CN102489845A - Hybrid heat source stud welding method using welding robot and hybrid heat source stud welding system with welding robot - Google Patents
Hybrid heat source stud welding method using welding robot and hybrid heat source stud welding system with welding robot Download PDFInfo
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- CN102489845A CN102489845A CN2011103670196A CN201110367019A CN102489845A CN 102489845 A CN102489845 A CN 102489845A CN 2011103670196 A CN2011103670196 A CN 2011103670196A CN 201110367019 A CN201110367019 A CN 201110367019A CN 102489845 A CN102489845 A CN 102489845A
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Abstract
The invention discloses a hybrid heat source stud welding method using a welding robot and a hybrid heat source stud welding system with the welding robot. The welding robot moves to a workpiece at the position of a stud to be welded, and a cylinder moves to place an induction heating ring on the workpiece at the position of the stud to be welded; an induction welder and a cooling water circulating system are started to perform induction heating for the workpiece at the position of the stud to be welded; the cylinder moves to lift the induction heating ring off the workpiece after induction heating; the welding robot moves to move a stud welding gun onto the workpiece at the position of the heated stud to be welded; the stud welding gun is started to weld the workpiece, and the welding robot moves to remove a head device and move the induction heating ring onto the welded stud; and post-weld heat treatment can be performed for the stud. The welding method and the welding system are used for automatically welding the stud with a hybrid heat source based on robot technology, and can be used for effectively integrating the automatic stud welding gun with the robot.
Description
Technical field
The invention belongs on steel, aluminium, copper matrix the extraordinary solder technology of large scale double-screw bolt in weldable steel, aluminium, the copper etc. automatically, particularly a kind of composite heat power supply arc stud welding machine people's welding method and system thereof.
Background technology
In the hull cabin, the welding of weapons armored vehicle car body inside, various pressure vessel inside and outside walls, the equal extensive use steel matrix of bridge and other field and steel, aluminium, copper stud, the field that stud welding relates to is increasingly extensive.Along with fast development of modern industry, the utilization rate of double-screw bolt is increasingly high, needs the double-screw bolt quantity of welding also to increase thereupon.The modern mechanical manufacturing technology requires arc stud welding to scoop out to have fast, reliable, simplification, easy and simple to handle, characteristics such as reduce cost.
The double-screw bolt that arc stud welding method (ceramic ring protection and solder flux or gas-protecting type electric arc stud welding) is widely used in diameter of phi 3～Φ 20mm welds on the cut deal workpiece, has obtained extensive use in industries such as shipbuilding, metallurgical furnace kiln and building industry.Manually arc stud welding welding, productivity ratio is low, and per minute can only weld about 10.
The arc stud welding process that adopts at present both at home and abroad and welding jig approach, middle thickness (below 12～16mm) mild steel result of use is good; But for big thick plates or the very high middle sheet metal of carbon equivalent; Electric arc stud welding Fast Heating and quench cooled cause defectives such as welding point very easily cracks, incomplete fusion, and welding quality can not guarantee, needs research and development novel process method; Break through key technology, solve the technical barrier of medium plate stud welding.
Summary of the invention
The object of the present invention is to provide a kind of composite heat power supply arc stud welding machine people's welding method and system thereof; Utilize the advantage of composite heat power supply to carry out the welding of thick big workpiece and double-screw bolt; Weld defects such as the joint not fusion that effective solution is caused by heat conduction inhomogeneities, slag inclusion; Solve fragility tissue that the high constraint (restraint) degree of cut deal and carbon equivalent high joint produce because of Fast Heating and cooling at a high speed and possible cold crack defective, particularly be convenient to stud welding based on thick greatly in the middle large scale scope of Robotics and automatic stud welding gun different and the steel plate that carbon equivalent content is high.
The technical solution that realizes the object of the invention is: a kind of welding robot composite heat source stud welding method, and when double-screw bolt did not need post weld heat treatment, it may further comprise the steps:
Step 1, welding robot move on the workpiece at double-screw bolt to be welded position, and cylinder moving is placed into the eddy-current heating ring top of double-screw bolt workpiece to be welded;
Step 2, induction welding machine and cooling water recirculation system are opened this double-screw bolt to be welded position workpiece are carried out eddy-current heating;
Step 3, after eddy-current heating finished, cylinder moving lifted away from workpiece with the eddy-current heating ring;
Step 4, welding robot motion move to stud welding gun the workpiece top at the double-screw bolt position of having heated to be welded;
Step 5 starts stud welding gun, accomplishes the welding of workpiece, and after welding was accomplished, frame head apparatus was removed in the welding robot motion, simultaneously the eddy-current heating ring is moved to the double-screw bolt top after welding is accomplished;
When double-screw bolt needs post weld heat treatment, also to handle as follows:
Step 6, cylinder moving are fed into the eddy-current heating ring double-screw bolt top that needs post weld heat treatment;
Step 8, after heat treatment finished, cylinder moving lifted away from double-screw bolt with the eddy-current heating ring, and welding robot moves frame head apparatus is moved apart workpiece, changes workpiece, carries out the welding of next workpiece.
A kind of system that realizes above-mentioned welding robot composite heat source stud welding method; Comprise welding robot, robot control system, arc stud welding power supply, induction welding machine, cooling water recirculation system, welding robot is connected with robot control system, and the stud welding power supply is connected with robot control system; The induction welding machine is fixed in the big arm top of welding robot; Both all receive the control signal of robot control system in work operations, fixing welding robot composite heat power supply stud welding frame head apparatus on the terminal ring flange of robotic weld arm, and this frame head apparatus comprises upper junction plate, guide pillar and cylinder; Guide pillar is fixed through an end of linear bearing and upper junction plate; Cylinder is fixed through screw shell and upper junction plate, and the other end of guide pillar and cylinder fixedly mounts with eddy-current heating ring fixture respectively, and the eddy-current heating ring is fixedly installed on the eddy-current heating ring fixture; The welding gun connector is connected with the other end of upper junction plate; Welding gun is fixedly installed on the welding gun connector, and the ceramic ring fixed head is connected and installed through guide rod and welding gun, and double-screw bolt is connected with the end of welding gun; The ring flange fixed installation that described upper junction plate and robotic weld arm are terminal; Cooling water recirculation system is connected with the eddy-current heating ring, and the control of cylinder, welding gun, eddy-current heating welding machine provides by robot control system, and acts synergistically jointly with robot control system and to accomplish the stud welding operation.
The present invention compared with prior art, its remarkable advantage: 1, be based on the composite heat power supply automatic stud welding of Robotics; 2, use this device can realize effectively integrating of automatic stud welding gun and robot; 3, can realize the middle steel-sheet stud welding that big slab of centering or carbon equivalent content are very high, welding quality is desirable; 4, can carry out post weld heat treatment to double-screw bolt and the steel plate after the welding, further improve welding quality; 5, stud welding process can realize automation mechanized operation, and efficient obviously improves.
Below in conjunction with accompanying drawing the present invention is described in further detail.
Description of drawings
Fig. 1 is a welding robot composite heat power supply stud welding frame head apparatus system schematic of the present invention.
Fig. 2 is a head mechanical device sketch map of the present invention.
Fig. 3 is to use the stud welding design sketch of composite heat power supply welding.
Fig. 4 is the design sketch that does not use the composite heat power supply stud welding.
The specific embodiment
The present invention is directed to the integration of Robotics and stud welding gun and solve big thickness or middle steel-sheet Welding Problems that carbon equivalent is very high has designed the head that be connected of a cover automatic stud welding welding-gun with robot; Be equipped with the eddy-current heating welding machine simultaneously; Utilize the advantage of composite heat power supply to carry out the welding of thick big workpiece and double-screw bolt; Effectively solve the joint not fusion that causes by heat conduction inhomogeneities; Weld defects such as slag inclusion solve high constraint (restraint) degree of cut deal and carbon equivalent high joint because of Fast Heating and the fragility tissue of cooling generation at a high speed and possible cold crack defective.The mechanical device of this product design welding robot composite heat power supply stud welding head can be realized effectively integrating of robot and stud welding gun; The eddy-current heating welding machine that is equipped with simultaneously can provide composite heat power supply; Weld preheating and post weld heat treatment are carried out in the middle steel-sheet stud welding that big slab of centering or carbon equivalent content are very high; Realized the integration of robot and stud welding gun effectively, the Welding Problems of the steel plate that big slab or carbon equivalent content are very high in efficiently solving simultaneously.
In conjunction with Fig. 1, welding robot composite heat source stud welding method of the present invention, when double-screw bolt 11 did not need post weld heat treatment, it may further comprise the steps:
Step 1, welding robot move on the workpiece at double-screw bolt to be welded position, and cylinder 3 motions are placed into eddy-current heating ring 13 top of double-screw bolt workpiece to be welded;
Step 2, induction welding machine 15 are opened with cooling water recirculation system 16 this double-screw bolt to be welded position workpiece are carried out eddy-current heating; Wherein induction heating temperature is 600-650 ℃;
Step 3, after eddy-current heating finished, cylinder 3 motions lifted away from workpiece with eddy-current heating ring 13;
Step 4, welding robot motion move to stud welding gun 8 the workpiece top at the double-screw bolt position of having heated to be welded;
Step 5 starts stud welding gun 8, accomplishes the welding of workpiece, and after welding was accomplished, frame head apparatus was removed in the welding robot motion, changes workpiece, carries out the welding of next workpiece.
In conjunction with Fig. 1, welding robot composite heat source stud welding method of the present invention, when double-screw bolt 11 needed post weld heat treatment, it may further comprise the steps:
Step 1, welding robot move on the workpiece at double-screw bolt to be welded position, and cylinder 3 motions are placed into eddy-current heating ring 13 top of double-screw bolt workpiece to be welded;
Step 2, induction welding machine 15 are opened with cooling water recirculation system 16 this double-screw bolt to be welded position workpiece are carried out eddy-current heating; Wherein induction heating temperature is 600-650 ℃;
Step 3, after eddy-current heating finished, cylinder 3 motions lifted away from workpiece with eddy-current heating ring 13;
Step 4, welding robot motion move to stud welding gun 8 the workpiece top at the double-screw bolt position of having heated to be welded;
Step 5 starts stud welding gun 8, accomplishes the welding of workpiece, and after welding was accomplished, frame head apparatus was removed in the welding robot motion, simultaneously eddy-current heating ring 13 was moved to double-screw bolt 11 tops after welding is accomplished;
Step 6, cylinder 3 motions are fed into double-screw bolt 11 tops that need post weld heat treatment with eddy-current heating ring 13;
Step 8, after heat treatment finished, cylinder 3 motions lifted away from double-screw bolt 11 with eddy-current heating ring 13, and welding robot moves frame head apparatus is moved apart workpiece, changes workpiece, carries out the welding of next workpiece.
The present invention realizes the system of welding robot composite heat source stud welding method; Comprise welding robot, robot control system, arc stud welding power supply, induction welding machine 15, cooling water recirculation system 16; Welding robot is connected with robot control system; The stud welding power supply is connected with robot control system; Induction welding machine [15] is fixed in the big arm top of welding robot, and both all receive the control signal of control system of robot in work operations, fixing welding robot composite heat power supply stud welding frame head apparatus on the terminal ring flange 14 of robotic weld arm.Welding robot composite heat power supply stud welding frame head apparatus all is connected with robot control system with induction welding machine 15, receives the control signal of control system of robot; Wherein welding robot composite heat power supply stud welding frame head apparatus is accomplished clamping and the installation to the automatic stud welding gun, the clamping of eddy-current heating ring and installation, and the motion of the bottom and top feed of eddy-current heating ring; The induction welding machine is realized big slab of centering or very high middle steel-sheet weld preheating and the post weld heat treatment of carbon equivalent content.At last with crossing the weld job of ROBOT CONTROL with synergy completion workpiece to be welded.
In conjunction with Fig. 2; The structure of welding robot composite heat power supply stud welding head mechanical device is following: the head mechanical device comprises upper junction plate 1 and guide pillar 2, cylinder 3; Guide pillar 2 is fixed through a linear bearing 4 and an end of upper junction plate 1, and cylinder 3 is connected with upper junction plate 1 through screw shell 5, and guide pillar 2 fixedly mounts with the other end and the eddy-current heating ring fixture 6 of cylinder 3; Eddy-current heating ring 13 is fixed on the eddy-current heating ring fixture 6; Welding gun connector 7 is connected with the other end of upper junction plate 1, and welding gun 8 is fixedly installed on the welding gun connector 7, and double-screw bolt 11 is connected and installed with welding gun 8; Guide rod 9 belows fixed installation ceramic ring fixed head 10, upper junction plate 1 ring flange 14 final and that robot arm is terminal fixedly mounts.The operation principle of head mechanical device is following: below stud welding gun 8, double-screw bolt 11 is installed, ceramic ring 12 is mounted on the ceramic ring fixed head 10, after the welding beginning; The robot motion is to the top at workpiece to be welded position, and robot system is sent control signal, and cylinder 3 motions are placed eddy-current heating ring 13 and heated parts to be welded position; Robot sends control signal, and the induction welding machine is opened, and cooling water recirculation system 16 is opened simultaneously simultaneously; Heat through 13 pairs of workpiece of eddy-current heating ring, after heating finished, robot system was sent control signal and is closed the induction welding machine; Robot system is sent control signal simultaneously, and cylinder 3 motions lift away from workpiece with eddy-current heating ring 13, and the robot motion moves to workpiece to be welded position with welding gun 8; Robot system is sent control signal, and welding gun 8 switch opens carry out the welding of double-screw bolt 11, after welding is accomplished; Robot moves welding gun 8 is moved apart workpiece, and the dismounting workpiece carries out the stud welding of next round.
This welding robot composite heat power supply stud welding frame head apparatus is based on Robotics; Adopt the head mechanical device to realize the clamping and the installation of automatic stud welding gun; The clamping of eddy-current heating ring and installation; And the bottom and top feed of eddy-current heating ring motion, through with the synergy of eddy-current heating welding machine, the very high middle steel-sheet welding of big slab or carbon equivalent content in the realization.In conjunction with Fig. 1; The course of work of the present invention is following: when the stud welding process does not need post weld heat treatment; Be installed in advance on the chuck of stud welding gun with the steel double-screw bolt of a certain specification with the supporting porcelain ring of this double-screw bolt earlier; Robot control system sends a series of control signal and accomplishes whole automatic welding process then, and concrete steps are following: (1) robot movement is to the workpiece at double-screw bolt to be welded position, and cylinder moving is placed into the eddy-current heating ring top of double-screw bolt workpiece to be welded; (2) induction welding machine and cooling water recirculation system are opened this double-screw bolt to be welded position workpiece are carried out eddy-current heating; (3) after eddy-current heating finished, cylinder moving lifted away from workpiece with the eddy-current heating ring; (4) the welding robot motion moves to stud welding gun the workpiece top at the double-screw bolt position of having heated to be welded; (5) start stud welding gun, accomplish the welding of workpiece, after welding was accomplished, the robot motion removed whole device, changes workpiece, carries out the welding of next workpiece.
When the stud welding process need carries out post weld heat treatment; Be installed in advance on the chuck of stud welding gun with the steel double-screw bolt of a certain specification with the supporting porcelain ring of this double-screw bolt earlier; Robot control system sends a series of control signal and accomplishes whole automatic welding process then; Concrete steps are following: (1) robot movement is to the workpiece at double-screw bolt to be welded position, and cylinder moving is placed into the eddy-current heating ring top of double-screw bolt workpiece to be welded; (2) induction welding machine and cooling water recirculation system are opened this double-screw bolt to be welded position workpiece are carried out eddy-current heating; (3) after eddy-current heating finished, cylinder moving lifted away from workpiece with the eddy-current heating ring; (4) the welding robot motion moves to stud welding gun the workpiece top at the double-screw bolt position of having heated to be welded; (5) start stud welding gun, accomplish the welding of workpiece, the robot motion moves apart workpiece with welding gun, simultaneously the eddy-current heating ring is moved to the double-screw bolt top after welding is accomplished; (6) cylinder moving is fed into the eddy-current heating ring double-screw bolt top that needs post weld heat treatment; (7) start eddy-current heating welding machine and cooling water recirculation system double-screw bolt is carried out post weld heat treatment; (8) after heat treatment finished, cylinder moving lifted away from double-screw bolt with the eddy-current heating ring, and robot moves device is moved apart workpiece, changes workpiece, carried out the welding of next workpiece.
In this technical scheme; The mechanical device of stud welding head can be integrated Robotics and stud welding effectively among the present invention; Through the adding of composite heat power supply, can carry out stud welding effectively to big-and-middle medium plate thick or that carbon equivalent content is very high, welding quality is good.Simultaneously, utilize the good positioning function of Robotics, can realize the accurate location of stud welding, thereby accomplish more accurately stud welding.
Describe realization welding robot composite heat source stud welding method of the present invention in detail with embodiment below.
Embodiment 1.In conjunction with Fig. 1 and Fig. 2, be that the double-screw bolt of 52mm is need carry out post weld heat treatment after the example welding is accomplished carrying out the automatic stud weldering on the steel plate of thickness of slab 60mm with diameter 19mm length.Be 52mm steel double-screw bolt for 19mm length earlier and be installed in advance on stud welding gun and the ceramic ring fixture with the supporting porcelain ring of this double-screw bolt with diameter.Robot control system sends a series of control signal and accomplishes whole automatic welding process then, and concrete steps are following: (1) robot moves on the workpiece at double-screw bolt to be welded position, and cylinder 3 motions are placed into eddy-current heating ring 13 top of double-screw bolt workpiece to be welded; (2) induction welding machine 15 and cooling water recirculation system 16 are opened this double-screw bolt to be welded position workpiece are carried out about eddy-current heating to 600 ℃; (3) after eddy-current heating finished, cylinder 3 motions lifted away from workpiece with eddy-current heating ring 13; (4) the welding robot motion moves to stud welding gun 8 the workpiece top at the double-screw bolt position of having heated to be welded; (5) start stud welding gun 8, accomplish the welding of workpiece, after welding was accomplished, the robot motion removed whole device, changes workpiece, carries out the welding of next workpiece.Use the welding effect figure of device and method of the present invention to see shown in Figure 3; Contrast does not use design sketch of the present invention to see Fig. 4; From figure, can know; The present invention effectively solves weld defects such as the joint not fusion that caused by heat conduction inhomogeneities, slag inclusion, solve the high constraint (restraint) degree of cut deal and carbon equivalent high joint because of Fast Heating with cool off the fragility tissue of generation and possible cold crack defective at a high speed.
Embodiment 2.In conjunction with Fig. 1, be that the double-screw bolt of 52mm is need carry out post weld heat treatment after the example welding is accomplished carrying out the automatic stud weldering on the steel plate of thickness of slab 60mm with diameter 19mm length.Be 52mm steel double-screw bolt for 19mm length earlier and be installed in advance on stud welding gun and the ceramic ring fixture with the supporting porcelain ring of this double-screw bolt with diameter.Robot control system sends a series of control signal and accomplishes whole automatic welding process then, and concrete steps are following: (1) robot moves on the workpiece at double-screw bolt to be welded position, and cylinder 3 motions are placed into eddy-current heating ring 13 top of double-screw bolt workpiece to be welded; (2) induction welding machine 15 and cooling water recirculation system 16 are opened this double-screw bolt to be welded position workpiece are carried out about eddy-current heating to 600 ℃; (3) after eddy-current heating finished, cylinder 3 motions lifted away from workpiece with eddy-current heating ring 13; (4) the welding robot motion moves to stud welding gun 8 the workpiece top at the double-screw bolt position of having heated to be welded; (5) start stud welding gun 8, accomplish the welding of workpiece.(6) welding robot motion moves to the double-screw bolt top of having welded with eddy-current heating ring 13, and cylinder 3 motions move to eddy-current heating ring 13 on the double-screw bolt, about eddy-current heating to 300 ℃.After welding was accomplished, the robot motion removed whole device, changes workpiece, carries out the welding of next workpiece.
Claims (5)
1. welding robot composite heat source stud welding method is characterized in that it may further comprise the steps when double-screw bolt (11) when not needing post weld heat treatment:
Step 1, welding robot move on the workpiece at double-screw bolt to be welded position, and cylinder (3) motion is placed into eddy-current heating ring (13) top of double-screw bolt workpiece to be welded;
Step 2, induction welding machine (15) are opened with cooling water recirculation system (16) this double-screw bolt to be welded position workpiece are carried out eddy-current heating;
Step 3, after eddy-current heating finished, cylinder (3) motion lifted away from workpiece with eddy-current heating ring (13);
Step 4, welding robot motion move to stud welding gun (8) the workpiece top at the double-screw bolt position of having heated to be welded;
Step 5 starts stud welding gun (8), accomplishes the welding of workpiece, and after welding was accomplished, frame head apparatus was removed in the welding robot motion, changes workpiece, carries out the welding of next workpiece.
2. welding robot composite heat source stud welding method according to claim 1 is characterized in that induction heating temperature is 600-650 ℃ in the step 2.
3. welding robot composite heat source stud welding method is characterized in that it may further comprise the steps when double-screw bolt (11) when needing post weld heat treatment:
Step 1, welding robot move on the workpiece at double-screw bolt to be welded position, and cylinder (3) motion is placed into eddy-current heating ring (13) top of double-screw bolt workpiece to be welded;
Step 2, induction welding machine (15) are opened with cooling water recirculation system (16) this double-screw bolt to be welded position workpiece are carried out eddy-current heating;
Step 3, after eddy-current heating finished, cylinder (3) motion lifted away from workpiece with eddy-current heating ring (13);
Step 4, welding robot motion move to stud welding gun (8) the workpiece top at the double-screw bolt position of having heated to be welded;
Step 5 starts stud welding gun (8), accomplishes the welding of workpiece, and after welding was accomplished, frame head apparatus was removed in the welding robot motion, simultaneously eddy-current heating ring (13) is moved to double-screw bolt (11) top after welding is accomplished;
Step 6, cylinder (3) motion are fed into eddy-current heating ring (13) double-screw bolt (11) top that needs post weld heat treatment;
Step 7 starts induction welding machine (15) and with cooling water recirculation system (16) double-screw bolt (11) is carried out post weld heat treatment;
Step 8, after heat treatment finished, cylinder (3) motion lifted away from double-screw bolt (11) with eddy-current heating ring (13), and welding robot moves frame head apparatus is moved apart workpiece, changes workpiece, carries out the welding of next workpiece.
4. welding robot composite heat source stud welding method according to claim 3 is characterized in that induction heating temperature is 600-650 ℃ in the step 2, and heat treatment temperature is 300-400 ℃ in the step 7.
5. system that realizes any described welding robot composite heat source stud welding method of claim 1 to 4; Comprise welding robot, robot control system, arc stud welding power supply, induction welding machine (15), cooling water recirculation system (16); Welding robot is connected with robot control system; The stud welding power supply is connected with robot control system, and induction welding machine (15) is fixed in the big arm top of welding robot, and both all receive the control signal of control system of robot in work operations; It is characterized in that going up fixedly welding robot composite heat power supply stud welding frame head apparatus at the terminal ring flange (14) of robotic weld arm; This frame head apparatus comprises upper junction plate (1), guide pillar (2) and cylinder (3), and guide pillar (2) is fixed through a linear bearing (4) and an end of upper junction plate (1), and cylinder (3) is fixing through screw shell (5) and upper junction plate (1); The other end of guide pillar (2) and cylinder (3) fixedly mounts with eddy-current heating ring fixture (6) respectively; Eddy-current heating ring 13 is fixedly installed on the eddy-current heating ring fixture (6), and welding gun connector (7) is connected with the other end of upper junction plate (1), and welding gun (8) is fixedly installed on the welding gun connector (7); Ceramic ring fixed head (10) is connected and installed through guide rod (9) and welding gun (8); Double-screw bolt (12) is connected with the end of welding gun (8), described upper junction plate (1) and terminal ring flange (14) fixed installation of robotic weld arm, and cooling water recirculation system (16) is connected with eddy-current heating ring (13); The control of cylinder (3), welding gun (8), eddy-current heating welding machine (15) provides by robot control system, and acts synergistically jointly with robot control system and to accomplish the stud welding operation.
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Application publication date: 20120613 |