阅读说明：本技术 一种长焊缝机器人焊接工艺 (Long-weld-joint robot welding process ) 是由 张书生 马英凯 朱维金 于 2021-09-03 设计创作，主要内容包括：本发明属于焊接技术领域,特别涉及一种长焊缝机器人焊接工艺。本发明通过多个复合焊接机器人协同完成工件的具有分叉焊缝及长焊缝的闭环连续密封焊接,首先采用三台焊接机器人同时进行焊接起弧形成共熔池起始点,且分别进行分叉焊接,长焊缝通过两台焊接机器人交替进行连续焊接,收弧时通过两台焊接机器人或三台焊接机器人进行终结共熔池,形成封闭焊缝。本发明全过程无冷接头,适合密封结构,从而进一步提高焊缝的质量,进而提高焊接的质量。(The invention belongs to the technical field of welding, and particularly relates to a long-weld-joint robot welding process. The invention completes closed-loop continuous sealing welding with a bifurcated welding line and a long welding line of a workpiece by the cooperation of a plurality of composite welding robots, firstly adopts three welding robots to simultaneously perform welding and arc striking to form a common melting pool starting point, and performs bifurcated welding respectively, the long welding line performs continuous welding alternately by two welding robots, and performs final common melting pool by two welding robots or three welding robots during arc receiving to form a closed welding line. The invention has no cold joint in the whole process and is suitable for sealing structures, thereby further improving the quality of welding seams and further improving the welding quality.)

1. A long welding seam robot welding process is characterized by comprising at least four welding robots; the method comprises the following steps:

1) a cover plate (20) and vertical plates (19) at two ends of the cover plate (20) are arranged on the bottom plate (18);

the weld includes: a left continuous long welding seam (10) and a right continuous long welding seam (11) between the long edges at two sides of the cover plate (20) and the bottom plate (18), an arched upper arc welding seam (8) and a lower end fillet welding seam (9) between one vertical plate (19) and one end of the cover plate (20) and the bottom plate (18), and an arched upper arc welding seam and a lower end fillet welding seam at the other end between the other vertical plate (19) and the other end of the cover plate (20) and the bottom plate (18);

2) three welding robots are adopted to simultaneously weld one end part of the cover plate (20), and arc starting points are arranged at the intersection of the arched upper arc welding seam (8), the lower end fillet welding seam (9) and the left continuous long welding seam (10); three welding robots strike arcs at the arc striking points through three welding guns to form a eutectic pool starting point (6);

then, three welding robots respectively carry out continuous welding along a left continuous long welding seam (10), an arched upper arc welding seam (8) and a lower end fillet welding seam (9);

3) two welding guns of the two welding robots meet at the intersection of the arched upper arc welding seam (8), the lower end fillet welding seam (9) and the right continuous long welding seam (11) to form a molten pool convergence point (7), one welding robot continuously performs welding along the right continuous long welding seam (11), and the other welding robot receives the arc;

4) the left continuous long welding line (10) and the right continuous long welding line (11) are continuously welded alternately by two welding robots (3) until the other ends of the left continuous long welding line (10) and the right continuous long welding line (11) are reached;

5) at the intersection of the left continuous long welding seam (10) or the right continuous long welding seam (11) and the arch upper arc welding seam at the other end and the fillet welding seam at the lower end at the other end of the vertical plate (19), after two welding guns of two welding robots form a common molten pool, the two welding guns respectively carry out continuous welding along the arch upper arc welding seam at the other end and the fillet welding seam at the lower end at the other end;

6) arc closing:

three welding guns of the three welding robots meet at the intersection of a right continuous long welding seam (11) or a left continuous long welding seam (10) and an arched upper arc welding seam at the other end and a fillet welding seam at the lower end of the other end to form a common molten pool termination point, and then arc extinguishing is carried out;

or after two welding guns of the two welding robots meet at the intersection of the right continuous long welding seam (11) or the left continuous long welding seam (10) with the arch-shaped upper arc welding seam at the other end and the fillet welding seam at the lower end of the other end to form a common molten pool convergence point, one welding robot carries out reverse welding along the welding seam which is not welded until meeting with the welding guns of the welding robots which carry out welding on the welding seam to form a common molten pool termination point, and then the welding guns are arc-closed, so that a closed welding seam is formed.

2. Long-seam robotic welding process according to claim 1, characterized in that both welding guns have a mutual weld pool at alternate points when welding the left (10) and right (11) continuous long seams.

3. The long seam robotic welding process of claim 2, wherein the length of the eutectic pool is 10-20 mm.

4. The long-seam robot welding process according to claim 1, characterized in that, in step 6), at the intersection of the right continuous long seam (11) or the left continuous long seam (10) with the other end arched upper arc seam and the other end lower end fillet seam, the welding robot torch welding the other end arched upper arc seam and the welding robot torch welding the other end lower end fillet seam meet to form a common molten pool; and at the moment, the welding of the right continuous long welding seam (11) or the left continuous long welding seam (10) is not finished, one welding robot carries out welding along the right continuous long welding seam (11) or the left continuous long welding seam (10) in a reverse direction until meeting with a welding robot welding gun for welding the welding seam, and after a eutectic pool termination point is formed, arc extinguishing is carried out, so that a closed welding seam is formed.

5. The long-seam robot welding process according to claim 1, characterized in that, in step 6), a welding robot torch welding the right continuous long seam (11) or the left continuous long seam (10) meets a welding robot torch welding the other end lower end fillet weld at the intersection of the right continuous long seam (11) or the left continuous long seam (10) and the other end upper arc weld and the other end lower end fillet weld to form a co-molten pool; at the moment, the arc welding seam on the arch at the other end is not welded, one welding robot carries out welding along the arc welding seam on the arch at the other end in a reverse direction until meeting with a welding gun of the welding robot which carries out welding on the arc welding seam on the arch at the other end to form a termination point of the eutectic pool, and then the arc is extinguished.

6. Long weld robot welding process according to any one of the claims 1-5, characterized in that the welding robot is arranged on an AGV car.

Technical Field

The invention belongs to the technical field of welding, and particularly relates to a long-weld-joint robot welding process.

Background

The welding of large-scale steel structure influences its manufacturing efficiency and quality, and the automatic, intelligent welding of robot is the main means of solving this problem. For the welding of large steel structures, the influence of the structure and the weight of the part is not suitable for rotation or rotation, so that the part is not suitable for the operation of a special machine or a fixed manipulator. Ensuring stable welding quality on important parts is a key problem of the welding process. The robot welding system generally comprises a welding bearing mechanism, a welding system and a control system, wherein the bearing mechanism is divided into a fixed industrial manipulator, a rail type trolley and an autonomous moving mechanism; the welding system consists of an MIG/MAG welding power supply, a welding gun, shielding gas, a wire feeding mechanism and the like; the control system is responsible for the movement, tracking, welding quality control and the like of the bearing mechanism.

At present, what the large-scale steel construction welding commonly used is rail mounted robot welding system, and this system comprises robot orbit, robot and welding system, need carry out the track in advance and lay during the use, only be applicable to and can lay orbital welding seam to orbital flexibility is in certain extent, can't adapt to the transform of welding seam form. The large-scale equipment belongs to a single-piece small-batch product, most welding seams are of nonstandard structures, and the overall structural form of the welding seams is complex, so that the application of the rail type structure is limited.

Disclosure of Invention

In view of the above problems, an object of the present invention is to provide a long seam welding robot welding process to solve the problem that the existing rail-type robot welding system cannot complete the welding of the non-standard structural seam.

In order to achieve the purpose, the invention adopts the following technical scheme:

the long welding seam robot welding process provided by the embodiment of the invention comprises at least four welding robots; the method comprises the following steps:

1) a cover plate and vertical plates at two ends of the cover plate are placed on the bottom plate;

the weld includes: a left continuous long welding seam and a right continuous long welding seam between the long edges at two sides of the cover plate and the bottom plate, an arched upper arc welding seam and a lower end fillet welding seam between one vertical plate and one end part of the cover plate and the bottom plate, and an arched upper arc welding seam and a lower end fillet welding seam at the other end between the other vertical plate and the other end of the cover plate and the other end of the bottom plate;

2) three welding robots are adopted to simultaneously weld one end part of the cover plate, and arc starting points are arranged at the intersection of the arched upper arc welding seam, the lower end fillet welding seam and the left continuous long welding seam; three welding robots strike arcs at the arc striking points through three welding guns to form a starting point of the eutectic pool;

then, three welding robots respectively carry out continuous welding along the left continuous long welding seam, the arched upper arc welding seam and the lower end fillet welding seam;

3) two welding guns of the two welding robots meet at the intersection of the arched upper arc welding seam, the lower end fillet welding seam and the right continuous long welding seam to form a common molten pool convergence point, one welding robot performs continuous welding along the right continuous long welding seam, and the other welding robot receives the arc;

4) the left continuous long welding line and the right continuous long welding line are continuously welded by two welding robots alternately until the other ends of the left continuous long welding line and the right continuous long welding line are reached;

5) at the intersection of the left continuous long welding seam or the right continuous long welding seam and the arch upper arc welding seam at the other end and the fillet welding seam at the lower end at the other end of the vertical plate, after two welding guns of two welding robots form a co-molten pool, continuous welding is carried out along the arch upper arc welding seam at the other end and the fillet welding seam at the lower end at the other end respectively;

6) arc closing:

three welding guns of the three welding robots meet at the intersection of the right continuous long welding seam or the left continuous long welding seam, the arch upper arc welding seam at the other end and the fillet welding seam at the lower end of the other end to form a eutectic pool termination point, and then arc extinguishing is carried out;

or after two welding guns of the two welding robots meet at the intersection of the right continuous long welding seam or the left continuous long welding seam, the arch-shaped upper arc welding seam at the other end and the fillet welding seam at the lower end of the other end to form a common molten pool convergence point, one welding robot carries out reverse welding along the welding seam which is not welded until meeting with the welding gun of the welding robot which carries out welding on the welding seam to form a common molten pool termination point, and then the welding guns are arc-closed, so that a closed welding seam is formed.

In one possible implementation, the two welding guns have a common puddle at alternating points when welding the left and right continuous long welds.

In one possible implementation, the length of the co-molten pool is 10-20 mm.

In one possible implementation manner, in the step 6), at the intersection of the right continuous long weld or the left continuous long weld and the other end arched upper arc weld and the other end lower end fillet weld, the welding robot welding gun for welding the other end arched upper arc weld and the welding robot welding gun for welding the other end lower end fillet weld meet to form a common molten pool; and at the moment, the right continuous long welding seam or the left continuous long welding seam is not welded, one welding robot carries out welding along the right continuous long welding seam or the left continuous long welding seam in a reverse direction until the welding robot meets a welding gun of the welding robot for welding the welding seam to form a eutectic pool termination point, and then arc is extinguished, so that a closed welding seam is formed.

In one possible implementation manner, in the step 6), at the intersection of the right continuous long weld or the left continuous long weld and the other end arched upper arc weld and the other end lower end fillet weld, the welding robot welding gun for welding the right continuous long weld or the left continuous long weld meets the welding robot welding gun for welding the other end lower end fillet weld to form a co-molten pool; at the moment, the arc welding seam on the arch at the other end is not welded, one welding robot carries out welding along the arc welding seam on the arch at the other end in a reverse direction until meeting with a welding gun of the welding robot which carries out welding on the arc welding seam on the arch at the other end to form a termination point of the eutectic pool, and then the arc is extinguished.

In one possible implementation, the welding robot is disposed on the AGV vehicle.

The invention has the advantages and beneficial effects that:

the invention is suitable for welding large steel structures, parts are not suitable for rotation or rotation due to the influence of the structure and the weight, closed-loop continuous sealing welding with forked welding seams and long welding seams of workpieces is completed by the cooperation of a plurality of composite welding robots, no cold joint exists in the whole process, and the invention is suitable for sealing structures, thereby further improving the quality of the welding seams and further improving the welding quality.

The invention has the common melting pool at the alternate point of the welding gun, ensures that no lap joint point exists in the middle, and ensures that the melting pool has long time in a melting state, good molten iron fluidity and long gas escape time, thereby ensuring the product quality.

The whole welding process of the invention is continuous, the times of lap welding, arc striking and arc stopping are reduced, the defects are avoided, and the requirements of the sealing structure are met.

Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.

The technical solution of the present invention is further described in detail by the accompanying drawings and embodiments.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:

FIG. 1 is a schematic view of the operation of a plurality of welding robots according to the present invention;

FIG. 2 is an enlarged view taken at I in FIG. 1;

FIG. 3 is a top view of a plurality of welding robots according to the present invention;

in the figure: 1. auxiliary welding robot, 2, left side a preface welding robot, 3, left side b preface welding robot, 4, right side a preface welding robot, 5, right side b preface welding robot, 6, the initial point of melting bath altogether, 7, the pool convergence point altogether, 8, the arc welding seam in the arch, 9, lower extreme fillet weld, 10, the continuous long welding seam in left side, 11, the continuous long welding seam in right side, 12, first end parking stall, 13, the first parking stall in right side, 14, the first parking stall in left side, 15, the second parking stall in right side, 16, the third parking stall in right side, 17, the fourth parking stall in right side, 18, the bottom plate, 19, the riser, 20, the apron, 21, the second end parking stall.

Detailed Description

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like, indicate orientations and positional relationships based on those shown in the drawings, and are used only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be considered as limiting the present invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.

In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

The preferred embodiments of the present invention will be described in conjunction with the accompanying drawings, and it will be understood that they are described herein for the purpose of illustration and explanation and not limitation.

According to the long-weld-seam robot welding process provided by the embodiment of the invention, closed-loop continuous sealing welding with bifurcated weld seams and long weld seams of a workpiece is completed by cooperation of a plurality of composite welding robots, no cold joint exists in the whole process, and the long-weld-seam robot welding process is suitable for sealing structures. The long-weld-seam robot welding process comprises at least four welding robots, wherein each welding robot is arranged on an AGV; the method comprises the following steps:

1) a cover plate 20 and vertical plates 19 at two ends of the cover plate 20 are placed on the bottom plate 18, as shown in fig. 1-2;

the weld includes: a left continuous long welding seam 10 and a right continuous long welding seam 11 between the long edges at two sides of the cover plate 20 and the bottom plate 18, an arched upper arc welding seam 8 and a lower end fillet welding seam 9 between one vertical plate 19 and one end part of the cover plate 20 and the bottom plate 18, and an arched upper arc welding seam and a lower end fillet welding seam at the other end between the other vertical plate 19 and the other end of the cover plate 20 and the bottom plate 18;

2) three welding robots are adopted to simultaneously weld one end part of the cover plate 20, and arc starting points are arranged at the intersection of the arched upper arc welding seam 8, the lower end fillet welding seam 9 and the left continuous long welding seam 10; three welding robots strike arcs at the arc striking points through three welding guns to form a eutectic pool starting point 6;

then, three welding robots respectively carry out continuous welding along the left continuous long welding seam 10, the arched upper arc welding seam 8 and the lower end fillet welding seam 9;

3) two welding guns of the two welding robots meet at the intersection of the arched upper arc welding seam 8, the lower end fillet welding seam 9 and the right continuous long welding seam 11 to form a molten pool convergence point 7, one welding robot performs continuous welding along the right continuous long welding seam 11, and the other welding robot receives the arc;

4) the left continuous long welding seam 10 and the right continuous long welding seam 11 are continuously welded alternately by two welding robots 3 until the other ends of the left continuous long welding seam 10 and the right continuous long welding seam 11 are welded;

5) at the intersection of the left continuous long weld joint 10 or the right continuous long weld joint 11 and the arch upper arc weld joint at the other end and the fillet weld joint at the lower end at the other end of the cover plate 20, after two welding guns of two welding robots form a common molten pool, continuous welding is carried out along the arch upper arc weld joint at the other end and the fillet weld joint at the lower end at the other end respectively;

6) arc closing:

three welding guns of the three welding robots meet at the intersection of the right continuous long welding seam 11 or the left continuous long welding seam 10, the arch-shaped upper arc welding seam at the other end and the fillet welding seam at the lower end of the other end to form a eutectic pool termination point, and then arc extinguishing is carried out;

or after two welding guns of the two welding robots meet at the intersection of the right continuous long welding seam 11 or the left continuous long welding seam 10, the arch-shaped upper arc welding seam at the other end and the fillet welding seam at the lower end of the other end to form a common molten pool convergence point, one welding robot carries out reverse welding along the welding seam which is not welded until meeting with the welding gun of the welding robot which welds the welding seam to form a common molten pool termination point, and then the arc is extinguished, so that a closed welding seam is formed.

In the embodiment of the invention, when welding the left continuous long weld joint 10 and the right continuous long weld joint 11, the two welding guns have a common molten pool at alternate points. Specifically, the length of the co-molten pool is 10-20 mm.

In one embodiment of the invention, in step 6), at the intersection of the right continuous long weld 11 or the left continuous long weld 10 and the other end arched upper arc weld and the other end lower end fillet weld, the welding robot torch for welding the other end arched upper arc weld and the welding robot torch for welding the other end lower end fillet weld meet to form a common molten pool; at this time, the right continuous long welding seam 11 or the left continuous long welding seam 10 is not welded, one of the welding robots performs welding reversely along the right continuous long welding seam 11 or the left continuous long welding seam 10 until meeting with a welding gun of the welding robot performing welding on the welding seam, and after a eutectic pool termination point is formed, an arc is extinguished, thereby forming a closed welding seam.

In another embodiment of the present invention, in step 6), at the intersection of the right continuous long weld 11 or the left continuous long weld 10 and the other end arched upper arc weld and the other end lower end fillet weld, the welding robot torch for welding the right continuous long weld 11 or the left continuous long weld 10 meets the welding robot torch for welding the other end lower end fillet weld to form a co-molten pool; at the moment, the arc welding seam on the arch at the other end is not welded, one welding robot carries out welding along the arc welding seam on the arch at the other end in a reverse direction until meeting with a welding gun of the welding robot which carries out welding on the arc welding seam on the arch at the other end to form a termination point of the eutectic pool, and then the arc is extinguished.

Examples

The invention provides a long welding seam robot welding process, which comprises an auxiliary welding robot 1, a left a-order welding robot 2, a left b-order welding robot 3, a right a-order welding robot 4 and a right b-order welding robot 5, wherein as shown in the figure 1-2, the specific welding process comprises the following steps:

1) the auxiliary welding robot 1, the left a-order welding robot 2 and the right a-order welding robot 4 weld at one end of the cover plate 20 at the same time, the auxiliary welding robot 1 is in the first end parking space 12, the left a-order welding robot 2 is in the first left parking space 14, and the right a-order welding robot 4 is in the first right parking space 13, as shown in fig. 3; the arc starting point is at the intersection of the vertical plate 19, the cover plate 20 and the bottom plate 18 (the intersection of the arched upper arc welding seam 8, the lower end fillet welding seam 9 and the left continuous long welding seam 10); the welding guns of the three welding robots strike arcs at the arcing points to form a starting point 6 of the eutectic pool;

then, the left-side a-sequence welding robot 2 performs welding along the left continuous long weld seam 10; welding is carried out on the right-side a-sequence welding robot 4 along the arched upper arc welding seam 8; the auxiliary welding robot 1 performs welding along the fillet weld 9 at the lower end;

2) the right-side a-sequence welding robot 4 and the auxiliary welding robot 1 meet at another intersection of the vertical plate 19, the cover plate 20 and the bottom plate 18 (the intersection of the arched upper arc welding seam 8, the lower end fillet welding seam 9 and the right continuous long welding seam 11) to form a co-molten pool convergence point 7;

then, the auxiliary welding robot 1 is stopped from arcing, and the right-side a-sequence welding robot 4 continues to perform continuous welding along the right continuous long welding line 11;

3) the left continuous long welding seam 10 is continuously welded by the left a-sequence welding robot 2 and the left b-sequence welding robot 3 alternately until the other end of the cover plate 20;

the right continuous long welding line 11 is welded alternately by the right a-order welding robot 4 and the right b-order welding robot 5 until the other end of the cover plate 20; as shown in fig. 3, the path of the right a-order welding robot 4 is from the first right parking space 13 to the third right parking space 16, the path of the right b-order welding robot 5 is from the second right parking space 15 to the fourth right parking space 17, and so on;

4) at the other end of the cover plate 20, the left-side a-sequence welding robot 2 firstly reaches the junction of the left continuous long weld joint 10, the other end arch upper arc weld joint and the other end lower end fillet weld joint; at this time, the auxiliary welding robot 1 moves from the first end space 12 to the second end space 21, and has waited at the other end of the cover plate 20, as shown in fig. 3; after a welding gun of the left-side a-sequence welding robot 2 and a welding gun of the auxiliary welding robot 1 form a co-molten pool at the intersection point, continuously welding along an arched upper arc welding seam at the other end and a fillet welding seam at the lower end at the other end respectively;

5) the auxiliary welding robot 1, the left-side a-sequence welding robot 2 and the right-side a-sequence welding robot 4 reach the intersection of the right continuous long weld 11 and the arch-shaped upper arc weld at the other end and the fillet weld at the lower end at the other end at the same time, arc extinguishing is carried out after a common molten pool end point is formed, and therefore a closed weld is formed.

In this embodiment, supplementary welding robot 1, left side a preface welding robot 2, left side b preface welding robot 3, right side a preface welding robot 4 and right side b preface welding robot 5 are the welding robot system setting on removing the AGV automobile body. The AGV and the robot are integrated into a whole and can be called as a composite robot, and the AGV (Automated Guided Vehicles) are also called as an unmanned transport vehicle, an automatic navigation vehicle and a laser navigation vehicle. The automatic guided vehicle has the remarkable characteristics that the automatic guided vehicle is unmanned, an automatic guiding system is arranged on an AGV, the automatic guided vehicle can ensure that the system can automatically run along a preset route under the condition of no need of manual navigation, and goods or materials are automatically conveyed to a destination from a starting point. Another feature of AGVs is their high flexibility, high degree of automation and high level of intelligence.

The invention completes the continuous sealing welding of the forked welding seams and the long welding seams of the bottom plate 18, the vertical plate 19 and the cover plate 20 by the cooperation of the auxiliary welding robot 1, the left a-order welding robot 2, the left b-order welding robot 3, the right a-order welding robot 4 and the right b-order welding robot 5, and the five welding robots are matched, the welding process has closed-loop forked welding seams, the whole process has no cold joint, and the invention is suitable for sealing structures.

The invention has the common melting pool at the alternate point of the welding gun, ensures that no lap joint point exists in the middle, and ensures that the melting pool has long time in a melting state, good molten iron fluidity and long gas escape time, thereby ensuring the product quality. The whole welding process is continuous, the times of lap welding, arc striking and arc stopping are reduced, the defects are avoided, and the requirements of the sealing structure are met.

It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.