CN108526737A - A kind of automatic welding method of reversed balancing flange - Google Patents
A kind of automatic welding method of reversed balancing flange Download PDFInfo
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- CN108526737A CN108526737A CN201810310506.0A CN201810310506A CN108526737A CN 108526737 A CN108526737 A CN 108526737A CN 201810310506 A CN201810310506 A CN 201810310506A CN 108526737 A CN108526737 A CN 108526737A
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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
- B23K31/00—Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups
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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
- 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
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Abstract
The present invention provides a kind of automatic welding methods of reversed balancing flange, include the following steps：Reversed balancing flange is assembled on positioner, keeps reversed balancing flange vertical；The first weld seam of stiffened panel and the second weld seam are welded in the point positions P1, the third weld seam of stiffened panel and the 4th weld seam are welded in the point positions P2, the 7th weld seam of stiffened panel and the 8th weld seam are welded in the point positions P3, the 5th weld seam of stiffened panel and the 6th weld seam are welded in the point positions P4, the counterbalancing that is welded on of wherein Type B weld seam is welded the case where overturning 18 23 degree on positioner, also completes the welding of external circumferential weld and interior circumferential weld in P5 points.The present invention provides the automatic welding method of reversed balancing flange realize the stiffened panel of disposable automatic welding well upper lower flange, all weld seams are all ship type weld seams, improve welding quality, and disposably complete the welding all to reversed balancing flange.
Description
Technical field
The present invention relates to welding processing technical fields, more particularly, to a kind of automatic welding of reversed balancing flange
Method.
Background technology
Reversed balancing flange is a kind of novel connection node, can be applied to the wind-driven generator tower by Fatigue Load
Connection；Mating construction appliance-high-strength bolt hydraulic stretching device is to ensure wind-driven generator tower rigidity with reversed balancing flange
The important technique measure of connection.Reversed balancing flange is mainly used for the connection between blower fan pylon and cylinder, in recent years in wind-powered electricity generation
It is used widely in the fields such as tower and television tower.Compared to thicker forged flange, inverse flange processing cost is low, and the period is short, tool
There are higher strength and stiffness, matched with hydraulic stretching device, installation is extremely convenient.
Reversed balancing flange is bolted by upper and lower two flanges and is formed, and each flange passes through stiffened panel, flanged plate
It is welded to form with bottom plate, weld seam is divided into A and B two types, and A type weld seams are the weld seam of stiffened panel and bottom plate, and Type B weld seam is to add
The weld seam of gusset and flanged plate, there are four A type weld seams, respectively A1 points position weld seam, the second weld seam A2, third weld seam A3,
Four weld seam A4, Type B weld seam also there are four, respectively the 5th weld seam B1, the 6th weld seam B2, the 7th weld seam B3, the 8th weld seam B4, A1
Position weld seam and the second weld seam A2 are put in same one side, third weld seam A3 and the 4th weld seam A4 in the another side of stiffened panel, wherein A1
Point position weld seam and the 5th weld seam B1 connections, the second weld seam A2 and the 6th weld seam B2 connections, third weld seam A3 and the 7th weld seam B3
Connection, the 4th weld seam A4 and the 8th weld seam B4 connections, as shown in Figure 3.
Traditional human weld：For welding type A, it is required to carry out welding in ship type position in technique and quality, together
When consider welding deformation, first by upper flange or lower flange clamping on positioner, welding personnel is to being located at ship type or nearly ship
The side A1 points position weld seam or the of one group of stiffened panel is completed in type-A the first weld seam A1 and the second weld seam A2 of type position, welding
Two weld seam A2 then continue the A1 points position weld seam to next group of stiffened panel or the second weld seam A2 counterclockwise and weld, until whole
A workpiece is returned and is turned around, and completes the welding of the A type weld seams of all stiffened panels, and same method completes the welderings of third weld seam A3 and the 4th
Stitch the welding job of A4.Workpiece is removed from positioner, it is contemplated that welding deformation passes through upper lower flange wherein symmetrical several
A bolts assemblies are got up, and reversed balancing flange is placed horizontally on ground, as shown in figure 5, as welding personnel completes one group of reinforcement
5th weld seam B1 of plate and the 7th weld seam B3, welding personnel are moved to the 5th weld seam B1 and the 7th weld seam of next stiffened panel
B3, and so on, complete workpiece flange B type welding seams all the 5th weld seam B1 and the 7th weld seam in such a way that personnel move
B3 is welded；Then, reversed balancing flange workpiece is carried out overturning 180 degree, then carry out other one by welding personnel by driving a vehicle in the air
The 6th weld seam B2 of Type B weld seam of side and the 8th weld seam B4 carries out welding, and welding personnel moves a circle, completes all B in this side again
The welding of type weld seam.
Invention content
1, technical problem to be solved：
The welding of existing reversed balancing flange is mainly by manual welding, and welding job intensity is big, efficiency is low and welding matter
Amount is not easy to control.
2, technical solution：
In order to solve problem above, the present invention provides a kind of automatic welding methods of reversed balancing flange, including following step
Suddenly：One, reversed balancing flange is assembled on positioner, keeps reversed balancing flange vertical；Two, in P1 points position to stiffened panel
First weld seam A1 and the second weld seam A2 are welded, the point positions P2 to the third weld seam A3 and the 4th weld seam A4 of stiffened panel 3 into
Reversed balancing flange is flipped outward on positioner at the point positions P3 and arrives 18-23 degree, to the 7th of stiffened panel the by row welding
Reversed balancing flange, is inwardly turned to 18-23 degree by weld seam B3 welding on positioner, is carried out to the 8th weld seam B4 of stiffened panel
Direction balance flange is flipped outward on positioner at the point positions P4 and arrives 18-23 degree by welding, the 5th weldering to stiffened panel
Seam B1 is welded, and reversed balancing flange carries out the 6th weld seam B2 of stiffened panel to 18-23 degree is turned on positioner
Welding, the point positions P1 and the point positions P2 are about flange shaft mirror symmetry, and the point positions P3 and P4 points position are also about flange shaft
Mirror symmetry, P1 points position, P2 points setting in the point positions P3 and P4 points position lower section.
Further include in P5 points position for welding the first outer circumferential weld C3, the second outer circumferential weld C4, circumferential weld C1 and second in first
Interior circumferential weld C2, the P5 points setting between the point positions P1 and P2 points position and below the point positions P1 and P2 points position,
The point positions P1 and the point positions P2 are relative to P5 point positional symmetries.
Balance flange is flipped outward on positioner to 20 degree, balance flange is flipped outward on positioner to 20 degree
Described is welded as robot welding, and the action of the robot and the rotation of the positioner are automatically controlled by PLC.
The angle that the line and flange of the P1 points, P2 points and the flange center of circle are axially formed all is 45 degree.
It is provided with track at the front of the positioner, is used for the movement of robot welding workstation.
Welding process is：The first weld seam A1 and the second weld seam A2, positioner at robot welding complete P1 points position can turn
Dynamic cooperation robot welding, in P2 points position, positioner is rotatably assorted robot welding, has welded the third weldering of stiffened panel successively
Stitch A3 and the 4th weld seam A4；When the first weld seam A1, the second weld seam A2, the third weld seam for completing entire reversed balancing flange stiffened panel
A3, the 4th weld seam A4 welding after, balance flange is flipped outward on positioner and arrives 18-23 degree, in P3 points position, positioner
Be rotatably assorted robot welding, welds the 7th weld seam B3 of stiffened panel successively, and in P4 points position, positioner is rotatably assorted robot
The 7th weld seam B1 of stiffened panel is welded in welding successively；After having welded all the 5th weld seam B1 and the 7th weld seam B3, by balancing method
Orchid is inwardly turned to 18-23 degree on positioner, and in P3 points position, positioner is rotatably assorted robot welding, has welded successively
8th weld seam B4 of stiffened panel, in P4 points position, positioner is rotatably assorted robot welding, has welded the 6th of stiffened panel successively
Weld seam B2；After completing the 5th all weld seam B1, the 6th weld seam B2, the 7th weld seam B3 and the 8th weld seam B4, finally in P5 points
Set the first outer circumferential weld C3 of welding, the second outer circumferential weld C4, circumferential weld C2 in circumferential weld C1 and second in first, that completes balance flange owns
Welding.
Robot can there are two, welding process is：Left side robot is moved to P1 points position, and the right robot is moved to
For P2 with your position, Liang Ge robots weld corresponding A types weld seam simultaneously, and positioner is rotatably assorted robot welding；All A
Type seam welding is completed, and by balance flange out to 18-23 degree is turned on positioner, left side robot is moved to the weldering of the positions P4
Meet the 5th weld seam B1, the right robot is moved to the positions P3 and welds the 7th weld seam B3, and positioner is rotatably assorted robot welding, weldering
All 6th weld seam B1 and the 7th weld seam B3 have been met, balance flange is inwardly turned to 18-23 degree, left side machine on positioner
People is moved to the positions P4 and welds the 6th weld seam B2, and the right robot is moved to the positions P3 and welds the 8th weld seam B4, positioner rotation
Coordinate robot welding, welds all 6th weld seam B2 and the 8th weld seam B4；Complete the 5th all weld seam B1, the 6th weld seam
After B2, the 7th weld seam B3 and the 8th weld seam B4, finally the first outer circumferential weld C3, the second outer circumferential weld C4, first are welded in P5 points position
Circumferential weld C2 in interior circumferential weld C1 and second completes all welding of balance flange.
The circumferential weld C2 in circumferential weld C1 and second in the first outer circumferential weld C3 of P5 points position welding, the second outer circumferential weld C4, first
Process is：Balance flange is flipped outward on positioner and arrives 18-23 degree, robot is respectively completed to circumferential weld C1 in first and the
Balance flange, is then inwardly turned to 18-23 degree by the welding of two outer circumferential weld C4 on positioner, in P5 points position, robot
It is respectively completed the welding to the outer circumferential weld C3 of circumferential weld C2 and first in second, is finally completed all welding of balance flange.
3, advantageous effect：
The present invention provides the automatic welding methods of reversed balancing flange reasonable welding process flow, makes all weld seams
It is all ship type weld seam, in narrow space, realizes the stiffened panel that lower flange is disposably welded in automation, improve weldering
Connect quality.
Description of the drawings
Fig. 1 is reversed balancing flange structural schematic diagram.
Fig. 2 is the structural schematic diagram of upper flange and lower flange.
Fig. 3 is the weld seam schematic diagram of stiffened panel.
Fig. 4 is flange welding position view.
Fig. 5 is that schematic diagram is placed in the welding of reversed balancing flange level.
Fig. 6 is that reversed balancing flange schematic diagram is clamped in positioner.
Fig. 7 is the schematic diagram of P1 points position, P2 points position, P3 points position, P4 points position, P5 points position.
Fig. 8 is the position view of each welding.
Fig. 9 is overturning schematic diagram of the reversed balancing flange on positioner.
Specific implementation mode
Below by drawings and examples, the present invention is described in detail.
As shown in Figure 1, reversed balancing flange is made of upper flange 1 and lower flange 2, so stiffened panel and reversed balancing flange
Between to weld 8 weld seams, A type weld seams, which are the weld seam of stiffened panel and bottom plate, 4, and Type B weld seam is the weldering of stiffened panel and flanged plate
4 are sewed with, as shown in Figure 3.
As shown in figure 8, also c-type weld seam, c-type weld seam also have 4.
As shown in fig. 6, the present invention provides a kind of automatic welding methods of reversed balancing flange, first by counterbalancing
Flange is assembled on positioner, keeps reversed balancing flange vertical.
As shown in figure 4, have 4 positions on reversed balancing flange, respectively P1 points position, P2 points position, P3 points position
With P4 points position.The the first weld seam A1 and the second weld seam A2 of stiffened panel are welded in the point positions P1, added in the point positions pair P2
The third weld seam A3 and the 4th weld seam A4 of gusset are welded, in the point positions P3 to the 7th weld seam B3 of stiffened panel and the 8th weld seam
B4 is welded, and is welded to the 5th weld seam B1 of stiffened panel and the 6th weld seam B2 in the point positions P4, reversed balancing flange exists
It is rotated on positioner, the point positions P1 and the point positions P2 are about flange axial direction mirror symmetry, the point positions P3 and P4 points position
About flange axial direction mirror symmetry, P1 points position, P2 points setting in the point position and the positions P4 P3 lower section.
As shown in fig. 7, further including P5 points position, P5 points position is for welding the first outer circumferential weld C3, the second outer circumferential weld
C4, circumferential weld C2 in circumferential weld C1 and second in first, described P5 points are setting between the point positions P1 and P2 points position and being located at P1
Below point position and P2 points position, the point positions P1 and the point positions P2 are relative to P5 point positional symmetries.The outer circumferential weld and interior
Circumferential weld position is as shown in Figure 8.
As shown in figure 9, when reversed balancing flange and plane perpendicular be 0 degree, the angle [alpha] be 18-23 degree, most preferably 20
Degree.
The robot that is welded as is welded, and the action of the robot and the rotation of the reversed balancing flange are logical
PLC is crossed to automatically control.To realize automatic welding.It is inputted to robot outside the geometric parameter flange of reversed balancing flange structure
Diameter, stiffened panel length and width and thickness, the thickness of flanged plate and the quantity of stiffened panel, calculated by geometric dimension determine P1 points positions,
This position is simultaneously recorded in P2 points position, the point positions P3 and the point positions P4, and due to the error of blanking and assembly, dot laser needs each
All the first weld seam A1, the second weld seam A2, third weld seam A3, the 4th weld seam A4 types, the 5th weld seam B1 of positioning stiffened panel, the 6th weldering
Stitch B2, the 7th weld seam B3, the accurate position of the 8th weld seam B4, the length of weld seam defined in robot program；Coordinate positioner
Rotation, robot is to its four point positions welding region P1 to P2 points position, and the point positions P2 to P3 points position, P3 points position is arrived
P4 points position cycle is welded to realize that the sequence of four positions is in no particular order to upper lower flange automatic welding.
The advantage of five positions is divided to be, in the point positions P1 and P2 points position, A type weld seams at this time belong to the weldering of ship type
Seam, ship type weld seam is easy to welding and welding quality is good, the first weld seam A1, the second weld seam A2 and third weld seam A3, the 4th weld seam A4
The both sides of stiffened panel are located at, reversed balancing flange rotating welding cycle terminates, and is achieved that stiffened panel bilateral ship type weld seam
Whole welding, the angle that the line and vertically downward direction of P1 points position, the point positions P2 and the flange center of circle are formed all is
45 degree.And in the point positions P3 and P4 points position, Type B weld seam belongs to fillet weld in the flat position, when due to welding Type B weld seam, reversed balancing
Orchid is turned to 18-23 degree on becoming machine, the 5th weld seam B1, the 6th weld seam B2 and the 7th weld seam B3, the 8th weld seam made in this way
The weld seam of B4 is also similar to that ship type weld seam, reversed balancing flange rotating welding cycle terminate, and is achieved that the stiffened panel bilateral straight angle
Whole welding of weld seam.In the positions P5, c-type weld seam is fillet weld in the flat position, and when welding c-type weld seam, reversed balancing flange is conjugating
18-23 degree is turned on machine so that c-type weld seam is also similar to that ship type weld seam.
First weld seam A1, the second weld seam A2, third weld seam A3, the 4th weld seam A4 and the 5th weld seam B1, the 6th weld seam B2,
After seven weld seam B3, the 8th weld seam B4 are welded, robot flips outward on positioner to P5 points position, by balance flange and arrives 18-
23 degree, robot is respectively completed the welding to the outer circumferential weld C4 of circumferential weld C1 and second in first, then by balance flange in positioner
On be inwardly turned to 18-23 degree, in P5 points position, robot is respectively completed the weldering to the outer circumferential weld C3 of circumferential weld C2 and first in second
It connects, is finally completed all welding of balance flange.The automatic welding side of the reversed balancing flange provided through the invention in this way
Method completes all welding of reversed balancing flange.
Embodiment 1
Single robotic scenarios：The first weld seam A1 and the second weld seam A2 at robot welding complete P1 points position, positioner can up times
Needle is rotatably assorted robot welding, and in P2 points position, positioner rotates counterclockwise cooperation robot welding, welded reinforcement successively
The third weld seam A3 and the 4th weld seam A4 of plate；When the first weld seam A1, the second weld seam for completing entire reversed balancing flange stiffened panel
A2, third weld seam A3, the 4th weld seam A4 welding after, balance flange is flipped outward on positioner and arrives 18-23 degree, in P3 points
Position, positioner rotate clockwise cooperation robot welding, weld the 7th weld seam B3 of stiffened panel successively；In P4 points position, become
Position machine rotates counterclockwise cooperation robot welding, welds the 7th weld seam B3 of stiffened panel successively；The 5th all weld seam B1 is welded
After the 7th weld seam B3, balance flange is flipped outward on positioner and arrives 18-23 degree, in P3 points position, positioner is clockwise
Be rotatably assorted robot welding, has welded the 8th weld seam B4 of stiffened panel successively, and in P4 points position, positioner, which rotates counterclockwise, matches
Robot welding is closed, has welded the 6th weld seam B2 of stiffened panel successively；Complete the 5th all weld seam B1, the 6th weld seam B2,
After seven weld seam B3 and the 8th weld seam B4, balance flange is flipped outward on positioner and arrives 18-23 degree, robot is respectively completed pair
Balance flange, is then inwardly turned to 18-23 degree by the welding of the outer circumferential weld C4 of circumferential weld C1 and second on positioner in first,
P5 points position, robot are respectively completed the welding to the outer circumferential weld C3 of circumferential weld C2 and first in second, are finally completed balance flange institute
Some welding are finally completed all welding of balance flange.
Embodiment 2
Dual robot scheme 1：Welding process is：Left side robot can be moved to P1 points position, and the right robot is moved to P2 bands
Your position, they weld corresponding A types weld seam simultaneously, and positioner coordinates robot welding, all A types seam welding clockwise
It completes, by balance flange out to 18-23 degree is turned on positioner, left side robot is moved to the 5th weldering of the positions P4 welding
B1 is stitched, the right robot welding is moved to the positions P3 and welds the 7th weld seam B3, and positioner rotates counterclockwise cooperation robot welding,
The 6th weld seam B2 and the 7th weld seam B3 has been welded, balance flange is inwardly turned to 18-23 degree, left side machine on positioner
People is moved to the positions P4 and welds the 6th weld seam B2, and the right robot welding is moved to the positions P3 and welds the 8th weld seam B4, positioner
Rotate counterclockwise cooperation robot welding, welded the 6th weld seam B2 and the 8th weld seam B4, complete the 5th all weld seam B1,
After 6th weld seam B2, the 7th weld seam B3 and the 8th weld seam B4, by balance flange out to being turned to 18-23 degree on positioner,
Any one robot is welded in the external circumferential weld C1 in P5 points position, C4, balance flange is flipped outward on positioner and is arrived
18-23 degree, robot are respectively completed the welding to the outer circumferential weld C4 of circumferential weld C1 and second in first, are then conjugating balance flange
18-23 degree is inwardly turned on machine, in P5 points position, robot is respectively completed to the outer circumferential weld C3 of circumferential weld C2 and first in second
Welding, is finally completed all welding of balance flange..
Embodiment 3
Dual robot scheme 2：The welding process of Liang Ge robots is：Left side robot can be moved to the positions P1, the right robot
The positions P2 are moved to, they weld corresponding A types weld seam simultaneously, and positioner coordinates robot welding, each self-brazing clockwise
4 groups of stiffened panels are connect；Left side robot is moved to the positions P4, and the right robot is moved to the positions P3, and positioner drives flange to turn over
18-23 degree is gone to, they weld corresponding Type B weld seam simultaneously, and positioner rotates counterclockwise cooperation robot welding, respectively
4 groups of stiffened panels are welded；Left and right side robot turns again to the positions P1 and P2 just now, and positioner turns over welded clockwise
Stiffened panel come adjacent unwelded reinforcement Board position, according to welding sequence just now, until having welded all stiffened panels.
First weld seam A1, the second weld seam A2, third weld seam A3, the 4th weld seam A4 and the 5th weld seam B1, the 6th weld seam B2,
After seven weld seam B3, the 8th weld seam B4 are welded, robot flips outward on positioner to P5 points position, by balance flange and arrives 18-
23 degree, robot is respectively completed the welding to the outer circumferential weld C4 of circumferential weld C1 and second in first, then by balance flange in positioner
On be inwardly turned to 18-23 degree, in P5 points position, robot is respectively completed the weldering to the outer circumferential weld C3 of circumferential weld C2 and first in second
It connects, is finally completed all welding of balance flange.Complete all welding of reversed balancing flange.
Claims (10)
1. a kind of automatic welding method of reversed balancing flange, includes the following steps：One, reversed balancing flange is assembled to change
On the machine of position, keep reversed balancing flange vertical；Two, in the point positions P1 to the first weld seam of stiffened panel（A1）With the second weld seam（A2）Into
Row welding, in P2 points position to stiffened panel（3）Third weld seam（A3）With the 4th weld seam（A4）It is welded, in P3 points position
When, reversed balancing flange is flipped outward on positioner and arrives 18-23 degree, to the 7th weld seam of stiffened panel（B3）Welding, will be anti-
18-23 degree is inwardly turned on positioner to balance flange, to the 8th weld seam of stiffened panel（B4）It is welded, in P4 points
When setting, direction balance flange is flipped outward on positioner and arrives 18-23 degree, to the 5th weld seam of stiffened panel（B1）It is welded
It connects, by reversed balancing flange to 18-23 degree is turned on positioner, to the 6th weld seam of stiffened panel（B2）It is welded, institute
The point positions P1 and the point positions P2 are stated about flange shaft mirror symmetry, the point positions P3 and P4 points position are also about flange shaft mirror image pair
Claim, P1 points position, P2 points setting in the point positions P3 and P4 points position lower section.
2. the method as described in claim 1 further includes in P5 points position for welding the first outer circumferential weld（C3）, the second outer circumferential weld
（C4）, circumferential weld in first（C1）With second in circumferential weld（C2）, the P5 points setting between the point positions P1 and P2 points position simultaneously
Below the point positions P1 and P2 points position, the point positions P1 and the point positions P2 are relative to P5 point positional symmetries.
3. the method as described in claim 1, it is characterised in that：Balance flange is flipped outward on positioner to 20 degree, it will
Balance flange is flipped outward on positioner to 20 degree.
4. the method as described in claim 1-3 any claims, it is characterised in that：Described is welded as robot welding,
The action of the robot and the rotation of the positioner are automatically controlled by PLC.
5. the method as described in claim 1-3 any claims, it is characterised in that：The P1 points, P2 points and the flange center of circle
Line and the angle that is axially formed of flange be all 45 degree.
6. the method as described in claim 1-3 any claims, it is characterised in that：It is set at the front of the positioner
It is equipped with track, is used for the movement of robot welding workstation.
7. the method as described in claim 1-3 any claims, it is characterised in that：At robot welding complete P1 points position
First weld seam（A1）With the second weld seam（A2）, positioner can be rotatably assorted robot welding, and in P2 points position, positioner rotation is matched
Robot welding is closed, has welded the third weld seam of stiffened panel successively（A3）With the 4th weld seam（A4）；When the entire counterbalancing of completion
First weld seam of flange stiffened panel（A1）, the second weld seam（A2）, third weld seam（A3）, the 4th weld seam（A4）Welding after, will put down
Weighing apparatus flange flips outward on positioner to 18-23 degree, and in P3 points position, positioner is rotatably assorted robot welding, welds successively
Connect the 7th weld seam of stiffened panel（B3）, in P4 points position, positioner is rotatably assorted robot welding, welds the of stiffened panel successively
Seven weld seams（B1）；The 5th all weld seams is welded（B1）With the 7th weld seam（B3）Afterwards, balance flange is inside on positioner
It is turned to 18-23 degree, in P3 points position, positioner is rotatably assorted robot welding, has welded the 8th weld seam of stiffened panel successively
（B4）, in P4 points position, positioner is rotatably assorted robot welding, has welded the 6th weld seam of stiffened panel successively（B2）；It completes
The 5th all weld seams（B1）, the 6th weld seam（B2）, the 7th weld seam（B3）With the 8th weld seam（B4）Afterwards, it is finally welded in P5 points position
Connect the first outer circumferential weld（C3）, the second outer circumferential weld（C4）, circumferential weld in first（C1）With second in circumferential weld（C2）, complete balance flange
All welding.
8. the method for claim 7, it is characterised in that：The first outer circumferential weld is welded in P5 points position（C3）, the second outer shroud
Seam（C4）, circumferential weld in first（C1）With second in circumferential weld（C2）Process be：Balance flange is flipped outward on positioner and is arrived
18-23 degree, in P5 points position, robot is respectively completed to circumferential weld in first（C1）With the second outer circumferential weld（C4）Welding, then
Balance flange is inwardly turned to 18-23 degree on positioner, in P5 points position, robot is respectively completed to circumferential weld in second
（C2）With the first outer circumferential weld（C3）Welding, be finally completed all welding of balance flange.
9. the method as described in claim 1-3 any claims, it is characterised in that：There are two robots, and welding process is：
Left side robot is moved to P1 points position, and the right robot is moved to P2 with your position, and it is respectively right that Liang Ge robots weld simultaneously
The A type weld seams answered, positioner are rotatably assorted robot welding；All A types seam welding are completed, by balance flange on positioner to
Outside to 18-23 degree is turned to, left side robot is moved to the positions P4 and welds the 5th weld seam（B1）, the right robot is moved to P3
Set the 7th weld seam of welding（B3）, positioner is rotatably assorted robot welding, has welded all 6th weld seams（B1）With the 7th weld seam
（B3）, balance flange is inwardly turned to 18-23 degree on positioner, left side robot is moved to the positions P4 and welds the 6th weld seam
（B2）, the right robot be moved to the positions P3 weld the 8th weld seam（B4）, positioner is rotatably assorted robot welding, and welding is all
6th weld seam（B2）With the 8th weld seam（B4）；Complete the 5th all weld seams（B1）, the 6th weld seam（B2）, the 7th weld seam（B3）With
8th weld seam（B4）Afterwards, finally the first outer circumferential weld is welded in P5 points position（C3）, the second outer circumferential weld（C4）, circumferential weld in first（C1）
With second in circumferential weld（C2）, complete all welding of balance flange.
10. method as claimed in claim 9, it is characterised in that：The first outer circumferential weld is welded in P5 points position（C3）, the second outer circumferential weld
（C4）, circumferential weld in first（C1）With second in circumferential weld（C2）Process be：Balance flange is flipped outward on positioner and arrives 18-
23 degree, in P5 points position, robot is respectively completed to circumferential weld in first（C1）With the second outer circumferential weld（C4）Welding, then will put down
Weighing apparatus flange is inwardly turned to 18-23 degree on positioner, and in P5 points position, robot is respectively completed to circumferential weld in second（C2）With
First outer circumferential weld（C3）Welding, be finally completed all welding of balance flange.
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| CN201810310506.0A CN108526737A (en) | 2018-04-09 | 2018-04-09 | A kind of automatic welding method of reversed balancing flange |
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| CN201810310506.0A CN108526737A (en) | 2018-04-09 | 2018-04-09 | A kind of automatic welding method of reversed balancing flange |
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Application publication date: 20180914 |