Optimal Pass Planning for Robotic Welding of Large-dimension Joints with Deep Grooves

Yan, SJ; Ong, S. K.; Nee, A. Y. C.

doi:10.1016/j.procir.2016.10.052

Cited by 21 publications

(7 citation statements)

References 17 publications

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“…Reprinted from [34] In welding, most of the available OLP software is considering the welding seam as a well-defined, uniform groove. The existing planning methods of multi-pass welding [25,52,53] based on a generally constant grove cross-sectional area where the differences in the geometry are results of errors. Only a few studies [6,51] analysed how to handle the non-uniformity of the welding groove geometry systematically.…”

Section: Programming Methodsmentioning

confidence: 99%

Supportive Robotic Welding System for Heavy, Small Series Production with Non-Uniform Welding Grooves

Horváth¹,

Köröndi²

2018

ACTA POLYTECH HUNG

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Heavy welding is a demanding task with high robotization potential. This applies especially for the runners of Francis hydropower turbines, due to the high working costs and EHS requirements in Europe. However, heavy welding is often related to small-series production with long processing time. This sets high demands on the planning and monitoring functionality of the robot system. The research in this field is gaining momentum, yet very few articles suggest suitable solutions. This paper presents a robotic welding control system design and application that facilitates the planning, control, and monitoring of the welding process of non-uniform grooves of large-dimension joints. Its primary and unique characteristic is the simplified operator assisted programming method, where the threedimensional path modification problem is translated into consecutive two-dimensional modifications. Therefore, reference cross-sections are created along the welding groove, where the sequence planning task of multi-pass weld bead placement is performed, and to the online modifications together with the adjustments are referred. The planning, changes and process supervision are supported by the robot system to handle uncertainties along the welding groove and adaptively utilize the robot operator experience. The activities are tracked and organized to supply information for later performance enhancement and reusability between similar processes. The supportive system design is particularly suitable for advanced, large-dimension, heavy robotic welding applications. A use case is presented on a welding a runner of Francis hydropower turbine.

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Section: Programming Methodsmentioning

confidence: 99%

Supportive Robotic Welding System for Heavy, Small Series Production with Non-Uniform Welding Grooves

Horváth¹,

Köröndi²

2018

ACTA POLYTECH HUNG

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“…Figure 2(b) defines the corresponding welding groove model using a sequence of cross sections, with the bisector direction at each cross section separating the groove angle (or joint-included angle) into two equal bevel angles. For a uniform groove, as investigated in Yang et al 2 and Yan et al, 28 welding pass planning can be reduced to pass layout planning for one cross section. In this research, pass planning to fill up a nonuniform groove is formulated to pass layout planning for a group of cross sections.…”

Section: Pass Planning For Nonuniform Groove Geometrymentioning

confidence: 99%

Optimal pass planning for robotic welding of large-dimension joints with nonuniform grooves

Yan

Fang

Ong

et al. 2017

Proceedings of the Institution of Mechanical Engineers, Part B:

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Large-dimension welded joints are widely used in shipyards and oilfields. These joints typically have thick and nonuniform welding grooves, thus requiring multi-pass welding processes and tens of hours to complete. Although the development of robotic welding systems can shorten the welding time, it is important to have a detailed plan of the entire process before welding starts. Welding pass planning is crucial for the subsequent robot trajectory generation and provides the welding sequence in a deep groove and the welding parameters of every pass. A knowledge database is used in this research to obtain the relationship between the bead geometry and the welding parameters. A layer-by-layer welding pass planning scheme is proposed to address the nonuniform groove geometry, and an optimization method is proposed with the objective to maximize the section area of the weld bead, so that the number of passes can be minimized. The planning results show that the optimization method is able to provide feasible passes and welding parameters for every pass.

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“…As shown in Figure 1 , the system includes a welding actuator, remote control box, wire feeder system, control system, welding machine and other parts. The function of the welding actuator is to drive the actuator to rotate on the circular track, and the welding torch is fixed on the actuator to follow the rotary motion [ 4 , 5 , 6 , 7 , 8 , 9 ].…”

Section: Introductionsmentioning

confidence: 99%

Research on Filling Strategy of Pipeline Multi-Layer Welding for Compound Narrow Gap Groove

et al. 2022

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With the increase in transmission pressure and pipe diameter of long-distance oil and gas pipelines, automatic welding of the pipeline has become the mainstream welding method. The multi-layer and multi-pass welding path planning of large-diameter pipelines with typical narrow gap grooves are studied, and a welding strategy for pipeline external welding robot is proposed. By analyzing the shape of the weld bead section of the narrow gap groove and comparing the advantages and disadvantages of the equal-height method and the equal-area method, the mathematical model of the filling layer is established. Through the test and analysis in the workshop, the predicted lifting value meets the actual welding requirements. The microstructure of the weld was analyzed by SEM. The main structure of the weld was fine acicular ferrite, which could improve the mechanical properties of the welded joint. After multi-layer filling, the filling layer is flush with the edge of the groove. The establishment of this model lays a foundation for the formulation of welding process parameters for large-diameter pipes and the off-line programming of welding procedures.

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Optimal Pass Planning for Robotic Welding of Large-dimension Joints with Deep Grooves

Cited by 21 publications

References 17 publications

Supportive Robotic Welding System for Heavy, Small Series Production with Non-Uniform Welding Grooves

Supportive Robotic Welding System for Heavy, Small Series Production with Non-Uniform Welding Grooves

Optimal pass planning for robotic welding of large-dimension joints with nonuniform grooves

Research on Filling Strategy of Pipeline Multi-Layer Welding for Compound Narrow Gap Groove

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