CN102825368B - Flange sealing trough inner surface hoop all positon TIG automatic bead welding equipment and welding method thereof - Google Patents

Abstract

A kind of flange sealing trough inner surface hoop all positon TIG automatic bead welding equipment and welding method thereof, belong to automatic welding equipment and welding method technical field.This automatic welding equipment is primarily of position adjusting mechanism and a TIG rotary horn, and TIG rotary horn is by the built-up welding position of position adjusting mechanism adjustment with flange sealing trough.Electrical control gear is circumferential position residing for soldering tip, by one week 12 subregion pre-set, arranges the parameters such as welding current, wire feed rate, speed of welding, arc voltage control, carries out welding and controls.By setting width inwardly or outwards automatically change radius of turn, built-up welding in flange sealing trough can be realized, until piled an end face, after change angle of welding gun, carries out the built-up welding of flange sealing trough side after soldering tip completes welding in a week.Facing surface is smooth, avoids that manual build up welding is forged a knife to later stage flange seal slot machining, the problem of long processing time, and surfacing quality is better than manual build up welding, decreases the problem because of faults repair after manual build up welding.<!--1-->

Description

Flange sealing trough inner surface hoop all positon TIG automatic bead welding equipment and welding method thereof

Technical field

The present invention relates to a kind of flange sealing trough inner surface hoop all positon TIG automatic bead welding equipment and welding method thereof, after being specially adapted to large-tonnage container assembly welding and heat treatment, after the built-up welding of flange sealing trough anticorrosive coat and heat treatment seal groove hardness decline after welding, to improve seal groove overlay surface hardness, this equipment belongs to automatic welding equipment and welding method technical field.

Background technology

Flange sealing trough is the position of container and exterior line jointing flange being installed sealing ring, and he is pipe joint conventional in petrochemical field container and pipe network.Flange sealing trough on usual first butt tube carries out the built-up welding of anticorrosive coat, and heap postwelding refills on container and carries out assembly welding.After container completes integral solder, entirety is needed to carry out finished heat treatment, the hardness of the flange sealing trough after heat treatment does not reach the requirement of Vessel Design technical conditions, usual technique be to heat treatment after flange sealing trough re-start built-up welding, and then processing reach drawing final size.Usually this part seal groove needs to carry out all positon built-up welding by hand, and this welding method exists following problem:

1, by carrying out the built-up welding of seal groove all positon by hand, the uneven ripple of seal groove surface relief of heap postwelding is comparatively large, and this is totally unfavorable to processing, usually can only adopt fine feed to prevent and forge a knife, process long in time limit.

2, need to carry out dye penetrant inspection after seal groove processing, it is qualified that the seal groove of manual all positon built-up welding can not once be detected a flaw usually, needs to carry out repair welding, processing, dye penetrant inspection to defect.Increase production cost, the production cycle is long.

Summary of the invention

For solving problems of the prior art, the present invention proposes a kind of flange sealing trough inner surface hoop all positon TIG automatic bead welding equipment and welding method thereof, this automatic welding equipment is arranged on manipulator crossbeam front end, be one and can realize radius of turn, pivot, Plane of rotation, most advanced and sophisticated for initial point angle-adjusting mechanism with tungsten electrode, control with the arc voltage of welding gun parallel direction, the TIG silk filling automatic welding device of continuous built-up welding.By electrical control, realize soldering tip be soldered one week backward direction initialization move setpoint distance and radius of turn change after linear velocity constant.Program is according to soldering tip place circumferential position, and the corresponding specification performing setting regions, to adapt to all-position welding needs.Once can complete the built-up welding in a seal groove face, after adjusting angle of welding gun and initial position, carry out the built-up welding on inclined-plane.

The present invention for the adopted technical scheme that solves the problem is: a kind of flange sealing trough inner surface hoop all positon TIG automatic bead welding equipment, it mainly comprises one and is arranged on position adjusting mechanism on manipulator and a TIG rotary horn, and TIG rotary horn is by the built-up welding position of position adjusting mechanism adjustment with flange sealing trough.Described position adjusting mechanism comprises surface of revolution tilt adjusting mechanism, level angle guiding mechanism, pivot position adjustment cross balladeur train, endless-rotating gas, electricity, water rotary transfer mechanism and radius of turn guiding mechanism.Described endless-rotating gas, electricity, water rotary transfer mechanism are fixedly connected with cross slide, and the AC servo motor reductor be fixed under rotating mechanism shell drives main swing pinion to rotate through driving gear, main swing pinion is provided with a radius of turn guiding mechanism, radius of turn guiding mechanism comprises an electronic guiding mechanism of radius of turn, an angle of welding gun governor motion and an AVC control balladeur train, the electronic guiding mechanism of radius of turn is fixed on the lower end of two square tubes be fixedly connected with main swing pinion surface, AVC controls balladeur train and is fixedly connected with the slide on the electronic guiding mechanism of radius of turn with the direction converting structure part of angle of welding gun governor motion under manual position adjusting mechanism, the arc guide rail of angle of welding gun governor motion is fixed on the manual adjustment slide of manual position governor motion.

Described position adjusting mechanism comprises surface of revolution tilt adjusting mechanism, level angle guiding mechanism, pivot position adjustment cross balladeur train, endless-rotating gas, electricity, water rotary transfer mechanism and radius of turn guiding mechanism; Described surface of revolution tilt adjusting mechanism is directly fixed on manipulator, by inclination motor reductor drive tilt rotor realize upwards, downward 90 degree of rotations; Described level angle guiding mechanism by lateral rotation drive motors reductor drive horizontally rotate body realize left, 45 degree of rotations to the right.

Described pivot position adjustment cross balladeur train adopts a longitudinal slide slide governor motion and a cross slide slide governor motion, the longitudinal sliding frame body of longitudinal slide slide governor motion with horizontally rotate body and be fixedly connected with, drive motors reductor drives longitudinal slide slide to move on longitudinal sliding frame body through leading screw, the cross slide of cross slide slide governor motion is fixedly connected with longitudinal slide slide, and cross slide drive motors reductor drives cross slide to move on cross slide through leading screw.

The welding method of described a kind of flange sealing trough inner surface hoop all positon TIG automatic bead welding equipment comprises the following steps:

(1) make the Plane of rotation of TIG rotary horn parallel with flange sealing trough end face by surface of revolution tilt adjusting mechanism and level angle guiding mechanism;

(2) by pivot and the flange sealing trough center superposition of pivot position adjustment cross balladeur train adjustment TIG rotary horn;

(3) adjust TIG rotary horn and seal groove built-up welding end face angle, radius of turn and rotation initial position, perform reset;

(4) conventional parameter is inputted

By speed of welding, base value welding current, base value welding current time, peak value welding current, peak value welding current time, wire feed rate, arc voltage control voltage, the starting the arc and the receipts arc current of the built-up welding position radius of the man-machine interface of electric control system input seal groove workpiece, 12 subregions with electric current rises, fall time, time delay wire feed time, initial wire feed rate and receive arc associated welds technological parameter; Bead welding spacing, welding bead direction is changed in built-up welding;

(5) open the source of welding current, cooling water tank, protective gas, welding wire is installed, makes welding wire send to correct position relative to tungsten electrode, perform after initial point and radius of turn reset after soldering tip position of rotation adjusts to 0 district's original position, can weld;

(6) built-up welding TRAJECTORY CONTROL flow process is performed

Select automatic welding program, press welding start button, complete the welding starting the arc by the PLC in electric control system, circumgyration speed, welding position radius and speed of welding calculate control, welding conditions that subregion that soldering tip is corresponding according to region sets perform, in welding process, the characteristic that can change with tungsten electrode and workpiece spacing according to arc voltage, comparatively complete the control between tungsten electrode and workpiece by the arc voltage of setting and the actual arc pressure ratio of detection, ensure that weld width is consistent; After completing welding in a week, move setpoint distance to direction initialization, carry out welding in next week, until complete the built-up welding work of setting width, adjustment angle of welding gun repeats above step to side until be soldered all three faces.

The invention has the beneficial effects as follows: the applicable large-tonnage of this flange sealing trough inner surface hoop all positon TIG automatic bead welding equipment can not go up the flange sealing trough welding of the overall container of deflection machine, and surfacing quality is better than manual welding, is easy to postwelding processing.Its advantage is as follows:

1, built-up welding can be carried out to the flange sealing trough of optional position on large-scale large-tonnage container by this all positon flange sealing trough welding machine, solve and use common automatic TIG welding to connect to need to make just welding of deflection machine on workpiece, tun cannot go up the problem of deflection machine.Can not can realize the flange sealing trough welding of whole container by crane, avoid excessive use crane to need to produce bottleneck by crane operation to other.

2, power consumption electricity is lower than the expense using deflection machine to drive container rotation, expense and the upper deflection machine of saving the expensive large-tonnage deflection machine of purchase need fixing frock expense, avoid positioning difficulty is installed, by being parallel to crosshead walking guide rail and the turning rolls of container, the welding of all seal grooves on container can be realized.

3, surfacing quality is better than manual welding, avoid manual welding postwelding to detect a flaw problem that defective needs reprocess, and facing surface is smooth, is easy to processing, avoids processing to forge a knife, the problem that the process-cycle is long, reduces the production cycle.

4, the automatic welding of seal groove baseplane, side can automatically be realized.Welding bead spacing can set, and makes facing surface smooth., calculate corresponding rotation speed by soldering tip radius change by PLC, built-up welding consistency of thickness, fully achieves automatic welding.

5, adopt endless-rotating gas, electricity, water, multiple signals continuous rotary rotary transfer mechanism, realize continuous welding, improve welding efficiency.

6, have arc voltage controlling functions, base value, peak value sampling are selected, and comparing, controlling arc voltage fluctuation minimum, ensureing that weld width is consistent by detecting arc voltage with setting voltage.

Accompanying drawing explanation

Fig. 1 is a kind of structure chart of flange sealing trough inner surface hoop all positon TIG automatic bead welding equipment.

Fig. 2 is the sectional structure chart of inclination angle, level angle guiding mechanism.

Fig. 3 is the structure chart of longitudinal slide slide governor motion.

Fig. 4 is the B-B sectional structure chart in Fig. 3.

Fig. 5 is the A-A sectional structure chart in Fig. 3.

Fig. 6 is the front view of endless-rotating gas, electricity, water rotary transfer mechanism.

Fig. 7 is the sectional structure chart of endless-rotating gas, electricity, water rotary transfer mechanism.

Fig. 8 is the structure chart of posture of welding torch guiding mechanism.

Fig. 9 is the top view of posture of welding torch guiding mechanism in Fig. 8.

Figure 10 is flange sealing trough welding sequence schematic diagram.

Fig. 1: 1, surface of revolution tilt adjusting mechanism, 1a, Connection Block, 1a1, strengthen gusset, 1a2, stiffener, 1a3, left supporting side plate, 1a4, right supporting side plate, 1a5, left bank bearing chamber, 1a6, right bank bearing chamber, 1b, inclination motor reductor, 1c, tilt rotor, 1c1, sloping shaft, 1c2, transition axis keyway, 1c3, key, 2, level angle guiding mechanism, 2a, lateral rotation drive motors reductor, 2b, horizontally rotate body, 2c, top bearing cover, 2d, upper bearing (metal), 2e, upper positioning sleeve, 2f, key, 2g, transition axis, 2h, lower positioning sleeve, 2i, lower bearing, 2j, lower bearing end cap, 3, longitudinal slide slide governor motion, 3a, longitudinal sliding frame body, 3b, drive motors reductor, 3c, longitudinal slide slide, 3d, shaft coupling, 3e, ball-screw supporting seat, 3f, leading screw, 3g, ball screw assembly, 3h, linear slide rail slide block, 3i, linear slide rail, 4, cross slide slide governor motion, 4a, cross slide, 4b, cross slide drive motors reductor, 4c, cross slide, 5, endless-rotating gas, electricity, water rotary transfer mechanism, 5a, fixed mount, 5b, rotating mechanism shell, 5d, AC servo motor reductor, 5e, driving gear, 5f, main swing pinion, 5g, rotating shaft, 5h, swivel bearing, 5i, outer press cover, 5j, internal gland, 5k, closely-pitched retainer ring, 5l, control conducting slip ring outer shroud and fix ear, 5m, insulating flange plate, 5n, rotary conductive mandrel, 5o, control conducting slip ring, 5p, control axle clamping block in conducting slip ring, 5q, TIG source of welding current conducting slip ring, 5r, brush holder insulating base, 5s, brush, 5t, holddown spring, 5u, swivel joint mandrel, 5w, swivel joint shell, 5x collets, 5y, bolt, 5z, bolt, 6a, clamping rings, 6b, first square tube, 6c, second square tube, 6d, line slideway fixed block, 6e, wire feeder fixed head, 6f, wire feeder, 6g, wire reel, 7, the electronic guiding mechanism of radius of turn, 7a, radius adjustment electric sliding rail matrix, 7b, direction converting structure part, 7c, slide, 8, manual adjustment means, 8a, manual adjustment slide plate, 8b, manual adjustment slide, 8c, manual regulating wheel, 9, angle of welding gun governor motion, 9a, angle of welding gun guiding mechanism arc guide rail, 9b, slide block, 9c, transition location-plate, 9d, handwheel adjustment jackscrew, 9e, cylinder brake block, 10, AVC controls balladeur train, 10a, arc voltage controls balladeur train, 10b, balladeur train slide block, 10c, stepper motor, 10d, welding gun fixed mechanism, 10e, clamping block, 10g, TIG welding gun, 11, wire leading pipe governor motion, 11a, gripping mechanism, 11b, traversing dovetail slide rail, 11c, laterally adjust screw rod, 11e, cross slide, 11f, longitudinally adjust screw rod, 11h, longitudinal slide, 11i, fixed block, 11j, longitudinal location guide, 11l, wire leading pipe, 11m, bolt, 11n, wire feed flexible conduit set bolt, 11o, replaceablely lead mouth, 12, flange, 13, bead welding.

Detailed description of the invention

Fig. 1 shows a kind of structure chart of flange sealing trough inner surface hoop all positon TIG automatic bead welding equipment.In Fig. 1,2, leaning device 1 is made up of Connection Block 1a, inclination motor reductor 1b, tilt rotor 1c, Connection Block 1a comprises the face of being connected and fixed, on joint face, left and right side respectively has the left supporting side plate 1a3 of a bearing block and the right supporting side plate 1a4 of bearing block, left supporting side plate has a left bank bearing chamber 1a5.Right supporting side plate has right bank bearing chamber 1a6, have in the middle of left and right supporting side plate and strengthen gusset 1a1, there is stiffener 1a2 in outside.Inclination motor reductor 1b is arranged on the right side of right bank bearing chamber 1a6, speed reducer output shaft is by transition axis keyway 1c2, the sloping shaft 1c1 inner hole of key 1c3 and tilt rotor 1c, the two ends of sloping shaft 1c1 are with left, brearing bore in right bearing room coordinates, tilt rotor 1c is driven to realize upwards, downward 90 degree of rotations, before tiltler, interposition is equipped with a transverse concave groove, body 2b is horizontally rotated for placing, when this axle realizes flange sealing trough inclination, rotated by 1c, make inclination longitudinal sliding frame 3a parallel with seal groove plane, inclined base is connected with manipulator crossbeam end face by 12 screws, horizontal rotation is realized by manipulator, lifting, flexible.

A lateral rotation drive motors reductor 2a is installed in tiltler 1c front end, output shaft inserts transition axis 2g endoporus, coordinated by key, transition axis 2g penetrates and horizontally rotates body 2b rotational axis hole, coordinated by key 2f, there is boss at transition axis 2g two ends, by upper, lower conical bearing 2d, 2i inner face supports, upper bearing (metal) 2d, lower bearing 2i is by top bearing cover 2c, lower bearing end cap 2j is pressed in outer shroud end face, prevent axle 2g axial motion, transition axis 2g two ends, upper bearing (metal) 2d, a positioning sleeve is respectively had inside lower bearing 2i, upper positioning sleeve 2e respectively, lower positioning sleeve 2h, that rotates for position level horizontally rotates the position of body 2b in tilt rotor 1c front portion is recessed, lateral rotation drive motors reductor 2a is by transition axis 2g, key 2f drives and horizontally rotates body 2b realization left, 45 degree of rotations to the right.

In Fig. 1,3,4,5, horizontally rotate the anterior gusset piece end face of body 2b and connect longitudinal sliding frame body 3a, longitudinal slide is by drive motors reductor 3b, be connected with leading screw 3f termination by shaft coupling 3d, it is inner that ball-screw is fixed on sliding rack body 3a by ball-screw supporting seat 3e, linear slide rail 3i is fixed on sliding rack body 3a vertical plates on both sides end face, two one slide rails respectively there are two slide blocks, slide plate 3c fixes on four slide blocks, ball screw assembly, 3g is fixed on middle and lower part in slide plate 3c, form longitudinal slide, leading screw 3f rotates and drives slide to move on vertical linear slide rail 3i.

Longitudinal slide slide 3c end face installs a cross slide 4a, and drive cross slide 4c to realize laterally moving left and right by cross slide drive motors reductor 4b by ball-screw, cross slide structure is identical with longitudinal slide structure.

At Fig. 1, 6, in 7, by fixed mount 5a, a motorized motions rotating mechanism is installed before cross slide 4a, fixed mount 5a is at rotating mechanism shell 5b lower-end rear portion, shell front lower portion is installed by installing rack 5c and is fixed an AC servo motor reductor 5d, AC servo motor reductor 5d shaft end installs driving gear 5e, driving gear 5e drives main swing pinion 5f, installed with rotating shaft 5g front end is concentric by bolt, rotating shaft 5g is coordinated with rotating mechanism shell 5b by two swivel bearing 5h, bearing is by outer press cover 5i, internal gland 5j keeps fixing with rotating mechanism shell 5b, itself and bearing inner sleeve are fixed by closely-pitched retainer ring 5k by rotating shaft 5g, control conducting slip ring shell is fixed ear 5l by control conducting slip ring outer shroud and is fixed by the screw under bolt and axle head groove.By controlling, axle clamping block 5p in conducting slip ring is same crosses screw-clamped to conducting slip ring inner ring, control axle clamping block 5p in conducting slip ring relative fixing with bearing outer press cover screw side, rotary conductive mandrel 5n inner flange face is fixed with insulating flange plate 5m outer face is concentric, under insulating flange plate 5m inner face and rotating shaft 5g, concave station is fixed, make rotary conductive mandrel 5n control conducting slip ring 5o and rotating shaft 5g to insulate, rotary conductive mandrel 5n fixes a TIG source of welding current conducting slip ring 5q by screw thread in the inner, brush 5s passes through holddown spring 5t with certain pretightning force, curved end and TIG source of welding current conducting slip ring 5q are slidingly contacted, reduce contact resistance, brush 5s is placed in brush holder insulating base 5r, brush carrier is fixed on rotating mechanism enclosure, the source of welding current is fixed by terminal screw and brush 5s outer face, conducting slip ring 5q axial end screw and 4 road gas, water swivel mandrel 5u end face of flange is installed with one heart by screw, gas, water is by stub bore and conduction mandrel synchronous axial system, swivel joint overcoat is by bolt 5y, swivel joint shell 5w and rotating mechanism shell are fixed by bolt 5z, gas, water exterior line is connected with the swivel joint overcoat side mouth of pipe, so just achieve the source of welding current, control section is gentle, water is fixedly entered by relative rotating mechanism shell, output to welding gun by rotary middle spindle and control motor and control signal.

In Fig. 1,8,9, radius of turn guiding mechanism 6 is by a clamping rings 6a, first square tube 6b, the second square tube 6c, line slideway fixed block 6d, form with wire feeder fixed head 6e, two square tubes are respectively soldered to ring textures arranged on left and right sides, avoid interfering with central gas, electricity, water line, pipeline, line slideway fixed block 6d is in square steel bottom, depart from pivot, hide gas, electricity, water line, pipeline, correction angle of welding gun, height regulating mechanism cause welding torch position to depart from rotating diameter, and its movement locus is overlapped with rotating diameter; The annulus back side and main swing pinion 5f are coaxially screwed, wire feeder 6f is arranged on wire feeder fixed head 6e, wire reel 6g is installed to square tube top, the right side second, wire feeder 6f rear portion, and wire feeder dummy pipe is connected with welding gun welding wire dummy pipe entrance.

The radius adjustment electric sliding rail body 7a of the electronic guiding mechanism 7 of radius of turn is fixedly mounted on line slideway fixed block 6d by briquetting, radius adjustment slide rail motor is on right side, left side is radius increase direction, its slide 7c is fixed by the manual adjustment slide plate 8a of a direction converting structure part 7b and manual adjustment means 8, manually adjustment slide 8b moving direction is parallel with rotating shaft for it, and manually regulating wheel 8c manually adjusts the distance of welding gun and seal groove end face on slide 8b.

The arc guide rail 9a of angle of welding gun guiding mechanism 9 is fixed on and manually adjusts plane on slide 8b, center of arc with manually adjust slide 8b moving direction center superposition, slide block 9b on arc-shaped guide rail 9a left and rightly along slide rail center can move 40 ° respectively, for the adjustment of welding gun walking lateral angles, slide block 9b end face is installed transition location-plate 9c, withstand on above the larger cylinder brake block 9e of area by handwheel adjustment jackscrew 9d, below with arc-shaped guide rail end contact, fix the position of slide block 9b on arc-shaped guide rail 9a by frictional force.

On transition location-plate 9c, installation AVC controls the arc voltage control balladeur train 10a of balladeur train 10, and arc voltage controls balladeur train 10a by stepper motor 10c drived control, and balladeur train slide block 10b, TIG welding gun 10g, welding gun fixed mechanism 10d bottom face and slide block end face are fixed.Welding gun fixed position makes its slide when centre position, and welding gun tungsten electrode point is adjusted to and arc slide rail center superposition, and when adjustment welding gun and built-up welding end face angle, welding arc position transverse shifting does not occur.

Wire leading pipe governor motion 11 is fixed on gripping mechanism 11a by traversing dovetail slide rail 11b, laterally there is a locating slot in the middle of adjustment screw rod 11c, on traversing dovetail slide rail 11b, screw rod interposition is equipped with a locating slot, by fixing washer, slide rail and the horizontal relative position of horizontal adjustment screw rod 11c are fixed, a half cycle screw thread is had in the middle part of cross slide 11e dovetail groove, adjust screw rod 11c with transverse direction to be combined, when rotating horizontal adjustment screw rod 11c, cross slide 11e is transverse shifting on traversing dovetail slide rail 11b, the left leading inside of cross slide also has a longitudinal slide rail, also has longitudinally adjustment screw rod 11f and longitudinal slide 11h above, structure is identical with cross slide, longitudinal slide end face fixes the fixed block 11i that has longitudinal square hole, there is a strip hole fixed block 11i side, relative position on longitudinal location guide 11j and longitudinal slide 11h can be adjusted by trace by fixed screw, longitudinal location guide 11j there is 12mm interval screw, longitudinal location guide 11j relative position significantly can be adjusted by selecting different fixing threaded hole, longitudinal location guide 11j bottom have one with the circular hole at 75 degree, bar cramp angle, wire leading pipe 11l penetrates wherein, fixed by the bolt 11m of side, catheter tail has a wire feed flexible conduit and its wire feed flexible conduit set bolt 11n, catheter proximal end is fixed one by screw thread and is replaceablely led mouth 11o.Welding wire delivers to arc position by leading mouth, by laterally, longitudinally adjusting screw rod, can to the adjustment of longitudinal location guide 11j position, and adjustable welding wire and tungsten electrode and the position of gripping mechanism 11a on rifle.

Adopt above-mentioned automatic feeding TIG surfacing equipment; flange seal trench bottom and side built-up welding need angle of welding gun guiding mechanism; consistent for ensureing overlay width; automatic arc voltage is adopted to control executing agency; slew gear needed for welded seal groove Circular test; for improving welding efficiency, slew gear adopts the rotating mechanism of continuous wireless transmissions protective gas, control and welding circuit, cooling water, carries out continuous welding.The electronic guiding mechanism of welding gun radius, can realize weekly automatic mobile setpoint distance, realize continuous built-up welding.Pivot position is adjustable, and with seal groove centres, Plane of rotation is adjustable, can adjust parallel with seal groove plane, makes welding track parallel with sealing groove hoop.

The method of above-mentioned a kind of all positon flange sealing trough inner surface all positon TIG surfacing equipment built-up welding flange sealing trough is used to comprise the following steps:

(1) workpiece and welding condition is inputted

Workpiece parameter: flange sealing trough first position radius;

Kinematic parameter: sealing wire speed, welding motion time delay, AVC speed, AVC effective delay time, automatic surfacing mobile width, direction, translational speed;

Welding condition: preflow, delayedly to stop the supple of gas or steam the time, striking time, striking electric current, current rise time, between wire feed time delay, receive arc current die-away time, receive arc current, AVC reference voltage;

12 partitioned parameters: background current, base value time, peak point current, time to peak, wire feed rate, speed of welding;

Wire feed parameter: initial velocity, the acceleration time, receives arc wire feed rate die-away time, pumpback speed and pumpback time;

(2) rotary horn and flange sealing trough relative position is adjusted

By installing the walking mechanism of manipulator of soldering tip, base rotating mechanism, crossbeam stretches, with lifting, the coarse adjustment of this welding machine can be adjusted to the soldering tip pivot position parallel with seal groove with Plane of rotation to the adjustment axle by soldering tip.Then by tilting with horizontal rotation angle mechanism, soldering tip Plane of rotation to be adjusted roughly parallel with seal groove, rotary horn, in horizontal and vertical slide plate four positions, measure the distance between tungsten electrode and seal groove, 1/2 difference distance is adjusted to apart from large direction by horizontal and vertical slide plate, make the soldering tip centre of gyration coaxial with seal groove, the position of soldering tip on adjustment radius of turn telescoping crossbeam, tungsten electrode is made to aim at first position bottom seal groove, the angle of adjustment tungsten electrode and seal groove bottom surface, slightly tendency seal groove side, rotary horn is forwarded to 6 o ' clock positions, input validation revolution zero point and radius initial position, the soldering tip anglec of rotation will according to this position calculation, welding conditions will perform soldering tip and rotate the corresponding setup parameter of place subregion.，

(3) built-up welding TRAJECTORY CONTROL flow process is performed

Must the source of welding current be opened before welding, cooling water tank power supply, protective gas, mode of operation switch is selected in automated location, enter readiness.Press startup control button, welding gun slowly moves to seal groove, after touching workpiece, control program promotes respective heights according to setting striking Altitude control stepper motor, open protection gas, after reaching preflow time delay, perform high-frequency arc strike, striking electric current, → electric current rising → 0 district's base value, peak point current → arc voltage automatically controls → rotates, the second subregion setting welding conditions are performed after arriving the second subregion, after soldering tip rotating 360 degrees (a circle), soldering tip is mobile setting width outwards, arrive b to enclose position and continue rotating welding → be soldered c circle and stop, with bottom intersection location outside adjustment horn angle tendency seal groove, change less setting displacement, ensure the welding bead interval to be same as bottom surface can be piled in inclined-plane, proceed seal groove lateral surface d lap welding to connect, → e circle → f circle → g has enclosed lateral surface built-up welding.Adjustment welding gun deflection medial surface, point to medial surface and overlaying surface angle of cut place, bottom surface, revise automatic moving direction inside, soldering tip forwards 0 position to, repeats to weld start-up course and completes h circle → i circle → j circle → k and enclosed welding, as shown in Figure 10.

Claims (1)

1. the welding method of a flange sealing trough inner surface hoop all positon TIG automatic bead welding equipment, automatic bead welding equipment mainly comprises one and is arranged on position adjusting mechanism on manipulator and a TIG rotary horn, TIG rotary horn is by the built-up welding position of position adjusting mechanism adjustment with flange sealing trough, and described position adjusting mechanism comprises surface of revolution tilt adjusting mechanism (1), level angle guiding mechanism (2), pivot position adjustment cross balladeur train, endless-rotating gas, electricity, water rotary transfer mechanism (5) and radius of turn guiding mechanism, described endless-rotating gas, electricity, water rotary transfer mechanism (5) are fixedly connected with cross slide (4c), and the AC servo motor reductor (5d) be fixed under rotating mechanism shell (5b) drives main swing pinion (5f) to rotate through driving gear (5e), main swing pinion (5f) is provided with a radius of turn guiding mechanism, radius of turn guiding mechanism comprises an electronic guiding mechanism of radius of turn (7), an angle of welding gun governor motion (9) and an AVC control balladeur train (10), the electronic guiding mechanism of radius of turn (7) is fixed on the lower end of two square tubes be fixedly connected with main swing pinion (5f) surface, AVC controls balladeur train (10) and is fixedly connected with the slide (7c) on the electronic guiding mechanism of radius of turn (7) with the direction converting structure part (7b) of angle of welding gun governor motion (9) under manual position adjusting mechanism (8), the arc guide rail (9a) of angle of welding gun governor motion (9) is fixed on the manual adjustment slide (8b) of manual position governor motion (8), described surface of revolution tilt adjusting mechanism (1) is directly fixed on manipulator, by inclination motor reductor (1b) drive tilt rotor (1c) realize upwards, downward 90 degree of rotations, described level angle guiding mechanism (2) by lateral rotation drive motors reductor (2a) drive horizontally rotate body (2b) realize left, 45 degree of rotations to the right, described pivot position adjustment cross balladeur train adopts a longitudinal slide slide governor motion (3) and a cross slide slide governor motion (4), the longitudinal sliding frame body (3a) of longitudinal slide slide governor motion (3) with horizontally rotate body (2b) and be fixedly connected with, drive motors reductor (3b) drives longitudinal slide slide (3c) upper mobile at longitudinal sliding frame body (3a) through leading screw (3f), the cross slide (4a) of cross slide slide governor motion (4) is fixedly connected with longitudinal slide slide (3c), cross slide drive motors reductor (4b) drives cross slide (4c) upper mobile at cross slide (4a) through leading screw, it is characterized in that: described welding method comprises the following steps:

(1) make the Plane of rotation of TIG rotary horn parallel with flange sealing trough end face by surface of revolution tilt adjusting mechanism and level angle guiding mechanism;

(2) by pivot and the flange sealing trough center superposition of pivot position adjustment cross balladeur train adjustment TIG rotary horn;

(3) adjust TIG rotary horn and seal groove built-up welding end face angle, radius of turn and rotation initial position, perform reset;

(4) conventional parameter is inputted

By speed of welding, base value welding current, base value welding current time, peak value welding current, peak value welding current time, wire feed rate, arc voltage control voltage, the starting the arc and the receipts arc current of the built-up welding position radius of the man-machine interface of electric control system input seal groove workpiece, 12 subregions with electric current rises, fall time, time delay wire feed time, initial wire feed rate and receive arc associated welds technological parameter; Bead welding spacing, welding bead direction is changed in built-up welding;

(5) open the source of welding current, cooling water tank, protective gas, welding wire is installed, makes welding wire send to correct position relative to tungsten electrode, perform after initial point and radius of turn reset after soldering tip position of rotation adjusts to 0 district's original position, can weld;

(6) built-up welding TRAJECTORY CONTROL flow process is performed

Select automatic welding program, press welding start button, complete the welding starting the arc by the PLC in electric control system, circumgyration speed, welding position radius and speed of welding calculate control, welding conditions that subregion that soldering tip is corresponding according to region sets perform, in welding process, the characteristic that can change with tungsten electrode and workpiece spacing according to arc voltage, comparatively complete the control between tungsten electrode and workpiece by the arc voltage of setting and the actual arc pressure ratio of detection, ensure that weld width is consistent; After completing welding in a week, move setpoint distance to direction initialization, carry out welding in next week, until complete the built-up welding work of setting width, adjustment angle of welding gun repeats above step to side until be soldered all three faces.