CN107252950A - A kind of method that use welding robot realizes solder sphere automatic welding - Google Patents
A kind of method that use welding robot realizes solder sphere automatic welding Download PDFInfo
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- CN107252950A CN107252950A CN201710429418.8A CN201710429418A CN107252950A CN 107252950 A CN107252950 A CN 107252950A CN 201710429418 A CN201710429418 A CN 201710429418A CN 107252950 A CN107252950 A CN 107252950A
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- welding
- solder sphere
- table top
- machine table
- displacement machine
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/02—Seam welding; Backing means; Inserts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/16—Arc welding or cutting making use of shielding gas
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/32—Accessories
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Plasma & Fusion (AREA)
- Mechanical Engineering (AREA)
- Butt Welding And Welding Of Specific Article (AREA)
Abstract
The present invention relates to a kind of method of automatic welding, more particularly to a kind of method that use welding robot realizes solder sphere automatic welding, belong to field of steel structure.Carry out according to the following steps：Robot architecture → welding workpiece requirement → welding position adjustment → welding capacity setting → welding parameter.A kind of use welding robot realizes the method compact conformation of solder sphere automatic welding, and welding precision is high, lifts product specification.
Description
Technical field
Realize that solder sphere is automatic using welding robot the present invention relates to a kind of method of automatic welding, more particularly to one kind
The method of welding, belongs to field of steel structure.
Background technology
The butt welding of solder sphere, conventionally employed human weld, welding capacity is big, is affected by human factors, weld is accepted rate
Fluctuation ratio is larger, and human weld's labor intensity is big.Using robot welding can obtain good smoothly welding quality and compared with
High benefit.
Chinese patent 201010586111.7, discloses a kind of submerged automatic arc welding tool of segment-shaped seal head, the welding
Frock 1 is made up of two runners, workbench, eight groups of straps；Two runners are separately fixed at the workbench
Two ends, strap described in eight groups is symmetrically arranged at the lower planes of the workbench against the runner, the work
Make 2 times of thickness H equal to the segment h of segment-shaped seal head of platform, i.e. H=2h, two runners are individually positioned on roller, institute
Roller is stated to be driven by motor, reductor.This structure is relative complex, and using effect is not outstanding.
The content of the invention
The present invention mainly solves the deficiencies in the prior art there is provided a kind of compact conformation, further lifting welding
Quality and speed of welding, further a kind of use welding robot of lifting automation realize the side of solder sphere automatic welding
Method.
The above-mentioned technical problem of the present invention is mainly what is be addressed by following technical proposals：
A kind of method that use welding robot realizes solder sphere automatic welding, is carried out according to the following steps：
(1), robot architecture：
Including six axle welding robots, positioner and solder sphere, fixing device, described weldering are provided with described positioner
Receive and be located in fixing device, the side of described positioner is provided with the six axle welding robots corresponding with solder sphere；
(2), welding workpiece requirement：
Grooves of welding joints surface should be smooth, must not there is cut or truncation more than 0.2mm depth, should during solder sphere group pair
Ensure every section of region root gap of weld rigging error ﹤ ± 1mm；
(3), welding position is adjusted：
Displacement machine table top is laid flat, fixing device is opened, group is placed on positioner to good solder sphere, along weld seam girth
3~4 points are uniformly distributed, groove is perpendicular to displacement machine table top under weld seam with ruler, and measurement weld seam is flat in displacement machine table top
Row distance, weld seam should tend to be parallel in displacement machine table top；
Then, fixing device is operated, steps up spheroid, then overturns displacement machine table top, turns into weld seam and rotates downhand position；
(4), welding capacity is set：
It is different according to the diameter of solder sphere ball, take 6~8 pilot teaching points, every section of 200~300mm of arc length；
The solder sphere ball of every kind of specification, wall thickness is different, and layer is also differed, and the pilot teaching point of each layer is also differed；
During welding, welding wire should make respective offsets against spheroid direction of rotation equivalent to the center of ball, welding wire deviation value
Shown in the following form of reference table：
| Sphere diameter (mm) | Deviant a (mm) | Sphere diameter (mm) | Deviant a (mm) |
| ＜ 250 | 6~15 | 400~600 | 25~35 |
| 250~400 | 18~25 | ＞ 600 | 35~45 |
(5), welding parameter：
The welding of solder sphere can use solid welding wire CO2Gas shielded arc welding (GMAW welderings) and richness Ar (80%Ar+20%CO2)
Gas shielded arc welding, parameter is seen below shown in form：
After the completion of welding, displacement machine table top is laid flat, fixing device is opened, ball is taken out from positioner, removing surface
Afterwards by code requirement inspection, detection.
With the usage degree more and more higher of robot industry, the industrial robot also very big economic effect of manufacturing industry
Benefit, but robot has certain requirement to the preparation condition of working environment, workpiece.In order to obtain high-quality weld seam, it is necessary to adopt
With suitable, rational welding method.
The present invention provides a kind of method that use welding robot realizes solder sphere automatic welding, compact conformation, welding essence
Degree is high, lifts product specification.
Brief description of the drawings
Fig. 1 is the dimensional structure diagram of the present invention；
Fig. 2 is the structural representation of welding offset in the present invention.
Embodiment
Below by embodiment, and with reference to accompanying drawing, technical scheme is described in further detail.
Embodiment 1：As depicted in figs. 1 and 2, a kind of method that use welding robot realizes solder sphere automatic welding, is pressed
Following steps are carried out：
(1), robot architecture：
Including six axle welding robots 1, positioner 2 and solder sphere 3, fixing device 4, institute are provided with described positioner 2
The solder sphere 3 stated is located in fixing device 4, and the side of described positioner 2 is provided with the six axle bonding machines corresponding with solder sphere 3
Device people 1；
(2), welding workpiece requirement：
Grooves of welding joints surface should be smooth, must not there is cut or truncation more than 0.2mm depth, should during solder sphere group pair
Ensure every section of region root gap of weld rigging error ﹤ ± 1mm；
(3), welding position is adjusted：
Displacement machine table top is laid flat, fixing device is opened, group is placed on positioner to good solder sphere, along weld seam girth
Be uniformly distributed 3 points, with ruler under weld seam groove perpendicular to displacement machine table top, measurement weld seam in displacement machine table top it is parallel away from
From weld seam should tend to be parallel in displacement machine table top；
Then, fixing device is operated, steps up spheroid, then overturns displacement machine table top, turns into weld seam and rotates downhand position；
(4), welding capacity is set：
It is different according to the diameter of solder sphere ball, take 6 pilot teaching points, every section of arc length 200mm；
The solder sphere ball of every kind of specification, wall thickness is different, and layer is also differed, and the pilot teaching point of each layer is also differed；
During welding, welding wire should make respective offsets against spheroid direction of rotation equivalent to the center of ball, welding wire deviation value
Shown in the following form of reference table：
| Sphere diameter (mm) | Deviant a (mm) | Sphere diameter (mm) | Deviant a (mm) |
| ＜ 250 | 6 | 400 | 25 |
| 250 | 18 | ＞ 600 | 35 |
(5), welding parameter：
The welding of solder sphere can use solid welding wire CO2Gas shielded arc welding (GMAW welderings) and richness Ar (80%Ar+20%CO2)
Gas shielded arc welding, parameter is seen below shown in form：
After the completion of welding, displacement machine table top is laid flat, fixing device is opened, ball is taken out from positioner, removing surface
Afterwards by code requirement inspection, detection.
Embodiment 2：A kind of method that use welding robot realizes solder sphere automatic welding, is carried out according to the following steps：
(1), robot architecture：
Including six axle welding robots 1, positioner 2 and solder sphere 3, fixing device 4, institute are provided with described positioner 2
The solder sphere 3 stated is located in fixing device 4, and the side of described positioner 2 is provided with the six axle bonding machines corresponding with solder sphere 3
Device people 1；
(2), welding workpiece requirement：
Grooves of welding joints surface should be smooth, must not there is cut or truncation more than 0.2mm depth, should during solder sphere group pair
Ensure every section of region root gap of weld rigging error ﹤ ± 1mm；
(3), welding position is adjusted：
Displacement machine table top is laid flat, fixing device is opened, group is placed on positioner to good solder sphere, along weld seam girth
Be uniformly distributed 4 points, with ruler under weld seam groove perpendicular to displacement machine table top, measurement weld seam in displacement machine table top it is parallel away from
From weld seam should tend to be parallel in displacement machine table top；
Then, fixing device is operated, steps up spheroid, then overturns displacement machine table top, turns into weld seam and rotates downhand position；
(4), welding capacity is set：
It is different according to the diameter of solder sphere ball, take 7 pilot teaching points, every section of arc length 250mm；
The solder sphere ball of every kind of specification, wall thickness is different, and layer is also differed, and the pilot teaching point of each layer is also differed；
During welding, welding wire should make respective offsets against spheroid direction of rotation equivalent to the center of ball, welding wire deviation value
Shown in the following form of reference table：
| Sphere diameter (mm) | Deviant a (mm) | Sphere diameter (mm) | Deviant a (mm) |
| ＜ 250 | 10 | 500 | 30 |
| 300 | 20 | ＞ 600 | 40 |
(5), welding parameter：
The welding of solder sphere can use solid welding wire CO2Gas shielded arc welding (GMAW welderings) and richness Ar (80%Ar+20%CO2)
Gas shielded arc welding, parameter is seen below shown in form：
After the completion of welding, displacement machine table top is laid flat, fixing device is opened, ball is taken out from positioner, removing surface
Afterwards by code requirement inspection, detection.
Embodiment 3：A kind of method that use welding robot realizes solder sphere automatic welding, is carried out according to the following steps：
(1), robot architecture：
Including six axle welding robots 1, positioner 2 and solder sphere 3, fixing device 4, institute are provided with described positioner 2
The solder sphere 3 stated is located in fixing device 4, and the side of described positioner 2 is provided with the six axle bonding machines corresponding with solder sphere 3
Device people 1；
(2), welding workpiece requirement：
Grooves of welding joints surface should be smooth, must not there is cut or truncation more than 0.2mm depth, should during solder sphere group pair
Ensure every section of region root gap of weld rigging error ﹤ ± 1mm；
(3), welding position is adjusted：
Displacement machine table top is laid flat, fixing device is opened, group is placed on positioner to good solder sphere, along weld seam girth
Be uniformly distributed 4 points, with ruler under weld seam groove perpendicular to displacement machine table top, measurement weld seam in displacement machine table top it is parallel away from
From weld seam should tend to be parallel in displacement machine table top；
Then, fixing device is operated, steps up spheroid, then overturns displacement machine table top, turns into weld seam and rotates downhand position；
(4), welding capacity is set：
It is different according to the diameter of solder sphere ball, take 8 pilot teaching points, every section of arc length 300mm；
The solder sphere ball of every kind of specification, wall thickness is different, and layer is also differed, and the pilot teaching point of each layer is also differed；
During welding, welding wire should make respective offsets against spheroid direction of rotation equivalent to the center of ball, welding wire deviation value
Shown in the following form of reference table：
| Sphere diameter (mm) | Deviant a (mm) | Sphere diameter (mm) | Deviant a (mm) |
| ＜ 250 | 15 | 600 | 35 |
| 400 | 25 | ＞ 600 | 45 |
(5), welding parameter：
The welding of solder sphere can use solid welding wire CO2Gas shielded arc welding (GMAW welderings) and richness Ar (80%Ar+20%CO2)
Gas shielded arc welding, parameter is seen below shown in form：
After the completion of welding, displacement machine table top is laid flat, fixing device is opened, ball is taken out from positioner, removing surface
Afterwards by code requirement inspection, detection.
Claims (1)
1. a kind of method that use welding robot realizes solder sphere automatic welding, it is characterised in that carry out according to the following steps：
(1), robot architecture：
Including six axle welding robots (1), positioner (2) and solder sphere (3), fixing device is provided with described positioner (2)
(4), described solder sphere (3) is located in fixing device (4), and the side of described positioner (2) is provided with relative with solder sphere (3)
The six axle welding robots (1) answered；
(2), welding workpiece requirement：
Grooves of welding joints surface should be smooth, must not there is cut or truncation more than 0.2mm depth, during solder sphere group pair it is ensured that
Every section of region root gap of weld rigging error ﹤ ± 1mm；
(3), welding position is adjusted：
Displacement machine table top is laid flat, fixing device is opened, group is placed on positioner to good solder sphere, it is uniform along weld seam girth
Be distributed 3~4 points, with ruler under weld seam groove perpendicular to displacement machine table top, measurement weld seam in displacement machine table top it is parallel away from
From weld seam should tend to be parallel in displacement machine table top；
Then, fixing device is operated, steps up spheroid, then overturns displacement machine table top, turns into weld seam and rotates downhand position；
(4), welding capacity is set：
It is different according to the diameter of solder sphere ball, take 6~8 pilot teaching points, every section of 200~300mm of arc length；
The solder sphere ball of every kind of specification, wall thickness is different, and layer is also differed, and the pilot teaching point of each layer is also differed；
During welding, welding wire should make respective offsets, the reference of welding wire deviation value against spheroid direction of rotation equivalent to the center of ball
Shown in the following form of table：
(5), welding parameter：
The welding of solder sphere can use solid welding wire CO2Gas shielded arc welding (GMAW welderings) and richness Ar (80%Ar+20%CO2) gas
Protection weldering, parameter is seen below shown in form：
After the completion of welding, displacement machine table top is laid flat, fixing device is opened, ball is taken out from positioner, pressed after removing surface
Code requirement is checked, detection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710429418.8A CN107252950A (en) | 2017-06-08 | 2017-06-08 | A kind of method that use welding robot realizes solder sphere automatic welding |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710429418.8A CN107252950A (en) | 2017-06-08 | 2017-06-08 | A kind of method that use welding robot realizes solder sphere automatic welding |
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| Publication Number | Publication Date |
|---|---|
| CN107252950A true CN107252950A (en) | 2017-10-17 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710429418.8A Pending CN107252950A (en) | 2017-06-08 | 2017-06-08 | A kind of method that use welding robot realizes solder sphere automatic welding |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116141003A (en) * | 2023-02-15 | 2023-05-23 | 芜湖市辉旺机电科技有限公司 | Spherical shell welding robot |
Citations (6)
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| CN200974161Y (en) * | 2006-11-06 | 2007-11-14 | 大庆油田建设集团有限责任公司 | Rotary welding device for wire frame welding pellet |
| US20100106285A1 (en) * | 2008-10-29 | 2010-04-29 | Massey Alan J | Method and apparatus for robotic welding of drill bits |
| CN202922070U (en) * | 2012-09-11 | 2013-05-08 | 武汉和越装备技术有限公司 | Welding robot workstation |
| CN204381626U (en) * | 2014-12-02 | 2015-06-10 | 武汉钢铁(集团)公司 | A kind of hollow ball welding equipment |
| CN105710518A (en) * | 2016-04-25 | 2016-06-29 | 中国五冶集团有限公司 | Hollow bolt ball welding tool |
| CN105750823A (en) * | 2014-12-13 | 2016-07-13 | 重庆迎瑞升压铸有限公司 | Hollow ball welding technique |
-
2017
- 2017-06-08 CN CN201710429418.8A patent/CN107252950A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN200974161Y (en) * | 2006-11-06 | 2007-11-14 | 大庆油田建设集团有限责任公司 | Rotary welding device for wire frame welding pellet |
| US20100106285A1 (en) * | 2008-10-29 | 2010-04-29 | Massey Alan J | Method and apparatus for robotic welding of drill bits |
| CN202922070U (en) * | 2012-09-11 | 2013-05-08 | 武汉和越装备技术有限公司 | Welding robot workstation |
| CN204381626U (en) * | 2014-12-02 | 2015-06-10 | 武汉钢铁(集团)公司 | A kind of hollow ball welding equipment |
| CN105750823A (en) * | 2014-12-13 | 2016-07-13 | 重庆迎瑞升压铸有限公司 | Hollow ball welding technique |
| CN105710518A (en) * | 2016-04-25 | 2016-06-29 | 中国五冶集团有限公司 | Hollow bolt ball welding tool |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116141003A (en) * | 2023-02-15 | 2023-05-23 | 芜湖市辉旺机电科技有限公司 | Spherical shell welding robot |
| CN116141003B (en) * | 2023-02-15 | 2024-03-08 | 江苏科耐特智能机器人有限公司 | Spherical shell welding robot |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
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Application publication date: 20171017 |