| Along with the rapid development of manufacturing technology, the traditional manual welding is unable to keep pace with the current situation, automatic welding has become an inevitable trend, the ultimate goal of automated welding is to achieve efficient and high-quality automatic welding for complex space seam.This paper focuses on the path planning and control algorithms for complex space seam welding, including the reconstruction of space weld, interpolation in CNC welding system and torch pose control. And in the final chapter of the paper, the simulation analysis of welding thermal circulation process is performed.The reconstruction of space weld is based on offline programming method, The algorithm uses a B-spline curve to reconstruct the weld, it was achieved by reversing the control points of B-spline curve through the prescribed date points, and the error between the actual weld and interpolation weld is analyzed to prove it’s feasibility and validity.Interpolation algorithm is the core of the welding path planning system. According to the unique movement patterns of welding machine, this paper proposes an error controllable helical interpolation algorithm, and a detailed description of interpolation process is given at last.The torch pose control is an important part of automatic welding technology. Firstly, the weld posture model is obtained from the osculating plane and normal plane of B-spline. And then, by taking a series coordinate transformation to the weld posture model, the torch posture model based on control terminal was provided.In the welding process, the peak temperature is an important factor affecting the quality of welding. This paper uses the software ANSYS to systemically discusses the influence of welding speed and other factors on the welding peak temperature and then presents the fitting formula of the welding speed and peak temperature. The results can provides a theoretical guidance for the actual welding process temperature control. |
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