CN109365956B - Welding method and welding device for continuous turning weld joint of bogie - Google Patents
Welding method and welding device for continuous turning weld joint of bogie Download PDFInfo
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- CN109365956B CN109365956B CN201811493715.XA CN201811493715A CN109365956B CN 109365956 B CN109365956 B CN 109365956B CN 201811493715 A CN201811493715 A CN 201811493715A CN 109365956 B CN109365956 B CN 109365956B
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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
- B23K9/02—Seam welding; Backing means; Inserts
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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
Abstract
The invention provides a welding method and a welding device for a bogie space continuous turning weld joint, which are used for welding a bogie side beam and comprise the following steps: an arc plate is arranged between the lower cover plate of the side beam and the end vertical plate, and the radian of the arc plate is larger than 90 degrees. The side beam is compressed and positioned on the welding robot, and the welding robot drives the side beam to rotate. According to welding parameters, the lower side beam cover plate, the end vertical plate and the arc plate are respectively welded with the vertical side beam plate, when a welding gun of the welding robot moves to the arc plate, the welding robot drives the side beam to rotate, the welding gun welds the arc plate and the vertical side beam plate along the corresponding rotation of a welding bead, so that the welding gun of the welding robot can smoothly convert from one welding plane to another welding plane in the welding process, the welding robot can automatically complete the welding seam welding of a continuous space turning part, the manual repair welding mode is not needed, the welding effect is effectively improved, and the quality of a workpiece product is improved.
Description
Technical Field
The invention relates to the technical field of welding, in particular to a welding method and a welding device for a continuous turning weld joint of a bogie.
Background
The bogie is one of the most important parts of the rail vehicle, is mainly used for supporting a vehicle body and ensuring the safe running of the train vehicle, and mainly comprises a framework, a driving device, a suspension device, a traction device and the like, wherein the framework mainly comprises: the bogie has the advantages that the bogie comprises two side beams and a cross beam connected between the two side beams, a short-path continuous space sharp-turn 90-degree bend exists in the side beams, and the whole welding performance of the bogie has great influence on the driving safety of train vehicles.
At present, in the existing bogie welding technology, because the joint of the bogie side beam vertical plate and the lower cover plate and the joint of the side beam vertical plate and the end vertical plate have bends, the continuous space of the short path is sharp-turned by 90 degrees in the welding seam of the side beam, when using automatic welding, the welding effect of the continuous space turning is poor due to the limitation of the angle between the welding gun and the side beam, therefore, the welding is usually performed by adopting a mode of welding the welding seam with a relatively long part of the side beam by a robot and manually welding the short path space turning and the middle part, specifically, as shown in fig. 1, the welding gun of the robot firstly starts arc at the position of the point 301 of the joint of the bogie side beam vertical plate and the lower cover plate, and then starts arc when reaching the position of the first turning point 304, lifts the welding gun, starts arc again when moving to the position of the point 307 of the joint of the side beam vertical plate and the end vertical plate, and then starts arc when reaching the position, stopping welding, then manually welding the point 304 and the point 306 and the welding seam in the middle section of the two points, and finally completing the welding of the measuring space continuous turning welding seam.
However, in the above welding method, due to the difference between the manual welding and the machine welding operation level, and at least two arc starting and arc ending weld joints are generated during welding, more molten metal is easily accumulated at and around the weld joint, and the subsequent thinning workload is increased; the welding joint is excessively heated to generate stress concentration, the strength of a welded workpiece is reduced, and the like, so that the welding efficiency is low, the welding effect is poor, and the quality of the workpiece is affected.
Disclosure of Invention
The invention provides a welding method and a welding device for a bogie space continuous turning weld joint, which aim to solve the problems that the welding effect is poor and the quality of a workpiece is influenced because of the difference of operation levels and the existence of multiple arc starting, arc stopping and the like in the conventional bogie welding technology in a mode of combining manual welding and machine welding.
One aspect of the present invention provides a method for welding a bogie space continuous turning weld for welding a bogie side beam, comprising:
an arc plate is arranged between the lower cover plate of the side beam and the end vertical plate, and the radian of the arc plate is larger than 90 degrees;
pressing and positioning the side beam on a welding robot, wherein the welding robot can drive the side beam to rotate;
and respectively welding the lower side beam cover plate, the end vertical plate and the arc plate with the side beam vertical plate according to welding parameters, wherein when a welding gun of the welding robot moves to the arc plate, the welding robot drives the side beam to rotate, and the welding gun correspondingly rotates along a welding bead to weld the arc plate with the side beam vertical plate.
In an embodiment of the present invention, the welding robot drives the side sill to rotate, and the welding gun rotates along a weld bead to weld the arc plate and the side sill vertical plate, and the welding robot includes:
dividing the welding position of the arc plate and the side beam vertical plate into a first welding area, a second welding area and a third welding area;
and welding the second welding area in a flat welding mode, wherein one of the first welding area and the third welding area is welded in an ascending slope, and the other one of the first welding area and the third welding area is welded in a descending slope.
In a specific embodiment of the present invention, the dividing the welding position of the arc plate and the side sill vertical plate into a first welding region, a second welding region, and a third welding region includes:
and selecting a first inflection point and a second inflection point at the welding position of the arc plate and the side beam vertical plate, wherein the welding position is divided into a first welding area, a second welding area and a third welding area by the first inflection point and the second inflection point, and the second welding area is positioned between the first inflection point and the second inflection point.
In a specific embodiment of the present invention, the welding the side sill lower cover plate, the end vertical plate, and the arc plate to the side sill vertical plate according to welding parameters includes:
acquiring groove depths of welding positions between the lower side beam cover plate, the end vertical plate and the arc plate and the side beam vertical plate respectively;
acquiring the number of welding layers according to the depth of the groove at the welding position;
and respectively welding the lower side beam cover plate, the end vertical plate and the arc plate with the side beam vertical plate according to the welding layer number.
In an embodiment of the present invention, before the pressing and positioning of the side beam on a welding robot and the welding robot driving the side beam to rotate, the method further includes:
and selecting the welding robot according to the size and the welding position of the side beam, and selecting a positioning device connected with the welding robot according to the size and the operation space required by welding of the side beam.
In a specific embodiment of the present invention, the welding the side sill lower cover plate, the end vertical plate, and the arc plate to the side sill vertical plate according to welding parameters includes:
the welding robot adopts oblique angle type swing during welding, and setting residence time at two peak points of swing.
In a specific embodiment of the present invention, the method further comprises:
acquiring the relative position of a welding seam according to the tracking and positioning functions of the welding robot;
and correcting the welding program of the welding robot in real time according to the relative position change of the welding seam.
In a specific embodiment of the present invention, the method further comprises:
acquiring the change of the relative position of a welding line caused by welding deformation in the welding process according to the arc sensing function of the welding robot;
and correcting the welding program in real time according to the change of the relative position of the welding seam.
In a specific embodiment of the present invention, the welding parameters include: welding current, welding voltage and welding speed.
Another aspect of the present invention provides a welding apparatus, including a welding robot and a welding gun connected to a shaft of the welding robot, wherein the welding robot is connected to a positioning device capable of pressing and positioning a side beam of a bogie, so that the welding robot drives the side beam to rotate through the positioning device, and a main arm of the welding robot can move up and down to drive the welding gun to move up and down.
The invention provides a welding method and a welding device for a spatial continuous turning weld of a bogie, which are characterized in that the radian of an arc plate between a lower side beam cover plate and an end vertical plate is larger than 90 degrees, and when the lower side beam cover plate, the end vertical plate and the arc plate are respectively welded with the side beam vertical plate according to welding parameters, when a welding gun of a welding robot moves to the arc plate, the welding robot drives the side beam to rotate, and the welding gun correspondingly rotates along a weld bead to weld the arc plate and the side beam vertical plate, so that the welding gun of the welding robot can smoothly change from one welding plane to another welding plane in the welding process, the problem of smoothness of changing from one welding plane to another welding plane in the welding process is solved, the welding robot can automatically complete the welding of the weld at the spatial continuous turning part without adopting a manual repair welding mode, the problems that due to the difference of the manual welding and the machine welding operation levels and the existence of at least two arc starting and arc stopping weld joints, the subsequent polishing workload needs to be increased, the strength of a workpiece is reduced and the like are effectively solved, so that the welding efficiency is improved, the welding effect is improved, and the quality of a workpiece product is improved. The problem of adopt manual welding and machine welding to combine among the current bogie welding technology, because the difference of operation level exists many times the arcing and the arc of seting up etc. and lead to welding effect relatively poor, influence work piece quality is solved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a schematic view of a prior art truck illustrating the welding of side sill pans, end risers and side sill risers;
FIG. 2 is a schematic view of a weld between a side sill bottom plate, an end riser and a side sill riser of a truck according to an embodiment of the present invention;
FIG. 3 is a schematic view of a weld between a side sill bottom panel, an end riser and a side sill riser of yet another truck in accordance with an embodiment of the present invention;
FIG. 4 is a schematic view of an oscillating manner of a welding robot according to an embodiment of the present invention;
fig. 5 is a welding apparatus according to an embodiment of the present invention.
Description of reference numerals:
a side beam vertical plate-10; side sill lower cover plates-20; an end vertical plate-30; 40 parts of arc plate; a welding robot-51; welding gun-52; a positioner-53; a drive shaft 531; a driven shaft 532; a rotating shaft 533; and a tooling device 54.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The welding method and the welding device for the spatial continuous turning weld joint of the bogie can be applied to welding of the side beam of the vehicle bogie, are particularly suitable for welding continuous turning positions formed between the side beam vertical plate and the side beam lower cover plate as well as between the side beam vertical plate and the end vertical plate in the vehicle bogie, realize full-automatic welding by a robot, and are a welding method for full-automatic continuous welding of short-distance spatial continuous turning weld joints.
Fig. 1 is a schematic view of welding between a side sill lower cover, an end upright plate and a side sill upright plate of a conventional bogie, fig. 2 is a schematic view of welding between a side sill lower cover, an end upright plate and a side sill upright plate of a bogie according to an embodiment of the present invention, fig. 3 is a schematic view of welding between a side sill lower cover, an end upright plate and a side sill upright plate of another bogie according to an embodiment of the present invention, and fig. 4 is a schematic view of a swing mode of a welding robot according to an embodiment of the present invention.
One aspect of the invention provides a welding method for a bogie space continuous turning weld joint, which comprises the following steps:
s101: an arc plate is arranged between the lower cover plate of the side beam and the end vertical plate, and the radian of the arc plate is larger than 90 degrees.
Be equipped with circular arc board 40 between curb girder lower cover plate 20 and tip riser 30, with transitional coupling curb girder riser 10, curb girder lower cover plate 20 and tip riser 30, set up the radian of this circular arc board 40 and be greater than 90, when welding robot 51 is welding like this, the walking angle and the working angle of its welder 52 will reduce to some extent, and then will reduce the probability that produces welding defects such as not fusing when welding, improve the success rate of one-time welding, the quantity of welded joint and the probability that produces welding defect have been reduced, help improving the welded quality.
In this embodiment, the radian of the arc plate 40 is set to be greater than 90 °, and meanwhile, the groove needs to be subjected to gapless butt joint assembly, so that the walking angle and the working angle of the welding gun 52 are changed, and the consistency of the filling amount of the welding seam is ensured when the welding robot 51 performs welding, which is beneficial to improving the overall welding effect of the welding seam.
S102: the side beam is compressed and positioned on the welding robot, and the welding robot can drive the side beam to rotate.
When welding the curb girder, need be with this curb girder compression location on this welding robot 51, it is concrete, in this embodiment, this welding robot 51 is connected with the positioner that can be used to compress tightly the location bogie curb girder, with this curb girder compression location on this positioner, this welding robot 51 accessible drives this positioner and drives the curb girder and rotate, it should be explained that, in this embodiment, welding robot 51 can drive the curb girder and rotate, indicate that welding robot 51 accessible positioner drives the curb girder and accomplishes the space around the X axle rotation 360 and around the Y axle completion rotation 360.
Wherein, in this embodiment, this welding robot 51 is 6 welding robots, has stronger reachability, this positioner includes positioner 53 and sets up tooling device 54 on positioner 53, the curb girder compresses tightly the location on tooling device 54 when welding, welding robot 51 drives the curb girder that is located on tooling device 54 through positioner 53 and rotates, specifically, positioner 53 is "C" type E1, E2 axle can the linkage positioner, this positioner 53 has the driving shaft 531 that can rotate around the X axle, this driving shaft 531 still is connected with the driven shaft 532, can make positioner 53 drive curb girder to accomplish the space 360 rotations around the horizontal X axle through the cooperation of driving shaft 531 and driven shaft 532, this positioner 53 still has the pivot 533 of rotating around vertical Y axle, thereby realize 360 rotations of curb girder around the Y axle.
S103: and respectively welding the lower side beam cover plate, the end vertical plate and the arc plate with the side beam vertical plate according to welding parameters, wherein when a welding gun of the welding robot moves to the arc plate, the welding robot drives the side beam to rotate, the welding gun rotates along a welding bead correspondingly, and the arc plate and the side beam vertical plate are welded in the welding gun rotating process.
The welding robot 51 respectively welds the side sill lower cover plate 20, the end vertical plate 30 and the arc plate 40 with the side sill vertical plate 10 according to the set welding parameters, that is, welds the continuous space turning part formed among the side sill lower cover plate 20, the end vertical plate 30, the arc plate 40 and the side sill vertical plate 10, when the welding gun 52 of the welding robot 51 moves to the arc plate 40, the welding robot 51 drives the side sill to rotate, and simultaneously the welding robot 51 drives the welding gun 52 to rotate correspondingly along a welding bead, and the arc plate 40 is welded with the side sill vertical plate 10 during the rotation of the welding gun 52, it should be noted that the welding bead is a welding bead to be welded at the space turning part formed at the welding position among the arc plate 40, the end vertical plate 30 and the side sill vertical plate 10, that is, when the welding gun 52 of the welding robot 51 moves to the space turning part, the welding robot 51 drives the side sill to rotate, meanwhile, the welding gun 52 is driven to rotate along the spatial turning welding bead at the position, and the arc plate 40 is welded with the side beam vertical plate 10, so that the welding gun 52 of the welding robot 51 can be smoothly changed from one welding plane to another welding plane in the welding process, the problem of smoothness of changing from one welding plane to another welding plane in the welding process is solved, the welding robot can automatically complete the welding seam welding at the continuous spatial turning position, the manual repair welding mode is not needed for welding, the problems that more molten metal is easily accumulated at the welding seam position and the periphery of the welding seam, the subsequent grinding workload is increased, the stress concentration is generated due to excessive heating at the welding seam joint, the strength of the welded workpiece is reduced and the like due to the difference of the manual welding and the machine welding operation levels and the existence of at least two arc starting and arc ending welding seam joints are effectively avoided, thereby improving the welding efficiency, improving the welding effect and being beneficial to improving the quality of workpiece products.
Specifically, as shown in fig. 2, when the side sill 20, the end riser 30 and the arc plate 40 are respectively welded to the side sill riser 10 according to the welding parameters, the welding position between the side sill 20 and the side sill riser 10 is from the point 301 position to the point 304 position in the figure, the welding position between the side sill riser 10 and the arc plate 40 is from the point 304 position to the point 306 position in the figure, and the welding position between the side sill riser 10 and the end riser 30 is from the point 306 position to the point 307 position in the figure, wherein the point 301 to the point 304 are a plane, two turning points in the plane are the point 302 and the point 303, the point 306 to the point 307 are another plane, the turning point in the plane is the point 305, the plane from the point 301 to the point 303 forms an angle of about 90 ° with the plane from the point 305 to the point 307, the welding gun 52 of the welding robot 51 is in the point 301 position to initiate an arc, the approach point 302, the approach point, Two planes from point 301 to point 304 of turning are welded at the point 303, when the position of the point 304 is the position of the arc plate 40, the welding robot 51 drives the side beam and the welding gun 52 to rotate correspondingly, so that the welding gun 52 rotates to the position of the point 306 through the position of the point 305, and finally the arc is closed at the position of the point 307, and the welding from the point 306 to the plane of the point 307 is completed, so that the smoothness from one welding plane to the other welding plane in the welding process is solved by controlling the linkage of the side beam and the welding gun, the welding at the position can be completed without combining manual welding, and the automatic welding of the continuous turning in space is realized.
In this embodiment, there is no other requirement for the type and kind of the welding gun, and it is sufficient to realize the function thereof, specifically, in this embodiment, the welding gun of the welding robot used is a long-neck gooseneck type welding gun, the change space of the welding gun is large, and the welding gun has good accessibility, and it should be noted that when the position rotation of the welding process changes, it is necessary to ensure that the 1 to 5 axes of the robot are not affected by the workpiece and the welding tool.
In the present embodiment, before welding by using the welding robot 51, a welding process scheme of the welding robot 51 is first prepared by observing a trial welding process, analyzing a metallographic examination, studying and judging a weld formation, and the like, and includes a welding position, a welding gun angle, selection of characteristic points, process parameters, and the like.
In the present embodiment, when the welding gun 52 moves to the arc plate 40, the welding robot 51 drives the side beam to rotate, and simultaneously drives the welding gun 52 to rotate correspondingly along the weld bead, and welds the arc plate 40 and the side beam vertical plate 10 during the rotation, the welding parameters change with the change of the welding position, that is, the welding at the position from point 304 to point 306 in the figure, and the welding parameters change according to the change of the welding position, wherein in the present embodiment, the welding parameters include: welding current, welding voltage and welding speed.
In the present embodiment, the side sill lower cover 20, the end vertical plate 30 and the arc plate 40 are respectively welded to the side sill vertical plate 10, and the position of the welding seam is designed to the position of the side sill inner vertical plate, so that the strength of the side sill after welding can be ensured, the stress concentration in the welding seam can be avoided, and the welding gun can be prevented from being blocked, and the welding accessibility can be improved.
The invention provides a welding method of a bogie space continuous turning weld seam, which is characterized in that the radian of an arc plate 40 between a side beam lower cover plate 20 and an end vertical plate 30 is larger than 90 degrees, when the side beam lower cover plate 20, the end vertical plate 30 and the arc plate 40 are respectively welded with a side beam vertical plate 10 according to welding parameters, when a welding gun 52 of the welding robot 51 moves to the arc plate 40, the welding robot 51 drives the side beam to rotate, and the welding gun 52 correspondingly rotates along a weld bead to weld the arc plate 40 and the side beam vertical plate 10, so that the welding gun 52 of the welding robot 51 can smoothly change from one welding plane to another welding plane in the welding process, the smoothness of changing from one welding plane to another welding plane in the welding process is solved, the welding robot 51 can automatically complete the weld seam welding at the continuous space turning part without adopting a manual repair welding mode, the problems that due to the difference of the manual welding and the machine welding operation levels and the existence of at least two arc starting and arc stopping weld joints, the subsequent polishing workload needs to be increased, the strength of a workpiece is reduced and the like are effectively solved, so that the welding efficiency is improved, the welding effect is improved, and the quality of a workpiece product is improved. The problem of adopt manual welding and machine welding to combine among the current bogie welding technology, because the difference of operation level exists many times the arcing and the arc of seting up etc. and lead to welding effect relatively poor, influence work piece quality is solved.
Further, in this embodiment, the welding robot 51 in step S103 drives the side beam to rotate, and the welding gun 52 welds the arc plate 40 and the side beam vertical plate 10 along the corresponding rotation of the welding bead, which specifically includes:
s201: the welding position of the arc plate 40 and the side sill vertical plate 10 is divided into a first welding area, a second welding area and a third welding area.
S202: and welding the second welding area in a flat welding mode, wherein one of the first welding area and the third welding area is welded in an ascending slope, and the other one is welded in a descending slope.
The welding position of the arc plate 40 and the side beam vertical plate 10 is divided into a first welding area, a second welding area and a third welding area, the first welding area is welded in an ascending mode, the second welding area is welded in a flat welding mode, and the third area is welded in a descending mode.
In this embodiment, when the welding gun 52 moves to the arc plate 40, the welding robot 51 drives the side beam to rotate, and simultaneously drives the welding gun 52 to rotate correspondingly along the weld bead to weld the arc plate 40 and the side beam vertical plate 10 for welding, the welding parameters change along with the change of the welding position, specifically, when the first welding area, the second welding area and the third welding area adopt different welding modes for welding, the welding parameters are different along with different welding stages, specifically, the welding parameters in the up-slope welding stage, the flat welding stage and the down-slope welding stage are as shown in table 1 below:
TABLE 1 welding parameters for different welding phases
In this embodiment, the step S201 specifically includes:
a first inflection point and a second inflection point are selected at the welding position of the arc plate 40 and the side beam vertical plate 10, the welding position is divided into a first welding area, a second welding area and a third welding area by the first inflection point and the second inflection point, and the second welding area is located between the first inflection point and the second inflection point.
In the welding position of the arc plate 40 and the side sill upright plate 10, a first inflection point and a second inflection point are selected, as shown in fig. 3, in the embodiment, the welding position between the side sill upright plate 10 and the arc plate 40 is from a point 304 position to a point 306 position in the figure, a point 305 position is a turning position of an arc of the welding position, so that when the welding area is divided, in order to avoid too fast action caused by large position change in space in the welding process and cause robot alarm, a point between the point 304 position and the point 306 position is selected as a first inflection point 401, a point between the point 305 point and the point 306 position is selected as a second inflection point 402, a point between the point 304 position and the point 401 position is a first area, a second area between the point 401 and the point 402 position is selected as a third area, and the uphill welding, flat welding and the flat welding are matched through the three areas, The mode of downhill welding is used for reducing the variation amplitude of the welding action at the position of the circular arc plate.
In this embodiment, in step S103, the side sill lower cover 20, the end vertical plate 30 and the arc plate 40 are respectively welded to the side sill vertical plate 10 according to welding parameters, and a specific welding method includes:
s301: and acquiring the depth of the groove at the welding position between the side beam lower cover plate 20, the end vertical plate 30 and the arc plate 40 and the side beam vertical plate 10 respectively.
S302: and acquiring the number of welding layers according to the depth of the groove at the welding position.
S303: and respectively welding the side beam lower cover plate 20, the end vertical plate 30 and the arc plate 40 with the side beam vertical plate 10 according to the welding layer number.
In order to reduce the probability of the occurrence of interlayer defects, in the embodiment, a welding method of thin layer filling is adopted, the number of welding layers is calculated according to the groove depth of the welding position to respectively weld the side sill lower cover plate 20, the end vertical plate 30 and the arc plate 40 with the side sill vertical plate 10, specifically, one layer is welded according to the average groove depth of each layer of 3mm-4mm to determine, the depth value of the groove is divided by 3 to obtain the number of layers to be welded, wherein the part less than the integer is calculated as an integer. If the depth of the outer seam of the side beam is 12HV + a4, the number of layers to be welded N is 17/4 to 4.25, so 5 layers of welding are required.
In this embodiment, before step S102, the method further includes:
the welding robot 51 is selected according to the size and welding position of the side member, and the positioning device connected to the welding robot 51 is selected according to the size and operation space required for welding of the side member.
Before compressing the curb girder on location and welding robot 51, need carry out the required welding position of weld according to work piece size and needs and choose suitable welding robot 51 model for use to make this welding robot 51 can accomplish and drive the curb girder and rotate action such as, and select the positioner who is used for fixing a position the curb girder according to the size of curb girder and the required operating space of welding robot 51 welding.
In the present embodiment, in step S103, welding the side sill lower 20, the end vertical plate 30, and the arc plate 40 to the side sill vertical plate 10 according to the welding parameters includes:
the welding robot 51 performs welding by using a diagonal swing, and the stay time is set at two peaks of the swing. Specifically, as shown in fig. 4, the swing mode of the welding robot 51 is set to be a diagonal swing, and the stay time is set at two peaks of the swing, so that the generation of undercut defect during the welding process can be avoided, and the welding quality can be improved, wherein the stay mode at the peaks is not limited in this embodiment and can be set according to the actual production situation, and in this embodiment, the stay time at the two peaks is 0.2 s.
Further, in this embodiment, the welding method for the bogie space continuous turning weld further includes:
s401: the relative position of the weld is acquired according to the tracking and positioning function of the welding robot 51.
S402: and corrects the welding program of the welding robot 51 in real time according to the relative position change of the weld.
The welding robot 51 acquires the relative position of the weld by using its tracking and positioning function, and corrects the welding program in real time according to the change of the relative position of the weld, which is helpful for improving the accuracy of the welding position and improving the welding quality.
Further, in this embodiment, the welding method for the bogie space continuous turning weld further includes:
s501: and acquiring the change of the relative position of the welding seam caused by welding deformation in the welding process according to the arc sensing function of the robot.
S502: the change of the relative position of the welding seam corrects the welding program in real time.
The welding robot 51 acquires changes in relative positions of the welding seams caused by welding deformation in the welding process by using an arc sensing function to correct a welding program in real time, which is helpful for improving the accuracy of the welding positions and improving the welding quality.
Compared with the existing robot combined manual welding mode, the total working hours of the welding method for the bogie space continuous turning weld joint provided by the embodiment of the invention are shortened by 50%, wherein the grinding amount is reduced by 70%, the working hours/vehicle in 192 minutes are saved, and the working efficiency is effectively improved; and the qualification rate of welding once reaches more than 90%, the welding structure of the obtained workpiece is stronger, and the product quality is obviously improved.
Fig. 5 is a welding apparatus according to an embodiment of the present invention.
Another aspect of the present invention provides a welding apparatus, comprising a welding robot 51 and a welding gun 52 connected to a shaft of the welding robot 51, wherein the welding robot 51 is connected to a positioning device for pressing and positioning a side beam of a bogie, so that the welding robot 51 drives the side beam to rotate via the positioning device, and a main arm of the welding robot 51 can move up and down to drive the welding gun 52 to move up and down.
Specifically, as shown in fig. 5, in the present embodiment, the welding device includes a welding robot 51 and a welding gun 52 connected to the welding robot 51, the welding robot can drive the welding gun 52 to rotate, and the main arm of the welding robot 51 can move up and down to drive the welding gun 52 to move up and down, which helps to improve the accessibility of the welding gun 52 during welding. This welding robot 51 still is connected with positioner, this positioner includes machine of displacement 53 and sets up the tooling device 54 on machine of displacement 53, welding robot 51 can drive driven shaft 532 around the X rotation of axes through the driving shaft 531 of control machine of displacement 53, the pivot 533 of machine of displacement 53 is around the Y rotation of axes, thereby it rotates to drive the curb girder on the tooling device 54, like this when welding robot 51's welder 52 moves arc plate 40, welding robot 51 just can drive the curb girder and rotate, drive welder 52 simultaneously and weld along the corresponding rotation of welding bead, realize from a plane of welding to another plane of welding's direct connection, improve the welded quality in space turn department.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (9)
1. A welding method of a bogie space continuous turning weld joint is used for welding a bogie side beam, and is characterized by comprising the following steps:
an arc plate is arranged between the lower cover plate of the side beam and the end vertical plate, and the radian of the arc plate is larger than 90 degrees;
pressing and positioning the side beam on a welding robot, wherein the welding robot can drive the side beam to rotate;
and respectively welding the lower side beam cover plate, the end vertical plate and the arc plate with the side beam vertical plate according to welding parameters, wherein when a welding gun of the welding robot moves to the arc plate, the welding robot drives the side beam to rotate, and the welding gun correspondingly rotates along a welding bead to weld the arc plate with the side beam vertical plate.
2. The method of welding a bogie-space continuous-turn weld according to claim 1, wherein the welding robot rotates the side sill and the welding gun welds the circular arc plate to the side sill upright plate along the corresponding rotation of the weld bead, comprising:
dividing the welding position of the arc plate and the side beam vertical plate into a first welding area, a second welding area and a third welding area;
and welding the second welding area in a flat welding mode, wherein one of the first welding area and the third welding area is welded in an ascending slope, and the other one of the first welding area and the third welding area is welded in a descending slope.
3. The method of welding a bogie space-continuity turn weld according to claim 2, wherein said dividing the welding position of the circular arc plate and the side sill panel into a first welding region, a second welding region, and a third welding region comprises:
and selecting a first inflection point and a second inflection point at the welding position of the arc plate and the side beam vertical plate, wherein the welding position is divided into a first welding area, a second welding area and a third welding area by the first inflection point and the second inflection point, and the second welding area is positioned between the first inflection point and the second inflection point.
4. The method for welding a bogie space-continuity turn weld according to any one of claims 1 to 3, wherein the welding the side sill lower cover, the end riser and the arc plate with the side sill riser respectively according to welding parameters comprises:
acquiring groove depths of welding positions between the lower side beam cover plate, the end vertical plate and the arc plate and the side beam vertical plate respectively;
acquiring the number of welding layers according to the depth of the groove at the welding position;
and respectively welding the lower side beam cover plate, the end vertical plate and the arc plate with the side beam vertical plate according to the welding layer number.
5. The method for welding a bogie-space continuous-turn weld according to any one of claims 1 to 3, wherein before said positioning said side beam onto a welding robot and said welding robot driving said side beam to rotate, further comprising:
and selecting the welding robot according to the size and the welding position of the side beam, and selecting a positioning device connected with the welding robot according to the size and the operation space required by welding of the side beam.
6. The method for welding a bogie space-continuity turn weld according to any one of claims 1 to 3, wherein the welding the side sill lower cover, the end riser and the arc plate with the side sill riser respectively according to welding parameters comprises:
the welding robot adopts oblique angle type swing during welding, and setting residence time at two peak points of swing.
7. The method of welding a bogie space-continuity turn weld according to any one of claims 1 to 3, further comprising:
acquiring the relative position of a welding seam according to the tracking and positioning functions of the welding robot;
and correcting the welding program of the welding robot in real time according to the relative position change of the welding seam.
8. The method of welding a bogie space-continuity turn weld according to any one of claims 1 to 3, further comprising:
acquiring the change of the relative position of a welding line caused by welding deformation in the welding process according to the arc sensing function of the welding robot;
and correcting the welding program in real time according to the change of the relative position of the welding seam.
9. The method of welding a bogie space-continuity turn weld according to any one of claims 1 to 3, wherein the welding parameters include: welding current, welding voltage and welding speed.
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| CN112676677B (en) * | 2020-12-16 | 2022-06-21 | 安徽雷尔伟交通装备有限公司 | Preparation method of straddle type monorail vehicle framework bottom plate pre-assembly |
| CN113836110B (en) * | 2021-08-23 | 2024-01-19 | 中车青岛四方机车车辆股份有限公司 | Method for establishing plane putty robot polishing database |
| CN113681115B (en) * | 2021-09-28 | 2022-08-02 | 中车长春轨道客车股份有限公司 | Process for assembling and welding brake pad supporting and hanging seat and framework of bogie of motor train unit with circumferential weld seam |
| CN114713944B (en) * | 2022-04-18 | 2023-06-27 | 中车株洲车辆有限公司 | Railway wagon end wall part welding method |
| CN114952134A (en) * | 2022-06-06 | 2022-08-30 | 中车唐山机车车辆有限公司 | Welding method and device for arc-shaped welding seam at end part of side beam of bogie |
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