CN109773307A - One kind is stood to fillet weld robot deep penetration welding technique - Google Patents
One kind is stood to fillet weld robot deep penetration welding technique Download PDFInfo
- Publication number
- CN109773307A CN109773307A CN201910174100.9A CN201910174100A CN109773307A CN 109773307 A CN109773307 A CN 109773307A CN 201910174100 A CN201910174100 A CN 201910174100A CN 109773307 A CN109773307 A CN 109773307A
- Authority
- CN
- China
- Prior art keywords
- welding
- robot
- point
- fillet weld
- stood
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000003466 welding Methods 0.000 title claims abstract description 168
- 238000000034 method Methods 0.000 title claims abstract description 49
- 230000035515 penetration Effects 0.000 title claims abstract description 48
- 238000012360 testing method Methods 0.000 claims abstract description 28
- 239000013598 vector Substances 0.000 claims abstract description 23
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims description 8
- CSCPPACGZOOCGX-UHFFFAOYSA-N Acetone Chemical compound CC(C)=O CSCPPACGZOOCGX-UHFFFAOYSA-N 0.000 claims description 6
- 239000000463 material Substances 0.000 claims description 6
- 229910000975 Carbon steel Inorganic materials 0.000 claims description 5
- LFQSCWFLJHTTHZ-UHFFFAOYSA-N Ethanol Chemical compound CCO LFQSCWFLJHTTHZ-UHFFFAOYSA-N 0.000 claims description 5
- 239000010962 carbon steel Substances 0.000 claims description 5
- 239000003960 organic solvent Substances 0.000 claims description 5
- 238000004140 cleaning Methods 0.000 claims description 4
- 229910052742 iron Inorganic materials 0.000 claims description 4
- JEIPFZHSYJVQDO-UHFFFAOYSA-N iron(III) oxide Inorganic materials O=[Fe]O[Fe]=O JEIPFZHSYJVQDO-UHFFFAOYSA-N 0.000 claims description 4
- 230000001681 protective effect Effects 0.000 claims description 4
- 229960000935 dehydrated alcohol Drugs 0.000 claims description 3
- 230000036544 posture Effects 0.000 claims description 3
- 230000004927 fusion Effects 0.000 abstract description 13
- 238000004519 manufacturing process Methods 0.000 description 7
- 229910000831 Steel Inorganic materials 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 4
- 238000005498 polishing Methods 0.000 description 4
- 239000010959 steel Substances 0.000 description 4
- 241000208340 Araliaceae Species 0.000 description 3
- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 description 3
- 235000003140 Panax quinquefolius Nutrition 0.000 description 3
- 235000008434 ginseng Nutrition 0.000 description 3
- GRYLNZFGIOXLOG-UHFFFAOYSA-N Nitric acid Chemical compound O[N+]([O-])=O GRYLNZFGIOXLOG-UHFFFAOYSA-N 0.000 description 2
- 238000005265 energy consumption Methods 0.000 description 2
- 230000010354 integration Effects 0.000 description 2
- 229910017604 nitric acid Inorganic materials 0.000 description 2
- 238000007493 shaping process Methods 0.000 description 2
- 238000007619 statistical method Methods 0.000 description 2
- 239000011324 bead Substances 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000011248 coating agent Substances 0.000 description 1
- 238000000576 coating method Methods 0.000 description 1
- 230000007797 corrosion Effects 0.000 description 1
- 238000005260 corrosion Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010891 electric arc Methods 0.000 description 1
- 229960004756 ethanol Drugs 0.000 description 1
- 235000019441 ethanol Nutrition 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 229910052751 metal Inorganic materials 0.000 description 1
- 230000007115 recruitment Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Abstract
One kind is stood to fillet weld robot deep penetration welding technique, it is related to a kind of robot arc welding process.The invention aims to solve the problems, such as it is existing it is big, again, special structural member stands and increases hardware and prefabricated groove to welded corner joint process requirement and vertical position welding root of joint fusion penetration is shallow.Method: one, prepare two pieces of test plate (panel)s to be welded；Two, tack welding；Three, test plate (panel) and workbench to be welded are fixed；Four, calibration tool coordinate system；Five, task programs；Six, multi-joint welding robot user's phasor coordinate system is established；Seven, setting vector swings parameter；Eight, welding conditions are set；Nine, starting multi-joint welding robot welding, until weld task terminates.The present invention can get and stand to fillet weld robot deep penetration welding technique.
Description
Technical field
The present invention relates to a kind of robot arc welding processes.
Background technique
With the raising of modern life level, it is after 90s and 00 after employment theory change, such as welder, polishing work,
The high-risk operations work post such as coating work has faced the difficult quagmire of recruitment.Robot is equipped as the critical support of advanced manufacturing industry, is become
One important breakthrough mouth of enterprise's realization upgrading synergy.It is welding robot by nearly half in the industrial robot being currently on active service.
When towards field of steel structure such as ship, marine worker, building, bridges, since main structure form is mostly body structure, greatly, again, it is special
It is prominent, and stand it is more to fillet weld, to guarantee structural strength, in addition to requiring shaping surface and Size of welds, it is also necessary to enough molten
It is deep；Especially key position, it is desirable that full penetration connector.However, by the factors such as liquid deposited metal gravity and Parameter specifications is smaller
It influences, the vertical position welding root of joint fusion penetration that traditional handicraft obtains is very shallow (within 0.5mm), has been unable to satisfy welding for steel structure demand.
Therefore, how research is stood quite urgent to fillet weld deep penetration welding requirement based on robot technology realization.It is big to solve fillet weld
Fusion penetration problem, existing technology mainly have following 2 kinds: (1) using high-energy density electric arc or light beam, such as Austria Fronius
The ArcTig technique of company's exploitation, the K-TIG of Australia CRC-WS cooperative development and laserHybrid welding etc.；(2) using special
Different finished edge, such as entitled " T connector single face welding and double face shaping retaining wall on slope process ", application No. is
201310197599.8 Chinese patent.New process used by technology (1) needs matching deep penetration welding power supply, and price is high
It is expensive, and work pieces process and assembly precision are required harsh, it is difficult to adapt to it is above-mentioned it is big, again, the welding manufacture of special component；Technology (2)
Though do not increase equipment investment, increase prefabricated groove time and weldering before the difficulty assembled, the objective with enterprise upgrading synergy
It disagrees.
Summary of the invention
The invention aims to solve it is existing it is big, again, special structural member stands to welded corner joint process requirement and increases hardware and pre-
Groove processed and the shallow problem of vertical position welding root of joint fusion penetration, and one kind is provided and is stood to fillet weld robot deep penetration welding technique.
One kind is stood to fillet weld robot deep penetration welding technique, is completed by the following steps:
One, prepare two pieces of test plate (panel)s to be welded, i.e. left wing plate and right wing plate；
The length and width and thickness of left wing plate described in step 1 are respectively L1 × W1 × H1, the length and width and thickness of right wing plate
Respectively L2 × W2 × H2；
The material of two pieces of test plate (panel)s to be welded described in step 1 is carbon steel；
Two, two pieces of test plate (panel)s to be welded are vertically arranged first, then carry out tack welding, then polish remove fillet weld nearby 15~
Iron rust within the scope of 25mm is positioned finally using the greasy dirt within the scope of organic solvent cleaning fillet weld nearby 15~25mm
Two pieces of test plate (panel)s to be welded of postwelding；
Three, two pieces of test plate (panel)s to be welded after tack welding are fixed on the table vertically using mechanical clamp；
Four, using the tool coordinates system of six point touch methods calibration multi-joint welding robot；
Five, task programs: the tool coordinates system demarcated of selection step 4, is avoiding multi-joint welding robot and vertical
The two pieces of test plate (panel)s to be welded of fixation on the table collide lower utilization teaching box guided robot to target point, record Home
Point, excessive point, the points of proximity, welding starting point, welding end point and rollback point position data, then by the Home point of record, excessively
The welding that point, the points of proximity, welding starting point, welding end point and rollback point position data are arranged to multi-joint welding robot is appointed
Business procedure subject；
Six, multi-joint welding robot user's phasor coordinate system is established, coordinate origin is defined on recorded in step 5
Starting point is welded, +X direction is that welding starting point recorded in step 5 is directed toward welding end point direction, i.e., straight up ,+Z
Direction is left and right wing plate isogonal line and is directed toward outward that +Y direction is determined by right-hand rule；
Seven, setting vector swings parameter: the user's phasor coordinate system established based on step 6, and multi-joint bonding machine is arranged
The triangular vector of device people swings parameter, wherein the coordinate of vertex A is (XA, YA, ZA), XAValue is 3.5~4.5mm, YAValue is
0, ZAValue is 0, and the residence time of vertex A is 0.2~0.6s, moves to 120~160cm/min of speed of vertex A；Right wing plate bottom
The coordinate of angle point B is (XB, YB, ZB), XBValue is 0, YBValue is -5.0~-6.0mm, ZBValue is 5.0~6.0mm, right flank
The residence time of board bottom angle point B is 0.2~0.6s, moves to 120~160cm/min of speed of right wing plate base angle point B；Left wing plate bottom
The coordinate of angle point C is (XC, YC, ZC), XCValue is 0, YCValue is 5.0~6.0mm, ZCValue is 5.0~6.0mm, left wing plate
The residence time of base angle point C is 0.2~0.6s, moves to 140~180cm/min of speed of left wing plate base angle point C；
Eight, welding conditions are arranged: the triangular vector based on multi-joint welding robot set in step 7 swings ginseng
Number, setting welding current are 160~200A, and arc voltage is 21.0~25.0V, and speed of welding is 6~10cm/min, protect gas
Body flow is 20~25L/min, and welding wire is flux-cored wire, and dry extension of electrode is 18~20mm；
Nine, the welding of starting multi-joint welding robot is completed one kind and is stood to fillet weld machine until weld task terminates
People's deep penetration welding technique.
The present invention is based on triangular vector swing principle provide it is a kind of be suitable for it is big, again, special structural member stands to fillet weld machine
Device people's deep penetration welding technique breaks through cut deal arc welding robot and founds the problem shallow to fillet weld fusion penetration, leg is small, meets cut deal arc
Weldering robot stands the requirement to fillet weld big fusion penetration, big leg.It has the advantage that
One, workpiece is not necessarily to prefabricated groove, is not necessarily to the high-end source of welding current, greatly simplifies production process and reduces production cost；
Two, vector swings parameter and welding conditions with that customized can be arranged per family, and process window is adaptable；
Three, using robot welding, the productivitys dates back such as technological specification, device parameter is convenient for product quality, material
Expect the statistical analysis such as energy consumption, device efficiency, productive temp, and can realize workshop level MES with other digitizer system integrations
Management；
Four, under the conditions of same welding conditions, obtained stand to fillet weld is swung using triangular vector of the invention
Root of joint fusion penetration is using traditional two spot wobbles 3~5 times stood to fillet welding joint root penetration obtained, wing plate side wall
Fusion penetration improves 25~50%, and Size of welds increases by 1/3 or so, and appearance of weld dimple, is conducive to multi-layer multi-pass welding.
The present invention can get and stand to fillet weld robot deep penetration welding technique.
Detailed description of the invention
Fig. 1 is two pieces of test plate (panel) structural schematic diagrams to be welded after tack welding obtained in one step 2 of embodiment；
Fig. 2 is the structural schematic diagram that multi-joint welding robot carries out task programming in one step 5 of embodiment；
Fig. 3 is to complete a kind of welding effect stood after fillet weld robot deep penetration welding technique in one step 9 of embodiment；
Fig. 4 is using the welding effect after traditional two spot wobbles；
Fig. 5 is the geometric dimension instrumentation plan of Fig. 3 and Fig. 4.
Specific embodiment
Specific embodiment 1: present embodiment one kind is stood to fillet weld robot deep penetration welding technique, it is according to the following steps
It completes:
One, prepare two pieces of test plate (panel)s to be welded, i.e. left wing plate and right wing plate；
The length and width and thickness of left wing plate described in step 1 are respectively L1 × W1 × H1, the length and width and thickness of right wing plate
Respectively L2 × W2 × H2；
The material of two pieces of test plate (panel)s to be welded described in step 1 is carbon steel；
Two, two pieces of test plate (panel)s to be welded are vertically arranged first, then carry out tack welding, then polish remove fillet weld nearby 15~
Iron rust within the scope of 25mm is positioned finally using the greasy dirt within the scope of organic solvent cleaning fillet weld nearby 15~25mm
Two pieces of test plate (panel)s to be welded of postwelding；
Three, two pieces of test plate (panel)s to be welded after tack welding are fixed on the table vertically using mechanical clamp；
Four, using the tool coordinates system of six point touch methods calibration multi-joint welding robot；
Five, task programs: the tool coordinates system demarcated of selection step 4, is avoiding multi-joint welding robot and vertical
The two pieces of test plate (panel)s to be welded of fixation on the table collide lower utilization teaching box guided robot to target point, record Home
Point, excessive point, the points of proximity, welding starting point, welding end point and rollback point position data, then by the Home point of record, excessively
The welding that point, the points of proximity, welding starting point, welding end point and rollback point position data are arranged to multi-joint welding robot is appointed
Business procedure subject；
Six, multi-joint welding robot user's phasor coordinate system is established, coordinate origin is defined on recorded in step 5
Starting point is welded, +X direction is that welding starting point recorded in step 5 is directed toward welding end point direction, i.e., straight up ,+Z
Direction is left and right wing plate isogonal line and is directed toward outward that +Y direction is determined by right-hand rule；
Seven, setting vector swings parameter: the user's phasor coordinate system established based on step 6, and multi-joint bonding machine is arranged
The triangular vector of device people swings parameter, wherein the coordinate of vertex A is (XA, YA, ZA), XAValue is 3.5~4.5mm, YAValue is
0, ZAValue is 0, and the residence time of vertex A is 0.2~0.6s, moves to 120~160cm/min of speed of vertex A；Right wing plate bottom
The coordinate of angle point B is (XB, YB, ZB), XBValue is 0, YBValue is -5.0~-6.0mm, ZBValue is 5.0~6.0mm, right flank
The residence time of board bottom angle point B is 0.2~0.6s, moves to 120~160cm/min of speed of right wing plate base angle point B；Left wing plate bottom
The coordinate of angle point C is (XC, YC, ZC), XCValue is 0, YCValue is 5.0~6.0mm, ZCValue is 5.0~6.0mm, left wing plate
The residence time of base angle point C is 0.2~0.6s, moves to 140~180cm/min of speed of left wing plate base angle point C；
Eight, welding conditions are arranged: the triangular vector based on multi-joint welding robot set in step 7 swings ginseng
Number, setting welding current are 160~200A, and arc voltage is 21.0~25.0V, and speed of welding is 6~10cm/min, protect gas
Body flow is 20~25L/min, and welding wire is flux-cored wire, and dry extension of electrode is 18~20mm；
Nine, the welding of starting multi-joint welding robot is completed one kind and is stood to fillet weld machine until weld task terminates
People's deep penetration welding technique.
Six point touch methods include for robot tooling center points (TCP) or tool coordinates system origin calibration outside it is identical
The different posture records of 3 kinds of reference point, and the 3 external reference points demarcated for tool coordinates system X/Z axis or Y/Z axis.
Present embodiment be based on triangular vector swing principle provide it is a kind of be suitable for it is big, again, special structural member stands to fillet welding
Robot deep penetration welding technique is stitched, cut deal arc welding robot is broken through and founds the problem shallow to fillet weld fusion penetration, leg is small, thickness in satisfaction
Plate arc welding robot stands the requirement to fillet weld big fusion penetration, big leg.It has the advantage that
One, workpiece is not necessarily to prefabricated groove, is not necessarily to the high-end source of welding current, greatly simplifies production process and reduces production cost；
Two, vector swings parameter and welding conditions with that customized can be arranged per family, and process window is adaptable；
Three, using robot welding, the productivitys dates back such as technological specification, device parameter is convenient for product quality, material
Expect the statistical analysis such as energy consumption, device efficiency, productive temp, and can realize workshop level MES with other digitizer system integrations
Management；
Four, under the conditions of same welding conditions, obtained stand to angle is swung using the triangular vector of present embodiment
Welding line joint root penetration is using traditional two spot wobbles 3~5 times stood to fillet welding joint root penetration obtained, wing plate
Side wall fusion penetration improves 25~50%, and Size of welds increases by 1/3 or so, and appearance of weld dimple, is conducive to multi-layer multi-pass welding.
Present embodiment can get and stand to fillet weld robot deep penetration welding technique.
Specific embodiment 2: the differences between this implementation mode and the specific implementation mode are that: H1 described in step 1 is
4mm~16mm.Other steps are same as the specific embodiment one.
Specific embodiment 3: one of present embodiment and specific embodiment one or two difference are: institute in step 1
The H2 stated is 4mm~16mm.Other steps are the same as one or two specific embodiments.
Specific embodiment 4: one of present embodiment and specific embodiment one to three difference are: institute in step 1
The carbon steel stated is A709-50-2.Other steps are identical as specific embodiment one to three.
Specific embodiment 5: one of present embodiment and specific embodiment one to four difference are: institute in step 2
The organic solvent stated is acetone or dehydrated alcohol.Other steps are identical as specific embodiment one to four.
Specific embodiment 6: one of present embodiment and specific embodiment one to five difference are: institute in step 4
Artificial 6 axis of the multi-joint welding robot stated~9 axis multi-joint welding robots.Other steps and one to five phase of specific embodiment
Together.
Specific embodiment 7: one of present embodiment and specific embodiment one to six difference are: institute in step 5
The flux-cored wire diameter stated is 1.2mm.Other steps are identical as specific embodiment one to six.
Specific embodiment 8: one of present embodiment and specific embodiment one to seven difference are: in step 5 only
It welds starting point and welding end point position robot end's welding torch keeps 75~80 ° of elevations angle, left and right to keep 45 ° of postures up and down.
Other steps are identical as specific embodiment one to seven.
Specific embodiment 9: one of present embodiment and specific embodiment one to eight difference are: institute in step 8
The protective gas stated is pure CO2.Other steps are identical as specific embodiment one to eight.
Beneficial effects of the present invention are verified using following embodiment:
Embodiment one: one kind is stood to fillet weld robot deep penetration welding technique, is completed by the following steps:
One, prepare two pieces of test plate (panel)s to be welded, i.e. left wing plate and right wing plate；
The length and width and thickness of left wing plate described in step 1 are respectively 200mm × 100mm × 8mm, the length of right wing plate,
Wide and thickness is respectively 200mm × 150mm × 8mm；
The material of two pieces of test plate (panel)s to be welded described in step 1 is A709-50-2；
Two, left wing plate and right wing plate are vertically arranged first, and then the long side of left wing plate is positioned towards right wing plate
Weldering, then the iron rust removed near fillet weld within the scope of 20mm of polishing, finally using within the scope of acetone cleaning fillet weld nearby 20mm
Greasy dirt, two pieces of test plate (panel)s to be welded after obtaining tack welding, as shown in Figure 1；
Three, two pieces of test plate (panel)s to be welded after tack welding are fixed on the table vertically using mechanical clamp；
Four, using the tool coordinates system of six point touch methods calibration multi-joint welding robot；
Five, task programs: the tool coordinates system demarcated of selection step 4, is avoiding 9 axis planer-type robots and vertical
The two pieces of test plate (panel)s to be welded of fixation on the table collide lower utilization teaching box guided robot to target point, record Home
Point, excessive point, the points of proximity, welding starting point, welding end point and rollback point position data, as shown in Figure 2；Again by record
Home point, excessive point, the points of proximity, welding starting point, welding end point and rollback point position data are arranged to multi-joint bonding machine
The weld task procedure subject of device people, as shown in table 1；
9 axis planer-type robots described in step 5 include 3 axis of 6 axis of robot body and external axis；
Six, multi-joint welding robot user's phasor coordinate system is established, coordinate origin is defined on recorded in step 5
Starting point is welded, +X direction is that welding starting point recorded in step 5 is directed toward welding end point direction, i.e., straight up ,+Z
Direction is left and right wing plate isogonal line and is directed toward outward that +Y direction is determined by right-hand rule；
Seven, setting vector swings parameter: the user's phasor coordinate system established based on step 6, and multi-joint bonding machine is arranged
The triangular vector of device people swings parameter, wherein the coordinate of vertex A is (XA, YA, ZA), XAValue is 4mm, YAValue is 0, ZAIt takes
Value is 0, and the residence time of vertex A is 0.4s, moves to the speed 140cm/min of vertex A；The coordinate of right wing plate base angle point B is
(XB, YB, ZB), XBValue is 0, YBValue is -5.5mm, ZBValue is 5.5mm, and the residence time of right wing plate base angle point B is
0.3s moves to the speed 140cm/min of right wing plate base angle point B；The coordinate of left wing plate base angle point C is (XC, YC, ZC), XCValue is
0, YCValue is 5.5mm, ZCValue is 5.5mm, and the residence time of left wing plate base angle point C is 0.3s, moves to left wing plate base angle point C
Speed 150cm/min, it is as shown in table 2 that the vectors of 9 axis planer-type robots swings parameter；
Eight, welding conditions are arranged: the triangular vector based on multi-joint welding robot set in step 7 swings ginseng
Number, setting welding current are 185A, arc voltage 24.0V, speed of welding 8cm/min, and protective gas is pure CO2, protection
Gas flow is 20~25L/min, and welding wire is flux-cored wire, and the diameter of flux-cored wire is 1.2mm, dry extension of electrode is 18~
20mm, only welds starting point and welding end point position robot end's welding torch keeps 75 ° of elevations angle, left and right to keep 45 ° of appearances up and down
State；
Nine, the welding of starting multi-joint welding robot is completed one kind and is stood to fillet weld machine until weld task terminates
People's deep penetration welding technique.
The model mind steel ARCMAN-MP standard type (matching CA control cabinet) of 9 axis planer-type robots, CPU in embodiment one
Mainboard software is M12-4.14.15/C3, and welding control panel software is T02-4.06.03/B1, and motion control (SERVO CONTROL) is soft
Part is R02-3.05.00/B2, and signal control panel software is D12-4.07.01/B4.
Table 1
Table 2
Fig. 1 is two pieces of test plate (panel) structural schematic diagrams to be welded after tack welding obtained in one step 2 of embodiment；
Fig. 2 is the structural schematic diagram that multi-joint welding robot carries out task programming in one step 5 of embodiment；
After swinging welding using one intermediate cam vector of embodiment and being connect using traditional two o'clock weave bead welding, interception test steel
Joint samples are successively through varigrained water mill and abrasive paper for metallograph polishing, polishing, then using nital corrosion mapping
Connector macro morphology is shown in shown in Fig. 3 and Fig. 4；The nital be by mass fraction be 65% nitric acid with it is anhydrous
Ethyl alcohol mixing, the volume ratio of nitric acid and dehydrated alcohol that mass fraction is 65% is 2:98.
Fig. 3 is to complete a kind of welding effect stood after fillet weld robot deep penetration welding technique in one step 9 of embodiment；
Fig. 4 is using the welding effect after traditional two spot wobbles.
Fig. 5 is the geometric dimension instrumentation plan of Fig. 3 and Fig. 4.
It was found from Fig. 3, Fig. 4 and Fig. 5, it is clear that under the conditions of same welding conditions, swung using triangular vector obtained
Standing to fillet welding joint root penetration is 3~5 times of traditional saw-tooth wobble (i.e. two spot wobbles), wing plate side wall fusion penetration improves 25~
50%, Size of welds increases by 1/3 or so, and appearance of weld dimple, is conducive to multi-layer multi-pass welding.Specific connector geometric dimension
Parameter is shown in Table 3.
Table 3
In conclusion by swinging principle with the present invention is based on triangular vector, the one kind provided be suitable for it is big, again, it is special
Structural member is stood to fillet weld robot deep penetration welding technique, without increasing hardware and prefabricated groove, can break through cut deal arc-welding machine
Device people founds the problem shallow to fillet weld fusion penetration, leg is small, is easy to implement robot automation's welding manufacture.
Claims (9)
1. one kind is stood to fillet weld robot deep penetration welding technique, it is characterised in that one kind is stood to fillet weld robot deep penetration welding technique
It is completed by the following steps:
One, prepare two pieces of test plate (panel)s to be welded, i.e. left wing plate and right wing plate；
The length and width and thickness of left wing plate described in step 1 are respectively L1 × W1 × H1, length and width and the thickness difference of right wing plate
For L2 × W2 × H2；
The material of two pieces of test plate (panel)s to be welded described in step 1 is carbon steel；
Two, two pieces of test plate (panel)s to be welded are vertically arranged first, then carry out tack welding, then polished and remove fillet weld 15~25mm nearby
Iron rust in range, finally using the greasy dirt within the scope of organic solvent cleaning fillet weld nearby 15~25mm, after obtaining tack welding
Two pieces of test plate (panel)s to be welded；
Three, two pieces of test plate (panel)s to be welded after tack welding are fixed on the table vertically using mechanical clamp；
Four, using the tool coordinates system of six point touch methods calibration multi-joint welding robot；
Five, task programs: the tool coordinates system that selection step 4 is demarcated, and is avoiding multi-joint welding robot and is fixing vertically
Two pieces of test plate (panel)s to be welded on the table collide lower utilization teaching box guided robot to target point, record Home point, mistake
Spend point, the points of proximity, welding starting point, welding end point and rollback point position data, then by the Home point of record, excessive point, connect
Near point, welding starting point, welding end point and rollback point position data are arranged to the weld task journey of multi-joint welding robot
Sequence main body；
Six, multi-joint welding robot user's phasor coordinate system is established, coordinate origin is defined on welding recorded in step 5
Starting point, +X direction are that welding starting point recorded in step 5 is directed toward welding end point direction, i.e., straight up, +Z direction
It for left and right wing plate isogonal line and is directed toward outward, +Y direction is determined by right-hand rule；
Seven, setting vector swings parameter: the user's phasor coordinate system established based on step 6, and multi-joint welding robot is arranged
Triangular vector swing parameter, wherein the coordinate of vertex A be (XA, YA, ZA), XAValue is 3.5~4.5mm, YAValue is 0, ZA
Value is 0, and the residence time of vertex A is 0.2~0.6s, moves to 120~160cm/min of speed of vertex A；Right wing plate base angle point
The coordinate of B is (XB, YB, ZB), XBValue is 0, YBValue is -5.0~-6.0mm, ZBValue is 5.0~6.0mm, right wing plate bottom
The residence time of angle point B is 0.2~0.6s, moves to 120~160cm/min of speed of right wing plate base angle point B；Left wing plate base angle point
The coordinate of C is (XC, YC, ZC), XCValue is 0, YCValue is 5.0~6.0mm, ZCValue is 5.0~6.0mm, left wing plate base angle
The residence time of point C is 0.2~0.6s, moves to 140~180cm/min of speed of left wing plate base angle point C；
Eight, welding conditions are arranged: the triangular vector based on multi-joint welding robot set in step 7 swings parameter, if
Setting welding current is 160~200A, and arc voltage is 21.0~25.0V, and speed of welding is 6~10cm/min, protective gas stream
Amount is 20~25L/min, and welding wire is flux-cored wire, and dry extension of electrode is 18~20mm；
Nine, starting multi-joint welding robot welding is completed one kind and is stood to fillet weld robot depth until weld task terminates
Welding process.
2. one kind according to claim 1 is stood to fillet weld robot deep penetration welding technique, it is characterised in that institute in step 1
The H1 stated is 4mm~16mm.
3. one kind according to claim 1 is stood to fillet weld robot deep penetration welding technique, it is characterised in that institute in step 1
The H2 stated is 4mm~16mm.
4. one kind according to claim 1 is stood to fillet weld robot deep penetration welding technique, it is characterised in that institute in step 1
The carbon steel stated is A709-50-2.
5. one kind according to claim 1 is stood to fillet weld robot deep penetration welding technique, it is characterised in that institute in step 2
The organic solvent stated is acetone or dehydrated alcohol.
6. one kind according to claim 1 is stood to fillet weld robot deep penetration welding technique, it is characterised in that institute in step 4
Artificial 6 axis of the multi-joint welding robot stated~9 axis multi-joint welding robots.
7. one kind according to claim 1 is stood to fillet weld robot deep penetration welding technique, it is characterised in that institute in step 5
The flux-cored wire diameter stated is 1.2mm.
8. one kind according to claim 1 is stood to fillet weld robot deep penetration welding technique, it is characterised in that in step 5 only
It welds starting point and welding end point position robot end's welding torch keeps 75~80 ° of elevations angle, left and right to keep 45 ° of postures up and down.
9. one kind according to claim 1 is stood to fillet weld robot deep penetration welding technique, it is characterised in that institute in step 8
The protective gas stated is pure CO2。
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910174100.9A CN109773307B (en) | 2019-03-07 | 2019-03-07 | Deep fusion welding process of vertical fillet welding robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910174100.9A CN109773307B (en) | 2019-03-07 | 2019-03-07 | Deep fusion welding process of vertical fillet welding robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109773307A true CN109773307A (en) | 2019-05-21 |
| CN109773307B CN109773307B (en) | 2021-07-09 |
Family
ID=66487681
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910174100.9A Active CN109773307B (en) | 2019-03-07 | 2019-03-07 | Deep fusion welding process of vertical fillet welding robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109773307B (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110653462A (en) * | 2019-09-18 | 2020-01-07 | 江苏新扬子造船有限公司 | Fitting-out piece vertical angle welding method |
| CN110681954A (en) * | 2019-10-30 | 2020-01-14 | 广船国际有限公司 | Method for assembling fillet weld at vertical position of thin plate |
| CN110788450A (en) * | 2019-11-13 | 2020-02-14 | 上海振华重工(集团)股份有限公司 | Vertical fillet welding non-back-gouging welding method for double-sided double-robot T-shaped connector of medium plate |
| CN111136370A (en) * | 2020-01-02 | 2020-05-12 | 中车青岛四方机车车辆股份有限公司 | Welding method and welding system for beveled T-shaped joint |
| CN111318782A (en) * | 2020-03-27 | 2020-06-23 | 陕西丝路机器人智能制造研究院有限公司 | Method for calibrating robot welding gun and laser weld tracking sensor of marine pipe welding machine |
| CN112719517A (en) * | 2020-12-16 | 2021-04-30 | 中车眉山车辆有限公司 | Fusion welding connection process for special-shaped welding seams of steel structure car body |
| CN112828423A (en) * | 2021-01-27 | 2021-05-25 | 东方电气集团科学技术研究院有限公司 | Intelligent welding real-time sensing and quality monitoring system based on 5G |
| CN113770600A (en) * | 2021-09-23 | 2021-12-10 | 浙江国际海运职业技术学院 | Vertical fillet weld semi-automatic welding mechanism |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH06182543A (en) * | 1992-12-18 | 1994-07-05 | Ishikawajima Harima Heavy Ind Co Ltd | Welding method for fillet welding intersection part |
| CN103252557A (en) * | 2013-05-30 | 2013-08-21 | 上海交通大学 | Welding method achieving medium thick plate backing welding without back gouging |
| CN103692054A (en) * | 2013-12-17 | 2014-04-02 | 鞍钢重型机械有限责任公司 | CO2 gas shielded welding operation method for vertical weld joint |
| CN103801808A (en) * | 2014-03-06 | 2014-05-21 | 上海振华重工(集团)股份有限公司 | Narrow-gap melting polar reactive gas shielded arc welding technology |
| CN105252110A (en) * | 2015-11-16 | 2016-01-20 | 中国船舶重工集团公司第七一六研究所 | Motion control method of robot in oscillatory arc welding of marine T-shaped sections |
| CN107803573A (en) * | 2017-10-27 | 2018-03-16 | 上海振华重工电气有限公司 | Bu Deng gaps robot vertical position welding method |
-
2019
- 2019-03-07 CN CN201910174100.9A patent/CN109773307B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH06182543A (en) * | 1992-12-18 | 1994-07-05 | Ishikawajima Harima Heavy Ind Co Ltd | Welding method for fillet welding intersection part |
| CN103252557A (en) * | 2013-05-30 | 2013-08-21 | 上海交通大学 | Welding method achieving medium thick plate backing welding without back gouging |
| CN103692054A (en) * | 2013-12-17 | 2014-04-02 | 鞍钢重型机械有限责任公司 | CO2 gas shielded welding operation method for vertical weld joint |
| CN103801808A (en) * | 2014-03-06 | 2014-05-21 | 上海振华重工(集团)股份有限公司 | Narrow-gap melting polar reactive gas shielded arc welding technology |
| CN105252110A (en) * | 2015-11-16 | 2016-01-20 | 中国船舶重工集团公司第七一六研究所 | Motion control method of robot in oscillatory arc welding of marine T-shaped sections |
| CN107803573A (en) * | 2017-10-27 | 2018-03-16 | 上海振华重工电气有限公司 | Bu Deng gaps robot vertical position welding method |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110653462A (en) * | 2019-09-18 | 2020-01-07 | 江苏新扬子造船有限公司 | Fitting-out piece vertical angle welding method |
| CN110681954A (en) * | 2019-10-30 | 2020-01-14 | 广船国际有限公司 | Method for assembling fillet weld at vertical position of thin plate |
| CN110788450A (en) * | 2019-11-13 | 2020-02-14 | 上海振华重工(集团)股份有限公司 | Vertical fillet welding non-back-gouging welding method for double-sided double-robot T-shaped connector of medium plate |
| CN111136370A (en) * | 2020-01-02 | 2020-05-12 | 中车青岛四方机车车辆股份有限公司 | Welding method and welding system for beveled T-shaped joint |
| CN111136370B (en) * | 2020-01-02 | 2022-02-15 | 中车青岛四方机车车辆股份有限公司 | Welding method and welding system for beveled T-shaped joint |
| CN111318782A (en) * | 2020-03-27 | 2020-06-23 | 陕西丝路机器人智能制造研究院有限公司 | Method for calibrating robot welding gun and laser weld tracking sensor of marine pipe welding machine |
| CN111318782B (en) * | 2020-03-27 | 2021-11-05 | 陕西丝路机器人智能制造研究院有限公司 | Method for calibrating robot welding gun and laser weld tracking sensor of marine pipe welding machine |
| CN112719517A (en) * | 2020-12-16 | 2021-04-30 | 中车眉山车辆有限公司 | Fusion welding connection process for special-shaped welding seams of steel structure car body |
| CN112719517B (en) * | 2020-12-16 | 2022-08-02 | 中车眉山车辆有限公司 | Fusion welding connection process for special-shaped welding seams of steel structure car body |
| CN112828423A (en) * | 2021-01-27 | 2021-05-25 | 东方电气集团科学技术研究院有限公司 | Intelligent welding real-time sensing and quality monitoring system based on 5G |
| CN113770600A (en) * | 2021-09-23 | 2021-12-10 | 浙江国际海运职业技术学院 | Vertical fillet weld semi-automatic welding mechanism |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109773307B (en) | 2021-07-09 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109773307A (en) | One kind is stood to fillet weld robot deep penetration welding technique | |
| CN109604767B (en) | Intelligent welding control system and method for thick plate narrow gap GMA robot | |
| CN201333595Y (en) | Escalator standard sections welding robot device | |
| CN204262620U (en) | Robot welding system | |
| CN108994549B (en) | A kind of manufacturing process of vacuum chamber | |
| CN207087504U (en) | A kind of robot of deburring track correct | |
| CN106078029A (en) | A kind of welding manipulator operation platform and welding method | |
| CN112171029A (en) | Double-wire submerged-arc welding back-gouging-free welding method for boiler drum | |
| CN204848998U (en) | Valve build -up welding robot | |
| CN204867823U (en) | Laser cutting machine for panel | |
| CN104308347A (en) | Device for measuring and feeding back spatial attitude of welding gun relative to welding seam | |
| CN110614442B (en) | Device and method for improving mechanical property of welding seam of revolving body part | |
| CN110653454A (en) | 5xxx is aluminum alloy electric arc vibration material disk surface treatment device | |
| CN214291320U (en) | Special stud welding equipment special for coated plate | |
| CN103286459B (en) | Large-scale PTA drying machine sealing surface abrasion on-site precise pulse surfacing welding repair process | |
| CN202984915U (en) | Laser seamless welding machine for precious metal products | |
| CN108145283A (en) | A kind of welding robot | |
| CN112059366A (en) | Method for automatically welding flux-cored wire in vertical direction of hydraulic support structural part | |
| CN204524526U (en) | A kind of fine plasma beveling and cutting machine workstation | |
| CN203282024U (en) | Full-automatic welding machine | |
| CN106659924A (en) | Technique for processing striking surface of golf club head | |
| CN204053209U (en) | The numerical control arc welding machine of a kind of all positon laser aiming, manually adjustment | |
| CN204735865U (en) | Automatic weld mechanism of prefabricated workstation of coil pipe | |
| CN109604948B (en) | Manufacturing method of engine wire harness support | |
| CN203778920U (en) | Visual positioning heteromorphic bar single-head solder wire automatic soldering machine |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| EE01 | Entry into force of recordation of patent licensing contract | ||
| EE01 | Entry into force of recordation of patent licensing contract |
Application publication date: 20190521 Assignee: Zhejiang singularity communication equipment Co.,Ltd. Assignor: ZHEJIANG NORMAL University Contract record no.: X2022980007903 Denomination of invention: A robot deep penetration welding process for vertical fillet weld Granted publication date: 20210709 License type: Common License Record date: 20220621 |
|
| EE01 | Entry into force of recordation of patent licensing contract |
Application publication date: 20190521 Assignee: Zhejiang shuohe Robot Technology Co.,Ltd. Assignor: ZHEJIANG NORMAL University Contract record no.: X2022980008627 Denomination of invention: A robot deep penetration welding process for vertical fillet weld Granted publication date: 20210709 License type: Common License Record date: 20220630 |
|
| EE01 | Entry into force of recordation of patent licensing contract | ||
| EE01 | Entry into force of recordation of patent licensing contract |
Application publication date: 20190521 Assignee: PAN'AN COUNTY CHENXI HANDICRAFT Co.,Ltd. Assignor: ZHEJIANG NORMAL University Contract record no.: X2022980009900 Denomination of invention: A robot deep penetration welding process for vertical fillet weld Granted publication date: 20210709 License type: Common License Record date: 20220706 |
|
| EE01 | Entry into force of recordation of patent licensing contract | ||
| EE01 | Entry into force of recordation of patent licensing contract |
Application publication date: 20190521 Assignee: Chenyi (Ningbo) Precision Machinery Co.,Ltd. Assignor: ZHEJIANG NORMAL University Contract record no.: X2024980000668 Denomination of invention: A Vertical Corner Weld Robot Deep Penetration Welding Process Granted publication date: 20210709 License type: Common License Record date: 20240115 |
|
| EE01 | Entry into force of recordation of patent licensing contract |