CN108173096A - The Full-automatic welding method of stator of steam turbine generator hollow core conductor end connection - Google Patents
The Full-automatic welding method of stator of steam turbine generator hollow core conductor end connection Download PDFInfo
- Publication number
- CN108173096A CN108173096A CN201711312300.3A CN201711312300A CN108173096A CN 108173096 A CN108173096 A CN 108173096A CN 201711312300 A CN201711312300 A CN 201711312300A CN 108173096 A CN108173096 A CN 108173096A
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- China
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- welding
- bottom plate
- box bottom
- water box
- hollow core
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Classifications
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01R—ELECTRICALLY-CONDUCTIVE CONNECTIONS; STRUCTURAL ASSOCIATIONS OF A PLURALITY OF MUTUALLY-INSULATED ELECTRICAL CONNECTING ELEMENTS; COUPLING DEVICES; CURRENT COLLECTORS
- H01R43/00—Apparatus or processes specially adapted for manufacturing, assembling, maintaining, or repairing of line connectors or current collectors or for joining electric conductors
- H01R43/02—Apparatus or processes specially adapted for manufacturing, assembling, maintaining, or repairing of line connectors or current collectors or for joining electric conductors for soldered or welded connections
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01R—ELECTRICALLY-CONDUCTIVE CONNECTIONS; STRUCTURAL ASSOCIATIONS OF A PLURALITY OF MUTUALLY-INSULATED ELECTRICAL CONNECTING ELEMENTS; COUPLING DEVICES; CURRENT COLLECTORS
- H01R2201/00—Connectors or connections adapted for particular applications
- H01R2201/10—Connectors or connections adapted for particular applications for dynamoelectric machines
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- Engineering & Computer Science (AREA)
- Manufacturing & Machinery (AREA)
- Butt Welding And Welding Of Specific Article (AREA)
Abstract
The present invention provides a kind of Full-automatic welding methods of stator of steam turbine generator hollow core conductor end connection, which is characterized in that including：It is taken pictures by the video camera carried on the 6th axis of welding robot to water box bottom plate, determines the center vertical line of water box bottom plate；The rifle point of welding gun carried on the 6th axis of welding robot is moved on the center vertical line of water box bottom plate；The deviant setting welding procedure brought by the vision system of welding robot between the welding gun rifle point manually set and the plate hole of water box bottom plate plans path of welding；Start the welding gun of welding robot, the welding of the plate hole and hollow core conductor of water box bottom plate is completed by the path of welding that welding procedure is formulated.The present invention be suitable for every stator coil of production process shape after the forming it is not quite identical caused by end water box bottom plate spatial position deviation, with non-contact vision positioning, realize the full-automation of welding process.
Description
Technical field
The present invention relates to a kind of welding methods of steam turbine generator water-cooled stator coil cooling water pipe end seal structure, use
In the end automatic welding of steam turbine generator stator coil, belong to turbo-generator manufacturing technology field.
Background technology
Water-cooled stator coil itself can generate amount of heat, internal water flowing cooling can in steam turbine generator operational process
The electromagnetic load that stator coil is born is allowed to improve stock utilization and operational efficiency higher than air-cooled and cooled electric machine.Cooling water
Channel is small size stainless steel rectangular hollow core conductor, is welded in the form of tube-plate in stator coil end and water box bottom plate.Rectangle
Tube wall is less than 1mm, and weld seam is densely arranged, and the hollow core conductor size of different capacitance grade type is different, and plate hole spacing differs.
For the reality for adapting to that different product need to be adjusted flexibly in production, still welded in a manner of manual argon arc welding at present.Hand
The labor intensity of work argon arc welding is high, and welding quality easily fluctuates；Remaining semi-automatic welding method positioned with tooling fixture,
It is harsh to workpiece size precision and the requirement of stator coil deformation extent, it is difficult to realize high efficiency manufacture target.I.e. existing way is equal
It is serious to restrict hollow core conductor and water box bottom plate welding efficiency.
Invention content
It the purpose of the present invention is breaking through existing technical bottleneck, provides a kind of contactless, is suitable for factory site ring
The Full-automatic welding method of the steam turbine generator dense arrangement stator hollow conductors end connection in border, this method are suitable for producing
The spatial position deviation of end water box bottom plate, is connect with non-caused by every stator coil of journey shape after the forming is not quite identical
Vision positioning is touched, realizes the full-automation of welding process.
In order to achieve the above object, the present invention provides a kind of connection of stator of steam turbine generator hollow core conductor end it is complete from
Dynamic welding method, which is characterized in that including：
The first step：To be equipped with the AGV trolleies of welding robot along track level run to water box bottom plate in front of, and make water
Box plate is located in the camera field of view of welding robot；
Second step：It is taken pictures by the video camera carried on the 6th axis of welding robot to water box bottom plate, passes through bonding machine
The vision system of device people handles photo, calculates each vertex of water box bottom plate of water outlet box bottom plate in welding robot coordinate
Space coordinate in system determines the center vertical line of water box bottom plate；
Third walks：The rifle point of welding gun carried on the 6th axis of welding robot is moved on the center vertical line of water box bottom plate；
4th step：The video camera of welding robot is again started up, passes through the video camera pair carried on the 6th axis of welding robot
Water box bottom plate is taken pictures, and photo is handled by the vision system of welding robot, and the plate hole for calculating water box bottom plate exists
The space coordinate of welding robot coordinate system brings the welding gun rifle point and water manually set by the vision system of welding robot
Deviant setting welding procedure between the plate hole of box plate plans path of welding；
5th step：Start the welding gun of welding robot, the plate of water box bottom plate is completed by the path of welding that welding procedure is formulated
Hole and the welding of hollow core conductor.
Preferably, the water box bottom plate is set on shaping mould.
Preferably, taking pictures in the 4th step be the rifle point using welding gun 4 as origin, with 1 center vertical line of water box bottom plate
On the basis of axis, using two adjacent edges of water box bottom plate 1 as X, Y-coordinate axle, respectively along X, Y-direction deviate ± 45 ° shooting 4 width shine
Piece.
Preferably, in the first step, the AGV trolleies of welding robot will be installed along track level run to water box
Before in front of bottom plate, after stator of steam turbine generator hollow core conductor end first is penetrated the plate hole on water box bottom plate, to hollow core conductor into
Head is sawed in row tube, the part that the plate hole of water box bottom plate is then stretched out to hollow core conductor.
It is highly preferred that the gap of hollow core conductor and the plate hole of water box bottom plate is less than 0.05mm after the tube.
It is highly preferred that hollow core conductor stretches out the length of water box bottom plate in the range of 0.5~1mm after the saw head.
Compared with prior art, the beneficial effects of the invention are as follows：
The present invention be suitable for every stator coil of production process shape after the forming it is not quite identical caused by end water
The spatial position deviation of box plate with non-contact vision positioning, realizes the full-automation of welding process.
The present invention in the welding process, is not influenced, robot can be automatic by vision positioning by stator coil formed precision
Welding gun is adjusted to optimum welding position；Vision positioning process is assisted without frock clamp, and robot is complete to welding path planning
Using contactless graph and image processing as foundation；Visual identity and welding system have different capacitance grade type general
Property, when welding different capacitance grade product, it is only necessary to corresponding drawing file is selected in system, is not related to any hardware or software
Change；For robot welding system using AGV trolleies as carrier, positioning, welding whole process are without manual intervention, you can are opposite to molding
Stator coil on mould completes welding, is allocated and transported without stator coil.
Description of the drawings
Fig. 1 is shown according to a kind of water box bottom plate of preferred embodiment of the present invention and hollow core conductor connector assembling schematic diagram；
Fig. 2 shows water box bottom plates according to the present invention and hollow core conductor robot welding system to form schematic diagram；
Fig. 3 shows arrangement schematic diagram front view of the welding robot according to the present invention in production scene；
Fig. 4 shows arrangement schematic diagram side view of the welding robot according to the present invention in production scene.
In figure：1st, water box bottom plate, 2, hollow core conductor, 3, video camera, 4, welding gun, 5, vision system, 6, AGV trolleies, 7, into
Pattern, 8, welding robot.
Specific embodiment
With reference to specific embodiment, the present invention is further explained.It should be understood that these embodiments are merely to illustrate the present invention
Rather than it limits the scope of the invention.In addition, it should also be understood that, after reading the content taught by the present invention, people in the art
Member can make various changes or modifications the present invention, and such equivalent forms equally fall within the application the appended claims and limited
Range.
Embodiment
As shown in Figure 1, for certain model generator stator coil end part hollow core conductor and water box bottom plate installation diagram.Water box bottom plate
1 specification is 90mm × 85mm × 5mm, and pore size is 8.88mm × 4mm, the wall thickness 0.9mm of hollow core conductor 2.
As shown in Fig. 2, the welding robot 8 of the present embodiment uses commercially available general six-shaft industrial robot, control is carried
Device, vision system 5 and welder, the vision system 5 include video camera 3 and vision welding control software, and video camera 3 is installed on welding
On 6th axis of robot 8, vision system 5 can calculate water outlet box bottom plate 1 according to 1 image of water box bottom plate of the shooting of video camera 3
Spatial position coordinate, guiding welding robot 8 adjusts pose to perpendicular to water box bottom plate 1, away from 1 planar central one of water box bottom plate
Set a distance is taken pictures again, and photo can be handled, and the plate hole for calculating water outlet box bottom plate 1 is sat in welding robot 8
The space coordinate of system is marked, the CAD diagram paper of the water box bottom plate 1 with being set in vision welding control software is compared, fitting water outlet box bottom
Position coordinates of 16 plate holes under robot coordinate system in plate 1 are welded to being planned after each plate hole positioning on water box bottom plate 1
Path.The welder is general argon arc welding gun, is equally installed on the 6th axis of welding robot, is planned according to vision system 5
Complete welding in good path.Before use, first by the rifle of the CAD diagram paper of water box bottom plate 1 and the welding gun 4 manually set point and water box
Deviant between the plate hole of bottom plate is defaulted in 8 vision welding control software of welding robot.As shown in figure 3, the water box bottom
Plate 1 is set on the shaping mould 7 of stator coil end.
The Full-automatic welding method of described stator of steam turbine generator hollow core conductor end connection is：
Step 1：The end of stator of steam turbine generator hollow core conductor 2 is penetrated into the plate on the water box bottom plate 1 of rectangular cross-section
Kong Hou, to the progress tube of hollow core conductor 2, hollow core conductor 2 and the gap of the plate hole of water box bottom plate 1 are less than 0.05mm after tube, with
Head is sawed in the part for stretching out the plate hole of water box bottom plate 1 to hollow core conductor 2 afterwards, saws the length of the stretching water box of hollow core conductor 2 bottom plate 1 after head
In the range of 0.5~1mm；
Step 2：As shown in figure 4, the AGV trolleies 6 of welding robot 8 will be installed along track level run to water box bottom plate
1 front, face water box bottom plate 1, and make position for video camera in 8 vertex away from water box bottom plate 1 ± 1000mm planar range in,
I.e. water box bottom plate 1 is located in the camera field of view of welding robot；
Step 3：Start the automatic identification function of video camera 3, pass through 3 water of video camera carried on the 6th axis of welding robot 8
It puts down and vertically moves+200mm and one width picture is respectively shot to water box bottom plate 1, by the vision system 5 of welding robot 8 to photo
It is handled, according to the comparison of photo gray scale, the vertex of the water box bottom plate 1 in comprehensive 4 width pictures is in robot coordinate system
Position calculates Accuracy Space coordinate of each vertex in 8 coordinate system of welding robot of the water box bottom plate of water outlet box bottom plate 1, really
Determine the center vertical line of water box bottom plate 1；
Step 4：Vision system 5 passs on movement instruction to welding robot 8, and welding robot 8 is linked by 6 axis will
The rifle point of welding gun 4 carried on 6th axis of welding robot 8 is moved on the center vertical line of water box bottom plate 1, welding gun 4
Center 100mm of the rifle point apart from water box bottom plate 1.
Step 5：The video camera 3 of welding robot 8 is again started up, passes through the video camera carried on the 6th axis of welding robot 8
3 pairs of water box bottom plates 1 are taken pictures, using the rifle point of welding gun 4 as origin, the axis on the basis of 1 center vertical line of water box bottom plate, with water box bottom
Two adjacent edges of plate 1 are X, Y-coordinate axle, deviate ± 45 ° of 4 photos of shooting along X, Y-direction respectively, pass through welding robot 8
Vision system 5 photo is handled, vision system 5 calculates sky of the plate hole in 8 coordinate system of welding robot of water box bottom plate 1
Between coordinate, be compared with the CAD diagram paper of water box bottom plate 1 set in 8 software of welding robot, in fitting water outlet box bottom plate 1
Position coordinates of 16 plate holes under robot coordinate system；Bring what is manually set by the vision system 5 of welding robot 8
Deviant setting welding procedure between the rifle point and the plate hole of water box bottom plate of welding gun 4 plans path of welding, and hole long side is toward outside hole
Deviate 0.5mm, hole short side deviates 0.3mm outward, welding sequence since the bottom right corner apertures of water box bottom plate 1 up, it is suitable with S-shaped
Sequence completes welding process, and each hole welds twice to ensure Forming Quality.
Step 6：Start the welding gun 4 of welding robot 8, water box bottom plate 1 is completed by the path of welding that welding procedure is formulated
The welding of the hollow core conductor 2 of plate hole and rectangle.
Step 7：Welding robot 8 is restored back to original position, waits for welding instruction next time
Welding manner is pulsed argon arc welding, peak point current 80A, background current 40A, duty ratio 80%, frequency 3Hz, welding
Speed 25cm/min, argon flow amount 17L/min.Welding process does not dose solder, with hollow core conductor extension and water box bottom plate
Make appearance of weld from molten.
Liquid penetrant testing weld seam after the completion of welding, without any display.Welded Joints cutting survey fusion penetration, fusion penetration is 0.93
In the range of~1.3mm, i.e., minimum leakage channel is hollow core conductor wall thickness 0.9mm.Meet American Society of Mechanical Engineers boiler
With pressure vessel code to such type joint " minimum leakage channel is not less than the 2/3 of thickness of pipe wall " regulation.
Claims (6)
- A kind of 1. Full-automatic welding method of stator of steam turbine generator hollow core conductor end connection, which is characterized in that including：The first step：To be equipped with the AGV trolleies of welding robot along track level run to water box bottom plate in front of, and make water box bottom Plate is located in the camera field of view of welding robot；Second step：It is taken pictures by the video camera carried on the 6th axis of welding robot to water box bottom plate, passes through welding robot Vision system photo is handled, calculate water outlet box bottom plate water box bottom plate each vertex in welding robot coordinate system Space coordinate, determine the center vertical line of water box bottom plate；Third walks：The rifle point of welding gun carried on the 6th axis of welding robot is moved on the center vertical line of water box bottom plate；4th step：The video camera of welding robot is again started up, by the video camera that is carried on the 6th axis of welding robot to water box Bottom plate is taken pictures, and photo is handled by the vision system of welding robot, and the plate hole for calculating water box bottom plate is welding The space coordinate of robot coordinate system brings the welding gun rifle point manually set and water box bottom by the vision system of welding robot Deviant setting welding procedure between the plate hole of plate plans path of welding；5th step：Start welding robot welding gun, by welding procedure formulate path of welding complete water box bottom plate plate hole with The welding of hollow core conductor.
- 2. the Full-automatic welding method of stator of steam turbine generator hollow core conductor end connection as described in claim 1, feature It is, the water box bottom plate is set on shaping mould.
- 3. the Full-automatic welding method of stator of steam turbine generator hollow core conductor end connection as described in claim 1, feature Be, taking pictures in the 4th step be the rifle point using welding gun 4 as origin, the axis on the basis of 1 center vertical line of water box bottom plate, with Two adjacent edges of water box bottom plate 1 are X, Y-coordinate axle, deviate ± 45 ° of 4 photos of shooting along X, Y-direction respectively.
- 4. the Full-automatic welding method of stator of steam turbine generator hollow core conductor end connection as described in claim 1, feature Be, in the first step, will be equipped with the AGV trolleies of welding robot along track level run to water box bottom plate in front of Before, after stator of steam turbine generator hollow core conductor end first is penetrated the plate hole on water box bottom plate, tube is carried out to hollow core conductor, with Saw head in the part for stretching out the plate hole of water box bottom plate to hollow core conductor afterwards.
- 5. the Full-automatic welding method of stator of steam turbine generator hollow core conductor end connection as claimed in claim 4, feature It is, hollow core conductor stretches out the length of water box bottom plate in the range of 0.5~1mm after the saw head.
- 6. the Full-automatic welding method of stator of steam turbine generator hollow core conductor end connection as claimed in claim 4, feature It is, the gap of hollow core conductor and the plate hole of water box bottom plate is less than 0.05mm after the tube.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711312300.3A CN108173096A (en) | 2017-12-11 | 2017-12-11 | The Full-automatic welding method of stator of steam turbine generator hollow core conductor end connection |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711312300.3A CN108173096A (en) | 2017-12-11 | 2017-12-11 | The Full-automatic welding method of stator of steam turbine generator hollow core conductor end connection |
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| CN108173096A true CN108173096A (en) | 2018-06-15 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201711312300.3A Pending CN108173096A (en) | 2017-12-11 | 2017-12-11 | The Full-automatic welding method of stator of steam turbine generator hollow core conductor end connection |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110270997A (en) * | 2019-06-10 | 2019-09-24 | 深圳市超准视觉科技有限公司 | A kind of Intelligent welding method and work station |
| CN111729811A (en) * | 2019-10-30 | 2020-10-02 | 湖南天桥嘉成智能科技有限公司 | Glue coating equipment and glue coating method for motor stator of urban rail and standard traction motor |
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| CN101362266A (en) * | 2007-08-10 | 2009-02-11 | 苏州工业园区华焊科技有限公司 | Tube plate welder with optical positioning device and positioning method thereof |
| CN203330563U (en) * | 2013-05-24 | 2013-12-11 | 华南理工大学 | Broken line fillet weld automatic welding apparatus based on visual guiding |
| CN105171742A (en) * | 2015-07-20 | 2015-12-23 | 南京工业大学 | 3D printing welding method using multi-degree-of-freedom robot |
| CN205342175U (en) * | 2015-11-12 | 2016-06-29 | 上海电气核电设备有限公司 | Robot welding system |
| CN107052508A (en) * | 2016-12-30 | 2017-08-18 | 上海船舶工艺研究所 | Intelligent welding system and its welding procedure for Analysis of Ship Grillages constructed machine people |
-
2017
- 2017-12-11 CN CN201711312300.3A patent/CN108173096A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101362266A (en) * | 2007-08-10 | 2009-02-11 | 苏州工业园区华焊科技有限公司 | Tube plate welder with optical positioning device and positioning method thereof |
| CN203330563U (en) * | 2013-05-24 | 2013-12-11 | 华南理工大学 | Broken line fillet weld automatic welding apparatus based on visual guiding |
| CN105171742A (en) * | 2015-07-20 | 2015-12-23 | 南京工业大学 | 3D printing welding method using multi-degree-of-freedom robot |
| CN205342175U (en) * | 2015-11-12 | 2016-06-29 | 上海电气核电设备有限公司 | Robot welding system |
| CN107052508A (en) * | 2016-12-30 | 2017-08-18 | 上海船舶工艺研究所 | Intelligent welding system and its welding procedure for Analysis of Ship Grillages constructed machine people |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110270997A (en) * | 2019-06-10 | 2019-09-24 | 深圳市超准视觉科技有限公司 | A kind of Intelligent welding method and work station |
| CN111729811A (en) * | 2019-10-30 | 2020-10-02 | 湖南天桥嘉成智能科技有限公司 | Glue coating equipment and glue coating method for motor stator of urban rail and standard traction motor |
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Application publication date: 20180615 |
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