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A robot welding path planning and automatic programming method for open impeller

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Abstract

As a kind of structurally complex workpiece, open impellers made by welding are widely used in mining and light industries. The traditional robot programming method for open impeller welding path planning still requires a long cycle time, and the positioning of the open impeller after clamping is relatively complex and time-consuming. This paper proposes an open impeller welding path planning method for the purpose of improving the automation of open impeller welding by robots and shortening the open impeller welding cycle. From the analysis of the open impeller geometry, the path planning of open impeller welding is realized by extracting the welding seam curve and the blade edge curve. To enhance the open impeller posture detection after clamping on the positioner, a new structural light sensor is used to achieve open impeller alignment positioning by applying an improved iterative closest point (ICP) algorithm. Combined with the detection of the clamping posture, the robot welding path planning procedure of the open impeller is automatically generated. The final simulation and practical experiments verify the effectiveness of the proposed method.

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Funding

This work was supported in part by the National Natural Science Foundation of China under Grant No. U20A20201, in part by Shandong Provincial Key Research and Development Program under Grant No. 2022CXGC010101, and in part by Taishan Industry Leading Talent Project.

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Authors and Affiliations

  1. Center for Robotics, School of Control Science and Engineering, Shandong University, Jingshi Road, Jinan, 250061, Shandong, China

    Weihua Fang, Luguo Ding & Xincheng Tian

  2. Engineering Research Center of Intelligent Unmanned System, Ministry of Education, Jingshi Road, Jinan, 250061, Shandong, China

    Weihua Fang, Luguo Ding & Xincheng Tian

  3. Institute of Automation, Shandong Academy of Sciences, Keyuan Road, Jinan, 250014, Shandong, China

    Fuquan Zheng

Authors
  1. Weihua Fang
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  2. Luguo Ding
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Corresponding authors

Correspondence to Xincheng Tian or Fuquan Zheng.

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The authors declare no competing interests.

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Author contribution

Weihua Fang conceived of the presented idea, developed the theory, and carried out the experiments. Luguo Ding implements computer code and support algorithms. Fuquan Zheng and Xincheng Tian were involved in planning and supervised the work. The first draft of the manuscript was written by Weihua Fang and all authors commented on previous versions of the manuscript. All authors read and approved the final manuscript.

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Fang, W., Ding, L., Tian, X. et al. A robot welding path planning and automatic programming method for open impeller. Int J Adv Manuf Technol 124, 1639–1650 (2023). https://doi.org/10.1007/s00170-022-10415-9

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  • DOI: https://doi.org/10.1007/s00170-022-10415-9

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