CN105195868B - A kind of robot welding system and its welding method - Google Patents

A kind of robot welding system and its welding method Download PDF

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Publication number
CN105195868B
CN105195868B CN201510769050.0A CN201510769050A CN105195868B CN 105195868 B CN105195868 B CN 105195868B CN 201510769050 A CN201510769050 A CN 201510769050A CN 105195868 B CN105195868 B CN 105195868B
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China
Prior art keywords
welding
robot
tube
pipe
sheet
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CN201510769050.0A
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CN105195868A (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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    • 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
    • B23K9/126Controlling 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
    • 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
    • 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
    • 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
    • B23K9/32Accessories
    • 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 present invention provides a kind of robot welding system and its welding method, suitable for nuclear island primary device steam generator pipe Tube-sheet Welding;Carry out the planning of path of welding anticollision in the present invention to industrial robot by path planning and off-line programing module, and off-line programing is carried out to the scheme of planning;The central coordinate of circle that pore is obtained according to laser scanning result by laser scanning locating module realizes the identification of initial weld position and autonomous guiding;Two industrial robots controlled by central control module coordinate corresponding four tube-tube plate welding gun welds all tube-tube plate weld seams on a tube sheet;Three-dimensional reconstruction image is obtained according to seam laser scanning result by weldquality on-line checking module, and on-line checking is carried out to weldquality according to seam center.The present invention can improve the welding efficiency of tube-tube plate, ensure the stability of weldquality.

Description

A kind of robot welding system and its welding method
Technical field
The present invention relates to the automatic welding system and method in robot welding intellectualized technology field, and in particular to A kind of robot welding system of nuclear island primary device steam generator pipe-Tube-sheet Welding and its welding method.
Background technology
Nuclear power is following energy due to having the advantages that cleaning, continued power ability are strong, it is relatively fewer to be limited by geographical location The important directions of source development.《National nuclear power developing special topic planning》It is proposed the year two thousand twenty, nuclear power operation installed capacity in China's will reach To 40,000,000 kilowatts, the ratio that nuclear power accounts for whole electric power installed capacitys brings up to 4%, and annual electricity generating capacity reaches 2600 ~ 280,000,000,000 kilowatts When.The length of Construction of Nuclear Electricity duration has its economy significant impact, and as nuclear island primary device, it was manufactured steam generator The welding of pipe-pipe sheet is critical process in journey, and the welding quality and welding efficiency of pipe-pipe sheet directly influence tube sheet once The manufacture progress of the corrosion resistance of side, leakproofness and steam generator.Steam generator pipe-panel weld enormous amount, By taking AP1000 steam generators as an example, there are 20050 tube to tube-sheet welds, mainly welded at present using man-hour manually hand-held pipe-pipe sheet Rifle is welded, and welding efficiency is low.
The content of the invention
The present invention, mainly using the present situation manually welded, proposes a kind of for current steam generator pipe-tube sheet The robot welding system of nuclear island primary device steam generator pipe-Tube-sheet Welding and its welding method, realize pipe-pipe sheet certainly Initial weld position identification and guiding, path planning and off-line programing, tube to tube-sheet welds robot in dynamicization welding process is automatic Change welding, the tungsten electrode function such as detection and replacement, weldquality on-line checking automatically.
In order to achieve the above object, a technical solution of the invention is to provide a kind of robot welding system, the machine Device people welding system is equipped with central control module, and the following equipment for being connected and being controlled by it with its signal:
The industrial robot of at least one six degree of freedom, its working range superposition realize to all pipes on workpiece tube sheet- The covering of the welding position of panel weld;
At least one pipe-pipe sheet welding gun;Each industrial robot grasps corresponding at least one pipe-pipe respectively At plate welding gun to corresponding pore, tube to tube-sheet welds is welded by the pipe-pipe sheet welding gun of each pore;
Weldquality on-line checking module, on-line checking is carried out according to seam center to weldquality.
Preferably, the robot welding system is additionally provided with the path for being connected and being controlled by it with central control module signal Planning and off-line programing module, carry out multiple industrial robots the planning of path of welding anticollision, and to the scheme of planning into Row off-line programing.
Preferably, the robot welding system is additionally provided with the laser for being connected and being controlled by it with central control module signal Scanning positioning module, it obtains the scanning result of pore according to laser sensor the central coordinate of circle of pore, as initial weld Position identifies the referential data with independently guiding.
Preferably, the robot welding system is equipped with two industrial robots, and every industrial robot grasps two respectively For the pipe-pipe sheet welding gun to tube to tube-sheet welds progress automatic tungsten anode argon arc welding.
Preferably, each industrial robot be installed on corresponding vertical rack on and can with vertical rack into Row moves horizontally;The industrial robot can move up and down on vertical rack.
Preferably, each vertical rack is installed in system platform and can be moved horizontally with system platform;It is described Before system platform can be respectively moved to the tube sheet of each workpiece to be welded along ground guide;
The workpiece is located in the steam generator on respective bearing support.
Preferably, following equipment is additionally provided with the system platform:
Tungsten electrode replaces platform automatically, it is located in the exercisable scope of corresponding industrial robot, for replacing tungsten electrode;
The source of welding current, powers the pipe-pipe sheet welding gun to be each;
Robot control cabinet, is provided with the Robert controller of each industrial robot;
Center controlling platform, is provided with the central control module, weldquality on-line checking module, path planning With off-line programing module and laser scanning locating module.
Preferably, corresponding wire harness bracket is separately installed with each vertical rack, for placing industrial robot And its conducting wire of corresponding pipe-pipe plate welding gun;
The ground guide of the system platform, includes cross slide way and longitudinal rail.
Preferably, the weldquality on-line checking module is the scanning result according to laser sensor to welded seam, The three-dimensional reconstruction image of weld seam is obtained, and on-line checking is carried out to weldquality according to seam center.
Preferably, the laser sensor is arranged in the robots arm front end of the industrial robot.
Another technical solution of the present invention is to provide a kind of welding method of robot welding system, and it includes following mistake Journey:
Multiple workpiece are separately mounted on respective bearing support;
Before system platform is moved into the tube sheet of a workpiece by ground guide, so that robot welding system sets Corresponding operating can be carried out by putting the equipment in system platform:
Each industrial robot grasps corresponding wherein one welding for welding gun being reached current pore to be welded on tube sheet Position carries out the positioning of welding gun;After welding gun positioning, industrial robot unclamps welding gun fixture, to capture and the industrial robot pair That answers is another welding gun;
Welding gun after positioning starts according to the order of central control module and welds, is welded to single tube to tube-sheet welds Welding is provided after the completion of connecing and completes signal;Industrial robot will provide welding and complete the welding gun pick-and-place of signal at next pore Positioning, to carry out the welding of next tube to tube-sheet welds;
By multiple industrial robots and its each welding gun cooperation complete the workpiece tube sheet on all pipe-pipe sheets weldering After connecing, before system platform is moved to the tube sheet of another workpiece by ground guide, the weldering of all tube to tube-sheet welds is completed Connect.
Preferably, the welding method further includes:Drive what robots arm front end was set by each industrial robot Laser sensor moves, and pore to be welded before tube sheet is taken in is scanned by laser sensor, and true by laser scanning locating module The center of the fixed pore, so that the industrial robot grasps corresponding wherein one welding for welding gun being reached the pore Position carries out the positioning of welding gun.
Preferably, the welding method further includes:After welding gun completes single tube to tube-sheet welds welding, lead to Cross laser sensor to be scanned tube to tube-sheet welds, the Three-dimensional Gravity of weld seam is obtained by weldquality on-line checking module Image is built, and carries out on-line checking and excessive defect alarm to weldquality according to seam center.
Preferably, the welding method further includes:After multiple workpiece are separately mounted on respective bearing support, The threedimensional model with each workpiece equal proportion is established, imports robot control system;And system platform is moved to any one After before the tube sheet of workpiece, artificial teaching operation is carried out to industrial robot, workpiece actual coordinate is confirmed with multiple reference points, comes The coordinate system of calibration of workpieces threedimensional model;Also, passage path is planned performs multiple industrial robots with off-line programing module The planning of path of welding anticollision, and off-line programing is carried out to the scheme of planning.
Preferably, it is any one when welding gun is grasped to the welding position of current pore to be welded by industrial robot, by welding gun The current pore to be welded of positioning core axle insertion, the Aeroassisted positioning tube expansion insertion tube mouth that welding gun top is set, and in welding gun axis To making pneumatically to position tube expansion automatic tension in place afterwards, robot unclamps welding gun fixture after tensioner confirms.
The invention discloses a kind of robot welding system and its welding method, belongs to robot welding automatic technology neck Domain, suitable for nuclear island primary device steam generator pipe-Tube-sheet Welding.Industrial robot in the present invention has work efficiency The advantages that high, reliable and stable, repeatable accuracy is high, manually carry out being welded on and improve welding efficiency, ensure to produce using robot substitution Quality stability, improve the working environment of workers and reduce labor strength etc. with obviously advantage.
The present invention can realize the initial recognition of welding seam position of nuclear island primary device steam generator pipe-Tube-sheet Welding with from It is leading draw, the on-line checking of path planning and off-line programing, pipe-pipe sheet robot automation welding and weldquality.It is right In the welding efficiency for improving pipe-pipe sheet, the stability for ensureing weldquality, the delivery cycle for shortening steam generator, raising Economics in nuclear power has very important significance.
Brief description of the drawings
Fig. 1 is the structure of the robot welding system of nuclear island primary device steam generator pipe Tube-sheet Welding of the present invention Schematic diagram;
Fig. 2 is the arrangement schematic diagram of robot welding system of the present invention;
Fig. 3 is the flow diagram of the welding method of robot welding system of the present invention.
Embodiment
Elaborate below in conjunction with the accompanying drawings to the embodiment of the present invention:The present embodiment using technical solution of the present invention before Put and implemented, give detailed embodiment and specific operating process, but protection scope of the present invention is not limited to down The embodiment stated.
As shown in Figure 1, the present invention provides a kind of robot welding of nuclear island primary device steam generator pipe-Tube-sheet Welding System, it includes:Industrial robot(This example is equipped 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 checking module, and work to above-mentioned module and device are controlled The central control module of system.
Wherein, the industrial robot of two six degree of freedoms(Below or referred to as robot)Be separately mounted to band guide rail, can On the vertical rack moved horizontally.Robot can be realized on stent and moved up and down, and complete tube sheet upper and bottom section pipe The welding of son-tube sheet;Vertical rack can be to move, so that with mobile robot shifting in the horizontal direction on guide rail in the horizontal direction It is dynamic, realize welding of the robot to tube sheet left half and right half pipe-pipe sheet.Therefore, by can be real by vertical rack Showing movement of the robot in upper and lower, left and right direction, tube sheet planar can be completely covered in the working range superposition of Liang Tai robots, Welding to all tube to tube-sheet welds is realized with dual robot.
The path planning and off-line programing module, can plan the path of welding of dual robot, and pass through Simulation optimization path of welding, the path planning scheme optimized, improves welding efficiency, prevents track planning of dual robots human hair in welding process Raw collision;Substitute complicated artificial teaching to program using off-line programing the path planning scheme of optimization, improve steam generator The efficiency of tube-tubesheet welding.
The laser scanning locating module, carries out laser scanning, then by corresponding by laser sensor to pore Algorithm obtains the central coordinate of circle of pore, which is the identifiable locus coordinate of robot;, can be with according to the coordinate value Robot is controlled to reach the pore center of circle, the identification of initial weld position and autonomous guiding so as to fulfill tube-tubesheet welding.
The present invention uses special pipe-pipe sheet welding gun and tube-tubesheet welding power supply;By robot gribing welding gun, Make welding gun be inserted into pore by positioning core axle to be positioned, under the protection of double shielding gas hood, tungsten electrode rotates automatically, completes The automatic tungsten anode argon arc welding of tube to tube-sheet welds(It is specifically used for implementing the automatic tungsten anode argon arc welding that do not fill silk in this example).Coordinate two Platform robot, can complete the tube to tube-sheet welds automatic tungsten anode argon arc welding of four pipe-pipe sheet welding gun of dual robot.That is, one Robot captures two corresponding welding guns and welding job is carried out at different pores respectively.
The weldquality on-line checking module, it is possible to achieve to the on-line checking of tube to tube-sheet welds quality.Each pipe After the completion of the welding of son-panel weld, weld seam is scanned by laser sensor, then by three-dimensional reconstruction obtain pipe- The pattern of panel weld, according to seam center automatic decision with the presence or absence of stomata, slag inclusion, undercut the defects of, realize to weld seam matter The on-line checking of amount.
The central control module, can control laser sensor to be scanned pore, realize that initial weld position identifies With guiding;Control path is planned and off-line programing module planning path of welding, progress off-line programing;Control robot gribing welding gun Automatic welding is carried out to pipe-pipe sheet;According to tungsten electrode pattern, detection automatically, replacement etc. are carried out to tungsten electrode;Each pipe-pipe sheet After the completion of weld seam welding, control laser sensor is scanned weld seam acquisition seam center, and butt welding is realized by seam center Stitch the on-line checking of quality.
It is the arrangement schematic diagram of robot welding system in the present embodiment as shown in Figure 2.Robot welding in this example System, comprising:System platform 50, is arranged in the system platform 50 and therewith along the cross slide way 301 or longitudinal on ground Two groups of equipment that guide rail 302 moves;Every group of equipment be equipped 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 replace platform 40 automatically;Be additionally provided with the system platform 50 for The center controlling platform 60 and robot control cabinet 80 that two groups of equipment share(Exist for the corresponding function module of two groups of equipment controls Wherein set respectively).
Also illustrate two steam generators 100 and its tube sheet to be welded in figure, and two steam generators 100 are respective Bearing support 200;If two steam generators 100(Below or it is called workpiece)Position adjusted, different from Fig. 2 institutes Show if being arranged side by side, then the shape arrangement of adjustment ground guide is adapted to, so that system platform 50 can be moved successfully To before each workpiece pipe plate to be welded.
The robot 20 that vertical rack 10 can drive its installed above as mentioned before is moved horizontally, and can be made Robot 20 moves up and down on vertical rack 10;Moving horizontally for vertical rack 10 moves realization with system platform 50, The guide rail moved for vertical rack 10 can also be further set in system platform 50 if needed.
Wire harness bracket 90 is installed on vertical rack 10, can be by the corresponding pipe-pipe sheet welding gun 30 of a robot 20 And its conducting wire of the grade interconnection of the source of welding current 70 is tied up on stent, prevent the mutual winding in welding process between conducting wire from causing Interference, open circuit and so on.
Tungsten electrode is replaced platform 40 and is located in the range of corresponding machine people 20 can operate automatically, for replacing tungsten electrode;Should Tungsten electrode replaces platform 40 automatically can be used as welding gun rack, to place pipe-pipe sheet welding gun 30.Can be in system platform 50 Setting is communicated to the stair that tungsten electrode replaces platform 40 automatically, facilitates staff to operate and check state of relevant device etc..
Path planning described previously and off-line programing module, laser scanning locating module, weldquality on-line checking module, Central control module etc. is in centrally disposed control platform 60.Each corresponding robot control system of robot can be arranged on In center controlling platform 60 and/or robot control cabinet 80.
As shown in figure 3, the welding method realized using robot welder of the present invention, is comprised the following steps:
S1. by two steam generators(That is workpiece)It is fixed on respectively on respective bearing support;
S2. the threedimensional model with each workpiece equal proportion is established, imports robot control system.
S3. by the horizontal and vertical guide rail in ground, system platform is moved to the suitable position in front of a workpiece tube sheet Put and fix;
S4. artificial teaching operation is used, confirms workpiece actual coordinate, calibration of workpieces threedimensional model by 3 ~ 4 reference points Coordinate system;
S5. the path of welding of dual robot pipe-pipe sheet is optimized, obtains the path of welding programme of optimization, And carry out off-line programing.
S6. robot reaches welding gun and places rack position from grasping one above welding gun, is swashed by what robots arm front end was set The center of the current pore to be welded of optical sensor identification, and pipe assembling depth and tube expansion gap are detected at the same time;
S7. robot gribing welding gun reaches welding position, and welding gun positioning core axle is inserted into pore to be welded, welding gun top gas Dynamic auxiliary positioning tube expansion is inserted into the corresponding mouth of pipe, the axial pneumatic positioning tube expansion automatic tension rear in place of welding gun, after tensioner confirms at the same time Robot unclamps welding gun fixture;
S8. start tube-tubesheet welding program, control welding gun in place to start to weld;In single tube to tube-sheet welds Welding is provided after the completion of welding and completes signal;
S9. laser sensor is scanned tube to tube-sheet welds with robot, is obtained by three-dimensional reconstruction image Seam center is obtained, excessive defect whether there is according to seam center automatic identification, stops welding immediately simultaneously such as there are excessive defect Alarm;
S10. robot coordinates laser sensor to scan next road pore to identify its centre coordinate, and pipe is assembled Depth and tube expansion gap are detected, exceeded alarm;
S11. robot receives certain welding gun welding and completes signal, is automatically positioned and captures the welding gun, then carry out next The welding of a tube to tube-sheet welds.
S12. repeat step S6 ~ S11, i.e. a robot corresponding another also perform welding gun these operations to it;One The time that picks and places of two welding guns of a robot mutually staggers.Two welding guns of another robot and so on;Realized with this 4 complete a workpiece pipe-pipe sheet welding gun with 2 robots(Steam generator)Upper all tube to tube-sheet welds Automatic welding.
S13. ground cross slide way and longitudinal rail, mobile system platform to the front of next workpiece tube sheet are passed through Suitable position and fixation;
S12. repeat step S4 ~ S11, completes this workpiece(Steam generator)The dual robot of all pipe-pipe sheets is certainly Dynamic welding.
The present invention can realize nuclear power main equipment steam generator pipe-Tube-sheet Welding initial weld position identification with guiding, Path planning is detected with replacing automatically with off-line programing, robot automation's welding of tube to tube-sheet welds, tungsten electrode, weld seam matter The major functions such as the on-line checking of amount.The steam generator pipe-Tube-sheet Welding system can effectively improve tube-tubesheet welding Efficiency, improve weld seam quality stability, shorten steam generator delivery cycle.
Although present disclosure is discussed in detail by above preferred embodiment, but it should be appreciated that above-mentioned Description is not considered as limitation of the present invention.After those skilled in the art have read the above, for the present invention's A variety of modifications and substitutions all will be apparent.Therefore, protection scope of the present invention should be limited to the appended claims.

Claims (16)

  1. A kind of 1. robot welding system, it is characterised in that
    The robot welding system is equipped with central control module, and the following equipment for being connected and being controlled by it with its signal:
    The industrial robot of at least one six degree of freedom, the superposition of its working range are realized to all pipe-pipe sheets on workpiece tube sheet The covering of the welding position of weld seam;
    It is more pipe-pipe sheet welding gun;Each industrial robot grasps corresponding wherein one pipe-pipe sheet welding gun extremely respectively At corresponding pore, make the industrial machine after the pipe-pipe sheet welding gun is inserted into corresponding pore by positioning core axle and positions Device people unclamps welding gun fixture, corresponding with the industrial robot another at welding gun to another pore to capture;By each pore The pipe-pipe sheet welding gun at place welds tube to tube-sheet welds;
    Weldquality on-line checking module, on-line checking is carried out according to seam center to weldquality.
  2. 2. robot welding system as claimed in claim 1, it is characterised in that
    The robot welding system be additionally provided with the path planning that is connected and is controlled by it with central control module signal with it is offline Programming module, carries out multiple industrial robots the planning of path of welding anticollision, and carries out off-line programing to the scheme of planning.
  3. 3. robot welding system as claimed in claim 1 or 2, it is characterised in that
    The robot welding system is additionally provided with the laser scanning positioning mould for being connected and being controlled by it with central control module signal Block, it obtains the scanning result of pore according to laser sensor central coordinate of circle of pore, as the identification of initial weld position with The referential data independently guided.
  4. 4. robot welding system as claimed in claim 1, it is characterised in that
    The robot welding system is equipped with two industrial robots, and every industrial robot grasps two and is used for pipe respectively Son-panel weld carries out the pipe-pipe sheet welding gun of automatic tungsten anode argon arc welding.
  5. 5. robot welding system as claimed in claim 3, it is characterised in that
    Each industrial robot is installed on corresponding vertical rack and can be moved horizontally with vertical rack; The industrial robot can move up and down on vertical rack.
  6. 6. robot welding system as claimed in claim 5, it is characterised in that
    Each vertical rack is installed in system platform and can be moved horizontally with system platform;
    Before the system platform can be respectively moved to the tube sheet of each workpiece to be welded along ground guide;
    The workpiece is located in the steam generator on respective bearing support.
  7. 7. robot welding system as claimed in claim 6, it is characterised in that
    Following equipment is additionally provided with the system platform:
    Tungsten electrode replaces platform automatically, it is located in the exercisable scope of corresponding industrial robot, for replacing tungsten electrode;
    The source of welding current, powers the pipe-pipe sheet welding gun to be each;
    Robot control cabinet, is provided with the Robert controller of each industrial robot;
    Center controlling platform, be provided with the central control module, weldquality on-line checking module, path planning with from Line programming module and laser scanning locating module.
  8. 8. robot welding system as claimed in claim 7, it is characterised in that
    Corresponding wire harness bracket is separately installed with each vertical rack, for placing industrial robot and its respective tube The conducting wire of son-pipe plate welding gun;
    The ground guide of the system platform, includes cross slide way and longitudinal rail.
  9. 9. robot welding system as claimed in claim 1, it is characterised in that
    The weldquality on-line checking module is the scanning result according to laser sensor to welded seam, obtains the three of weld seam Reconstruction image is tieed up, and on-line checking is carried out to weldquality according to seam center.
  10. 10. robot welding system as claimed in claim 3, it is characterised in that
    The laser sensor is arranged in the robots arm front end of the industrial robot.
  11. 11. robot welding system as claimed in claim 9, it is characterised in that
    The laser sensor is arranged in the robots arm front end of the industrial robot.
  12. 12. a kind of welding method of robot welding system, it is characterised in that include procedure below:
    Multiple workpiece are separately mounted on respective bearing support;
    Before system platform is moved into the tube sheet of a workpiece by ground guide, so that robot welding system is arranged on Equipment in system platform can carry out corresponding operating:
    Each industrial robot grasps corresponding wherein one welding position for welding gun being reached current pore to be welded on tube sheet Carry out the positioning of welding gun;After welding gun positioning, industrial robot unclamps welding gun fixture, corresponding with the industrial robot to capture It is another welding gun;
    Welding gun after positioning starts according to the order of central control module and welds, has been welded to single tube to tube-sheet welds Welding is provided after and completes signal;Industrial robot determines the welding gun pick-and-place for providing welding completion signal at next pore Position, to carry out the welding of next tube to tube-sheet welds;
    By multiple industrial robots and its each welding gun cooperation complete the workpiece tube sheet on all pipe-pipe sheets welding Afterwards, before system platform being moved to the tube sheet of another workpiece by ground guide, the weldering of all tube to tube-sheet welds is completed Connect.
  13. 13. welding method as claimed in claim 12, it is characterised in that
    The welding method further includes:
    The laser sensor for driving robots arm front end to set by each industrial robot moves, and passes through laser sensor flying-spot tube Current pore to be welded on plate, and determine by laser scanning locating module the center of the pore, so as to the industrial robot Grasp the positioning of the corresponding wherein one welding position progress welding gun for welding gun being reached the pore.
  14. 14. welding method as claimed in claim 12, it is characterised in that
    The welding method further includes:
    After welding gun completes single tube to tube-sheet welds welding, tube to tube-sheet welds is swept by laser sensor Retouch, by weldquality on-line checking module obtain weld seam three-dimensional reconstruction image, and according to seam center to weldquality into Row on-line checking and excessive defect alarm.
  15. 15. welding method as claimed in claim 12, it is characterised in that
    The welding method further includes:
    After multiple workpiece are separately mounted on respective bearing support, the threedimensional model with each workpiece equal proportion is established, is imported Robot control system;
    And after system platform is moved to before the tube sheet of any one workpiece, artificial teaching behaviour is carried out to industrial robot Make, confirm workpiece actual coordinate with multiple reference points, carry out the coordinate system of calibration of workpieces threedimensional model;Also, passage path is planned The planning of the path of welding anticollision of multiple industrial robots is performed with off-line programing module, and the scheme of planning is carried out offline Programming.
  16. 16. welding method as claimed in claim 12, it is characterised in that
    It is any one when welding gun is grasped to the welding position of current pore to be welded by industrial robot, welding gun positioning core axle is inserted into Current pore to be welded, the Aeroassisted positioning tube expansion insertion tube mouth that welding gun top is set, and axially make gas afterwards in place in welding gun Dynamic positioning tube expansion automatic tension, robot unclamps welding gun fixture after tensioner confirms.
CN201510769050.0A 2015-11-12 2015-11-12 A kind of robot welding system and its welding method Active CN105195868B (en)

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CN201510769050.0A CN105195868B (en) 2015-11-12 2015-11-12 A kind of robot welding system and its welding method
PCT/CN2015/095306 WO2017079995A1 (en) 2015-11-12 2015-11-23 Robot-based welding system and method
GB1718196.7A GB2555262A (en) 2015-11-12 2015-11-23 Robot-based welding system and method
ROa201800125A RO133553A2 (en) 2015-11-12 2015-11-23 Robot welding system and welding process therefor
KR1020177034739A KR101982433B1 (en) 2015-11-12 2015-11-23 Robot welding system and its welding method
TR2017/18224A TR201718224T2 (en) 2015-11-12 2015-11-23 A Robot Welding System And Its Welding Method

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KR101982433B1 (en) 2019-08-30
TR201718224T2 (en) 2018-08-27
KR20170141793A (en) 2017-12-26
WO2017079995A1 (en) 2017-05-18
RO133553A2 (en) 2019-08-30

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