CN106181159B - The welding method of groove weld robot downhand welding - Google Patents
The welding method of groove weld robot downhand welding Download PDFInfo
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- CN106181159B CN106181159B CN201610639113.5A CN201610639113A CN106181159B CN 106181159 B CN106181159 B CN 106181159B CN 201610639113 A CN201610639113 A CN 201610639113A CN 106181159 B CN106181159 B CN 106181159B
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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
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Abstract
The invention discloses a kind of groove weld robot downhand welding welding methods, are related to welding technology field.Welding method of the invention first welds the reference body that a surface is plane at the relatively narrow place in the end of groove, operating space is welded to increase, then first road weldering body, at least one intermediate weldering body and tail road weldering body are successively welded from the first second welding surface of the welding towards groove of groove on reference body surface, to guarantee welding quality, complete first layer welding sequence, finally according to the same manner, it is sequentially completed multi-layer welding process upwards along groove depth direction, until groove weld is filled and led up.The welding sequence of corresponding groove can be completed only with the posture of three kinds of robotic guns in the embodiment of the present invention, robotic gun control programing work can be accordingly reduced, in addition, due to using multiple tracks multi-layer welding mode, it can also be ensured that welding quality.
Description
Technical field
The present invention relates to groove welding technology field, in particular to a kind of welding method of groove weld robot downhand welding.
Background technique
Robot automatic welding technology is widely used in automobile production, shipbuilding, components production, electric system
It the multiple fields such as makes, and occupies leading position in related industry, have that welding quality stable is reliable, high production efficiency, life
It produces at low cost and the advantages that convenient for modern management.
When the steel plate to 100mm or more thickness carries out weld seam welding using robot automatic welding technology, robot is needed
Weld seam slope type is adapted to, and completes multi-layer multi-pass welding at weld groove.
In the implementation of the present invention, the inventor finds that the existing technology has at least the following problems:
When welding using robotic gun to weld seam, the posture and weld groove of robotic gun often occurs
Form cooperates bad or posture arbitrarily to change, and lacks fixed robotic gun posture, easily causes and welds unstable, appearance of weld
Unevenly, the welding quality defects of the weld seams such as incomplete fusion, stomata also bring difficulty to robotic gun gesture stability and programming.
Summary of the invention
In order in the prior art because the poor welding quality of weld seam caused by the posture of robotic gun and control programming are difficult
Problem, the embodiment of the invention provides a kind of welding methods of groove weld robot downhand welding.The technical solution is as follows:
A kind of welding method of groove weld robot downhand welding, the welding method include:
Treat welding base metal groove carry out welding formed a reference body, the groove be double V-groove or J-type groove,
The groove includes the first welding surface and the second welding surface, one end of one end of first welding surface and second welding surface
The distance between be less than first welding surface the other end and second welding surface the distance between the other end, the base
Quasi- body is welded between lesser first welding surface and second welding surface, and the surface of the reference body is along water
The plane of plane；
Complete first layer welding sequence:
Robotic gun posture is adjusted, makes robotic gun that there is the first posture, against the first welding surface in reference body
First road welding sequence is completed, to form first road weldering body in reference body；
Adjust robotic gun posture, make robotic gun have the second posture, in reference body against first road weldering body to
Second welding surface is sequentially completed at least one of welding sequence, so that at least one intermediate weldering body is formed in reference body,
The quantity of the intermediate weldering body to be welded at least twice when, the robotic gun is pressed at equal intervals every time to
The offset of two welding surfaces, and second appearance is kept when intermediate weldering body described in the welding per pass of robotic gun described in migration process
State；
Robotic gun posture is adjusted, makes robotic gun that there is third posture, against closest to second in reference body
The intermediate weldering body of welding surface completes tail road welding sequence, to form tail road weldering body；
Control robotic gun is offset up along groove depth direction, and robotic gun is according to first layer welding sequence, edge
Groove depth direction is sequentially completed multi-layer welding process upwards, until groove weld is filled and led up,
The angle of the groove is between 30 ° to 45 °, and first welding surface is arranged along groove depth direction, the machine
First posture of device people's welding gun includes: that the angle between the nozzle of the robotic gun and the vertical plane of the reference body is
There is the gap not less than 1mm between 30 ° to 34 °, between the nozzle of the robotic gun and first welding surface, it is described
The welding wire elongation of robotic gun is 17-19mm, has 2- between the welding wire of the robotic gun and first welding surface
The gap of 3mm.
Further, before first layer welding sequence, first measuring basis body surface face width dimensions, according to reference body surface
Width dimensions determine the projection size of first road weldering body, intermediate weldering body and tail road weldering body on reference body surface respectively, and in determination
Between weldering body road number.
Preferably, in each layer welding sequence, the throwing of head the road weldering body and tail road weldering body on a upper welding surface
Shadow size is greater than zero.
Further, the method also includes: reference body welding after the completion of, to reference body surface, the first welding surface and
The surface of second welding surface carries out reconditioning.
Further, the second posture of the robotic gun includes: the nozzle and the benchmark of the robotic gun
Angle between the vertical plane of body is to have between the nozzle of the robotic gun and first welding surface between 3 ° to 7 °
The welding wire elongation in the gap not less than 1mm, the robotic gun is 17-19mm.
Further, the third posture of the robotic gun includes: the nozzle and the benchmark of the robotic gun
Angle between the vertical plane of body is to have between the nozzle of the robotic gun and second welding surface between 1 ° to 5 °
Gap not less than 1mm has the gap not less than 2mm between the body of a gun of the robotic gun and first welding surface,
The welding wire elongation of the robotic gun is 17-19mm, is had between the welding wire of the robotic gun and second welding surface
There is the gap of 1-3mm.
Further, the robotic gun presses equidistant offset along groove depth direction upwards.
Technical solution provided in an embodiment of the present invention has the benefit that the welding method of the embodiment of the present invention, it
The reference body that a surface is plane first is welded at the relatively narrow place in the end of groove, to increase welding operating space, then in benchmark
Body surface face from the first of groove the second welding surface of the welding towards groove successively weld first road weldering body, at least together centre weldering body and
Tail road weldering body, to guarantee welding quality, i.e. completion first layer welding sequence, finally according to the same manner, along groove depth direction
It is sequentially completed multi-layer welding process upwards, until groove weld is filled and led up.The embodiment of the present invention is welded only with three kinds of robots
The welding sequence to groove can be completed in the posture of rifle, can accordingly reduce robotic gun control programing work, in addition, by
In using multiple tracks multi-layer welding mode, it can also be ensured that welding quality.
Detailed description of the invention
To describe the technical solutions in the embodiments of the present invention more clearly, make required in being described below to embodiment
Attached drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, for
For those of ordinary skill in the art, without creative efforts, it can also be obtained according to these attached drawings other
Attached drawing.
Fig. 1 is the flow diagram of welding method provided in an embodiment of the present invention；
Fig. 2 is the flow diagram of first layer welding sequence in welding method provided in an embodiment of the present invention；
Fig. 3 is the setting schematic diagram of groove in welding method provided in an embodiment of the present invention；
Fig. 4 is the welding schematic diagram of reference body in welding method provided in an embodiment of the present invention；
Fig. 5 is the welding schematic diagram of the road welding method Zhong Shou provided in an embodiment of the present invention weldering body；
Fig. 6 is the welding schematic diagram of intermediate weldering body in welding method provided in an embodiment of the present invention；
Fig. 7 is the welding schematic diagram of the road welding method Zhong Wei provided in an embodiment of the present invention weldering body；
Fig. 8 is the structural schematic diagram of the clear rifle wire shearing machine structure in the embodiment of the present invention.
Specific embodiment
To make the object, technical solutions and advantages of the present invention clearer, below in conjunction with attached drawing to embodiment party of the present invention
Formula is described in further detail.
It is to tap into row for groove welding the embodiment of the invention provides a kind of welding method of groove weld robot downhand welding
Design, Fig. 1 is the flow diagram of the welding method of the groove weld robot downhand welding of the embodiment of the present invention, should in conjunction with Fig. 1
Welding method includes:
Step S1 offers opening up groove 2 on 1 suitable position of base material to be welded.
Fig. 3 is the setting schematic diagram of groove in welding method provided in an embodiment of the present invention, as shown in figure 3, the groove 2 can
Think double V-groove or J-type groove, it include the first welding surface 2.1 and the second welding surface 2.2, one end of the first welding surface 2.1 and
The distance between one end of second welding surface 2.2 is less than the other end of the first welding surface 2.1 and the other end of the second welding surface 2.2
The distance between, form the structure type of narrow outer width in one.
Step S2, Fig. 4 are the welding schematic diagrames of reference body in welding method provided in an embodiment of the present invention；It is right in conjunction with Fig. 4
The groove 2 of base material 1 to be welded carries out welding and forms a reference body 3, and reference body 3 is welded on apart from lesser first welding surface
2.1 and second between welding surface 2.2, and the surface of reference body 3 is plane along the horizontal plane；
Step S3, the flow diagram of first layer welding sequence as shown in connection with fig. 2 complete first layer welding sequence:
Step S31, Fig. 5 are the welding schematic diagrames of the road welding method Zhong Shou provided in an embodiment of the present invention weldering body；In conjunction with figure
5,4 posture of robotic gun is adjusted, makes robotic gun 4 that there is the first posture, against the first welding surface 2.1 in reference body 3
First road welding sequence is completed, after completing first road welding sequence, to form first road weldering body in reference body 3；
Step S32, Fig. 6 are the welding schematic diagrames of intermediate weldering body in welding method provided in an embodiment of the present invention；In conjunction with figure
6,4 posture of robotic gun is adjusted, makes robotic gun 4 that there is the second posture, against first road weldering body to second in reference body 3
Welding surface 2.2 is sequentially completed at least one of welding sequence, to form at least one intermediate weldering body in reference body 3；
Step S33, Fig. 7 are the welding schematic diagrames of the road welding method Zhong Wei provided in an embodiment of the present invention weldering body；In conjunction with figure
7,4 posture of robotic gun is adjusted, makes robotic gun 4 that there is third posture, is welded in reference body 3 against closest to second
The intermediate weldering body in face 2.2 completes tail road welding sequence, to form tail road weldering body.
Step S4, control robotic gun 4 are offset up along 2 depth direction of groove, and robotic gun 4 is welded according to first layer
Process is connect, is sequentially completed multi-layer welding process upwards along 2 depth direction of groove, until 2 weld seam of groove is filled and led up.
Welding method provided in an embodiment of the present invention, it first welds the reference body 3 that a surface is plane at groove 2,
Operating space is welded to increase, then on 3 surface of reference body from the first welding surface 2.1 of groove 2 to the second welding surface of groove 2
2.2 successively weld first road weldering body, at least one intermediate weldering body and tail road weldering body, to guarantee welding quality, the i.e. weldering of completion first layer
Process is connect, finally according still further to the same manner, is sequentially completed multi-layer welding process upwards along groove depth direction, until by groove 2
Weld seam is filled and led up.The welding of corresponding groove can be completed due to the posture only with three kinds of robotic guns in the embodiment of the present invention
Process can accordingly reduce robotic gun control programing work, in addition, may be used also due to using multiple tracks multi-layer welding mode
To guarantee welding quality.
In conjunction with Fig. 3, in the embodiment of the present invention, the first welding surface 2.1 of groove 2 can be arranged along groove depth direction, and
The welding of road weldering body provides benchmark headed by one welding surface 2.1, in addition, the angle of groove 2 is preferably this angle between 30 ° to 45 °
Groove be common base material welding groove, there is good versatility.
Due to the relatively narrow place's insufficient space in the end of groove 2, a surface need to be welded at the relatively narrow place in the end of groove 2
For the reference body 3 of plane, to increase operating space, reference body 3 can be welded in the form of manual welding, reference body 3
The craft bottoming in welding, after the completion of 3 welding sequence of reference body, in conjunction with Fig. 4, the face width H1 of reference body 3 should be not less than head
Road weldering body, at least intermediate weldering body and tail road weldering body have enough spaces in the summation of 3 surface projection of reference body with guarantee together
There can be multiple weldering bodies to be welded, to guarantee the weld strength after welding.In addition, 3 both ends of reference body of the embodiment of the present invention
The difference of width be not more than 1mm, to avoid the weld size design error for reducing first road weldering body, intermediate weldering body and tail road weldering body.
The reference body 3 of the embodiment of the present invention needs the first welding surface to 3 surface of reference body, groove 2 after the completion of welding
2.1 and second the surface of welding surface 2.1 carry out reconditioning, guarantee first welding surface 2.1 and second on the surface of reference body 3, groove 2
The flatness of welding surface 2.1 is not more than 1/1000, to guarantee the flat and smooth of groove face.
Before the construction of first layer welding sequence, the embodiment of the present invention needs first 3 face width size of measuring basis body, and
Determine the throwing of first road weldering body, intermediate weldering body and tail road weldering body on 3 surface of reference body respectively according to 3 face width size of reference body
Shadow size, and determine the road number of intermediate weldering body.
The embodiment of the present invention can seek a tracking system using laser and be scanned to 3 surface of reference body, measuring basis body 3
Face width H1, and determine the projection size of first road weldering body, intermediate weldering body and tail road weldering body on 3 surface of reference body, call root
Welding bead technology library shown in resulting table 1 is factually tested, determines the road number N of the intermediate weldering body of welded groove.
Table 1
In welding bead technology library shown in table 1, the relational expression of H1 and N are H1=6N+K, wherein K is corrected parameter, and K's takes
Being worth range can be between 11 to 18.
In the welding of 3 surface of reference body, since first road weldering body and tail road weldering body are contacted with base material 1, it is understood that there may be penetration
Property poor problem, and if weldering body is the contact between deposited metal among intermediate arterial highway, penetration is preferable, therefore is welding
Before, size Δ L1 and Δ L2 is reserved respectively at 3 corresponding first section weldering bodies and tail road weldering body in reference body, i.e., in each layer welding sequence
In, the projection size of first road weldering body and tail road weldering body on a upper welding surface is greater than zero, for first road weldering body and tail road weldering body
Welding, the size of Δ L1 and Δ L2 are usually Δ L1=10mm, Δ L2=4mm or so, to guarantee to weld penetration, and intermediate
For weldering body in welding, the offset of robotic gun 4 is Δ L=(H1- Δ L1- Δ L2)/N.It is wide in groove 2 that this allows for welding bead
Degree direction is reasonably distributed, and the comparison of padding and compacting is close between welding bead, while being also convenient for realizing programming automation.
In addition, in the welding process, when successively successively welding upwards along groove depth direction, it is opposite to be located at next layer of weld seam
Upper one layer of weld seam carries out the upward equidistant shifted by delta D in groove depth direction, and wherein the value of Δ D is groove vertex to reference body
The ratio between the height on 3 surfaces and the number of plies to be welded.
The embodiment of the present invention need to weld robot using clear rifle wire shearing machine structure before welding to the groove 2 with reference body 3
Rifle 4 carries out preweld cleaning.Fig. 8 is the structural schematic diagram of the clear rifle wire shearing machine structure in the embodiment of the present invention；In conjunction with Fig. 8, the clear rifle
Wire shearing machine structure 5 include two be oppositely arranged subtract a knife 5.1 and a reamer 5.2, reamer 5.2, which is arranged, subtracts a knife 5.1 at two
On the perpendicular bisector of line, subtract a knife 5.1 and reamer 5.2 can by being controlled manually, in use, two to subtract a knife 5.1 right
The welding wire of robotic gun 4 is cleared up, and reamer 5.2 to the greatest extent may be used for clearing up the nozzle and the body of a gun of robotic gun 4
It is avoided that because extraneous factor welding quality impacts.
The welding wire of the robotic gun 4 of the embodiment of the present invention can use 1.2 solid core welding wire of Φ.
In conjunction with Fig. 5, when welding first road weldering body, robotic gun 4 has the first posture, which may include:
1=32 ° of included angle A (± 2 °) between the nozzle of robotic gun 4 and the vertical plane of reference body 3, the nozzle of robotic gun 4 with
There is gap H2, H2 >=1mm, to prevent in the welding process, robotic gun 4 touches welding between first welding surface 2.1
Face influences welding effect.In addition, the welding wire elongation of robotic gun is 17-19mm, the welding wire of robotic gun 4 and the first weldering
There is gap L 1, L1 is between 2-3mm, to guarantee to have enough spaces to make to weld penetration between junction 2.1.
In conjunction with Fig. 6, when welding intermediate weldering body, robotic gun 4 has the second posture, which includes: machine
2=5 ° of included angle A (± 2 °) between the nozzle of people's welding gun 4 and the vertical plane of reference body 3, the nozzle of robotic gun 4 and first
There is gap H3, H3 >=1mm, to prevent in the welding process, robotic gun 4 touches welding surface, shadow between welding surface 2.1
Ring welding effect.In addition, the welding wire elongation of robotic gun 4 is 17-19mm, to guarantee to have enough spaces to keep welding molten
Thoroughly.
In conjunction with Fig. 7, when welding tail road weldering body, robotic gun 4 has third posture, which includes: machine
3=3 ° of included angle A (± 2 °) between the nozzle of people's welding gun 4 and the vertical plane of reference body 3, the nozzle of robotic gun 4 and second
There is gap H4, H4 >=1mm between welding surface 2.1, there is gap between the body of a gun of robotic gun 4 and the first welding surface 2.1
H5, H5 >=2mm, to prevent in the welding process, robotic gun 4 touches welding surface, influences welding effect；In addition, machine
The welding wire elongation of people's welding gun 4 is 17-19mm, has gap L 2, L2 between the welding wire of robotic gun 4 and the second welding surface 2.2
Between 1-3 mm, to guarantee to have enough spaces to make to weld penetration.
In the embodiment of the present invention, if the quantity of intermediate weldering body to be welded at least twice when, robotic gun 4 is pressed every time
It is deviated at equal intervals to the second welding surface 2.2, the welding of all intermediate weldering bodies keeps this posture of welding torch uniformly to deviate backward
At this can reduce the control programming of robotic gun 4.
After the welding for completing all welding beads of first layer, robotic gun 4 returns to home.All welding beads of first layer are
As the reference body of next layer of welding bead, laser seeks a tracking system and measures all weld widths being soldered, and calls number of weld passes
Next layer of welding sermon is carried out according to library, robotic gun 4 seeks bit function by contact and carries out seeking position, determines one layer of new welding bead base
Welding position is originated in the elevated height Liang Jishou road weldering body of upper one layer of welding bead.It welds in the first road of the welding of all welding beads of the second layer
Body, intermediate weldering body and tail road weldering body Gesture are identical as first layer welding bead, that is, can avoid the control of corresponding robotic gun
Programming.
What welding method shown in the embodiment of the present invention was completed by robot automatic welding equipment, the robot is automatic
Welding equipment includes that robot welding system, laser seek a tracking system, arc sensing system, passes through three system phase interworkings
It closes, completes the automation of weld seam welding.
The foregoing is merely presently preferred embodiments of the present invention, is not intended to limit the invention, it is all in spirit of the invention and
Within principle, any modification, equivalent replacement, improvement and so on be should all be included in the protection scope of the present invention.
Claims (7)
1. a kind of welding method of groove weld robot downhand welding, which is characterized in that the welding method includes:
Treat welding base metal groove carry out welding formed a reference body, the groove be double V-groove or J-type groove, it is described
Groove includes the first welding surface and the second welding surface, between one end of first welding surface and one end of second welding surface
Distance be less than first welding surface the other end and second welding surface the distance between the other end, the reference body
It is welded between lesser first welding surface and second welding surface, the surface of the reference body is along the horizontal plane
Plane；
Complete first layer welding sequence:
Robotic gun posture is adjusted, makes robotic gun that there is the first posture, is completed in reference body against the first welding surface
First road welding sequence, to form first road weldering body in reference body；
Robotic gun posture is adjusted, makes robotic gun that there is the second posture, against first road weldering body to second in reference body
Welding surface is sequentially completed at least one of welding sequence, so that at least one intermediate weldering body is formed in reference body,
The quantity of the intermediate weldering body to be welded at least twice when, the robotic gun press every time at equal intervals to second weldering
Junction offset, and second posture is kept when intermediate weldering body described in the welding per pass of robotic gun described in migration process；
Robotic gun posture is adjusted, makes robotic gun that there is third posture, is welded in reference body against closest to second
The intermediate weldering body in face completes tail road welding sequence, to form tail road weldering body；
Control robotic gun is offset up along groove depth direction, and robotic gun is according to first layer welding sequence, along groove
Depth direction is sequentially completed multi-layer welding process upwards, until groove weld is filled and led up,
The angle of the groove is between 30 ° to 45 °, and first welding surface is arranged along groove depth direction, the robot
First posture of welding gun includes: that the angle between the nozzle of the robotic gun and the vertical plane of the reference body is 30 ° and arrives
There is the gap not less than 1mm, the machine between 34 °, between the nozzle of the robotic gun and first welding surface
The welding wire elongation of people's welding gun is 17-19mm, with 2-3mm between the welding wire of the robotic gun and first welding surface
Gap.
2. the welding method of groove weld robot according to claim 1 downhand welding, which is characterized in that welded in first layer
Before process, first measuring basis body surface face width dimensions determine first road weldering body, centre according to reference body face width size respectively
The projection size of weldering body and tail road weldering body on reference body surface, and determine the road number of intermediate weldering body.
3. the welding method of groove weld robot according to claim 2 downhand welding, which is characterized in that in each layer Welder
In sequence, the projection size of head the road weldering body and tail road weldering body on a upper welding surface is greater than zero.
4. the welding method of groove weld robot according to claim 1 downhand welding, which is characterized in that the method is also wrapped
It includes: after the completion of reference body welding, reconditioning being carried out to the surface on reference body surface, the first welding surface and the second welding surface.
5. the welding method of groove weld robot according to claim 1 downhand welding, which is characterized in that the robot weldering
Second posture of rifle include: the angle between the nozzle of the robotic gun and the vertical plane of the reference body be 3 ° to 7 ° it
Between, there is the gap not less than 1mm, the robotic gun between the nozzle of the robotic gun and first welding surface
Welding wire elongation be 17-19mm.
6. the welding method of groove weld robot according to claim 1 downhand welding, which is characterized in that the robot weldering
The third posture of rifle include: the angle between the nozzle of the robotic gun and the vertical plane of the reference body be 1 ° to 5 ° it
Between, there is the gap not less than 1mm, the robotic gun between the nozzle of the robotic gun and second welding surface
The body of a gun and first welding surface between have not less than 2mm gap, the robotic gun welding wire elongation be 17-
19mm, with the gap of 1-3mm between the welding wire of the robotic gun and second welding surface.
7. the welding method of groove weld robot according to claim 1 downhand welding, which is characterized in that in multi-layer welding work
In sequence, the robotic gun presses equidistant offset along groove depth direction upwards.
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| FR2973723B1 (en) * | 2011-04-06 | 2013-05-10 | Alstom Hydro France | WELDING METHOD AND ORGAN OF HYDRAULIC MACHINE MADE BY MEANS OF SUCH A METHOD |
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