阅读说明：本技术 一种穿孔塞焊接头的气保自动焊方法及系统 (A kind of the gas guarantor's automatic welding method and system of plug welds of perforating ) 是由 修延飞 王刚 都婧婧 樊祥博 杨中伟 朱跃德 刘伟 丁海明 吴伟 于 2019-08-14 设计创作，主要内容包括：本发明公开了一种穿孔塞焊接头的气保自动焊方法及系统,包括：对塞焊孔以及钢筋外轮廓进行识别,将钢筋外轮廓与塞焊孔之间的间隙划分为若干区域；识别出每一个区域的间隙中间值以及倾角；采用多层多道焊接工艺进行焊接,焊接过程中,根据不同的焊接层道,以及不同区域的间隙中间值以及倾角,采用不同的焊接参数进行焊接。本发明有益效果：本发明方法降低了装配难度,提高了效率,保证了焊缝质量。(The invention discloses a kind of gas of plug welds of perforating to protect automatic welding method and system, comprising: identifies to plug welding hole and reinforcing bar outer profile, the gap between reinforcing bar outer profile and plug welding hole is divided into several regions；Identify gap median and the inclination angle in each region；It is welded using multi-layer multi-pass welding process, in welding process, according to the gap median in different welding layer road and different zones and inclination angle, is welded using different welding parameters.The invention has the advantages that: the method for the present invention to reduce assembly difficulty, improves efficiency, ensure that weldquality.)

1. a kind of gas for plug welds of perforating protects automatic welding method characterized by comprising

Plug welding hole and reinforcing bar outer profile are identified, the gap between reinforcing bar outer profile and plug welding hole is divided into several areas Domain；

Identify gap median and the inclination angle in each region；

It is welded using multi-layer multi-pass welding process, in welding process, according to different welding layer road and different zones Gap median and inclination angle are welded using different welding parameters.

2. a kind of gas of plug welds of perforating as described in claim 1 protects automatic welding method, which is characterized in that welding gun adjust to The position of set angle adjusts welding gun axis and reinforcing bar axis angle as starting the arc position, i.e., welding inclination angle is 14 °~16 °, weldering Silk tip is located at the center of weld gap.

3. a kind of gas of plug welds of perforating as described in claim 1 protects automatic welding method, which is characterized in that welding sequence Are as follows: from starting the arc position, carried out according to welding set angle counterclockwise, the welding manner of welded clockwise set angle alternately Welding.

4. a kind of gas of plug welds of perforating as described in claim 1 protects automatic welding method, which is characterized in that more using multilayer Road welding procedure is welded, specifically: at least it is divided into prime coat, middle layer and capping layer and is welded.

5. a kind of gas of plug welds of perforating as claimed in claim 4 protects automatic welding method, which is characterized in that the prime coat Welding parameter include: 180~200A of welding current；Weldingvoltage 22-24V, 20~22cm/min of speed of welding, hunting frequency 1.9~2.1Hz, the welding amplitude of oscillation take median according to the gap in each region, weld 14~16 degree of inclination angle, and 17~19 degree of advancing angle, The starting the arc stops 0.9~1.1s.

6. a kind of gas of plug welds of perforating as claimed in claim 4 protects automatic welding method, which is characterized in that the filled layer Welding parameter include: 180~200A of welding current；Weldingvoltage 22-24V, 20~22m/min of speed of welding, hunting frequency 1.7~1.9Hz, 3~4mm of the amplitude of oscillation weld 12~14 degree of inclination angle, and 4~6 degree of advancing angle, inside stops 0.1~0.3s, and outside is stopped Stay 0.3~0.5s.

7. a kind of gas of plug welds of perforating as claimed in claim 4 protects automatic welding method, which is characterized in that the capping root It is divided into two kinds of techniques according to the tilt angle difference in each region:

Tilt angle is in 0~10 degree of range, 160~180A of welding current；Weldingvoltage 22-24V, speed of welding 22~ 24cm/min, 2.1~2.3Hz of hunting frequency, 6~7mm of the amplitude of oscillation, 4~6 degree of inclination angle of welding, 4~6 degree of advancing angle；Inside stops 0.1~0.3s s, outside stop 0.3~0.5s；

Tilt angle is in 10 to 18 degree range, top half 18~20cm/min of speed of welding, 1.9~2.1Hz of hunting frequency, 0.5~0.7s on the outside of 6~7mm of the amplitude of oscillation, 0~0.2s of inside stop, 4~6 degree of inclination angle of welding, 7~9 degree of advancing angle；Lower half portion 22~24m/min of speed of welding, 1.9~2.1Hz of hunting frequency, 6~7mm of the amplitude of oscillation, 0.1~0.3s of inside stop, outside 0.3~ 0.5s, 4~6 degree of inclination angle of welding, 7~9 degree of advancing angle.

8. a kind of gas of plug welds of perforating as claimed in claim 4 protects automatic welding method, which is characterized in that work as joint welding When greater than three layers, the welding of succeeding layer road still uses capping layer process, only need to be according to the actual layer road width adjustment amplitude of oscillation.

9. a kind of gas for plug welds of perforating protects automatic welding system characterized by comprising move horizontally track and setting exists The cantilevered robot automatic welding system on track is moved horizontally, cantilevered robot automatic welding system includes robot sheet Body, welding control system, the source of welding current and the welding gun with vision system, the welding control system, source of welding current setting exist In robot body, the welding gun with vision system is arranged in robot arm end；The robot arm has 6 axis Freedom degree.

10. a kind of gas of plug welds of perforating as claimed in claim 9 protects automatic welding system, which is characterized in that the vision System configuration is to identify to plug welding hole and reinforcing bar outer profile, and the gap between reinforcing bar outer profile and plug welding hole is divided into Several regions, and identify gap median and the inclination angle in each region.

Technical field

The invention belongs to gas shield welding welding technology fields more particularly to a kind of gas for plug welds of perforating to protect automatic welding method And system.

Background technique

Only there is provided background technical informations related to the present invention for the statement of this part, it is not necessary to so constitute first skill Art.

Used in nuclear power station shielding Brick wall plate perforation plug welds quantity is more, and single submodule up to 3200.It is main at present It to be welded using manual gas shield welding, and existing similar automatic welding equipment focuses primarily upon under perforation plug welding horizontal position Welding, and the group of welding point must be uniform to clearance requirement, brings great inconvenience to construction personnel to welding and group.

When perforating plug welds obliquity, it is related to uphill welding and downward welding in the inclined position, molten bath, which is affected by gravity under molten iron, to be dropped down, In addition non-uniform weld gap, corresponding welding posture and welding procedure need constantly adjustment to guarantee the morphoplasm of weld seam Amount, obliquity welding and gap unevenly easily cause root of weld cob webbing, and molten bath, which is affected by gravity down to drop down, causes weld seam Sink downside evagination for upside, increases incomplete fusion and the undesirable risk of final shaping surface.

Summary of the invention

To solve the above-mentioned problems, the present invention proposes that a kind of gas of plug welds of perforating protects automatic welding method and system, energy Welding difficulty of the existing welding technique when welding obliquity and group uneven to gap is enough solved, is effectively ensured inside weld seam Fusion and shaping surface quality.

In some embodiments, it adopts the following technical scheme that

A kind of gas guarantor's automatic welding method for plug welds of perforating, comprising:

Plug welding hole and reinforcing bar outer profile are identified, if the gap between reinforcing bar outer profile and plug welding hole is divided into Dry region；

Identify the gap median and welding position inclination angle (i.e. the angle of workpiece and horizontal plane) in each region；

It is welded using multi-layer multi-pass welding process, in welding process, according to different welding layer roads, and not same district The gap median in domain and inclination angle are welded using different welding parameters.

In other embodiments, it adopts the following technical scheme that

A kind of gas guarantor's automatic welding system for plug welds of perforating, comprising: move horizontally track and setting is moving horizontally Cantilevered robot automatic welding system on track, cantilevered robot automatic welding system include robot body, welding Control system, the source of welding current and the welding gun with vision system, the welding control system, the source of welding current are arranged in robot sheet In vivo, the welding gun with vision system is arranged in robot arm end；The robot arm has 6 axis freedom degrees.

Compared with prior art, the beneficial effects of the present invention are:

Compared with existing manual welding and semiautomatic welding technique, the method for the present invention reduces assembly difficulty, improves efficiency, It ensure that weldquality.

In the welding procedure, flexible posture and visual identifying system based on 6 axis freedom degrees by subregion welding, are adjusted Whole welding posture, welding condition method solve the problems, such as to drop down under root fusion character and weld seam molten bath.

Subregion welding can identify different zones clearance condition, and the welding parameter different according to gap automatic adaptation, from And the deposition amount of different zones is adjusted and compensates, guarantee final appearance of weld.

Postwelding shaping surface is beautiful, and reinforcement is less than 3mm, and root fusion is good and weld seam inside is without any defect.

Welding system provided by the invention and welding procedure are particularly suitable for gradient at 15 ° hereinafter, gap is uneven Spend the perforation plug welding welding within 3mm.

Detailed description of the invention

Fig. 1 is that the gas of one middle punch plug welds of embodiment protects automatic welding system structural schematic diagram；

Fig. 2 is one center tap detail drawing of embodiment and layer road distribution schematic diagram；

Fig. 3 is subregion welding technique schematic diagram in embodiment one.

Specific embodiment

It is noted that following detailed description is all illustrative, it is intended to provide further instruction to the application.Unless another It indicates, all technical and scientific terms that the present invention uses have logical with the application person of an ordinary skill in the technical field The identical meanings understood.

It should be noted that term used herein above is merely to describe specific embodiment, and be not intended to restricted root According to the illustrative embodiments of the application.As used herein, unless the context clearly indicates otherwise, otherwise singular Also it is intended to include plural form, additionally, it should be understood that, when in the present specification using term "comprising" and/or " packet Include " when, indicate existing characteristics, step, operation, device, component and/or their combination.