CN105195868A - Robot welding system and welding method thereof - Google Patents

Robot welding system and welding method thereof Download PDF

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Publication number
CN105195868A
CN105195868A CN201510769050.0A CN201510769050A CN105195868A CN 105195868 A CN105195868 A CN 105195868A CN 201510769050 A CN201510769050 A CN 201510769050A CN 105195868 A CN105195868 A CN 105195868A
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CN
China
Prior art keywords
welding
robot
tube
pipe
sheet
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Granted
Application number
CN201510769050.0A
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Chinese (zh)
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CN105195868B (en
Inventor
杨乘东
唐伟宝
张茂龙
张敏
罗庆
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Shanghai Electric Nuclear Power Equipment Co Ltd
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Shanghai Electric Nuclear Power Equipment Co Ltd
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Priority to CN201510769050.0A priority Critical patent/CN105195868B/en
Publication of CN105195868A publication Critical patent/CN105195868A/en
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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K9/00Arc welding or cutting
    • B23K9/12Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
    • B23K9/126Controlling the spatial relationship between the work and the gas torch
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K31/00Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups
    • B23K31/12Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups relating to investigating the properties, e.g. the weldability, of materials
    • B23K31/125Weld quality monitoring
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K9/00Arc welding or cutting
    • B23K9/02Seam welding; Backing means; Inserts
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K9/00Arc welding or cutting
    • B23K9/02Seam welding; Backing means; Inserts
    • B23K9/028Seam welding; Backing means; Inserts for curved planar seams
    • B23K9/0288Seam welding; Backing means; Inserts for curved planar seams for welding of tubes to tube plates
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K9/00Arc welding or cutting
    • B23K9/10Other electric circuits therefor; Protective circuits; Remote controls
    • B23K9/1006Power supply
    • B23K9/1043Power supply characterised by the electric circuit
    • B23K9/1056Power supply characterised by the electric circuit by using digital means
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K9/00Arc welding or cutting
    • B23K9/12Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
    • B23K9/124Circuits or methods for feeding welding wire
    • B23K9/125Feeding of electrodes
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K9/00Arc welding or cutting
    • B23K9/12Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
    • B23K9/127Means for tracking lines during arc welding or cutting
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K9/00Arc welding or cutting
    • B23K9/12Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
    • B23K9/127Means for tracking lines during arc welding or cutting
    • B23K9/1272Geometry oriented, e.g. beam optical trading
    • B23K9/1274Using non-contact, optical means, e.g. laser means
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K9/00Arc welding or cutting
    • B23K9/16Arc welding or cutting making use of shielding gas
    • B23K9/167Arc welding or cutting making use of shielding gas and of a non-consumable electrode
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K9/00Arc welding or cutting
    • B23K9/32Accessories
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00Manipulators not otherwise provided for
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02Sensing devices
    • B25J19/021Optical sensing devices
    • B25J19/022Optical sensing devices using lasers
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/16Programme controls
    • B25J9/1656Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • B25J9/1666Avoiding collision or forbidden zones
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/16Programme controls
    • B25J9/1674Programme controls characterised by safety, monitoring, diagnostic
    • B25J9/1676Avoiding collision or forbidden zones
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K2101/00Articles made by soldering, welding or cutting
    • B23K2101/04Tubular or hollow articles
    • B23K2101/14Heat exchangers

Abstract

The invention provides a robot welding system and a welding method thereof and suitable for pipe-pipe plate welding for a vapor generator of a main device in a nuclear island. According to the invention, a path planning and off-line programming module is used for planning an anti-collision welding path for an industrial robot and performing off-line programming on a planned scheme; a laser scanning positioning module obtains the circle centre coordinate of a pipe hole according to scanning results and performing initial welding position identification and autonomous guiding; the two industrial robots controlled by a central control module are matched with four pipe-pipe plate welding guns to perform welding on all pipe-pipe plate welding lines on a pipe plate; and an on-line welding line quality detection module obtains a three-dimensional reconstruction image according to welding line laser scanning results and performing on-line detection on welding line quality according to morphologies of the welding lines. Due to adoption of the system and the method disclosed by the invention, the pipe-pipe plate welding efficiency is improved, and the stability of the welding line quality is ensured.

Description

A kind of robot welding system and welding method thereof
Technical field
What the present invention relates to is automatic welding system and the method in robot welding intellectualized technology field, is specifically related to robot welding system and the welding method thereof of a kind of nuclear island primary device steam generator pipe-Tube-sheet Welding.
Background technology
Nuclear power due to have clean, continued power ability strong, by the relatively less advantage of geographical position restriction, be the important directions of future source of energy development." planning of national nuclear power developing special topic " proposes the year two thousand twenty, and China's nuclear power runs installed capacity will reach 4,000 ten thousand kilowatts, and the ratio that nuclear power accounts for whole electric power installed capacity brings up to 4%, and annual electricity generating capacity reaches 2600 ~ 2,800 hundred million kilowatt hours.The length of Construction of Nuclear Electricity duration has significant impact to its economy, steam generator is as nuclear island primary device, in its manufacture process, the welding of pipe-pipe sheet is critical process, and the welding quality of pipe-pipe sheet and welding efficiency directly have influence on the manufacture progress of the corrosion resistance of tube sheet primary side, sealing and steam generator.Steam generator pipe-panel weld enormous amount, for AP1000 steam generator, has 20050 road tube to tube-sheet welds, and the artificial hand-held pipe-pipe sheet welding gun of main employing welds at present, and welding efficiency is low.
Summary of the invention
The present invention is directed to current steam generator pipe-tube sheet and mainly adopt the present situation of manually carrying out welding, propose robot welding system and the welding method thereof of a kind of nuclear island primary device steam generator pipe-Tube-sheet Welding, the initial weld position identification realized in pipe-pipe sheet automatic welding process welded with off-line programing, tube to tube-sheet welds robot automation with guiding, path planning, tungsten electrode automatically detect with change, the function such as weldquality on-line checkingi.
In order to achieve the above object, a technical scheme of the present invention is to provide a kind of robot welding system, and described robot welding system is provided with central control module, and is connected with its signal and the following equipment controlled by it:
The industrial robot of at least one six degree of freedom, the superposition of its working range realizes the covering to the welding position of tube to tube-sheet welds all on workpiece tube sheet;
At least one pipe-pipe sheet welding gun; Each industrial robot grasps corresponding at least one pipe-pipe sheet welding gun extremely corresponding pore place with it respectively, is welded tube to tube-sheet welds by the pipe-pipe sheet welding gun of each pore;
Weldquality on-line checkingi module, carries out on-line checkingi according to seam center butt welded seam quality.
Preferably, described robot welding system is also provided with and is connected with central control module signal and is subject to its path planning controlled and off-line programing module, multiple industrial robot is carried out to the planning of path of welding anticollision, and carries out off-line programing to the scheme of planning.
Preferably, described robot welding system is also provided with and is connected and the laser scanning locating module controlled by it with central control module signal, it obtains the central coordinate of circle of pore to the scanning result of pore according to laser sensor, as initial weld location recognition and the referential data of independently guiding.
Preferably, described robot welding system is provided with two industrial robots, and every platform industrial robot grasps the pipe-pipe sheet welding gun that two are used for carrying out tube to tube-sheet welds automatic tungsten anode argon arc welding respectively.
Preferably, industrial robot described in each is arranged on the vertical rack corresponding with it and also can moves horizontally with vertical rack; Described industrial robot can move up and down on vertical rack.
Preferably, vertical rack described in each is arranged in system platform and also can moves horizontally with system platform; Before described system platform can move to the tube sheet of each workpiece to be welded respectively along ground guide;
Described workpiece is placed on the steam generator on respective bearing support.
Preferably, described system platform is also provided with following equipment:
Tungsten electrode changes platform automatically, and it is positioned at the exercisable scope of corresponding industrial robot, for changing tungsten electrode;
The source of welding current, powers described pipe-pipe sheet welding gun for each;
Robot control cabinet, wherein arranges the Robert controller of each industrial robot;
Center controlling platform, is wherein provided with described central control module, weldquality on-line checkingi module, path planning and off-line programing module and laser scanning locating module.
Preferably, vertical rack described in each is separately installed with corresponding wire harness bracket, is used for placing the wire of industrial robot and corresponding pipe-pipe plate welding gun thereof;
The ground guide of described system platform, comprises cross slide way and longitudinal rail.
Preferably, described weldquality on-line checkingi module is according to the scanning result of laser sensor to welded seam, obtains the three-dimensional reconstruction image of weld seam, and carries out on-line checkingi according to seam center butt welded seam quality.
Preferably, described laser sensor is arranged on the robots arm front end of described industrial robot.
Another technical scheme of the present invention is to provide the welding method of a kind of robot welding system, and it comprises following process:
Multiple workpiece is arranged on respectively on respective bearing support;
Before by ground guide system platform being moved to the tube sheet of one of them workpiece, so that the equipment that robot welding system is arranged in system platform can carry out corresponding operating:
Each industrial robot grasps a corresponding wherein location of the welding position that welding gun arrives current pore to be welded on tube sheet being carried out welding gun with it; Behind welding gun location, industrial robot unclamps welding gun fixture, to capture another welding gun corresponding with this industrial robot;
Welding gun after positioning starts welding according to the order of central control module, provides welding settling signal after having welded single tube to tube-sheet welds; The welding gun pick-and-place providing welding settling signal is located to next pore place, to carry out the welding of next tube to tube-sheet welds by industrial robot;
After completing welding of all pipe-pipe sheets on this workpiece tube sheet by multiple industrial robot and the cooperation of its welding gun separately, before by ground guide system platform being moved to the tube sheet of another workpiece, complete the welding of all tube to tube-sheet welds.
Preferably, described welding method comprises further: the laser sensor driving robots arm front end to arrange by each industrial robot moves, pore to be welded before being taken in by laser sensor scanning tube sheet, and determined the center of this pore by laser scanning locating module, so that this industrial robot grasps a corresponding wherein location of the welding position that welding gun arrives this pore being carried out welding gun with it.
Preferably, described welding method comprises further: after welding gun completes the welding of single tube to tube-sheet welds, by laser sensor, tube to tube-sheet welds is scanned, obtained the three-dimensional reconstruction image of weld seam by weldquality on-line checkingi module, and carry out on-line checkingi and excessive defect warning according to seam center butt welded seam quality.
Preferably, described welding method comprises further: after being arranged on by multiple workpiece on respective bearing support respectively, sets up the threedimensional model with each workpiece equal proportion, imports robot control system; And, after system platform being moved to before the tube sheet of any one workpiece, artificial teaching operation is carried out to industrial robot, confirm workpiece actual coordinate with multiple reference point, carry out the coordinate system of calibration of workpieces threedimensional model; Further, performed the planning of the path of welding anticollision of multiple industrial robot by path planning and off-line programing module, and off-line programing is carried out to the scheme of planning.
Preferably, any one when being grasped the welding position of current pore to be welded welding gun by industrial robot, welding gun positioning core axle is inserted current pore to be welded, the Aeroassisted location expand tube Inserting Tube mouth that welding gun top is arranged, and pneumatic location expand tube automatic tension is made after welding gun axially puts in place, after tensioner confirms, robot unclamps welding gun fixture.
The invention discloses a kind of robot welding system and welding method thereof, belong to robot welding technical field of automation, be applicable to nuclear island primary device steam generator pipe-Tube-sheet Welding.Industrial robot in the present invention has that operating efficiency is high, reliable and stable, repeatable accuracy advantages of higher, adopts robot to replace manually to carry out being welded on improving welding efficiency, ensure product quality stability, improve the working environment of workers and reducing the aspects such as labor strength to have obviously advantage.
The initial recognition of welding seam position that the present invention can realize nuclear island primary device steam generator pipe-Tube-sheet Welding with independently guide, path planning to weld with off-line programing, pipe-pipe sheet robot automation and the on-line checkingi of weldquality.The welding efficiency of raising pipe-pipe sheet, the stability ensureing weldquality, the delivery cycle shortening steam generator, raising economics in nuclear power are had very important significance.
Accompanying drawing explanation
Fig. 1 is the structural representation of the robot welding system of nuclear island primary device steam generator pipe Tube-sheet Welding of the present invention;
Fig. 2 is the layout schematic diagram of robot welding system of the present invention;
Fig. 3 is the schematic flow sheet of the welding method of robot welding system of the present invention.
Detailed description of the invention
Below in conjunction with accompanying drawing, embodiments of the invention are elaborated: the present embodiment is implemented under premised on technical solution of the present invention, give detailed embodiment and concrete operating process, but protection scope of the present invention is not limited to following embodiment.
As shown in Figure 1, the invention provides the robot welding system of a kind of nuclear island primary device steam generator pipe-Tube-sheet Welding, it comprises: industrial robot (this example is provided with two), path planning and off-line programing module, laser scanning locating module, pipe-pipe sheet welding gun and the source of welding current, weldquality on-line checkingi module, and to the central control module that the work of above-mentioned module and device controls.
Wherein, the industrial robot (following or referred to as robot) of two six degree of freedoms is arranged on band guide rail, the vertical rack that can move horizontally respectively.Robot can realize moving up and down on support, completes the welding of tube sheet upper part and lower part pipe-pipe sheet; Vertical rack can guide rail in the horizontal direction move, thus band mobile robot movement in the horizontal direction, realizes the welding of robot to tube sheet left half and right half pipe-pipe sheet.Therefore, by realizing the movement of robot in direction, upper and lower, left and right by vertical rack, the working range superposition of Liang Tai robot can cover tube sheet planar completely, realizes the welding to all tube to tube-sheet welds with dual robot.
Described path planning and off-line programing module, can plan the path of welding of dual robot, and by simulation optimization path of welding, the path planning scheme be optimized, improves welding efficiency, prevent dual robot in welding process from colliding; Adopt off-line programing to replace complicated artificial teach programming to the path planning scheme optimized, improve the efficiency of steam generator pipe-Tube-sheet Welding.
Described laser scanning locating module, carries out laser scanning by laser sensor to pore, and then obtained the central coordinate of circle of pore by respective algorithms, this coordinate value is robot discernible locus coordinate; According to this coordinate value, the pore center of circle can be arrived by control, thus realize the initial weld location recognition of tube-tubesheet welding and autonomous guiding.
The present invention uses special pipe-pipe sheet welding gun and tube-tubesheet welding power supply; By robot gribing welding gun; welding gun is inserted in pore by positioning core axle position; under the protection of double shielding gas hood, tungsten electrode automatic rotation, completes the automatic tungsten anode argon arc welding (specifically for implementing not fill silk automatic tungsten anode argon arc welding in this example) of tube to tube-sheet welds.Coordinate Liang Tai robot, the tube to tube-sheet welds automatic tungsten anode argon arc welding of dual robot four pipe-pipe sheet welding gun can be completed.That is, a robot captures two corresponding welding guns respectively and carries out welding job at different pore place.
Described weldquality on-line checkingi module, can realize the on-line checkingi to tube to tube-sheet welds quality.After each tube to tube-sheet welds has welded, scanned by laser sensor butt welded seam, then obtain the pattern of tube to tube-sheet welds through three-dimensional reconstruction, whether there is the defects such as pore, slag inclusion, undercut according to seam center automatic decision, realize the on-line checkingi of butt welded seam quality.
Described central control module, can control laser sensor and scan pore, realize initial weld position identification and guiding; Controllability path is planned with off-line programing module planning path of welding, is carried out off-line programing; Control grasps welding gun and carries out automatic welding to pipe-pipe sheet; According to tungsten electrode pattern, tungsten electrode to be detected automatically, replacing etc.; After each tube to tube-sheet welds has welded, control laser sensor butt welded seam and carry out scanning acquisition seam center, realized the on-line checkingi of butt welded seam quality by seam center.
The arrangement schematic diagram of robot welding system in the present embodiment as shown in Figure 2.Robot welding system in this example, comprises: system platform 50, to be arranged in this system platform 50 and with two groups of equipment of its cross slide way 301 along ground or longitudinal rail 302 movement; Equipment of often organizing is provided with vertical rack 10, wire harness bracket 90, Six-DOF industrial robot 20, tube-tubesheet welding power supply 70, pipe-pipe sheet welding gun 30, tungsten electrode change platform 40 automatically; It is that the corresponding function module that the center controlling platform 60 that shares of two groups of equipment and robot control cabinet 80(control for two groups of equipment is arranged wherein respectively that this system platform 50 is also provided with).
Two steam generators 100 and tube sheet to be welded thereof are also shown in figure, and the bearing support 200 that two steam generators 100 are respective; If two below steam generator 100(or be called workpiece) position adjust to some extent, be different from the words be arranged side by side shown in Fig. 2, then can adapt to the shape arrangement adjusting ground guide, before successfully can moving to each workpiece tube sheet to be welded to make system platform 50.
The robot 20 that vertical rack 10 can drive it to install above as mentioned before moves horizontally, and robot 20 can be made to move up and down on vertical rack 10; Moving horizontally of vertical rack 10 moves realization with system platform 50, can also arrange the guide rail for vertical rack 10 movement further in system platform 50 if needed.
Wire harness bracket 90 is arranged on vertical rack 10, can the interconnective wires such as the pipe-pipe sheet welding gun 30 of robot 20 correspondence and the source of welding current 70 thereof be tied up on support, prevent the mutual winding in welding process between wire from causing the generation of the situations such as interference, open circuit.
Tungsten electrode is automatically changed platform 40 and is positioned at the scope that corresponding machine people 20 can operate, for changing tungsten electrode; This tungsten electrode changes platform 40 automatically as welding gun rack, can place pipe-pipe plate welding gun 30.Can arrange in system platform 50 and be communicated to the stair that tungsten electrode changes platform 40 automatically, facilitate operated by personnel and check the state etc. of relevant device.
Namely described path planning and off-line programing module, laser scanning locating module, weldquality on-line checkingi module, central control module etc. are arranged in center controlling platform 60 above.The corresponding robot control system of each robot can be arranged in center controlling platform 60 and/or robot control cabinet 80.
As shown in Figure 3, the welding method utilizing robot welder of the present invention to realize, comprises following steps:
S1. two steam generators (i.e. workpiece) are fixed on respective bearing support respectively;
S2. set up the threedimensional model with each workpiece equal proportion, import robot control system.
S3. by the horizontal and vertical guide rail in ground, system platform moved to the dead ahead correct position of a workpiece tube sheet and fix;
S4. adopt artificial teaching operation, confirm workpiece actual coordinate by 3 ~ 4 reference points, the coordinate system of calibration of workpieces threedimensional model;
S5. the path of welding of dual robot pipe-pipe sheet is optimized, obtains the path of welding programme optimized, and carry out off-line programing.
S6. robot arrives welding gun rack position and grasps a welding gun from above, the center of the current pore to be welded of the laser sensor identification arranged by robots arm front end, and detects the pipe assembling degree of depth and expand tube gap simultaneously;
S7. robot gribing welding gun arrives welding position, welding gun positioning core axle is inserted pore to be welded, Aeroassisted location, welding gun top expand tube inserts the corresponding mouth of pipe, pneumatic location expand tube automatic tension after welding gun axially puts in place simultaneously, and after tensioner confirms, robot unclamps welding gun fixture;
S8. start tube-tubesheet welding program, the welding gun controlling to put in place starts welding; Welding settling signal is provided after single tube to tube-sheet welds has welded;
S9. coordinate laser sensor to scan tube to tube-sheet welds by robot, obtaining seam center by three-dimensional reconstruction image, automatically identify whether to there is excessive defect according to seam center, stopping immediately welding and reporting to the police as there is excessive defect;
S10. robot coordinates laser sensor to scan next road pore to identify its centre coordinate, and detects the pipe assembling degree of depth and expand tube gap, and exceed standard warning;
S11. robot receives certain welding gun and welds settling signal, automatically locates and capture this welding gun, then carries out the welding of next tube to tube-sheet welds.
S12. repeat step S6 ~ S11, namely a robot also performs these operations to its another welding gun corresponding; The time that picks and places of two welding guns of a robot staggers mutually.Two welding guns of another robot by that analogy; Realize coordinating 4 pipe-pipe sheet welding gun is completed the automatic welding of the upper all tube to tube-sheet welds of a workpiece (steam generator) by 2 robots with this.
S13. by ground cross slide way and longitudinal rail, mobile system platform is also fixing to the dead ahead correct position of next workpiece tube sheet;
S12. repeat step S4 ~ S11, complete the dual robot automatic welding of this workpiece (steam generator) all pipe-pipe sheets.
The present invention can realize that the initial weld position identification of nuclear power main equipment steam generator pipe-Tube-sheet Welding is welded with the robot automation of off-line programing, tube to tube-sheet welds with guiding, path planning, tungsten electrode automatically detect with change, the major function such as the on-line checkingi of weldquality.This steam generator pipe-Tube-sheet Welding system effectively can improve the delivery cycle of the efficiency of tube-tubesheet welding, the quality stability improving weld seam, shortening steam generator.
Although content of the present invention has done detailed introduction by above preferred embodiment, will be appreciated that above-mentioned description should not be considered to limitation of the present invention.After those skilled in the art have read foregoing, for multiple amendment of the present invention and substitute will be all apparent.Therefore, protection scope of the present invention should be limited to the appended claims.

Claims (15)

1. a robot welding system, is characterized in that,
Described robot welding system is provided with central control module, and is connected with its signal and the following equipment controlled by it:
The industrial robot of at least one six degree of freedom, the superposition of its working range realizes the covering to the welding position of tube to tube-sheet welds all on workpiece tube sheet;
At least one pipe-pipe sheet welding gun; Each industrial robot grasps corresponding at least one pipe-pipe sheet welding gun extremely corresponding pore place with it respectively, is welded tube to tube-sheet welds by the pipe-pipe sheet welding gun of each pore;
Weldquality on-line checkingi module, carries out on-line checkingi according to seam center butt welded seam quality.
2. robot welding system as claimed in claim 1, is characterized in that,
Described robot welding system is also provided with and is connected with central control module signal and is subject to its path planning controlled and off-line programing module, multiple industrial robot is carried out to the planning of path of welding anticollision, and carries out off-line programing to the scheme of planning.
3. robot welding system as claimed in claim 1 or 2, is characterized in that,
Described robot welding system is also provided with and is connected and the laser scanning locating module controlled by it with central control module signal, it obtains the central coordinate of circle of pore to the scanning result of pore according to laser sensor, as initial weld location recognition and the referential data of independently guiding.
4. robot welding system as claimed in claim 1, is characterized in that,
Described robot welding system is provided with two industrial robots, and every platform industrial robot grasps the pipe-pipe sheet welding gun that two are used for carrying out tube to tube-sheet welds automatic tungsten anode argon arc welding respectively.
5. robot welding system as claimed in claim 3, is characterized in that,
Industrial robot described in each is arranged on the vertical rack corresponding with it and also can moves horizontally with vertical rack; Described industrial robot can move up and down on vertical rack.
6. robot welding system as claimed in claim 5, is characterized in that,
Vertical rack described in each is arranged in system platform and also can moves horizontally with system platform;
Before described system platform can move to the tube sheet of each workpiece to be welded respectively along ground guide;
Described workpiece is placed on the steam generator on respective bearing support.
7. robot welding system as claimed in claim 6, is characterized in that,
Described system platform is also provided with following equipment:
Tungsten electrode changes platform automatically, and it is positioned at the exercisable scope of corresponding industrial robot, for changing tungsten electrode;
The source of welding current, powers described pipe-pipe sheet welding gun for each;
Robot control cabinet, wherein arranges the Robert controller of each industrial robot;
Center controlling platform, is wherein provided with described central control module, weldquality on-line checkingi module, path planning and off-line programing module and laser scanning locating module.
8. robot welding system as claimed in claim 7, is characterized in that,
Vertical rack described in each is separately installed with corresponding wire harness bracket, is used for placing the wire of industrial robot and corresponding pipe-pipe plate welding gun thereof;
The ground guide of described system platform, comprises cross slide way and longitudinal rail.
9. robot welding system as claimed in claim 1, is characterized in that,
Described weldquality on-line checkingi module is according to the scanning result of laser sensor to welded seam, obtains the three-dimensional reconstruction image of weld seam, and carries out on-line checkingi according to seam center butt welded seam quality.
10. the robot welding system as described in claim 3 or 9, is characterized in that,
Described laser sensor is arranged on the robots arm front end of described industrial robot.
The welding method of 11. 1 kinds of robot welding systems, is characterized in that, comprises following process:
Multiple workpiece is arranged on respectively on respective bearing support;
Before by ground guide system platform being moved to the tube sheet of one of them workpiece, so that the equipment that robot welding system is arranged in system platform can carry out corresponding operating:
Each industrial robot grasps a corresponding wherein location of the welding position that welding gun arrives current pore to be welded on tube sheet being carried out welding gun with it; Behind welding gun location, industrial robot unclamps welding gun fixture, to capture another welding gun corresponding with this industrial robot;
Welding gun after positioning starts welding according to the order of central control module, provides welding settling signal after having welded single tube to tube-sheet welds; The welding gun pick-and-place providing welding settling signal is located to next pore place, to carry out the welding of next tube to tube-sheet welds by industrial robot;
After completing welding of all pipe-pipe sheets on this workpiece tube sheet by multiple industrial robot and the cooperation of its welding gun separately, before by ground guide system platform being moved to the tube sheet of another workpiece, complete the welding of all tube to tube-sheet welds.
12. welding methods as claimed in claim 11, is characterized in that,
Described welding method comprises further:
The laser sensor driving robots arm front end to arrange by each industrial robot moves, pore to be welded before being taken in by laser sensor scanning tube sheet, and determined the center of this pore by laser scanning locating module, so that this industrial robot grasps a corresponding wherein location of the welding position that welding gun arrives this pore being carried out welding gun with it.
13. welding methods as claimed in claim 11, is characterized in that,
Described welding method comprises further:
After welding gun completes the welding of single tube to tube-sheet welds, by laser sensor, tube to tube-sheet welds is scanned, obtained the three-dimensional reconstruction image of weld seam by weldquality on-line checkingi module, and carry out on-line checkingi and excessive defect warning according to seam center butt welded seam quality.
14. welding methods as claimed in claim 11, is characterized in that,
Described welding method comprises further:
After being arranged on by multiple workpiece on respective bearing support respectively, set up the threedimensional model with each workpiece equal proportion, import robot control system;
And, after system platform being moved to before the tube sheet of any one workpiece, artificial teaching operation is carried out to industrial robot, confirm workpiece actual coordinate with multiple reference point, carry out the coordinate system of calibration of workpieces threedimensional model; Further, performed the planning of the path of welding anticollision of multiple industrial robot by path planning and off-line programing module, and off-line programing is carried out to the scheme of planning.
15. welding methods as claimed in claim 11, is characterized in that,
Any one when being grasped the welding position of current pore to be welded welding gun by industrial robot, welding gun positioning core axle is inserted current pore to be welded, the Aeroassisted location expand tube Inserting Tube mouth that welding gun top is arranged, and pneumatic location expand tube automatic tension is made after welding gun axially puts in place, after tensioner confirms, robot unclamps welding gun fixture.
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