtain straight line L
n-1, n.
Irregular for series of discrete groove width (what demonstrate in figure is 18 discrete change groove width data), for utilizing this fitting algorithm, is fitted to the example of multi-line section by Fig. 7.Can find, discrete irregular groove can more efficiently fit to compared with the multi-line section groove for ease of welding processing by this algorithm.
(5), after completing previous step, according to multi-layer multi-pass welding parameter, and the multi-section-line groove data after becoming groove center curve, matching can be combined, carry out the planning of cut deal welding track.Idiographic flow can be as shown in Figure 8.Be welded as example with a certain road of certain one deck wherein, suppose that becoming groove cut deal fits to r point, i.e. the multi-line section of (r-1) section.From multi-section-line first point after matching, namely i=1 starts to calculate.In conjunction with cut deal multi-layer multi-pass welding parameter (as the number of plies, number of channels etc.), and according to the change groove center curve that step (3) correction obtains, obtain becoming the welding track coordinate value (X that under the impact of groove center curve i-th is corresponding
bi, Y
bi).Then according to the change groove width after multi-line section matching, obtain groove width and change the coordinate offset value (X caused
pi, Y
pi), thus obtain the welding reference path coordinate (X of i-th
i, Y
i).Wherein, X
i=X
bi+ X
pi, Yi=Y
bi+ Y
pi.Then, after utilizing multi-line section matching, obtaining this groove width numerical value, deriving the speed of welding corresponding to i-th or the amplitude of oscillation (because by changing speed of welding and the amplitude of oscillation, the weld width of groove can be adjusted).Then, judge whether i >=r sets up.If i >=r is false, then illustrate that i point is not also last point, by i+1 assignment to i(and i=i+1), obtain the parameters such as welding reference path coordinate, speed of welding or the amplitude of oscillation of next point.If i >=r sets up, then illustrate and arrived last point, then according to tried to achieve parameter, generate the path of welding track in this Ceng Gai road.
(6) generate welding processing code, complete cut deal multi-layer multi-pass welding.
Below provide the explanation of each technical term of the present invention or code:
(1) groove: according to technological requirement, is processed into the groove of certain geometrical shape and size at the position to be welded of weldment.
(2) line laser sensor: be a kind of sensor utilizing laser technology to carry out linear measure longimetry.Laser emission end launches the laser beam of a branch of straight line, gets in measuring surface, then receives laser signal by laser pick-off termination, thus obtains several discrete measured values, is used for characterizing the distance value of line laser sensor to measuring surface.This measured value through user by oneself, can calculate the two-dimensional appearance of measurement point in measuring surface.The line laser sensor that the embodiment of the present invention adopts is the model that Japanese KEYENCE company produces is the line laser sensor of LJ-G200.
The above is only preferred embodiment of the present invention, not imposes any restrictions technical scope of the present invention, therefore the change in every case done according to claim of the present invention and description or modification, all should belong within scope that patent of the present invention contains.
Claims (6)
1. become a cut deal multi-layer multi-pass welding method for planning track for groove width, it is characterized in that: utilize line laser sensor, groove scanning survey is carried out to the cut deal welding work pieces becoming groove width, become groove information by certain sample frequency collection; Then, carry out key message extraction and data processing to the groove collected, finishing becomes groove center curve, and discrete irregular change groove data point is fitted to the multi-line section of LINEAR CONTINUOUS; Finally, according to cut deal multi-layer multi-pass welding parameter, and combine the multi-line section groove data after becoming groove center curve, matching, complete the cut deal welding track planning of the change groove width of multilayer multiple tracks.
2. the cut deal multi-layer multi-pass welding method for planning track of change groove width according to claim 1, is characterized in that comprising the steps:
(1) according to the welding work pieces drawing of design, obtain and become groove center curve trajectory coordinates, and generate welding robot movement locus program with this;
(2) welding robot drives line laser sensor movement with above-mentioned movement locus, carries out groove scanning survey;
(3) according to scanning survey groove data out, carry out processing the change groove information obtaining comprising groove width, and revise change groove center curve;
(4) by discrete irregular change groove, the multi-section-line groove of LINEAR CONTINUOUS is fitted to;
(5) after completing previous step, according to multi-layer multi-pass welding parameter, and combine the multi-section-line groove data after becoming groove center curve, matching, carry out the planning of cut deal welding track.
3. the cut deal multi-layer multi-pass welding method for planning track of change groove width according to claim 2, it is characterized in that described step (3) carries out following analyzing and processing further: if line laser sensor scan scope has been deflected away from groove measurement, then according to the groove data that the scanning part having deflected away from line laser sensor scan scope is out complete, the groove center curve that interpolation matching make new advances, and regenerate welding robot movement locus with this, and then re-start groove scanning survey, namely step (2) is got back to, until line laser sensor can measure all complete groove data in whole scanning process, if line laser sensor can measure all complete groove data in whole scanning process, then according to the data measured, analyze and calculate information such as becoming groove width, final correction becomes groove center curve.
4. the cut deal multi-layer multi-pass welding method for planning track of change groove width according to claim 2, is characterized in that the concrete approximating method of described step (4) is: from the 3rd point and i=3, the starting point of s=1 and straightway is the 1st point; Calculate i point with s point, s+1 point,
..., i-1 point slope K
i,s, K
i, s+1,
..., K
i, i-1, and wherein maximum slope value assignment to max
k, minimum of a value assignment is to min
k; At this moment:
If (a) max
k-min
k> error tolerances ε, does not fit within i point on same straight line with point above, makes w=i-1, and s point with w point line, obtain straight line L
s,w; Then i-1 point assignment to s point, i.e. s=i-1; Whether whether the following i of judgement>=n sets up, and n is the number of discrete irregular point, be namely last data point, if i>=n sets up, is then connected with n point by n-1 point, obtains straight line L
n-1, n; If i>=n is false, then i=i+1, namely judges whether next point can fit within same straight line with point above;
If (b) max
k-min
k≤ error tolerances ε, fits within same straight line by i point with point above; Judge whether i>=n sets up afterwards, if be false, then i=i+1, namely judges whether next point can fit within same straight line with point above; If i>=n sets up, then s point is connected with n point, obtain straight line L
n-1, n.
5. the cut deal multi-layer multi-pass welding method for planning track of change groove width according to claim 2, is characterized in that the idiographic flow of described step (5) is: suppose that becoming groove cut deal fits to r point, i.e. the multi-line section of r-1 section; From multi-section-line first point after matching, namely i=1 starts to calculate.
6., in conjunction with cut deal multi-layer multi-pass welding parameter, and according to the change groove center curve that step (3) correction obtains, obtain becoming the welding track coordinate value (X that under the impact of groove center curve i-th is corresponding
bi, Y
bi); Then according to the change groove width after multi-line section matching, obtain groove width and change the coordinate offset value (X caused
pi, Y
pi), thus obtain the welding reference path coordinate (X of i-th
i, Y
i), wherein, X
i=X
bi+ X
pi, Yi=Y
bi+ Y
pi; Then, obtain this groove width numerical value after utilizing multi-line section matching, derive the speed of welding corresponding to i-th or the amplitude of oscillation; Then, judge whether i>=r sets up, if i>=r is false, by i+1 assignment to i, i.e. i=i+1, obtains the parameters such as welding reference path coordinate, speed of welding or the amplitude of oscillation of next point; If i>=r sets up, then according to tried to achieve parameter, generate the path of welding track in this Ceng Gai road.
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| CN110076501A (en) * | 2019-06-03 | 2019-08-02 | 山东大学 | A kind of multi-Layer Welding of Thick Plates connects the acquisition methods and system of deformation angle |
| CN110153534A (en) * | 2019-06-03 | 2019-08-23 | 山东大学 | Adapt to the multilayer multiple tracks robot welding paths planning method and system of welding deformation |
| CN112276390A (en) * | 2020-10-13 | 2021-01-29 | 太原科技大学 | Multilayer multi-welding track planning method for thick plate large slope |
| CN113319457A (en) * | 2021-05-31 | 2021-08-31 | 湖北火爆机器人科技有限公司 | Pipeline welding method |
| CN113333984A (en) * | 2021-06-30 | 2021-09-03 | 北京博清科技有限公司 | Control method and control device for welding robot, and computer-readable storage medium |
| CN114839995A (en) * | 2022-05-19 | 2022-08-02 | 法奥意威(苏州)机器人***有限公司 | Multilayer multi-path connection path planning and connection operation control method and related device |
| CN115945767A (en) * | 2022-11-15 | 2023-04-11 | 厦门航天思尔特机器人***股份公司 | Adaptive welding system, method and device for groove welding |
| CN115945767B (en) * | 2022-11-15 | 2024-05-28 | 厦门航天思尔特机器人***股份公司 | Self-adaptive welding system, method and device for groove welding |
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