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Search Results (3)

Search Parameters:
Keywords = multi-layer multi-pass welding path planning

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21 pages, 20352 KB  
Article
Handheld 3D Scanning-Based Robotic Trajectory Planning for Multi-Layer Multi-Pass Welding of a Large Intersecting Line Workpiece with Asymmetric Profiles
by Xinlei Li, Shida Yao, Jiawei Ma, Guanxin Chi and Guangjun Zhang
Symmetry 2025, 17(5), 738; https://doi.org/10.3390/sym17050738 - 11 May 2025
Cited by 3 | Viewed by 2479
Abstract
Traditional offline programming has limitations for large parts with significant machining or assembly deviations. This study proposes a 3D scanning-assisted method that generates accurate STereoLithography (STL) models and enables multi-layer multi-bead welding trajectory planning for large intersecting line workpieces. The proposed framework implements [...] Read more.
Traditional offline programming has limitations for large parts with significant machining or assembly deviations. This study proposes a 3D scanning-assisted method that generates accurate STereoLithography (STL) models and enables multi-layer multi-bead welding trajectory planning for large intersecting line workpieces. The proposed framework implements a robust STL model processing pipeline incorporating Random Sample Consensus (RANSAC)-based cylindrical approximation, cross-sectional slicing, and automated feature detection to achieve high-precision groove feature recognition. For asymmetric variable-section grooves, a multi-layer and multi-pass path-planning algorithm based on template affine projection transformation is developed to ensure accurate deposition of welds along complex geometric contours. Experimental validation demonstrates sub-millimeter trajectory accuracy (positional errors < 1.0 mm), meeting stringent arc welding specifications and substantially expanding the applicability of offline programming systems. Full article
(This article belongs to the Special Issue Symmetry Application in Metals and Alloys)
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11 pages, 35681 KB  
Article
Research on Filling Strategy of Pipeline Multi-Layer Welding for Compound Narrow Gap Groove
by Tie Yin, Jinpeng Wang, Hong Zhao, Lun Zhou, Zenghuan Xue and Hehe Wang
Materials 2022, 15(17), 5967; https://doi.org/10.3390/ma15175967 - 29 Aug 2022
Cited by 15 | Viewed by 3481
Abstract
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, [...] Read more.
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. Full article
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19 pages, 18387 KB  
Article
A Weld Position Recognition Method Based on Directional and Structured Light Information Fusion in Multi-Layer/Multi-Pass Welding
by Jinle Zeng, Baohua Chang, Dong Du, Li Wang, Shuhe Chang, Guodong Peng and Wenzhu Wang
Sensors 2018, 18(1), 129; https://doi.org/10.3390/s18010129 - 5 Jan 2018
Cited by 50 | Viewed by 8376
Abstract
Multi-layer/multi-pass welding (MLMPW) technology is widely used in the energy industry to join thick components. During automatic welding using robots or other actuators, it is very important to recognize the actual weld pass position using visual methods, which can then be used not [...] Read more.
Multi-layer/multi-pass welding (MLMPW) technology is widely used in the energy industry to join thick components. During automatic welding using robots or other actuators, it is very important to recognize the actual weld pass position using visual methods, which can then be used not only to perform reasonable path planning for actuators, but also to correct any deviations between the welding torch and the weld pass position in real time. However, due to the small geometrical differences between adjacent weld passes, existing weld position recognition technologies such as structured light methods are not suitable for weld position detection in MLMPW. This paper proposes a novel method for weld position detection, which fuses various kinds of information in MLMPW. First, a synchronous acquisition method is developed to obtain various kinds of visual information when directional light and structured light sources are on, respectively. Then, interferences are eliminated by fusing adjacent images. Finally, the information from directional and structured light images is fused to obtain the 3D positions of the weld passes. Experiment results show that each process can be done in 30 ms and the deviation is less than 0.6 mm. The proposed method can be used for automatic path planning and seam tracking in the robotic MLMPW process as well as electron beam freeform fabrication process. Full article
(This article belongs to the Special Issue Imaging Depth Sensors—Sensors, Algorithms and Applications)
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