Track fitting for multi-path/multi-layer big frame intersection line welding robot

Abstract

In order to increase robot efficiency of teaching and playback,a method of track fitting was designed for big frame intersection line is widely used and it is needed in multi-pass welding.Firstly,a filling strategy was used,in which each layer height was equal,the number of beads in a certain layer was equal to the ordinal number of the layer,and the across areas of each beads were equal.Secondly,only one bead trace was teaching in the second layer,and the trace of other beads was worked out by relevant formula.Lastly,the beginning arc position of each bead was also designed.The results of simulation show that this method can satisfy for the multi-path/multi-layer welding,and it provids theory for the off line programming of robot.