CN109530879A - Robot single-side welding double-side forming full penetration vertical position welding weld groove - Google Patents
Robot single-side welding double-side forming full penetration vertical position welding weld groove Download PDFInfo
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- CN109530879A CN109530879A CN201811591635.8A CN201811591635A CN109530879A CN 109530879 A CN109530879 A CN 109530879A CN 201811591635 A CN201811591635 A CN 201811591635A CN 109530879 A CN109530879 A CN 109530879A
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- groove
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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
- B23K9/16—Arc welding or cutting making use of shielding gas
- B23K9/173—Arc welding or cutting making use of shielding gas and of a consumable electrode
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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
- B23K9/00—Arc welding or cutting
- B23K9/16—Arc welding or cutting making use of shielding gas
- B23K9/167—Arc welding or cutting making use of shielding gas and of a non-consumable electrode
Abstract
Proposed by the present invention is single-side welding double-side forming full penetration vertical position welding weld groove.The double-U groove of vertical position of welding is symmetrically surrounded by two trapezoidal double grooves of continuous transition, and groove root 1 is equipped on the trapezoidal groove of front end, and groove root both ends are symmetrically arranged with skiving face, and skiving face is extended to inclined angle α2Inclined surface, it is α that extending on the outside of inclined surface and plate thickness δ, which has groove chamfering,1Chamfered edge face；Symmetrically arranged chamfered edge face, inclined surface and skiving face continuous transition are equipped with groove gap e mirror image therebetween and are connected at two U-shaped grooves.The present invention is used continuously to be extended welding groove form of the symmetrical double-U groove as vertical position of welding by chamfered edge face, inclined surface and skiving face, inclined angle α1=18~25 °, inclined angle α2=38~45 °, groove gap e=0~1mmTIG erection welding, then directly adopt MAG welding method and weld to root run, realize single-side welding double-side forming, weld seam double-sided symmetrical full penetration.It is suitable for as robot single-side welding double-side forming full penetration vertical position welding weld groove application.
Description
Technical field
The present invention relates to robot welding fields, more particularly to the groove of robot welding weld seam.
Background technique
With manufacturing development, robot welding increasingly receives an acclaim and payes attention to.Meanwhile robot welding with
Stability, consistency and the reliability of its work become the important research direction that multi-Layer Welding of Thick Plates connects.But current China
Big slab welding process mode is outmoded, and process is not able to satisfy the welding requirements of robot, especially in robot to groove root
The process of portion's welding often and its is easy to appear welding defect, and the amount of reprocessing is big.The above problem has seriously constrained robot and has existed
The application of welding field becomes the bottleneck problem of China's intelligence, digital development.
Summary of the invention
In order to solve the groove welding defect of single-side welding double-side forming, the invention proposes robot single-sided weldings
Double-faced forming full penetration vertical position welding weld groove.The weld groove is connected to by double-U groove structure mirror image, using robot MAG
Welding method, so that double welded joint is symmetrical, improves the penetration and compactness of root run, single-side welding double-side forming full penetration
Vertical position welding weld seam square groove root defect, solving robot single-side welding double-side forming vertical position welding weld groove root, there are welding defects
The technical issues of.
The solution adopted by the present invention to solve the technical problem is that:
The double-U groove of vertical position of welding is symmetrically surrounded by two trapezoidal double grooves of continuous transition, on the trapezoidal slope of front end
Mouth is equipped with groove root, and groove root both ends are symmetrically arranged with skiving face, and skiving face is extended to inclined angle α2Inclination
It is α that extending on the outside of face, inclined surface and plate thickness δ, which has groove chamfering,1Chamfered edge face；Symmetrically arranged chamfered edge face, inclined surface and skiving
Face continuous transition is equipped with groove gap e mirror image therebetween and is connected at two U-shaped grooves；
Divided edge structure is made of machining, and root depth is c in groove geometric element, and skiving face length is d, skiving face tail
Apart from skiving face root depth it is a between end, apart from inclined surface root depth is b, plate thickness δ between the tail end of inclined surface；Groove
Chamfering is α1, inclined angle α2；
Groove gap when groove erection welding between two workpiece is e.
Good effect, since the present invention continuously extends symmetrical double-U groove using by chamfered edge face, inclined surface and skiving face
As the welding groove form of vertical position of welding, inclined angle α1=18~25 °, inclined angle α2=38~45 °, groove gap e=0~
Then 1mmTIG erection welding directlys adopt MAG welding method and welds to root run, realize single-sided welding it is two-sided at
Type, weld seam double-sided symmetrical full penetration ensure that the penetration and compactness of vertical position of welding groove root weld seam, improve welding effect
The quality of rate and weld seam.It is suitable for as robot single-side welding double-side forming full penetration vertical position welding weld groove application.
Detailed description of the invention
Fig. 1 is divided edge structure schematic diagram.
In figure, 1. groove roots, 2. skiving faces, 3. inclined surface, 4. chamfered edge faces, α1Groove chamfering, α2Inclined angle, a.
Skiving face root depth, the inclined surface b. root depth, c. root depth, d. skiving face length, e. groove gap, δ plate thickness.
Specific embodiment
According to the figure, the double-U groove of vertical position of welding is symmetrically surrounded by two trapezoidal double grooves of continuous transition,
The trapezoidal groove of front end is equipped with groove root 1, and groove root both ends are symmetrically arranged with skiving face 2, and skiving face is extended to slope
Mouth inclination alpha2Inclined surface 3, it is α that extending on the outside of inclined surface and plate thickness δ, which has groove chamfering,1Chamfered edge face 4；Symmetrically arranged chamfered edge
Face, inclined surface and skiving face continuous transition are equipped with groove gap e mirror image therebetween and are connected at two U-shaped grooves；
Divided edge structure is made of machining, and root depth is c in groove geometric element, and skiving face length is d, skiving face tail
Apart from skiving face root depth it is a between end, apart from inclined surface root depth is b, plate thickness δ between the tail end of inclined surface；Groove
Chamfering is α1, inclined angle α2；
Groove gap when groove erection welding between two workpiece is e.
Groove type c=4 ± the 0.5mm, a=7 ± 0.5mm, d=5 ± 0.5mm, the δ of b=4/5.
The inclined angle α1=18~25 °, inclined angle α2=38~45 °.
Groove gap e=0~the 1mm.
Embodiment 1
1., 45mm low alloy high strength steel plate realize the vertical position of welding robot MAG single-side welding double-side forming full penetration groove it is several
What element: c=4 ± 0.5mm, a=7 ± 0.5mm, d=5 ± 0.5mm, b=36 ± 0.5mm；α1=18 °, α2=45 °, e=0mm；
2., assembled in two groove contact positions using TIG weld method, assemble fusion length >=7mm；The starting point of weld seam
Erection welding is carried out with end, assembles weld interval 300mm；
3., after the assembly is completed, carry out robot manipulation's programming, not back chipping bottom welding carried out using MAG welding method.
Embodiment 2
1., 45mm low alloy high strength steel plate realize the vertical position of welding robot MAG single-side welding double-side forming full penetration groove it is several
What element: c=4 ± 0.5mm, a=7 ± 0.5mm, d=5 ± 0.5mm, b=36 ± 0.5mm；α1=25 °, α2=38 °, e=0mm；
2., assembled in two groove contact positions using TIG weld method, assemble fusion length >=7mm；The starting point of weld seam
Erection welding is carried out with end, assembles weld interval 300mm；
3., after the assembly is completed, carry out robot manipulation's programming, not back chipping bottom welding carried out using MAG welding method.
Embodiment 3
1., 45mm low alloy high strength steel plate realize the vertical position of welding robot MAG single-side welding double-side forming full penetration groove it is several
What element: c=4 ± 0.5mm, a=7 ± 0.5mm, d=5 ± 0.5mm, b=36 ± 0.5mm；α1=18 °, α2=38 °, e=1mm；
2., assembled in two groove contact positions using TIG weld method, assemble fusion length >=7mm；The starting point of weld seam
Erection welding is carried out with end, assembles weld interval 300mm；
3., after the assembly is completed, carry out robot manipulation's programming, not back chipping bottom welding carried out using MAG welding method.
Embodiment 4
1., 45mm low alloy high strength steel plate realize the vertical position of welding robot MAG single-side welding double-side forming full penetration groove it is several
What element: c=4 ± 0.5mm, a=7 ± 0.5mm, d=5 ± 0.5mm, b=36 ± 0.5mm；α1=25 °, α2=45 °, e=1mm；
2., assembled in two groove contact positions using TIG weld method, assemble fusion length >=7mm；The starting point of weld seam
Erection welding is carried out with end, assembles weld interval 300mm；
3., after the assembly is completed, carry out robot manipulation's programming, not back chipping bottom welding carried out using MAG welding method.
Visual detection face of weld after welding, vertical position of welding single-side welding double-side forming；Sectional anatomy detection, root groove
Joint penetration is good, incomplete fusion and lack of penetration situation does not occur.
Technical principle:
MAG (Metal Active Gas Arc Welding) weldering is the English abbreviation of consumable electrode metal active gas arc welding.
It is a kind of mixed gas arc welding that a small amount of oxidizing gas is added in argon gas and mixes.The most commonly used is 80% in China
Ar+20%CO2Mixed gas, due to the large percentage that argon gas accounts in mixed gas, therefore frequently referred to argon-rich mixed gas
Weldering.Its main feature is that: improve the stability of droplet transfer；Stablize cathode protection, improves the stability of arc burning；It is molten to improve weld seam
Deep shape and appearance forming；Increase the thermal power of electric arc；The metallurgical quality of weld seam is controlled, welding defect is reduced；Reduction is welded into
This.
MAG weldering can be used short circuiting transfer, spray transfer and pulsed spray transfer and be welded, and can obtain stable Welder
Skill performance and good welding point, can be used for the welding of various positions, and it is black to be particularly suitable for carbon steel, steel alloy and stainless steel etc.
The welding of non-ferrous metal material.
TIG welds (Tungsten Inert Gas Welding), also known as non-melt pole inert gas tungsten electrode protection weldering.
The stomata of weld seam, is usually used in the mode that TIG weldering is filled with silk when the air-tightness of TIG weld can preferably reduce pressure vessel weldering welding
The bottom welding of pressure vessel.Inert gas is generally argon gas.Inert gas is sent by welding torch, molten in electric arc surrounding and welding
Shielding is formed on pond.Its advantage is that electric arc and molten bath visibility are good, it is easy to operate；There is no slag or seldom slag, is not necessarily to postwelding
Scarfing cinder.
Original robot welding is preset clearance first using manual TIG bottoming with groove, reuses robot filling weldering
The technology pattern connect.And this application involves groove, for the MAG method for using the direct single face welding and double face shaping of robot welding,
Root base weld seam is welded；Then MAG welding is carried out using the welding method of robot multilayer multiple tracks filling again.
Using former groove, it is unable to satisfy the bottom welding of the direct penetration in root, therefore, in order to
It takes into account robot welding and root penetration is good, it is necessary to groove be redesigned, machine is met
Device people's welding requirements.
Claims (4)
1. robot single-side welding double-side forming full penetration vertical position welding weld groove, it is characterized in that:
The double-U groove of vertical position of welding is symmetrically surrounded by two trapezoidal double grooves of continuous transition, on the trapezoidal slope of front end
Mouth is equipped with groove root (1), and groove root both ends are symmetrically arranged with skiving face (2), and skiving face is extended to inclined angle α2
Inclined surface (3), it is α that extending on the outside of inclined surface and plate thickness δ, which has groove chamfering,1Chamfered edge face (4)；Symmetrically arranged chamfered edge face,
Inclined surface and skiving face continuous transition are equipped with groove gap e mirror image therebetween and are connected at two U-shaped grooves；
Divided edge structure is made of machining, and root depth is c in groove geometric element, and skiving face length is d, skiving face tail
Apart from skiving face root depth it is a between end, apart from inclined surface root depth is b, plate thickness δ between the tail end of inclined surface；Groove
Chamfering is α1, inclined angle α2；
Groove gap when groove erection welding between two workpiece is e.
2. robot single-side welding double-side forming full penetration vertical position welding weld groove according to claim 1, it is characterized in that: institute
State groove type c=4 ± 0.5mm, a=7 ± 0.5mm, d=5 ± 0.5mm, the δ of b=4/5.
3. robot single-side welding double-side forming full penetration vertical position welding weld groove according to claim 1, it is characterized in that: institute
State inclined angle α1=18~25 °, inclined angle α2=38~45 °.
4. robot single-side welding double-side forming full penetration vertical position welding weld groove according to claim 1, it is characterized in that: institute
State groove gap e=0~1mm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201811591635.8A CN109530879B (en) | 2018-12-25 | 2018-12-25 | Full penetration vertical welding seam groove formed by single-side welding and double-side forming of robot |
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| CN201811591635.8A CN109530879B (en) | 2018-12-25 | 2018-12-25 | Full penetration vertical welding seam groove formed by single-side welding and double-side forming of robot |
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| CN109530879B CN109530879B (en) | 2021-09-10 |
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Citations (8)
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|---|---|---|---|---|
| JPH06234076A (en) * | 1993-02-12 | 1994-08-23 | Nippon Steel Corp | Welding method for double layered steels |
| CN101293303A (en) * | 2008-06-13 | 2008-10-29 | 中国船舶重工集团公司第七二五研究所 | TIG automatic welding technique for titanium alloy thick plate narrow interstice |
| CN101722351A (en) * | 2008-10-28 | 2010-06-09 | 宝山钢铁股份有限公司 | Method for controlling quality of linerless single-sided welding double-sided molding backing weld seam |
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2018
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|---|---|---|---|---|
| JPH06234076A (en) * | 1993-02-12 | 1994-08-23 | Nippon Steel Corp | Welding method for double layered steels |
| CN101293303A (en) * | 2008-06-13 | 2008-10-29 | 中国船舶重工集团公司第七二五研究所 | TIG automatic welding technique for titanium alloy thick plate narrow interstice |
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| CN105643066A (en) * | 2016-03-31 | 2016-06-08 | 广船国际有限公司 | Thick-plate single-side welding method |
| CN108788507A (en) * | 2018-07-12 | 2018-11-13 | 福建省马尾造船股份有限公司 | A kind of divided edge structure and welding procedure of steel plate welding |
| CN108856991A (en) * | 2018-08-16 | 2018-11-23 | 中国葛洲坝集团机械船舶有限公司 | A kind of fully automatic molten electrode gas shield down hill welding suitable for diversion penstock connects method |
| CN110860769A (en) * | 2018-08-28 | 2020-03-06 | 中国核工业第五建设有限公司 | Narrow-gap automatic welding process for main steam pipeline of AP1000 nuclear power station |
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