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Automatic programming for industrial robot to weld intersecting pipes

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An articulated robot cooperated with a positioner is widely used in the field of intersecting pipes welding. In order to resolve the bottlenecks in productivity caused by the burdensome manual teaching process, this article presents an algorithm to generate motion codes for industrial robot to weld intersecting pipes. A unique welding scheme that simplifies welding technology complexity is introduced and adopted. Based on the geometrical model of intersecting pipes with the most complex intersecting mode, the welding trajectory planning is developed which contains posture planning of the welding torch and weaving welding control strategy. Then the welding trajectory is decomposed into the motion of the robot torch and the positioner, and the spatial relationship between the torch and the robot base is described with homogeneous transformation matrix. Finally, an algorithm flow chart with welding speed control strategy is provided for generating robot motion codes. Simulation and welding experiment verify the feasibility of the algorithm.

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Correspondence to Xincheng Tian.

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Shi, L., Tian, X. & Zhang, C. Automatic programming for industrial robot to weld intersecting pipes. Int J Adv Manuf Technol 81, 2099–2107 (2015). https://doi.org/10.1007/s00170-015-7331-8

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  • Industrial robot
  • Intersecting pipes
  • Weld
  • Off-line programming