CN107999938B - Double-machine cooperative automatic welding method and system for rail vehicle beam - Google Patents
Double-machine cooperative automatic welding method and system for rail vehicle beam Download PDFInfo
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- CN107999938B CN107999938B CN201711072273.7A CN201711072273A CN107999938B CN 107999938 B CN107999938 B CN 107999938B CN 201711072273 A CN201711072273 A CN 201711072273A CN 107999938 B CN107999938 B CN 107999938B
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Abstract
The invention relates to the technical field of rail vehicle welding, and discloses a rail vehicle beam double-machine cooperation automatic welding method which comprises the following steps: the beam structure simulation is completed through a welding sample plate, the specific form of a sample plate welding line is determined according to the welding angle and the welding line position, and the sample plate welding line comprises a pretreatment layer, a filling layer and a cover surface layer which are welded from inside to outside; the overall welding follows the welding sequence of ship-shaped position symmetrical welding, welding the filling layer first and then welding the cover surface layer, and adopts the welding sequence of front welding-back welding-front welding-vertical welding; respectively determining the welding current, voltage, welding speed and wire feeding speed of the pretreatment layer, the filling layer and the cover layer; and controlling the welding bead compression joint quality and controlling the quality of a surfacing joint. The invention also discloses a double-machine cooperation automatic welding system for the rail vehicle beam. The invention can improve the welding efficiency of the beam and effectively control the welding deformation.
Description
Technical Field
The invention relates to the technical field of rail vehicle welding, in particular to a rail vehicle beam double-machine cooperation automatic welding method and system.
Background
Along with the restriction of order volume increase and factory building area, the requirement gets off the utilization ratio that promotes unit factory building area at the unchangeable condition of original factory building area, reach 3 productivity of day, this requirement gets off lifting efficiency at the condition that does not increase robot area, current crossbeam manipulator welds and promotes welding efficiency through the double-wire welding, the double-wire welding is to crossbeam structure, the welding position requirement is higher, to subway class crossbeam, because structural difference, there is the girth joint of a large amount of 50mm steel sheet spare and crossbeam steel pipe, this type of welding seam is shorter, the welding space is less, if adopt double-wire welding lifting efficiency, be difficult to control welding quality.
Disclosure of Invention
Technical problem to be solved
The invention aims to solve the technical problem of how to improve the welding efficiency of the cross beam and effectively control the welding deformation.
(II) technical scheme
In order to solve the technical problem, the invention provides a double-machine cooperation automatic welding method for a rail vehicle beam, which comprises the following steps:
the method comprises the following steps: determining a template welding line: the beam structure simulation is completed through a welding sample plate, the specific form of a sample plate welding line is determined according to the welding angle and the welding line position, and the sample plate welding line comprises a pretreatment layer, a filling layer and a cover surface layer which are welded from inside to outside;
step two: determining a welding sequence: the overall welding follows the welding sequence of ship-shaped position symmetrical welding, welding the filling layer first and then welding the cover surface layer, and adopts the welding sequence of front welding-back welding-front welding-vertical welding;
step three: determining welding parameters: respectively determining the welding current, voltage, welding speed and wire feeding speed of the pretreatment layer, the filling layer and the cover layer;
step four: controlling the pretreatment quality: including controlling the quality of welding bead crimping and controlling the quality of a surfacing joint.
In the first step, the sample plate welding seam positions welded by the manipulator comprise a longitudinal beam assembly and beam steel pipe welding seam, a motor hanging seat and beam steel pipe welding seam, a traction pull rod seat and beam steel pipe circumferential welding seam, and a traction pull rod and gear box hanging seat and beam steel pipe outer side welding seam.
In the first step, a pretreatment layer in a sample plate welding line is formed by manual welding, a filling layer is welded by a manipulator after the pretreatment layer is completely welded, and a cover surface layer is welded by the manipulator after the filling layer is completely welded.
In the first step, the concrete form of the template welding seam comprises: the welding seam between the upper cover plate of the longitudinal beam assembly and the steel pipe of the cross beam comprises 8 welding seams, wherein the No. 1 welding seam is a pretreatment layer, the No. 2 welding seam to the No. 3 welding seam is a filling layer, and the No. 4 welding seam to the No. 8 welding seam is a cover surface layer; the welding seam between the lower cover plate of the longitudinal beam assembly and the steel pipe of the cross beam comprises 5 welding seams, wherein the No. 1 welding seam is a pretreatment layer, the No. 2 welding seam is a filling layer, and the No. 3 welding seam to the No. 5 welding seam are cover layers; welding seams between the front cover plate of the motor hanging seat and the steel pipe of the cross beam comprise 8 welding seams, wherein the No. 1 welding seam is a pretreatment layer, the No. 2 to No. 3 welding seams are filling layers, and the No. 4 to No. 8 welding seams are cover layers; welding seams between the rear cover plate of the motor hanging seat and the steel pipe of the cross beam comprise 8 welding seams, wherein the No. 1 welding seam is a pretreatment layer, the No. 2 to No. 3 welding seams are filling layers, and the No. 4 to No. 8 welding seams are cover layers; the traction pull rod seat and cross beam steel pipe circumferential weld, the traction pull rod and the gear box hanging seat and cross beam steel pipe outside weld all include 7, wherein, the 1 st is pretreatment layer, 2 nd ~ 4 th is the filling layer, 5 th ~ 7 th is the capping layer.
In the second step, the welding sequence of front welding, back welding, front welding, vertical welding and vertical welding is adopted, and the method specifically comprises the following steps:
firstly, turning an upper cover plate of a longitudinal beam upwards, and welding the upper cover plate of the longitudinal beam assembly and a steel pipe welding seam of a cross beam by adopting a double-machine symmetrical and inside-out welding sequence;
then, turning the lower cover plate of the longitudinal beam upwards, welding the lower cover plate of the longitudinal beam assembly and the welding seam of the cross beam steel pipe by adopting a double-machine symmetrical and inside-out welding sequence, and welding the welding seam of the rear cover plate of the motor hanger and the welding seam of the cross beam steel pipe by adopting a double-machine alternative welding mode;
rotating the cross beam to the front position, and welding a welding seam between a front cover plate of the motor hanging seat and a steel pipe of the cross beam;
and rotating the crossbeam to a vertical welding position, welding a circumferential weld joint of the traction pull rod seat and the crossbeam steel pipe, and welding the traction pull rod and a weld joint of the gearbox hanging seat and the crossbeam steel pipe.
The traction pull rod seat and the beam steel pipe circumferential weld are composed of two semicircular weld joints, and the initial arcs and the final arcs of the two semicircular weld joints are partially overlapped.
In the fourth step, the step of controlling the welding bead compression joint quality specifically comprises the following steps: when the multilayer surfacing is carried out, the welding beads are in compression joint, so that sharp corners are avoided from appearing between the welding beads, and the welding seam surplus height and the compression joint angle are controlled.
In the fourth step, the quality control of the surfacing joint specifically comprises: for a circumferential weld composed of two sections of semicircular welds, after the first half section of weld is completed, the arc striking position and the arc stopping position of the second half section of weld need to start and end from the arc stopping position and the arc striking position of the first half section of weld, so that the defect of a joint is avoided.
In the embodiment of the invention, the welding seams between the longitudinal beam assembly and the beam steel tube welded by the manipulator comprise 8 welding seams, the welding seams between the motor hanging seat and the beam steel tube comprise 4 welding seams, the circumferential welding seams between the traction pull rod seat and the beam steel tube comprise 4 welding seams, and the welding seams between the traction pull rod and the outer side of the gear box hanging seat and the outer side of the beam steel tube comprise 4 welding seams.
The invention also provides a rail vehicle beam double-machine cooperation automatic welding system which comprises two six-axis welding manipulators and a welding positioner; the six-axis welding manipulator is arranged on the horizontal beam in an inverted hanging mode and can move along the axial direction of the horizontal beam; the welding positioner adopts a head-tail frame type, the welding positioner drives the cross beam to overturn, and the six-axis welding manipulator is matched with a welding machine and a wire feeding system.
(III) advantageous effects
Compared with the prior art, the invention has the following advantages:
according to the rail vehicle crossbeam double-machine cooperative automatic welding method and system, the double-machine cooperative welding process is adopted, the two groups of welding manipulators work cooperatively, the welding time of each group of crossbeams is reduced to 3.5h from 5.5h, the capacity (two-shift system) of 3 vehicles/day is achieved, the bottleneck problem of production capacity is solved, and the utilization rate of unit area of a factory building is improved; and the double-machine cooperation and symmetrical welding are adopted, so that the welding heat input is more reasonable, the welding deformation is effectively reduced, the subsequent welding adjustment and repair amount is reduced, the time cost is saved, and the efficiency is improved. The system is more convenient for implementing the method and has high operation reliability.
Drawings
FIG. 1 is a schematic diagram of a sample plate weld joint position welded by a manipulator in a rail vehicle beam double-machine cooperation automatic welding method of the invention;
FIG. 2 is a schematic view of a weld between an upper deck plate and a cross beam steel tube of a longitudinal beam assembly welded in a method of the present invention;
FIG. 3 is a schematic view of a welding seam between a lower cover plate and a cross beam steel pipe of a longitudinal beam assembly and a welding seam between a rear cover plate and a cross beam steel pipe of a motor hanger seat in the method of the present invention;
FIG. 4 is a schematic view of a weld joint between a front cover plate and a cross beam steel pipe of a motor hanging seat welded in the method of the present invention;
FIG. 5 is a schematic view of a welding seam between a traction pull rod seat and a beam steel pipe and a welding seam between a traction pull rod and a gearbox hanging seat and a beam steel pipe in the method of the present invention;
FIG. 6 is a schematic illustration of controlling bead crimp quality in the method of the present invention;
FIG. 7 is a schematic illustration of controlling the quality of a weld overlay joint in a method of the present invention;
FIG. 8 is a schematic view of the manner in which the present invention treats a circumferential weld comprised of two semicircular welds;
FIG. 9 is a schematic structural view of a double-machine cooperative automatic welding system for a rail vehicle beam according to the present invention;
FIG. 10 is a schematic diagram showing the correspondence between the weld locations, weld fillets and template welds in the method of the invention;
in the figure: 1: a beam steel pipe; 2: a traction pull rod and a gearbox hanging seat; 3: a draw bar base; 4: a motor hanging seat; 5: a longitudinal beam assembly; 6: a horizontal beam; 7: six-axis welding manipulator; 8: welding a positioner; 9: a welding machine; 10: turning over the pit; 1-1, 2-1: a cooperatively working manipulator; 1-2, 2-2: a cooperatively working manipulator; 1-3, 2-3: a co-operating manipulator.
Detailed Description
The following detailed description of embodiments of the present invention is provided in connection with the accompanying drawings and examples. The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention.
In the description of the present invention, it should be noted that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood as appropriate by those of ordinary skill in the art.
In addition, in the description of the present invention, "a plurality", and "a plurality" mean two or more unless otherwise specified.
The embodiment of the invention provides a double-machine cooperation automatic welding method for a rail vehicle beam, which comprises the following steps of:
the method comprises the following steps: determining a template welding line: the simulation of the beam structure is completed through a welding sample plate, in the invention, a certain type of subway beam is taken as an example for explanation, and as shown in figure 1, the beam mainly comprises five types of beam steel pipes 1, a traction pull rod and gear box hanging seats 2, traction pull rod seats 3, motor hanging seats 4 and longitudinal beam assemblies 5; determining the concrete form of a sample plate welding line according to the welding angle and the welding line position, wherein the sample plate welding line comprises a pretreatment layer, a filling layer and a cover surface layer which are welded from inside to outside; the template welding seam position welded by the manipulator comprises: the welding seam of the upper cover plate of the longitudinal beam assembly and the crossbeam steel pipe, the welding seam of the lower cover plate of the longitudinal beam assembly and the crossbeam steel pipe, the welding seam of the front cover plate of the motor hanging seat and the crossbeam steel pipe, the welding seam of the rear cover plate of the motor hanging seat and the crossbeam steel pipe, the circumferential welding seam of the traction pull rod seat and the crossbeam steel pipe, and the welding seam of the traction pull rod seat and the crossbeam steel pipe, the circumferential welding seam of the traction pull rod seat and the crossbeam steel pipe.
Step two: determining a welding sequence: in order to furthest improve the welding efficiency by adopting double-machine cooperative welding, control the welding deformation and improve the welding quality, the overall welding follows the welding sequence of ship-shaped (PA) position symmetric welding, welding a filling layer firstly and then welding a cover surface layer, the welding sequence of front welding-back welding-front welding-vertical welding is adopted, and the filling layer and the cover surface layer adopt the same welding sequence;
step three: determining welding parameters: respectively determining the welding current, voltage, welding speed and wire feeding speed of the pretreatment layer, the filling layer and the cover layer, as shown in the following table;
step four: controlling the pretreatment quality: controlling the quality of welding bead compression joint and controlling the quality of a surfacing joint; the pretreatment layer is welded at an artificial station, and in order to avoid slag inclusion and poor fusion between layers, the welding seam of the pretreatment layer is required not to be acute-angled with the groove, as shown in the left picture of fig. 6, and if the acute angle occurs, the pretreatment layer needs to be treated in a mode shown in the right picture of fig. 6.
In the first step, a pretreatment layer in a sample plate welding line is formed by manual welding, a filling layer is welded by a manipulator after the pretreatment layer is completely welded, and a cover surface layer is welded by the manipulator after the filling layer is completely welded.
In the first step, the concrete form of the template welding seam comprises: the welding seam between the upper cover plate of the longitudinal beam assembly and the steel pipe of the cross beam comprises 8 welding seams, wherein the No. 1 welding seam is a pretreatment layer, the No. 2 welding seam to the No. 3 welding seam is a filling layer, and the No. 4 welding seam to the No. 8 welding seam is a cover surface layer; the welding seam between the lower cover plate of the longitudinal beam assembly and the steel pipe of the cross beam comprises 5 welding seams, wherein the No. 1 welding seam is a pretreatment layer, the No. 2 welding seam is a filling layer, and the No. 3 welding seam to the No. 5 welding seam are cover layers; welding seams between the front cover plate of the motor hanging seat and the steel pipe of the cross beam comprise 8 welding seams, wherein the No. 1 welding seam is a pretreatment layer, the No. 2 to No. 3 welding seams are filling layers, and the No. 4 to No. 8 welding seams are cover layers; welding seams between the rear cover plate of the motor hanging seat and the steel pipe of the cross beam comprise 8 welding seams, wherein the No. 1 welding seam is a pretreatment layer, the No. 2 to No. 3 welding seams are filling layers, and the No. 4 to No. 8 welding seams are cover layers; the traction pull rod seat and cross beam steel pipe circumferential weld, the traction pull rod and the gear box hanging seat and cross beam steel pipe outside weld all include 7, wherein, the 1 st is pretreatment layer, 2 nd ~ 4 th is the filling layer, 5 th ~ 7 th is the capping layer.
In the second step, the welding sequence of front welding, back welding, front welding, vertical welding and vertical welding is adopted, and the method specifically comprises the following steps:
firstly, turning an upper cover plate of a longitudinal beam upwards, and welding the upper cover plate of a longitudinal beam assembly and a welding seam of a cross beam steel pipe by adopting a welding sequence of double-machine symmetry and from inside to outside of cooperative mechanical arms 1-1 and 2-1 and cooperative mechanical arms 1-2 and 2-2 as shown in figure 2, wherein the direction indicated by an arrow in the figure is a welding direction;
turning the lower cover plate of the longitudinal beam upwards, as shown in fig. 3, welding the lower cover plate of the longitudinal beam assembly and the welding seam of the cross beam steel pipe by adopting a welding sequence that the mechanical arms 1-1 and 2-1 working cooperatively and the mechanical arms 1-2 and 2-2 working cooperatively are symmetrical from inside to outside, and welding the welding seam of the lower cover plate of the longitudinal beam assembly and the welding seam of the cross beam steel pipe by adopting a welding mode that the mechanical arms 1-3 and 2-3 working cooperatively and the mechanical arms 1-3 and 2-3 are alternated in order to ensure that the welding cannot be carried out at the ship-shaped position, and welding the welding seam of the rear cover plate of the motor hanging seat and the welding seam of the;
rotating the cross beam to the front position, and welding a welding seam between a front cover plate of the motor hanging seat and a steel pipe of the cross beam by adopting mechanical arms 1-1 and 2-1 which work in cooperation as shown in figure 4;
the beam is rotated to the vertical welding position shown in figure 5, the pull rod seat and the beam steel tube circumferential weld are welded by the aid of the manipulators 1-1 and 2-1 which work in a coordinated mode, and the pull rod seat, the gear box hanging seat and the beam steel tube circumferential weld are welded by the aid of the manipulators 1-2 and 2-2 which work in a coordinated mode. In order to control the interlayer temperature and the joint quality, the welding seams of 2, 3 and 4 of filling welding need to be welded sequentially, for example, a manipulator firstly welds the welding seam of 2 th of the traction pull rod and the gearbox hanging seat, then welds the welding seam of 2 nd of the traction pull rod seat, and then completes the welding seams of 3 rd and 4 th in sequence.
The traction pull rod seat and the beam steel pipe circumferential weld are composed of two semicircular weld joints, and the initial arcs and the final arcs of the two semicircular weld joints are partially overlapped so as to avoid defects at joints.
In the fourth step, the step of controlling the welding bead compression joint quality specifically comprises the following steps: during multilayer overlaying, all welding beads are in compression joint, so that poor fusion at a sharp corner and flaw detection defects caused by the sharp corner between the welding beads as shown in the left diagram of fig. 7 are avoided, and the weld reinforcement and the compression joint angle are controlled as shown in the right diagram of fig. 7.
In the fourth step, the quality control of the surfacing joint specifically comprises: for a circumferential weld composed of two semicircular welds, as shown in fig. 8, after the first half weld is completed, the arc striking and ending positions of the second half weld need to start and end from the arc ending position and the arc striking position of the first half weld, so as to avoid the occurrence of joint defects.
In the embodiment of the invention, the welding seams between the longitudinal beam assembly and the beam steel tube welded by the manipulator comprise 8 welding seams, the welding seams between the motor hanging seat and the beam steel tube comprise 4 welding seams, the circumferential welding seams between the traction pull rod seat and the beam steel tube comprise 4 welding seams, and the welding seams between the traction pull rod and the outer side of the gearbox hanging seat and the outer side of the beam steel tube comprise 4 welding seams; and the rest welding seams are welded manually due to structural reasons or limited space.
As shown in FIG. 9, the invention also provides a rail vehicle beam double-machine cooperation automatic welding system which comprises two six-axis welding manipulators 7 and a welding positioner 8, wherein the six-axis welding manipulators 7 are arranged on a horizontal beam 6 in an inverted hanging mode and can move axially along the horizontal beam 6, the welding positioner 8 adopts a head-tail frame type, the welding positioner 8 drives the beam to turn over, a base of the welding positioner 8 is fixedly arranged in a turning pit 10, so that the turning process is more stable, the six-axis welding manipulators are matched with a welding machine 9 and a wire feeding system, and a quick change interface is adopted to realize the flexibility of the system through a modular design.
The 1 st pretreatment layer in the sample plate welding lines is a manual welding line, the pretreatment layer is completely welded before entering a manipulator for welding, and the rest parts are welded by the manipulator.
According to the embodiment, the double-machine cooperative welding process is adopted, and the two groups of welding manipulators work cooperatively, so that the welding time of each group of beams is greatly shortened, the welding deformation is effectively reduced, the subsequent welding adjustment and repair amount is reduced, the time cost is saved, and the efficiency is improved.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (7)
1. A rail vehicle beam double-machine cooperation automatic welding method is characterized by comprising the following steps:
the method comprises the following steps: determining a template welding line: the method comprises the following steps of completing beam structure simulation through a welding sample plate, determining the specific form of a sample plate welding seam according to a welding angle and a welding seam position, wherein the sample plate welding seam comprises a pretreatment layer, a filling layer and a cover surface layer which are welded from inside to outside;
step two: determining a welding sequence: the overall welding follows the welding sequence of ship-shaped position symmetrical welding, welding a filling layer first and then welding a cover surface layer, and adopts the welding sequence of front welding-back welding-front welding-vertical welding, and the method specifically comprises the steps of turning an upper cover plate of a longitudinal beam upwards, and welding the upper cover plate of a longitudinal beam assembly and a welding seam of a cross beam steel pipe by adopting the welding sequence of double-machine symmetry from inside to outside;
then, turning the lower cover plate of the longitudinal beam upwards, welding the lower cover plate of the longitudinal beam assembly and the welding seam of the cross beam steel pipe by adopting a double-machine symmetrical and inside-out welding sequence, and welding the welding seam of the rear cover plate of the motor hanger and the welding seam of the cross beam steel pipe by adopting a double-machine alternative welding mode;
rotating the cross beam to the front position, and welding a welding seam between a front cover plate of the motor hanging seat and a steel pipe of the cross beam;
rotating the crossbeam to a vertical welding position, welding a traction pull rod seat and a crossbeam steel pipe circumferential weld joint, and welding a traction pull rod and a gearbox hanging seat and a crossbeam steel pipe weld joint;
step three: determining welding parameters: respectively determining the welding current, voltage, welding speed and wire feeding speed of the pretreatment layer, the filling layer and the cover layer;
step four: controlling the pretreatment quality: including controlling the quality of welding bead crimping and controlling the quality of a surfacing joint.
2. The rail vehicle cross beam double-machine cooperation automatic welding method as claimed in claim 1, wherein in the first step, the pretreatment layer in the sample plate welding line is formed by manual welding, the filling layer is welded by a mechanical arm after the pretreatment layer is completely welded, and the cover layer is welded by the mechanical arm after the filling layer is completely welded.
3. The rail vehicle cross beam double-machine cooperation automatic welding method according to claim 1, wherein in the first step, the concrete form of the sample plate welding line comprises the following steps: the welding seam between the upper cover plate of the longitudinal beam assembly and the steel pipe of the cross beam comprises 8 welding seams, wherein the No. 1 welding seam is a pretreatment layer, the No. 2 welding seam to the No. 3 welding seam is a filling layer, and the No. 4 welding seam to the No. 8 welding seam is a cover surface layer; the welding seam between the lower cover plate of the longitudinal beam assembly and the steel pipe of the cross beam comprises 5 welding seams, wherein the No. 1 welding seam is a pretreatment layer, the No. 2 welding seam is a filling layer, and the No. 3 welding seam to the No. 5 welding seam are cover layers; welding seams between the front cover plate of the motor hanging seat and the steel pipe of the cross beam comprise 8 welding seams, wherein the No. 1 welding seam is a pretreatment layer, the No. 2 to No. 3 welding seams are filling layers, and the No. 4 to No. 8 welding seams are cover layers; welding seams between the rear cover plate of the motor hanging seat and the steel pipe of the cross beam comprise 8 welding seams, wherein the No. 1 welding seam is a pretreatment layer, the No. 2 to No. 3 welding seams are filling layers, and the No. 4 to No. 8 welding seams are cover layers; the traction pull rod seat and cross beam steel pipe circumferential weld, the traction pull rod and the gear box hanging seat and cross beam steel pipe outside weld all include 7, wherein, the 1 st is pretreatment layer, 2 nd ~ 4 th is the filling layer, 5 th ~ 7 th is the capping layer.
4. The rail vehicle cross beam double-machine cooperation automatic welding method according to claim 1, wherein the draw rod seat and cross beam steel tube circumferential welding seam is composed of two semicircular welding seams, and starting arcs and ending arcs of the two semicircular welding seams are partially overlapped.
5. The rail vehicle cross beam double-machine cooperative automatic welding method according to claim 1, wherein in the fourth step, the controlling of the welding bead crimping quality specifically comprises: when the multilayer surfacing is carried out, the welding beads are in compression joint, so that sharp corners are avoided from appearing between the welding beads, and the welding seam surplus height and the compression joint angle are controlled.
6. The rail vehicle cross beam double-machine cooperative automatic welding method according to claim 1, wherein in the fourth step, the controlling of the quality of the surfacing joint specifically comprises: for a circumferential weld composed of two sections of semicircular welds, after the first half section of weld is completed, the arc striking position and the arc stopping position of the second half section of weld need to start and end from the arc stopping position and the arc striking position of the first half section of weld, so that the defect of a joint is avoided.
7. The rail vehicle beam double-machine cooperative automatic welding method as claimed in claim 1, wherein the welding seams between the longitudinal beam assembly and the beam steel tube welded by the manipulator comprise 8, the welding seams between the motor hanger and the beam steel tube comprise 4, the circumferential welding seams between the traction pull rod holder and the beam steel tube comprise 4, and the welding seams between the traction pull rod and the gear box hanger and the outer side of the beam steel tube comprise 4.
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| 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 |
| CN111136399B (en) * | 2020-01-02 | 2022-02-15 | 中车青岛四方机车车辆股份有限公司 | Adjustment-free welding method for tube plate structure of railway vehicle |
| 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 |
| 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 |
| 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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| CN104476062B (en) * | 2014-10-31 | 2016-03-23 | 南车青岛四方机车车辆股份有限公司 | Framework two axle apparatus for welding and positioning |
| CN106141472A (en) * | 2016-07-05 | 2016-11-23 | 纳博特南京科技有限公司 | A kind of dual robot bilateral symmetry welding control method |
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