CN107999938A - A kind of rail vehicle crossbeam double computer cooperation automatic soldering method and system - Google Patents
A kind of rail vehicle crossbeam double computer cooperation automatic soldering method and system Download PDFInfo
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- CN107999938A CN107999938A CN201711072273.7A CN201711072273A CN107999938A CN 107999938 A CN107999938 A CN 107999938A CN 201711072273 A CN201711072273 A CN 201711072273A CN 107999938 A CN107999938 A CN 107999938A
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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
- B23K9/24—Features related to electrodes
- B23K9/28—Supporting devices for electrodes
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Abstract
The present invention relates to rail vehicle welding technology field, discloses a kind of rail vehicle crossbeam double computer cooperation automatic soldering method, it may include steps of：Beam structure simulation is completed by welding model, the concrete form of model weld seam is determined according to soldering angle and position while welding, model weld seam includes pretreatment layer, filled layer and the capping layer being welded from inside to outside；Overall welding follows the weldering of ship type positional symmetry, first welds the welding sequence of welding cap surface layer after filled layer, using the welding sequence of positive welding-back side welding-front welding-vertical position welding-vertical position welding；Pretreatment layer, the welding current of filled layer and capping layer, voltage, speed of welding and wire feed rate are determined respectively；Welding bead crimp quality is controlled, controls built-up welding joint quality.The invention also discloses a kind of rail vehicle crossbeam double computer cooperation robot welding system.The present invention can lift beam welding efficiency, effectively control welding deformation.
Description
Technical field
It is automatic more particularly to a kind of rail vehicle crossbeam double computer cooperation the present invention relates to rail vehicle welding technology field
Welding method and system.
Background technology
With order volume increase and the limitation of plant area, it is desirable to lifted under conditions of original plant area is constant
The utilization rate of unit plant area, reaches the production capacity of 3/day, this requires to come under conditions of robot floor space is not increased
Raising efficiency, existing crossbeam manipulator weldering fetch lifting welding efficiency by Double Wire Welding, and double wire welding is to beam structure, welding
Status requirement is higher, and for subway class crossbeam, due to architectural difference, there are the boxing of substantial amounts of 50mm steel plateelements and crossbeam steel pipe
Seam, such weld seam is shorter, and welding space is smaller, such as uses Double Wire Welding raising efficiency, it is difficult to control welding quality.
The content of the invention
(1) technical problems to be solved
The technical problem to be solved in the present invention is how to lift beam welding efficiency, welding deformation is effectively controlled.
(2) technical solution
In order to solve the above technical problem, the present invention provides a kind of rail vehicle crossbeam double computer cooperation automatic soldering method,
It may include steps of：
Step 1：Determine model weld seam：Beam structure simulation is completed by welding model, according to soldering angle and weld seam
The concrete form of location determination model weld seam, model weld seam include pretreatment layer, filled layer and the lid being welded from inside to outside
Surface layer；
Step 2：Determine welding sequence：Overall welding follows the weldering of ship type positional symmetry, first weld filled layer after welding cap surface layer
Welding sequence, using the welding sequence of positive welding-back side welding-front welding-vertical position welding-vertical position welding；
Step 3：Determine welding parameter：Pretreatment layer, the welding current of filled layer and capping layer, voltage, weldering are determined respectively
Connect speed and wire feed rate；
Step 4：Control pretreatment quality：Including controlling welding bead crimp quality, built-up welding joint quality is controlled.
In step 1, longitudinal beam assembly and crossbeam steel pipe seam, electricity are included using the model position while welding of manipulator welding
Machine flap seat and crossbeam steel pipe seam, drawing pull bar seat and beam steel pipe ring weld seam, drawing pull bar and gear box bracket and beam steel
The outer side weld of pipe.
In step 1, the pretreatment layer in model weld seam is formed by human weld, after the completion of pretreatment layer all welds, by
Manipulator welds filled layer, after the completion of filled layer all welds, by manipulator welding lid surface layer.
In step 1, the concrete form of model weld seam includes：The upper cover plate of longitudinal beam assembly includes 8 with crossbeam steel pipe seam
Road, wherein, the 1st it is pretreatment layer, the 2nd~3 be filled layer, the 4th~8 is capping layer；The lower cover of longitudinal beam assembly
Include 5 with crossbeam steel pipe seam, wherein, the 1st it is pretreatment layer, the 2nd be filled layer, the 3rd~5 is capping layer；Electricity
Machine flap seat front shroud and crossbeam steel pipe seam include 8, wherein, the 1st it is pretreatment layer, the 2nd~3 is filled layer, the 4th
~8 be capping layer；Motor hanger back shroud includes 8 with crossbeam steel pipe seam, wherein, the 1st is pretreatment layer, the 2nd~3
Road is filled layer, the 4th~8 is capping layer；Drawing pull bar seat and beam steel pipe ring weld seam, drawing pull bar and gear box bracket with
Weld seam includes 7 on the outside of crossbeam steel pipe, wherein, the 1st it is pretreatment layer, the 2nd~4 be filled layer, the 5th~7 is lid
Surface layer.
In step 2, using the welding sequence of positive welding-back side welding-front welding-vertical position welding-vertical position welding, specifically
Including：
First longitudinal beam upper cover plate is overturn to upward, using two-shipper is symmetrical, welding sequence from the inside to the outside, welds longitudinal beam
The upper cover plate of component and crossbeam steel pipe seam；
Longitudinal beam lower cover is overturn to upward again, using two-shipper is symmetrical, welding sequence from the inside to the outside, welds longitudinal beam
The lower cover of component and crossbeam steel pipe seam, and the alternate welding manner of two-shipper is used, weld motor hanger back shroud and crossbeam
Steel pipe seam；
By crossbeam-rotating to front position, welding motor hanger front shroud and crossbeam steel pipe seam；
By crossbeam-rotating to vertical position of welding, welding drawing pull bar seat and beam steel pipe ring weld seam, and weld drawing pull bar and
Gear box bracket and crossbeam steel pipe seam.
Wherein, drawing pull bar seat is made of with beam steel pipe ring weld seam two and half circular joints, the starting of two and half circular joints
Overlap at arc and ending arc.
In step 4, control welding bead crimp quality specifically includes：During multiple-bead deposit, crimp, avoided between welding bead between each welding bead
There is wedge angle, control weld reinforcement and crimping angle.
In step 4, control built-up welding joint quality specifically includes：For the girth joint being made of two and half circular joints,
After the completion of front half section weld seam, at the starting the arc of second half section weld seam, receive arc at need since front half section weld seam receive arc at, at the starting the arc,
Terminate, avoid the occurrence of connector defect.
In the embodiment of the present invention, include 8 using the longitudinal beam assembly and crossbeam steel pipe seam of manipulator welding, motor
Flap seat and crossbeam steel pipe seam include 4, and drawing pull bar seat and beam steel pipe ring weld seam include 4, drawing pull bar and gear-box
Flap seat includes 4 with weld seam on the outside of crossbeam steel pipe.
The present invention also provides a kind of rail vehicle crossbeam double computer cooperation robot welding system, it includes two six axis bonding machines
Tool hand, and positioner；The six axis welding manipulator is installed on horizontal beam using projecting mode, and can be along horizontal beam
Axial movement；Positioner drives crossbeam to overturn, the six axis bonding machine using posture end to end by the positioner
Tool hand, which is matched somebody with somebody, is arranged with welding machine and wire feed system.
(3) beneficial effect
Compared with prior art, the present invention has the following advantages：
A kind of rail vehicle crossbeam double computer cooperation automatic soldering method provided by the invention and system, this method by using
Double computer cooperation welding procedure, two group welding manipulator work compounds, by the weld interval of every group of crossbeam by 5.5h, is reduced to
3.5h, reaches the production capacity (double shift) of 3/day, solves production capacity bottleneck problem, improve the utilization of workshop unit area
Rate；And using double computer cooperation, it is symmetrically welded, makes thermal weld stress more reasonable, effectively reduce welding deformation, reduce
Follow-up welding adjusting amount, saves time cost, improves efficiency.The implementation of this method is easily facilitated by the system, is operated
Reliability is high.
Brief description of the drawings
Fig. 1 is using the model of manipulator welding in a kind of rail vehicle crossbeam double computer cooperation automatic soldering method of the present invention
Position while welding schematic diagram；
Fig. 2 is the schematic diagram of upper cover plate and crossbeam steel pipe seam that longitudinal beam assembly is welded in the method for the present invention；
Fig. 3 is the lower cover and crossbeam steel pipe seam and welding motor hanger that longitudinal beam assembly is welded in the method for the present invention
The schematic diagram of back shroud and crossbeam steel pipe seam；
Fig. 4 is the schematic diagram that motor hanger front shroud and crossbeam steel pipe seam are welded in the method for the present invention；
Fig. 5 is that drawing pull bar seat and beam steel pipe ring weld seam and welding drawing pull bar and gear are welded in the method for the present invention
The schematic diagram of case flap seat and crossbeam steel pipe seam；
Fig. 6 is the schematic diagram that welding bead crimp quality is controlled in the method for the present invention；
Fig. 7 is the schematic diagram that built-up welding joint quality is controlled in the method for the present invention；
Fig. 8 is the schematic diagram for the girth joint that present invention processing is made of two and half circular joints；
Fig. 9 is a kind of structure diagram of rail vehicle crossbeam double computer cooperation robot welding system of the present invention；
Figure 10 is the correspondence schematic diagram of welding position, leg and model weld seam in method of the invention；
In figure：1：Crossbeam steel pipe；2：Drawing pull bar and gear box bracket；3：Drawing pull bar seat；4：Motor hanger；5：Longitudinal direction
Beam assembly；6：Horizontal beam；7：Six axis welding manipulators； 8：Positioner；9：Welding machine；10：Overturn melt pit；1-1、2-1：Association
With the manipulator of work；1-2、2-2：The manipulator of collaborative work；1-3、2-3：The manipulator of collaborative work.
Embodiment
With reference to the accompanying drawings and examples, the embodiment of the present invention is described in further detail.Implement below
Example is used to illustrate the present invention, but is not limited to the scope of the present invention.
In the description of the present invention, it is necessary to explanation, term " " center ", " longitudinal direction ", " transverse direction ", " on ", " under ",
The orientation or position relationship of the instruction such as "front", "rear", "left", "right", " vertical ", " level ", " top ", " bottom " " interior ", " outer " are
Based on orientation shown in the drawings or position relationship, it is for only for ease of the description present invention and simplifies description, rather than instruction or dark
Show that the device of meaning or element there must be specific orientation, with specific azimuth configuration and operation, thus it is it is not intended that right
The limitation of the present invention.
In the description of the present invention, it is necessary to illustrate, unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " should be interpreted broadly, for example, it may be being fixedly connected or being detachably connected, or be integrally connected；Can
To be mechanical connection or be electrically connected；It can be directly connected, can also be indirectly connected by intermediary, Ke Yishi
Connection inside two elements.For the ordinary skill in the art, concrete condition can be regarded and understands 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 ", " multigroup " be meant that two or
Two or more.
An embodiment of the present invention provides a kind of rail vehicle crossbeam double computer cooperation automatic soldering method, it can include as follows
Step：
Step 1：Determine model weld seam：Beam structure simulation is completed by welding model, in of the invention, with certain type subway
Illustrated exemplified by crossbeam, as shown in Figure 1, crossbeam is mainly by crossbeam steel pipe 1, drawing pull bar and gear box bracket 2, drawing pull bar
Seat 3, motor hanger 4, longitudinal beam assembly 5 this five like members composition；Model weld seam is determined according to soldering angle and position while welding
Concrete form, model weld seam include pretreatment layer, filled layer and the capping layer being welded from inside to outside；Welded using manipulator
Model position while welding include：The upper cover plate of longitudinal beam assembly and crossbeam steel pipe seam, the lower cover and crossbeam of longitudinal beam assembly
Steel pipe seam, motor hanger front shroud and crossbeam steel pipe seam, motor hanger back shroud and crossbeam steel pipe seam, drawing pull bar seat
With beam steel pipe ring weld seam, outside drawing pull bar seat and beam steel pipe ring weld seam, drawing pull bar and gear box bracket and crossbeam steel pipe
Side weld.
Step 2：Determine welding sequence：In order to use double computer cooperation welding lifting welding efficiency, control weldering to greatest extent
Deformation is connect, improves welding quality, overall welding follows the weldering of ship type (PA) positional symmetry, first welds the weldering of welding cap surface layer after filled layer
Order is connect, using the welding sequence of positive welding-back side welding-front welding-vertical position welding-vertical position welding, filled layer, capping layer are adopted
With identical welding sequence；
Step 3：Determine welding parameter：Pretreatment layer, the welding current of filled layer and capping layer, voltage, weldering are determined respectively
Speed and wire feed rate are connect, it is as shown in the table；
Step 4：Control pretreatment quality：Including controlling welding bead crimp quality, built-up welding joint quality is controlled；Pretreatment layer
Welded in manual board position, in order to avoid slag inclusion, lack of fusion occurs in interlayer, it is desirable to which pretreatment layer weld seam cannot go out with groove
, as shown in Fig. 6 left figures, such as there is acute angle in existing acute angle, need to the mode as shown in Fig. 6 right figures handled.
In step 1, the pretreatment layer in model weld seam is formed by human weld, after the completion of pretreatment layer all welds, by
Manipulator welds filled layer, after the completion of filled layer all welds, by manipulator welding lid surface layer.
In step 1, the concrete form of model weld seam includes：The upper cover plate of longitudinal beam assembly includes 8 with crossbeam steel pipe seam
Road, wherein, the 1st it is pretreatment layer, the 2nd~3 be filled layer, the 4th~8 is capping layer；The lower cover of longitudinal beam assembly
Include 5 with crossbeam steel pipe seam, wherein, the 1st it is pretreatment layer, the 2nd be filled layer, the 3rd~5 is capping layer；Electricity
Machine flap seat front shroud and crossbeam steel pipe seam include 8, wherein, the 1st be pretreatment layer, the 2nd~3 be filled layer, the 4th~
8 be capping layer；Motor hanger back shroud includes 8 with crossbeam steel pipe seam, wherein, the 1st is pretreatment layer, the 2nd~3
It is capping layer for filled layer, the 4th~8；Drawing pull bar seat and beam steel pipe ring weld seam, drawing pull bar and gear box bracket with
Weld seam includes 7 on the outside of crossbeam steel pipe, wherein, the 1st it is pretreatment layer, the 2nd~4 be filled layer, the 5th~7 is lid
Surface layer.
In step 2, using the welding sequence of positive welding-back side welding-front welding-vertical position welding-vertical position welding, specifically
Including：
First longitudinal beam upper cover plate is overturn to upward, as shown in Fig. 2, using manipulator 1-1,2-1 and association for cooperating
Same manipulator 1-2,2-2 two-shipper to work is symmetrical, welding sequence from the inside to the outside, welds the upper cover plate and crossbeam of longitudinal beam assembly
Steel pipe seam, direction shown in arrow is welding direction in figure；
Longitudinal beam lower cover is overturn to upward again, as shown in figure 3, using manipulator 1-1,2-1 and association for cooperating
Same manipulator 1-2,2-2 two-shipper to work is symmetrical, welding sequence from the inside to the outside, welds the lower cover and crossbeam of longitudinal beam assembly
Steel pipe seam, in order to ensure ship type position weld, can not two-shipper weld at the same time, using manipulator 1-3,2-3 of collaborative work
The alternate welding manner of two-shipper, welding motor hanger back shroud and crossbeam steel pipe seam, ship type position refers to be revolved by inclination weld seam
Switch to side seam；
By crossbeam-rotating to front position, as shown in figure 4, being hung using manipulator 1-1,2-1 the welding motor to cooperate
Seat front shroud and crossbeam steel pipe seam；
By vertical position of welding shown in crossbeam-rotating to Fig. 5, drawing pull bar is welded using manipulator 1-1,2-1 of collaborative work
Seat and beam steel pipe ring weld seam, and using manipulator 1-2,2-2 the welding drawing pull bar and gear box bracket and horizontal stroke to cooperate
Beam steel pipe seam.In order to control interlayer temperature and joint quality, 2,3,4 weld seams of filling welding must be welded sequentially, such as manipulator
The 2nd weld seam of drawing pull bar and gear box bracket is first welded, then welds the 2nd weld seam of drawing pull bar seat, then sequentially completes the
3rd, 4 weld seam.
Wherein, drawing pull bar seat is made of with beam steel pipe ring weld seam two and half circular joints, the starting of two and half circular joints
Overlap at arc and ending arc, defect occur to avoid joint.
In step 4, control welding bead crimp quality specifically includes：During multiple-bead deposit, crimp, avoided between welding bead between each welding bead
There is the wedge angle as shown in Fig. 7 left figures, cause sharp corner lack of fusion, detection defects occur, should be controlled as shown in Fig. 7 right figures
Weld reinforcement and crimping angle.
In step 4, control built-up welding joint quality specifically includes：For the girth joint being made of two and half circular joints,
As shown in figure 8, after the completion of front half section weld seam, at the starting the arc of second half section weld seam, receive need to receive at arc from front half section weld seam at arc,
Start at arc, terminate, avoid the occurrence of connector defect.
In the embodiment of the present invention, include 8 using the longitudinal beam assembly and crossbeam steel pipe seam of manipulator welding, motor
Flap seat and crossbeam steel pipe seam include 4, and drawing pull bar seat and beam steel pipe ring weld seam include 4, drawing pull bar and gear-box
Flap seat includes 4 with weld seam on the outside of crossbeam steel pipe；Remaining weld seam is due to reasons in structure or limited space, using manual welding.
As shown in figure 9, present invention also offers a kind of rail vehicle crossbeam double computer cooperation robot welding system, it includes two
Six axis welding manipulator 7 of platform, and positioner 8；The six axis welding manipulator 7 is installed on horizontal beam using projecting mode
On 6, and it can be moved axially along horizontal beam 6；Positioner 8 drives crossbeam using posture end to end by the positioner 8
Upset, the base of positioner 8 are fixed in upset melt pit 10 so that more steady in switching process, six axis
Welding manipulator, which is matched somebody with somebody, is arranged with welding machine 9 and wire feed system.By modularized design, using quick-replaceable interface, system is realized
Flexibility.Specific such as Figure 10：Wherein, 10 in leg 10 × 45, represent that longitudinal beam composition upper cover plate thickness of slab is 10mm, 45 tables
It is 45 degree to show soldering angle, and so on, the 10 of 10 × 35, represent that longitudinal beam composition lower cover thickness of slab is 10mm, 35 represent weldering
Angle is connect as 35 degree, the 14 of 14 × 45, motor hanger front shroud thickness of slab is 14mm, and 45 represent soldering angle for 45 degree, 10 × 40
10, represent that motor hanger back shroud thickness of slab be 10mm, 40 represent that soldering angles are 40 degree；Leg Z15, Z15 represent welding angle
Spend for right angle, and the leg length of right angle both sides is 15mm.
The 1st pretreatment layer is artificial weld seam in above model weld seam, and pretreatment layer is whole before manipulator welding is entered
Welding is completed, remaining is to be welded using manipulator.
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
Same operation, greatly shortened and effectively reduces welding deformation the weld interval of every group of crossbeam, reduces follow-up welding adjusting amount,
Save time cost, improve efficiency.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
With within principle, any modification, equivalent replacement, improvement and so on, should all be included in the protection scope of the present invention god.
Claims (10)
1. a kind of rail vehicle crossbeam double computer cooperation automatic soldering method, it is characterised in that include the following steps：
Step 1：Determine model weld seam：Beam structure simulation is completed by welding model, according to soldering angle and position while welding
Determine the concrete form of model weld seam, model weld seam includes pretreatment layer, filled layer and the capping layer being welded from inside to outside；
Step 2：Determine welding sequence：Overall welding follows the weldering of ship type positional symmetry, first welds the welding of welding cap surface layer after filled layer
Sequentially, using the welding sequence of positive welding-back side welding-front welding-vertical position welding-vertical position welding；
Step 3：Determine welding parameter：Pretreatment layer, the welding current of filled layer and capping layer, voltage, welding speed are determined respectively
Degree and wire feed rate；
Step 4：Control pretreatment quality：Including controlling welding bead crimp quality, built-up welding joint quality is controlled.
2. rail vehicle crossbeam double computer cooperation automatic soldering method according to claim 1, it is characterised in that step 1
In, longitudinal beam assembly and crossbeam steel pipe seam, motor hanger and beam steel are included using the model position while welding of manipulator welding
Pipe weld seam, drawing pull bar seat and beam steel pipe ring weld seam, drawing pull bar and gear box bracket and weld seam on the outside of crossbeam steel pipe.
3. rail vehicle crossbeam double computer cooperation automatic soldering method according to claim 1, it is characterised in that step 1
In, the pretreatment layer in model weld seam is formed by human weld, and pretreatment layer all after the completion of welding, is welded by manipulator and filled
Layer, after the completion of filled layer all welds, by manipulator welding lid surface layer.
4. rail vehicle crossbeam double computer cooperation automatic soldering method according to claim 2, it is characterised in that step 1
In, the concrete form of model weld seam includes：The upper cover plate of longitudinal beam assembly includes 8 with crossbeam steel pipe seam, wherein, the 1st
It is filled layer for pretreatment layer, the 2nd~3, the 4th~8 is capping layer；The lower cover of longitudinal beam assembly and crossbeam steel pipe seam
Including 5, wherein, the 1st it is pretreatment layer, the 2nd be filled layer, the 3rd~5 is capping layer；Motor hanger front shroud with
Crossbeam steel pipe seam includes 8, wherein, the 1st it is pretreatment layer, the 2nd~3 be filled layer, the 4th~8 is capping layer；Electricity
Machine flap seat back shroud and crossbeam steel pipe seam include 8, wherein, the 1st be pretreatment layer, the 2nd~3 be filled layer, the 4th~
8 be capping layer；Drawing pull bar seat and weld seam on the outside of beam steel pipe ring weld seam, drawing pull bar and gear box bracket and crossbeam steel pipe
Include 7, wherein, the 1st it is pretreatment layer, the 2nd~4 be filled layer, the 5th~7 is capping layer.
5. rail vehicle crossbeam double computer cooperation automatic soldering method according to claim 1, it is characterised in that step 2
In, the welding sequence using positive welding-back side welding-front welding-vertical position welding-vertical position welding, specifically includes：
First longitudinal beam upper cover plate is overturn to upward, using two-shipper is symmetrical, welding sequence from the inside to the outside, welds longitudinal beam assembly
Upper cover plate and crossbeam steel pipe seam；
Longitudinal beam lower cover is overturn to upward again, using two-shipper is symmetrical, welding sequence from the inside to the outside, welds longitudinal beam assembly
Lower cover and crossbeam steel pipe seam, and use the alternate welding manner of two-shipper, welding motor hanger back shroud and crossbeam steel pipe
Weld seam；
By crossbeam-rotating to front position, welding motor hanger front shroud and crossbeam steel pipe seam；
By crossbeam-rotating to vertical position of welding, welding drawing pull bar seat and beam steel pipe ring weld seam, and weld drawing pull bar and gear
Case flap seat and crossbeam steel pipe seam.
6. rail vehicle crossbeam double computer cooperation automatic soldering method according to claim 5, it is characterised in that wherein, institute
State drawing pull bar seat to be made of two and half circular joints with beam steel pipe ring weld seam, at the starting arc and ending arc of two and half circular joints
Overlap.
7. rail vehicle crossbeam double computer cooperation automatic soldering method according to claim 1, it is characterised in that step 4
In, the control welding bead crimp quality specifically includes：During multiple-bead deposit, crimped between each welding bead, avoid wedge angle occur between welding bead, controlled
Weld reinforcement processed and crimping angle.
8. rail vehicle crossbeam double computer cooperation automatic soldering method according to claim 1, it is characterised in that step 4
In, the control built-up welding joint quality specifically includes：For the girth joint being made of two and half circular joints, front half section weld seam
After the completion of, at the starting the arc of second half section weld seam, receive arc at need since front half section weld seam receive arc at, at the starting the arc, terminate, avoid out
Existing connector defect.
9. rail vehicle crossbeam double computer cooperation automatic soldering method according to claim 2, it is characterised in that using machinery
Longitudinal beam assembly of hand welding includes 8 with crossbeam steel pipe seam, and motor hanger includes 4 with crossbeam steel pipe seam, and traction is drawn
Pole socket includes 4 with beam steel pipe ring weld seam, and drawing pull bar and gear box bracket include 4 with weld seam on the outside of crossbeam steel pipe.
10. a kind of rail vehicle crossbeam double computer cooperation robot welding system, it is characterised in that including two six axis electroplating equipment wielding machines
Hand, and positioner；The six axis welding manipulator is installed on horizontal beam using projecting mode, and can be along horizontal beam axis
To movement；Positioner drives crossbeam to overturn, the six axis electroplating equipment wielding machine using posture end to end by the positioner
Hand, which is matched somebody with somebody, is arranged with welding machine and wire feed system.
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| CN108941843A (en) * | 2018-07-16 | 2018-12-07 | 中车青岛四方机车车辆股份有限公司 | A kind of crossbeam dovetail welded corner joint method |
| CN111136399A (en) * | 2020-01-02 | 2020-05-12 | 中车青岛四方机车车辆股份有限公司 | Adjusting-free welding method and auxiliary welding device for rail vehicle tube plate structure |
| CN111590161A (en) * | 2020-04-07 | 2020-08-28 | 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 |
| CN112077474A (en) * | 2020-08-07 | 2020-12-15 | 中车青岛四方机车车辆股份有限公司 | Welding quality control method and device for thick plate narrow-spacing circumferential weld |
| CN114309883A (en) * | 2022-01-11 | 2022-04-12 | 上海江南长兴造船有限责任公司 | Method for controlling installation precision of liquid cargo pump folding pipe of liquefied natural gas carrier |
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| CN108941843A (en) * | 2018-07-16 | 2018-12-07 | 中车青岛四方机车车辆股份有限公司 | A kind of crossbeam dovetail welded corner joint method |
| CN108941843B (en) * | 2018-07-16 | 2022-04-22 | 中车青岛四方机车车辆股份有限公司 | Method for welding dovetail angle of cross beam |
| CN111136399A (en) * | 2020-01-02 | 2020-05-12 | 中车青岛四方机车车辆股份有限公司 | Adjusting-free welding method and auxiliary welding device for rail vehicle tube plate structure |
| CN111590161A (en) * | 2020-04-07 | 2020-08-28 | 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 |
| 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 |
| CN112077474A (en) * | 2020-08-07 | 2020-12-15 | 中车青岛四方机车车辆股份有限公司 | Welding quality control method and device for thick plate narrow-spacing circumferential weld |
| CN112077474B (en) * | 2020-08-07 | 2022-03-25 | 中车青岛四方机车车辆股份有限公司 | Welding quality control method for thick plate narrow-spacing circumferential weld |
| CN114309883A (en) * | 2022-01-11 | 2022-04-12 | 上海江南长兴造船有限责任公司 | Method for controlling installation precision of liquid cargo pump folding pipe of liquefied natural gas carrier |
| CN114309883B (en) * | 2022-01-11 | 2024-05-17 | 上海江南长兴造船有限责任公司 | Installation precision control method for liquefied natural gas ship liquid cargo pump folding pipe |
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