CN103862142B - Orthotropic plate U-shaped angle of rib weld seam robot prosposition single track balanced welding method - Google Patents
Orthotropic plate U-shaped angle of rib weld seam robot prosposition single track balanced welding method Download PDFInfo
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- CN103862142B CN103862142B CN201410103803.XA CN201410103803A CN103862142B CN 103862142 B CN103862142 B CN 103862142B CN 201410103803 A CN201410103803 A CN 201410103803A CN 103862142 B CN103862142 B CN 103862142B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/16—Arc welding or cutting making use of shielding gas
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K31/00—Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups
- B23K31/003—Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups relating to controlling of welding distortion
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K33/00—Specially-profiled edge portions of workpieces for making soldering or welding connections; Filling the seams formed thereby
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
- B23K37/047—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work moving work to adjust its position between soldering, welding or cutting steps
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/02—Seam welding; Backing means; Inserts
- B23K9/022—Welding by making use of electrode vibrations
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/235—Preliminary treatment
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P15/00—Making specific metal objects by operations not covered by a single other subclass or a group in this subclass
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Plasma & Fusion (AREA)
- Optics & Photonics (AREA)
- Butt Welding And Welding Of Specific Article (AREA)
Abstract
The present invention relates to a kind of orthotropic plate U-shaped angle of rib weld seam robot prosposition single track balanced welding method, comprise the steps: A, U-shaped rib retaining wall on slope, die mould, floorings blanking, be assembled into U-shaped floor unit; B, U-shaped floor unit horizontal is placed on reversible deformation upset moulding bed, adjustment U-shaped floor cell position, makes its center line and overturn moulding bed center line and overlap; C, fix U-shaped floor unit carry out reversible deformation, adjustment reversely deformed jig frame flip angle, makes U-shaped rib to be welded be horizontal, and detects with bevel protractor; D, by welding procedure and welding variables machine entered people automatic welding system, make two on robot cantilever weld hands respectively the welding of prosposition single track is carried out simultaneously to U-shaped rib both sides angle welding.U-shaped rib of the present invention is assembled on platform, and assembly precision is high, can ensure that U-shaped rib and floorings gap are within 0.5mm.Robot automation welds hand and has electric arc following function, by swinging the change of perception welding current and arc voltage in welding process, corrects the less offset of welding bead.
Description
Technical field
The present invention relates to a kind of welding method adopting robot welding orthotropic plate U-shaped angle of rib weld seam, in especially a kind of steel bridge's manufacture, floorings U-shaped angle of rib weld seam robot prosposition single track balanced welding method, belongs to large-scale steel parts welding technology field.
Background technology
Because the pontic weight of orthotropic rectangular plates structure steel bridge is relatively light, be therefore widely used in LARGE SPAN STEEL BRIDGE.The longitudinal stiffener manufacture of orthotropic plate adopts rib of slab, T-shaped rib or U-shaped rib usually, and U-shaped rib especially few with weld seam, be out of shape the first-selection that the advantages such as little, lightweight and higher counter-bending and distortion performance become numerous design.But U-shaped angle of rib weld seam is very responsive to fatigue behaviour, easily produces fatigue crack during one's term of military service at steel bridge, therefore produces stay-in-grade U-shaped angle of rib weld seam and seem particularly important.Current U-shaped angle of rib weld seam generally adopts gas shielded arc welding manual method or the welding of supporting role's Weld joint tracker method accommodation twice; i.e. first backing welding; second capping; production efficiency is lower; and be affected by human factors; U-shaped angle of rib weldquality has certain fluctuation, and the joint penetration degree of depth is unstable, and shaping being also difficult to of outward appearance keeps consistency.
Summary of the invention
In order to effectively ensure the stability of the welding quality of U-shaped angle of rib weld seam, enhance productivity, the present invention discloses a kind of orthotropic plate U-shaped angle of rib weld seam robot prosposition single track balanced welding method, carries out supplementing and improving to prior art.
The present invention's adopted technical scheme that solves the problem is: orthotropic plate U-shaped angle of rib weld seam robot prosposition single track balanced welding method, comprises the steps:
A, U-shaped rib retaining wall on slope, die mould, floorings blanking, be assembled into U-shaped floor unit;
B, U-shaped floor unit horizontal is placed on reversible deformation upset moulding bed, adjustment U-shaped floor cell position, makes its center line and overturn moulding bed center line and overlap;
C, fix U-shaped floor unit carry out reversible deformation, adjustment reversely deformed jig frame flip angle, makes U-shaped rib to be welded be horizontal, and detects with bevel protractor;
D, by welding procedure and welding variables machine entered people automatic welding system, make two on robot cantilever weld hands respectively the welding of prosposition single track is carried out simultaneously to U-shaped rib both sides angle welding.
Described orthotropic plate U-shaped angle of rib weld seam robot prosposition single track balanced welding method, U-shaped rib retaining wall on slope described in steps A, die mould, floorings blanking comprise U-shaped rib steel plate is rolled flat after according to U-shaped rib spreading width and length and the size of reserved certain processing capacity carries out blanking, steel plate two side milling limit also processes angle welding groove, then steel plate is carried out on forming press die mould and becomes U-shaped rib; Floorings steel plate is rolled flat rear blanking.
Described orthotropic plate U-shaped angle of rib weld seam robot prosposition single track balanced welding method, assemble before U-shaped floor unit comprises the assembling of U-shaped rib described in steps A, the oxide skin, iron rust, greasy dirt, moisture etc. in to-be-welded region and both sides scope to be welded is welded with pest and removes clean; Floorings are drawn U-shaped rib assembling position line, carries out the assembling of U-shaped rib, and carry out robot localization weldering, composition U-shaped floor unit; Tack weld is polished.
Described orthotropic plate U-shaped angle of rib weld seam robot prosposition single track balanced welding method, U-shaped rib retaining wall on slope and the packaging technology parameter of steps A are: U-shaped rib root face P=2.7mm, bevel angle α=54 °.
Described orthotropic plate U-shaped angle of rib weld seam robot prosposition single track balanced welding method, after the U-shaped rib of steps A is assembled on platform, utilize robot welding hand to position weldering in U-shaped rib both sides simultaneously, tack weld length 80mm, tack welding spacing 400mm, ensures that the assembly clearance between two tack weldings controls same within 0.5mm.
Described orthotropic plate U-shaped angle of rib weld seam robot prosposition single track balanced welding method; described U-shaped rib assembling tack welding standard parameter is: welding current 260-280A, arc voltage 29-31V, weld fast 55cm/min, welding-torch horizontal angle 52 °, top rake 10 °, amplitude of fluctuation 2mm, hunting frequency 180 times/min, shield gas flow rate 18-25L/min; tack weld size 6mm; polishing is to 5-5.5mm, and tack weld two ends polish transitional slope.
Described orthotropic plate U-shaped angle of rib weld seam robot prosposition single track balanced welding method, reversible deformation upset moulding bed frame described in step B is held on pier base, compressing hydraulic cylinder is pressed on upset moulding bed by compressing pawl by U-shaped floor unit, realize reversible deformation, the upset of upset moulding bed controls by overturning hydraulic cylinder.
Described orthotropic plate U-shaped angle of rib weld seam robot prosposition single track balanced welding method, the robot welding hand of step D is driven by mobile device and the cantilever walking mechanism arranged on the mobile device in welding process walks along welding direction, by the swing of welding hand in welding process, the change of perception welding current and arc voltage, realizes electric arc following function.
Described orthotropic plate U-shaped angle of rib weld seam robot prosposition single track balanced welding method, U-shaped angle of rib weld seam prosposition single track described in step D is symmetrically welded standard parameter and is: welding current 300-320A, arc voltage 31-33V, weld fast 32cm/min, welding-torch horizontal angle 53 °, top rake 9 °, amplitude of fluctuation 2mm, hunting frequency 180 times/min, shield gas flow rate 18-25L/min.
The invention has the beneficial effects as follows:
1, U-shaped rib is assembled on platform, and assembly precision is high, can ensure that U-shaped rib and floorings gap are within 0.5mm.Reversible deformation upset moulding bed, by hydraulic control, can not only realize Slab element reversible deformation, can also flip an angle and U-shaped rib to be welded is horizontal, and drives accurately, easy to operate.
2, robot automation's welding system has electric arc following function, by swinging the change of perception welding current and arc voltage in welding process, corrects the less offset of welding bead.
3, the present invention adopts single track prosposition balanced welding technology, and outward appearance is well shaping; Reduce wlding consumption, reduce welding deformation, enhance productivity.
Accompanying drawing explanation
Fig. 1 is processing step block diagram of the present invention.
Fig. 2 is the structural representation of U-shaped floor unit.
Fig. 3 is groove type and the deposition sketch of U-shaped angle of rib weld seam.
In figure: bevel angle α=54 °, root face P=2.7mm, root gap controls within 0.5mm,
Fig. 4 is reversible deformation upset moulding bed and welding system sketch.
In figure:
1, floorings; 2, U-shaped rib; 3, U-shaped floor unit; 4, moulding bed is overturn;
5, pawl is compressed; 6, hydraulic cylinder is compressed; 7, hydraulic cylinder is overturn; 8, pier base;
9, mobile device; 10, cantilever walking mechanism; 11, robot welding hand.
Detailed description of the invention
Further illustrate the specific embodiment of the invention below in conjunction with accompanying drawing, basic welding step is as follows:
A, U-shaped rib retaining wall on slope, die mould, floorings blanking, be assembled into U-shaped floor unit.
A-1, U-shaped rib retaining wall on slope, die mould, floorings blanking: U-shaped rib steel plate is rolled flat after according to U-shaped rib spreading width and length and the size of reserved certain processing capacity carries out blanking, steel plate two side milling limit also processes angle welding groove, then steel plate is carried out on forming press die mould and becomes U-shaped rib; Floorings steel plate is rolled flat rear blanking.
A-2, to-be-welded region is cleared up, the assembling of U-shaped rib: before the assembling of U-shaped rib, the oxide skin, iron rust, greasy dirt, moisture etc. in to-be-welded region and both sides scope to be welded is welded with pest and removes clean; Floorings are drawn U-shaped rib assembling position line, carries out the assembling of U-shaped rib, and carry out robot localization weldering, namely form U-shaped floor unit (refer to applicant first right 201210550460.2 " U-shaped floor unit automatic Composition positioning welding system "); Tack weld is polished.
U-shaped rib retaining wall on slope and assembling require: U-shaped rib root face P=2.7mm, bevel angle α=54 °; U-shaped rib adopts special U-shaped rib mounting equipment to assemble on platform, automatic impaction system compresses U-shaped rib by chuck, guarantee that the gap of tack welding position is within 0.5mm, then utilize robot welding hand to position weldering in U-shaped rib both sides simultaneously, tack weld length 80mm, tack welding spacing 400mm, ensures that the assembly clearance between two tack weldings controls same within 0.5mm.
The assembling of U-shaped rib adopts robot to position weldering, and tack welding standard parameter is: welding current 260-280A, arc voltage 29-31V, weld fast 55cm/min, welding-torch horizontal angle 52 °, top rake 10 °, amplitude of fluctuation 2mm, hunting frequency 180 times/min, shield gas flow rate 18-25L/min.Tack weld size 6mm, polishes to 5-5.5mm, and tack weld two ends polish transitional slope.
B, U-shaped floor unit horizontal to be placed on reversible deformation upset moulding bed, adjustment U-shaped floor cell position, makes U-shaped floor unit center line overlap with rollover stand center line.
C, fix U-shaped floor unit carry out reversible deformation, namely before welding by floorings to weld after will produce distortion rightabout carry out pre-bending, form reciprocal distortion, to offset the rear welding deformation produced of floorings welding.Adjustment reversely deformed jig frame flip angle, makes U-shaped rib to be welded be horizontal, and detects with bevel protractor.
D, by welding procedure and welding variables machine entered people automatic welding system, make two on robot cantilever weld hands respectively the welding of prosposition single track is carried out simultaneously to U-shaped rib both sides angle welding.
U-shaped angle of rib weld seam prosposition single track is symmetrically welded the standard parameter adopted in technique: welding current 300-320A, arc voltage 31-33V, weld fast 32cm/min, welding-torch horizontal angle 53 °, top rake 9 °, amplitude of fluctuation 2mm, hunting frequency 180 times/min, shield gas flow rate 18-25L/min.
Adopt preferred gas protecting welding wire in positioning welding technique and formal welding procedure, require the MX-200H medicine core CO2 gas protecting welding wire of the diameter 1.4mm that splashing is little, wire feed is stable.
The criterion of acceptability of U-shaped angle of rib weld seam: the joint penetration degree of depth be not less than U-shaped floor thick 80%, must not weld leakage, outward appearance is well shaping.
Shown in Fig. 4:
Robot automation is welded hand 11 and is controlled by mobile device 9 and the cantilever walking mechanism 10 arranged on the mobile device, two robot welding hands 11 in welding process in walking mechanism are walked along welding direction, by the swing of welding hand in welding process, the change of perception welding current and arc voltage, realizes electric arc following function.
Reversible deformation upset moulding bed 4 frame is held on pier base 8, and compress hydraulic cylinder 6 and be pressed on rollover stand 4 by U-shaped floor unit 3 by compressing pawl 5, realize reversible deformation, the upset overturning moulding bed 4 is then controlled by upset hydraulic cylinder 7.
Claims (8)
1. orthotropic plate U-shaped angle of rib weld seam robot prosposition single track balanced welding method, its feature comprises the steps:
A, U-shaped rib (2) retaining wall on slope, die mould, floorings (1) blanking, be assembled into U-shaped floor unit (3);
B, U-shaped floor unit (3) level is placed on reversible deformation upset moulding bed, adjustment U-shaped floor unit (3) position, makes its center line and overturn moulding bed (4) center line and overlap;
C, fix U-shaped floor unit carry out reversible deformation, adjustment reversible deformation upset moulding bed flip angle, makes U-shaped rib to be welded be horizontal, and detects with bevel protractor;
D, by welding procedure and welding variables machine entered people automatic welding system, make two on robot cantilever weld hand (11) respectively the welding of prosposition single track is carried out simultaneously to U-shaped rib both sides angle welding;
In step D, U-shaped angle of rib weld seam prosposition single track is symmetrically welded standard parameter and is: welding current 300-320A, arc voltage 31-33V, weld fast 32cm/min, welding-torch horizontal angle 53 °, top rake 9 °, amplitude of fluctuation 2mm, hunting frequency 180 times/min, shield gas flow rate 18-25L/min.
2. orthotropic plate U-shaped angle of rib weld seam robot prosposition single track balanced welding method according to claim 1, it is characterized in that: U-shaped rib (2) retaining wall on slope described in steps A, die mould, floorings (1) blanking comprise U-shaped rib steel plate is rolled flat after according to U-shaped rib spreading width and length and the size of reserved certain processing capacity carries out blanking, steel plate two side milling limit also processes angle welding groove, then steel plate is carried out on forming press die mould and becomes U-shaped rib; Floorings steel plate is rolled flat rear blanking.
3. orthotropic plate U-shaped angle of rib weld seam robot prosposition single track balanced welding method according to claim 1, it is characterized in that: assemble before U-shaped floor unit (3) comprises the assembling of U-shaped rib in steps A, the oxide skin in to-be-welded region and both sides scope to be welded, iron rust, greasy dirt, moisture are welded with pest and remove clean; Floorings are drawn U-shaped rib assembling position line, carries out the assembling of U-shaped rib, and carry out robot localization weldering, composition U-shaped floor unit; Tack weld is polished.
4. orthotropic plate U-shaped angle of rib weld seam robot prosposition single track balanced welding method according to claim 1, is characterized in that: U-shaped rib retaining wall on slope and the packaging technology parameter of steps A are: U-shaped rib root face P=2.7mm, bevel angle α=54 °.
5. orthotropic plate U-shaped angle of rib weld seam robot prosposition single track balanced welding method according to claim 1, it is characterized in that: after the U-shaped rib of steps A is assembled on platform, utilize robot welding hand to position weldering in U-shaped rib both sides simultaneously, tack weld length 80mm, tack welding spacing 400mm, ensures that the assembly clearance between two tack weldings controls within 0.5mm.
6. orthotropic plate U-shaped angle of rib weld seam robot prosposition single track balanced welding method according to claim 5; it is characterized in that: U-shaped rib assembling tack welding standard parameter is: welding current 260-280A, arc voltage 29-31V, weld fast 55cm/min, welding-torch horizontal angle 52 °, top rake 10 °, amplitude of fluctuation 2mm, hunting frequency 180 times/min, shield gas flow rate 18-25L/min; tack weld size 6mm; polishing is to 5-5.5mm, and tack weld two ends polish transitional slope.
7. orthotropic plate U-shaped angle of rib weld seam robot prosposition single track balanced welding method according to claim 1, it is characterized in that: in step B, reversible deformation upset moulding bed (4) frame is held on pier base (8), compressing hydraulic cylinder (6) is pressed in upset moulding bed (4) by compressing pawl (5) by U-shaped floor unit (3), realize reversible deformation, the upset of upset moulding bed (4) controls by overturning hydraulic cylinder (7).
8. orthotropic plate U-shaped angle of rib weld seam robot prosposition single track balanced welding method according to claim 1, it is characterized in that: the robot welding hand (11) of step D controls to walk along welding direction by mobile device (9) and the cantilever walking mechanism (10) arranged on the mobile device in welding process, by the swing of welding hand in welding process, the change of perception welding current and arc voltage, realizes electric arc following function.
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| CN201410103803.XA CN103862142B (en) | 2014-03-20 | 2014-03-20 | Orthotropic plate U-shaped angle of rib weld seam robot prosposition single track balanced welding method |
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| CN201410103803.XA CN103862142B (en) | 2014-03-20 | 2014-03-20 | Orthotropic plate U-shaped angle of rib weld seam robot prosposition single track balanced welding method |
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