CN107717188B - Muscle double computer cooperation automatic soldering method in a kind of rail vehicle curb girder - Google Patents
Muscle double computer cooperation automatic soldering method in a kind of rail vehicle curb girder Download PDFInfo
- Publication number
- CN107717188B CN107717188B CN201711073026.9A CN201711073026A CN107717188B CN 107717188 B CN107717188 B CN 107717188B CN 201711073026 A CN201711073026 A CN 201711073026A CN 107717188 B CN107717188 B CN 107717188B
- Authority
- CN
- China
- Prior art keywords
- welding
- weld seam
- vertical plate
- plate component
- gusset
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- 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
- B23K9/18—Submerged-arc welding
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
- B23K37/047—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work moving work to adjust its position between soldering, welding or cutting steps
-
- 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
- B23K9/24—Features related to electrodes
- B23K9/28—Supporting devices for electrodes
-
- 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
-
- 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
- B23K2101/00—Articles made by soldering, welding or cutting
- B23K2101/006—Vehicles
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Mechanical Engineering (AREA)
- Plasma & Fusion (AREA)
- Optics & Photonics (AREA)
- Butt Welding And Welding Of Specific Article (AREA)
Abstract
The present invention relates to rail vehicle welding fields, disclose muscle double computer cooperation automatic soldering method in a kind of rail vehicle curb girder, muscle is made of lower cover plate, gusset, vertical plate component and four class component of spring strut in curb girder, muscle structural simulation in curb girder is completed by welding template, the concrete form of template weld seam is determined according to soldering angle and position while welding；The sequencing of welding is vertical plate component and the long weld seam backing welding of lower cover plate, gusset and lower cover plate welding seams, gusset and vertical plate component weld seam, spring strut girth joint, spring strut and the super spy weld seam backing welding of vertical plate component, vertical plate component and the long weld seam cover of lower cover plate weld, spring strut and the super spy weld seam cover weldering of vertical plate component；The welding parameter of backing welding, filling weldering and cover weldering is determined respectively；Control welding quality: including 3 points of control assembly clearance, control pretreatment quality and control weldqualities that cross.The invention also discloses a kind of systems.The present invention is able to ascend muscle welding efficiency in curb girder, effectively control welding deformation.
Description
Technical field
The present invention relates to rail vehicle automatic welding technique fields, more particularly to muscle two-shipper in a kind of rail vehicle curb girder
Cooperate with automatic soldering method.
Background technique
Normalization uses automatic welding in muscle welding in track vehicle side beam, muscle single machine welding in existing curb girder
2h/ group is usually needed, every robot is able to satisfy 2 vehicle production capacities (double shift) daily, with order volume increase and plant area
Limitation, it is desirable that the utilization rate that unit plant area is promoted under conditions of original plant area is constant reaches 3 s'/day
Production capacity, this requirement carry out raising efficiency under conditions of not increasing robot occupied area, and existing manipulator weldering passes through Double Wire Welding
Promotion welding efficiency is fetched, double wire welding is more demanding to side beam structure, welding position, for muscle in EMU curb girder,
Due to architectural difference, there are a large amount of girth joints and short weld seam, and welding space is smaller, such as use Double Wire Welding raising efficiency, it is difficult to control
Welding quality processed.
Summary of the invention
(1) technical problems to be solved
The technical problem to be solved by the present invention is to how promote muscle welding efficiency in curb girder, welding deformation is effectively controlled.
(2) technical solution
In order to solve the above technical problem, the present invention provides muscle double computer cooperation automatic welding sides in a kind of rail vehicle curb girder
Method, muscle is made of lower cover plate, gusset, vertical plate component and four class component of spring strut in curb girder, is had using the weld seam that manipulator welds
Vertical plate component and the long weld seam of lower cover plate, gusset and lower cover plate welding seams, gusset and vertical plate component weld seam, spring strut and lower cover plate weld
Seam, spring strut and vertical plate component are super to visit weld seam, includes the following steps:
Step 1: determine template weld seam: muscle structural simulation in curb girder completed by welding template, according to soldering angle and
Position while welding determines the concrete form of template weld seam；
Step 2: determine welding sequence: the sequencing of welding is vertical plate component and the long weld seam backing welding of lower cover plate, gusset
With lower cover plate welding seams, gusset and vertical plate component weld seam, spring strut girth joint, spring strut surpasses with vertical plate component visits weld seam backing welding,
Vertical plate component and the long weld seam cover of lower cover plate weld, spring strut and the super spy weld seam cover weldering of vertical plate component；
Step 3: it determines welding parameter: determining welding current, the voltage, welding of backing welding, filling weldering and cover weldering respectively
Speed and wire feed rate；
Step 4: control welding quality: including 3 points of control assembly clearance, control pretreatment quality and control weld seams that cross
Quality.
Wherein, gusset includes long gusset and short rib, in step 1, the concrete form of template weld seam include: short rib with
Girth joint is single layer on the inside of lower cover plate welding seams, short rib and vertical plate component weld seam, long gusset and vertical plate component weld seam, spring strut
Single-pass welding, long gusset and lower cover plate welding seams are two layers of twice weld seam, and vertical plate component and the long weld seam of lower cover plate are two layers three welderings
The super weld seam of visiting of seam, spring strut and vertical plate component is two layers of six weld seams.
In step 2, according to the sequencing of welding, concrete operation step are as follows:
Vertical plate component and the long weld seam backing welding of lower cover plate: muscle beam body in curb girder is adjusted to horizontal position, manipulator is utilized
From the intermediate gusset side of vertical plate component and lower cover plate bottom welding to the left, at the same another manipulator from the same side of intermediate gusset to
Right bottom welding then carries out vertical plate component and another road length weld seam backing welding of lower cover plate using same processing mode；
Gusset and lower cover plate welding seams weld: muscle beam body in curb girder is adjusted to ship type welding position, two manipulators by pair
Title mode is welded；
Gusset and vertical plate component weld seam weld: adjusting muscle beam body in curb girder to ship type position, two manipulators when welding
Using symmetrical, it is symmetrically welded from intermediate synchronized toward both ends；
Spring strut boxing seam welding: adjusting muscle beam body in curb girder to horizontal position when welding, and two manipulators are synchronous to be made
Industry completes boxing seam welding；
Spring strut and the super spy weld seam backing welding of vertical plate component: muscle beam body in curb girder is adjusted to horizontal position, two manipulators
Symmetrical synchronous welding；
Vertical plate component and the long weld seam cover of lower cover plate weld: welding position and vertical plate component and the long weld seam backing welding one of lower cover plate
It causes, the twice weld seam of cover weldering continuously welds；
Spring strut and the super spy weld seam cover weldering of vertical plate component: welding position and the super spy weld seam bottoming of spring strut and vertical plate component
Weldering is consistent, the continuous welding of twice weldering of cover weldering.
In step 4, control assembly clearance is specially that control assembly clearance is uniform, and assembly clearance is no more than 2mm.
In step 4, control pretreatment quality includes the pretreatment of gusset chamfering, assembly clearance pretreatment, tack welding and pre- place
Manage weld seam processing.
Wherein, gusset chamfering pretreatment specifically includes: welding in advance to 3 intersections, postwelding is by gusset two
Side weld polishing, reserves after polishing and is no more than 5mm weld seam.
Wherein, the assembly clearance pretreatment specifically includes: being pre-processed from groove side, polishing after pretreatment welding is in
Spill.
Wherein, the tack welding and pretreatment weld seam processing specifically include: all tack welding positions, pretreatment weld seam rise
Arc is received at arc, and round and smooth inclined-plane is polished into.
Wherein, 3 points of weldqualities that cross of the control specifically need to handle at receipts arc:
(1) vertical plate component and the long weld seam of lower cover plate, bottom welding increase submerged arc hole, submerged arc setting time；
(2) gusset and lower cover plate welding seams, welding increase submerged arc hole, submerged arc setting time；
(3) vertical plate component and each gusset weld seam, welding increase submerged arc hole, submerged arc setting time；
(4) vertical plate component and the long weld seam of lower cover plate, cover welding increase submerged arc hole, submerged arc setting time, and with pulling back.
The embodiment of the invention also provides muscle double computer cooperation robot welding systems in a kind of rail vehicle curb girder comprising two
Six axis welding manipulator of platform and positioner；The six axis welding manipulator is mounted on horizontal beam using projecting mode,
And it can be moved axially along horizontal beam；Positioner uses tilt bed, drives version of tendon and muscle in curb girder to turn by the positioner,
The six axis welding manipulator, which is matched, is arranged with welding machine, wire feed system and retinue welding fixture.
(3) beneficial effect
Compared with prior art, the invention has the following advantages that
Muscle double computer cooperation automatic soldering method and system in a kind of rail vehicle curb girder provided by the invention, this method pass through
Using double computer cooperation welding procedure, in the case where not increasing welding robot occupied area, pass through the reasonable peace of welding procedure
Row, the work compound of two group welding manipulators is reduced to 1.2h by the weld interval of muscle in every group of curb girder by 2h, reach 3/
It production capacity (double shift), solves production capacity bottleneck problem, improves the utilization rate of workshop unit area；And using double
Machine collaboration is symmetrically welded, and is kept thermal weld stress more reasonable, is effectively reduced welding deformation, reduces subsequent welding adjusting
Amount, saves time cost, improves efficiency.The implementation of this method is easily facilitated by the system, operating reliability is high.
Detailed description of the invention
Fig. 1 is muscle structure main view in curb girder in muscle double computer cooperation automatic soldering method in a kind of rail vehicle curb girder of the present invention
Schematic diagram；
Fig. 2 is that muscle structure is overlooked in curb girder in muscle double computer cooperation automatic soldering method in a kind of rail vehicle curb girder of the present invention
Schematic diagram；
Fig. 3 is method neutrality board group part and the long weld seam backing welding schematic diagram of lower cover plate of the invention；
Fig. 4 is that gusset and lower cover plate welding seams weld schematic diagram in method of the invention；
Fig. 5 is that gusset and vertical plate component weld seam weld schematic diagram in method of the invention；
Fig. 6 is spring strut boxing seam welding schematic diagram in method of the invention；
Fig. 7 is spring strut and the super spy weld seam backing welding schematic diagram of vertical plate component in method of the invention；
Fig. 8 is the structural schematic diagram of muscle double computer cooperation robot welding system in a kind of rail vehicle curb girder of the present invention；
In figure: 1: lower cover plate；2: gusset；3: vertical plate component；4: spring strut；5: horizontal beam；6: six axis welding manipulators；7:
Positioner；8: welding machine；9: overturning melt pit；1-1,2-1: the manipulator of collaborative work；1-2,2-2: the machinery of collaborative work
Hand；1-3,2-3: the manipulator of collaborative work；1-4,2-4: the manipulator of collaborative work.
Specific embodiment
With reference to the accompanying drawings and examples, specific embodiments of the present invention will be described in further detail.Implement below
Example is not intended to limit the scope of the invention for illustrating the present invention.
In the description of the present invention, it should be noted that term " center ", " longitudinal direction ", " transverse direction ", "upper", "lower",
The orientation or positional relationship of the instructions such as "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom" "inner", "outside" is
It is based on the orientation or positional relationship shown in the drawings, is merely for convenience of description of the present invention and simplification of the description, rather than instruction or dark
Show that signified device or element must have a particular orientation, be constructed and operated in a specific orientation, therefore should not be understood as pair
Limitation of the invention.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can
To be mechanical connection, it is also possible to be electrically connected；It can be directly connected, can also can be indirectly connected through an intermediary
Connection inside two elements.For the ordinary skill in the art, concrete condition can be regarded and understand that above-mentioned term exists
Concrete meaning in the present invention.
In addition, in the description of the present invention, unless otherwise indicated, " multiple ", " more ", " multiple groups " be meant that two or
It is more than two.
The embodiment of the invention provides muscle double computer cooperation automatic soldering methods in a kind of rail vehicle curb girder, with certain type motor-car
Illustrate for muscle in group curb girder, as illustrated in fig. 1 and 2, muscle is by lower cover plate, four class structure of gusset, vertical plate component and spring strut in curb girder
Part composition has a vertical plate component and the long weld seam of lower cover plate 2 using the weld seam that manipulator welds, gusset and lower cover plate welding seams 8, muscle
Plate and vertical plate component weld seam 16, spring strut with lower cover plate welding seams 4, spring strut and vertical plate component is super visits weld seam 4, due to weldering
Rifle accessibility and fusion length problem, muscle can not be welding line totally 14 in the curb girder, and specifically, gusset includes long gusset and short muscle
Plate, this method may include steps of:
Step 1: determine template weld seam: muscle structural simulation in curb girder completed by welding template, according to soldering angle and
Position while welding determines that the concrete form of template weld seam, concrete form include short rib and lower cover plate welding seams, short rib and vertical plate group
Girth joint is single layer single-pass welding on the inside of part weld seam, long gusset and vertical plate component weld seam, spring strut, and long gusset and lower cover plate weld
Seam is two layers of twice weld seam, and vertical plate component is two layers of three weld seams with the long weld seam of lower cover plate, and spring strut and super visit of vertical plate component are welded
Seam is two layers of six weld seams, and the usual bottom is bottoming layer, top layer is cover layer, is located in the middle one or more layers
To fill layer, shown in table specific as follows；
Wherein, welding angle Z4.8, expression soldering angle is right angle, and the leg length of right angle two sides is 4.8mm, other welderings
The meaning at angle and so on.
Step 2: welding sequence is determined: in order to use double computer cooperation welding to promote welding efficiency to greatest extent, by weld seam
Control is welded in the position PB as far as possible, and the sequencing of welding is vertical plate component and the long weld seam backing welding of lower cover plate, gusset and lower cover
Plate welding seams play welding angle, gusset and vertical plate component weld seam, spring strut girth joint, spring strut and vertical plate to the continuous twice of z9.6 welding angle
The super spy weld seam backing welding of component, vertical plate component and the long weld seam cover of lower cover plate weld, spring strut and the super spy weld seam cover of vertical plate component
Weldering；
Step 3: it determines welding parameter: determining welding current, the voltage, welding of backing welding, filling weldering and cover weldering respectively
Speed and wire feed rate, shown in table specific as follows；
Step 4: control welding quality: including 3 points of control assembly clearance, control pretreatment quality and control weld seams that cross
Quality.
In step 2, according to the sequencing of welding, concrete operation step are as follows:
Vertical plate component and the long weld seam backing welding of lower cover plate: as shown in figure 3, adjusting muscle beam body in curb girder to horizontal position (PB)
It sets, using manipulator 1-1 from the intermediate gusset side bottom welding, while another collaborative work to the left of vertical plate component and lower cover plate
Manipulator 2-1 from intermediate gusset the same side bottom welding to the right, then use same processing mode, utilize collaborative work
Manipulator 1-2,2-2 carry out vertical plate component and another road length weld seam backing welding of lower cover plate；
Gusset and lower cover plate welding seams weld: as shown in figure 4, muscle beam body in curb girder is adjusted to ship type welding position, two
Manipulator 1-1,2-1 of collaborative work are welded by symmetric mode, followed by manipulator 1-2,2-2 of collaborative work, association
With manipulator 1-3,2-3 of work, manipulator 1-4,2-4 of collaborative work continue to weld other gussets and lower cover plate, until muscle
Plate and lower cover plate welding are completed, pay attention to cannot a manipulator welded in welding position, another manipulator, which is shut down, to be waited；
Gusset and vertical plate component weld seam weld: as shown in figure 5, adjusting muscle beam body in curb girder to the position ship type (PA) when welding
It sets, ship type position is will to tilt weld seam to be adjusted to side seam position, and manipulator 1-1,2-1 of two collaborative works are using therefrom
Between synchronize and be symmetrically welded toward both ends, followed by manipulator 1-2,2-2 of collaborative work, manipulator 1-3,2-3 of collaborative work
Continue to weld in the same way；
Spring strut boxing seam welding: as shown in fig. 6, adjusting muscle beam body in curb girder to horizontal position (PB) when welding, two
Boxing seam welding is completed in manipulator 1-1,2-1 synchronization job that platform cooperates；
Spring strut and the super spy weld seam backing welding of vertical plate component: as shown in fig. 7, muscle beam body in curb girder is adjusted to horizontal position (PB)
It sets, the symmetrical synchronous welding of manipulator 1-1,2-1 of two collaborative works, manipulator 1-2, the 2-2 then to cooperate is symmetrically same
The step welding other side；
Vertical plate component and the long weld seam cover of lower cover plate weld: welding position and vertical plate component and the long weld seam backing welding one of lower cover plate
It causes, the twice weld seam of cover weldering continuously welds；
Spring strut and the super spy weld seam cover weldering of vertical plate component: welding position and the super spy weld seam bottoming of spring strut and vertical plate component
Weldering is consistent, the continuous welding of twice weldering of cover weldering.
It should be noted that manipulator has two altogether, it is classified as manipulator 1-1, the 2-1 to cooperate, is cooperated
Manipulator 1-2,2-2, manipulator 1-3,2-3 of collaborative work；Manipulator 1-4,2-4 of collaborative work, be according to work or
The sequencing used is distinguished, and it is convenient to be intended merely to description.
In step 4, control assembly clearance is specially to assemble muscle in curb girder by process chart requirement, control assembling
Gap is uniform, and assembly clearance is no more than 2mm.
In step 4, control pretreatment quality includes the pretreatment of gusset chamfering, assembly clearance pretreatment, tack welding and pre- place
Manage weld seam processing.
Wherein, gusset chamfering pretreatment specifically includes: welding in advance to 3 intersections, postwelding is by gusset two
Side weld polishing, reserves after polishing and is no more than 5mm weld seam, can full penetration when guaranteeing manipulator welding.
Wherein, the assembly clearance pretreatment specifically includes: for the assembly clearance problem occurred, in order to avoid weldering is leaked,
It is pre-processed, is polished after pretreatment welding concave from groove side.
Wherein, the tack welding and pretreatment weld seam processing specifically include: in order to avoid welding defect, all positioning welding positions
It sets, the pretreatment weld seam starting the arc is received at arc, and round and smooth inclined-plane is polished into.
Wherein, 3 points of weldqualities that cross of the control specifically need to handle at receipts arc:
(1) vertical plate component and the long weld seam of lower cover plate, bottom welding increase submerged arc hole, submerged arc 0.5s；
(2) gusset and lower cover plate welding seams, welding increase submerged arc hole, submerged arc 0.7s；
(3) vertical plate component and each gusset weld seam, welding increase submerged arc hole, submerged arc 0.8s；
(4) vertical plate component and the long weld seam of lower cover plate, cover welding increase submerged arc hole, submerged arc 0.8s, and with pulling back.
The embodiment of the invention also provides muscle double computer cooperation robot welding systems in a kind of rail vehicle curb girder comprising two
Six axis welding manipulator 6 of platform and positioner 7；The six axis welding manipulator 6 is mounted on horizontal beam using projecting mode
On 5, and it can be moved axially along horizontal beam 5；Positioner 7 uses tilt bed, is driven in curb girder by the positioner 7
Version of tendon and muscle turns, and the six axis welding manipulator 6, which is matched, is arranged with welding machine 8, wire feed system and retinue welding fixture, positioner 7
Bottom is set in overturning melt pit 9, to increase overall stability.
As can be seen from the above embodiments, the present invention is by using double computer cooperation welding procedure, two group welding machinery Handball Associations
The weld interval of muscle in every group of curb girder is greatly shortened, effectively reduces welding deformation by same operation, is reduced subsequent welding and is adjusted
The amount of repairing saves time cost, improves efficiency.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Within mind and principle, any modification, equivalent replacement, improvement and so on be should all be included in the protection scope of the present invention.
Claims (9)
1. muscle double computer cooperation automatic soldering method in a kind of rail vehicle curb girder, muscle is by lower cover plate, gusset, vertical plate component in curb girder
It is formed with four class component of spring strut, which is characterized in that there are vertical plate component and the long weld seam of lower cover plate using the weld seam that manipulator welds,
Gusset and lower cover plate welding seams, gusset and vertical plate component weld seam, spring strut and lower cover plate welding seams, spring strut and vertical plate component are super to visit weldering
Seam, includes the following steps:
Step 1: it determines template weld seam: muscle structural simulation in curb girder being completed by welding template, according to soldering angle and weld seam
Position determines the concrete form of template weld seam；
Step 2: determine welding sequence: the sequencing of welding is vertical plate component and the long weld seam backing welding of lower cover plate, and gusset is under
Bridge weld seam, gusset and vertical plate component weld seam, spring strut girth joint, spring strut and vertical plate component are super to visit weld seam backing welding, vertical plate
Component and the long weld seam cover of lower cover plate weld, spring strut and the super spy weld seam cover weldering of vertical plate component；
Step 3: it determines welding parameter: determining welding current, the voltage, speed of welding of backing welding, filling weldering and cover weldering respectively
And wire feed rate；
Step 4: control welding quality: including 3 points of control assembly clearance, control pretreatment quality and control weld seam matter that cross
Amount.
2. muscle double computer cooperation automatic soldering method in rail vehicle curb girder according to claim 1, which is characterized in that its
In, gusset includes long gusset and short rib, in step 1, the concrete form of template weld seam include: short rib and lower cover plate welding seams,
Girth joint is single layer single-pass welding on the inside of short rib and vertical plate component weld seam, long gusset and vertical plate component weld seam, spring strut, long
Gusset and lower cover plate welding seams are two layers of twice weld seam, and vertical plate component and the long weld seam of lower cover plate are two layers of three weld seams, spring strut with
The super weld seam of visiting of vertical plate component is two layers of six weld seams.
3. muscle double computer cooperation automatic soldering method in rail vehicle curb girder according to claim 1, which is characterized in that step
In two, according to the sequencing of welding, concrete operation step are as follows:
Vertical plate component and the long weld seam backing welding of lower cover plate: muscle beam body in curb girder is adjusted to horizontal position, using manipulator from vertical
The intermediate gusset side of board group part and lower cover plate bottom welding to the left, while another manipulator is beaten to the right from intermediate gusset the same side
Back welding connects, and then carries out vertical plate component and another road length weld seam backing welding of lower cover plate using same processing mode；
Gusset and lower cover plate welding seams weld: muscle beam body in curb girder being adjusted to ship type welding position, two manipulators are by symmetrical side
Formula is welded；
Gusset and vertical plate component weld seam weld: adjusting muscle beam body in curb girder to ship type position when welding, two manipulators use
Symmetrically, it is symmetrically welded from intermediate synchronized toward both ends；
Spring strut boxing seam welding: adjusting muscle beam body in curb girder to horizontal position when welding, and two manipulator synchronization jobs are complete
It is welded at girth joint；
Spring strut and the super spy weld seam backing welding of vertical plate component: muscle beam body in curb girder is adjusted to horizontal position, two manipulators are symmetrical
Synchronous welding；
Vertical plate component is welded with the long weld seam cover of lower cover plate: welding position is consistent with the long weld seam backing welding of lower cover plate with vertical plate component,
The twice weld seam of cover weldering continuously welds；
Spring strut and the super spy weld seam cover weldering of vertical plate component: welding position and the super spy weld seam backing welding one of spring strut and vertical plate component
It causes, the continuous welding of twice weldering of cover weldering.
4. muscle double computer cooperation automatic soldering method in rail vehicle curb girder according to claim 1, which is characterized in that step
In four, control assembly clearance is specially that control assembly clearance is uniform, and assembly clearance is no more than 2mm.
5. muscle double computer cooperation automatic soldering method in rail vehicle curb girder according to claim 1, which is characterized in that step
In four, control pretreatment quality includes the pretreatment of gusset chamfering, assembly clearance pretreatment, tack welding and pretreatment weld seam processing.
6. muscle double computer cooperation automatic soldering method in rail vehicle curb girder according to claim 5, which is characterized in that described
The pretreatment of gusset chamfering specifically includes: welding in advance to 3 intersections, postwelding is by gusset two sides weld grinding, after polishing
It is reserved to be no more than 5mm weld seam.
7. muscle double computer cooperation automatic soldering method in rail vehicle curb girder according to claim 5, which is characterized in that described
Assembly clearance pretreatment specifically includes: being pre-processed, is polished after pretreatment welding concave from groove side.
8. muscle double computer cooperation automatic soldering method in rail vehicle curb girder according to claim 5, which is characterized in that described
Tack welding and pretreatment weld seam processing specifically include: all tack welding positions, the pretreatment weld seam starting the arc are received at arc, and circle is polished into
Slideway.
9. muscle double computer cooperation automatic soldering method in rail vehicle curb girder according to claim 2, which is characterized in that described
3 points of weldqualities that cross are controlled specifically to need to handle at receipts arc:
(1) vertical plate component and the long weld seam of lower cover plate, bottom welding increase submerged arc hole, submerged arc setting time；
(2) gusset and lower cover plate welding seams, welding increase submerged arc hole, submerged arc setting time；
(3) vertical plate component and each gusset weld seam, welding increase submerged arc hole, submerged arc setting time；
(4) vertical plate component and the long weld seam of lower cover plate, cover welding increase submerged arc hole, submerged arc setting time, and with pulling back.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711073026.9A CN107717188B (en) | 2017-11-03 | 2017-11-03 | Muscle double computer cooperation automatic soldering method in a kind of rail vehicle curb girder |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711073026.9A CN107717188B (en) | 2017-11-03 | 2017-11-03 | Muscle double computer cooperation automatic soldering method in a kind of rail vehicle curb girder |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107717188A CN107717188A (en) | 2018-02-23 |
| CN107717188B true CN107717188B (en) | 2019-11-22 |
Family
ID=61221544
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711073026.9A Active CN107717188B (en) | 2017-11-03 | 2017-11-03 | Muscle double computer cooperation automatic soldering method in a kind of rail vehicle curb girder |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107717188B (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110919138A (en) * | 2019-12-18 | 2020-03-27 | 南京雷尔伟新技术股份有限公司 | Full-automatic welding device and process for spring cylinder and brake hanging seat |
| CN111151905B (en) * | 2020-01-02 | 2021-11-12 | 中车青岛四方机车车辆股份有限公司 | Welding method and welding control system for side beam assembly |
| CN111590161B (en) * | 2020-04-07 | 2022-02-18 | 中车青岛四方机车车辆股份有限公司 | Automatic welding method for urban rail tubular cross beam and plate-shaped part |
| CN114952134A (en) * | 2022-06-06 | 2022-08-30 | 中车唐山机车车辆有限公司 | Welding method and device for arc-shaped welding seam at end part of side beam of bogie |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103192159A (en) * | 2013-04-23 | 2013-07-10 | 中国电子科技集团公司第三十八研究所 | Workstation system with welding robots for radar structural parts |
| CN103370254A (en) * | 2011-02-14 | 2013-10-23 | 庞巴迪运输有限公司 | Longitudinal support for the transition region from a coach body side wall to the coach body roof of a rail vehicle coach body |
| CN104759890A (en) * | 2015-04-16 | 2015-07-08 | 南京康尼机电股份有限公司 | Automatic production line and method used for welding and milling door frame of railway vehicle |
| CN104942506A (en) * | 2015-06-18 | 2015-09-30 | 南车青岛四方机车车辆股份有限公司 | Low-floor bogie outside beam assembling and welding tool and assembling and welding method thereof |
| CN105195864A (en) * | 2015-07-17 | 2015-12-30 | 江西洪都航空工业集团有限责任公司 | Double-robot working station for double-weld-joint arc welding |
| CN106181152A (en) * | 2016-08-29 | 2016-12-07 | 中车青岛四方机车车辆股份有限公司 | Bogie frame automatic setup system |
| JP2017019305A (en) * | 2015-07-07 | 2017-01-26 | 近畿車輌株式会社 | Railway vehicle body structure and manufacturing method therefor |
| CN106513928A (en) * | 2016-09-30 | 2017-03-22 | 中车青岛四方机车车辆股份有限公司 | Welding method of rail vehicle side beam assembly |
-
2017
- 2017-11-03 CN CN201711073026.9A patent/CN107717188B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103370254A (en) * | 2011-02-14 | 2013-10-23 | 庞巴迪运输有限公司 | Longitudinal support for the transition region from a coach body side wall to the coach body roof of a rail vehicle coach body |
| CN103192159A (en) * | 2013-04-23 | 2013-07-10 | 中国电子科技集团公司第三十八研究所 | Workstation system with welding robots for radar structural parts |
| CN104759890A (en) * | 2015-04-16 | 2015-07-08 | 南京康尼机电股份有限公司 | Automatic production line and method used for welding and milling door frame of railway vehicle |
| CN104942506A (en) * | 2015-06-18 | 2015-09-30 | 南车青岛四方机车车辆股份有限公司 | Low-floor bogie outside beam assembling and welding tool and assembling and welding method thereof |
| JP2017019305A (en) * | 2015-07-07 | 2017-01-26 | 近畿車輌株式会社 | Railway vehicle body structure and manufacturing method therefor |
| CN105195864A (en) * | 2015-07-17 | 2015-12-30 | 江西洪都航空工业集团有限责任公司 | Double-robot working station for double-weld-joint arc welding |
| CN106181152A (en) * | 2016-08-29 | 2016-12-07 | 中车青岛四方机车车辆股份有限公司 | Bogie frame automatic setup system |
| CN106513928A (en) * | 2016-09-30 | 2017-03-22 | 中车青岛四方机车车辆股份有限公司 | Welding method of rail vehicle side beam assembly |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107717188A (en) | 2018-02-23 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107717188B (en) | Muscle double computer cooperation automatic soldering method in a kind of rail vehicle curb girder | |
| CN205733542U (en) | A kind of many planes trackless automatic tracking welding connection device | |
| CN102009275B (en) | Automatic welding system for rack and base of marine diesel engine | |
| CN106270983B (en) | A kind of head cover flexibility stud mounted welder | |
| CN103357986A (en) | Welding device | |
| CN206854823U (en) | Long-lived Orthotropic Steel Bridge Deck is remained silent the fabricating tools of rib | |
| CN105081595A (en) | Fillet weld welding structure for K-type grooves of moderately-thick plate without back chipping and welding technology of fillet weld welding structure | |
| CN102861970A (en) | Welding method of orthotropic plate U-shaped rib fillet welding robot and special equipment thereof | |
| CN108526743B (en) | Automatic tailor-welding method for connecting rod body of hydraulic support | |
| CN105014193A (en) | Special circular seam hardfacing machine | |
| CN107999938B (en) | Double-machine cooperative automatic welding method and system for rail vehicle beam | |
| CN105082530A (en) | Hot melting welding machine for corrugated pipe joint | |
| CN109514047B (en) | Welding process of thick-wall pipe | |
| CN102513676A (en) | Automatic spot welding device | |
| CN106493496A (en) | A kind of automobile body-in-white fixed-position welding device | |
| CN205032891U (en) | Bridge board unit welding production line | |
| CN106944721A (en) | The preparation method that double H types section turns box-type section composite steel column | |
| CN108581256A (en) | A kind of two phase stainless steel complete penetraction and fusion in welding fillet weld automatic welding method | |
| CN107378203A (en) | The welding method of box column | |
| CN204913173U (en) | Diaxon positioner | |
| CN103286463B (en) | Technological method for automatically welding cones with upper cover plate of side beam of framework | |
| CN106271140A (en) | A kind of plasma MAG complex welding method | |
| CN113878310A (en) | Fusion penetration welding method for T-shaped joint of thick plate | |
| CN206366785U (en) | Railway frog intelligence welding robot | |
| CN206065790U (en) | A kind of crawler crane large-sized structural parts positioner |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |