CN109909583A - Multi-layer multi-pass welding method of the arc welding robot in hydraulic support welding - Google Patents
Multi-layer multi-pass welding method of the arc welding robot in hydraulic support welding Download PDFInfo
- Publication number
- CN109909583A CN109909583A CN201910284746.2A CN201910284746A CN109909583A CN 109909583 A CN109909583 A CN 109909583A CN 201910284746 A CN201910284746 A CN 201910284746A CN 109909583 A CN109909583 A CN 109909583A
- Authority
- CN
- China
- Prior art keywords
- welding
- weld seam
- layer
- pass
- angle
- 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.)
- Withdrawn
Links
Landscapes
- Butt Welding And Welding Of Specific Article (AREA)
Abstract
The invention discloses a kind of multi-layer multi-pass welding method of arc welding robot in hydraulic support welding, pass through the setting to program documentaion welding parameter, it realizes in multi-layer multi-pass welding, each layer is per all subsidiary certain rotation angle together, the direction at welding wire tip is allowed to tend to the lateral welding base metal of weld seam, the weld seam for coming out welding has preferably fusion effect and molding effect；The welding parameter refers to that the welding parameter of every one of weld seam has three, is respectively intended to forward bias corner, lateral deflection angle and the rotation angle along welding gun TCP of setting welding gun.The invention has the advantages that increasing the lateral fusion penetration of filled layer and capping layer in multi-pass welding, while there is certain control to the reinforcement etc. of control weld seam in appearance molding, promotes integral solder molding effect, and keep the welding manner of arc welding robot more flexible.
Description
Technical field
The present invention relates to the welding methods of arc welding robot, more particularly, to arc welding robot in hydraulic support welding
Multi-layer multi-pass welding method.
Background technique
In the manufacturing of hydraulic support structural member (top beam, caving shield, pedestal, push rod, connecting rod etc.), arc welding robot
Use coverage rate it is higher and higher, more and more welding positions are all completed by arc welding robot.Due to the knot of hydraulic support
Structure is larger, belongs to cut deal welding, and welding angle is larger, and most of weld seam requires to carry out multi-layer multi-pass welding.And original arc-welding
Robot welding program is only able to achieve the offset of multi-layer multi-pass welding and connector is staggered, and welded seam is lateral in such a mode
Fusion depth want small compared to vertical direction, reduce the welding quality of hydraulic support structural member.
Summary of the invention
It is an object of that present invention to provide a kind of multi-layer multi-pass welding method of arc welding robot in hydraulic support welding.
To achieve the above object, the present invention takes following technical proposals:
Multi-layer multi-pass welding method of the arc welding robot of the present invention in hydraulic support welding, by being welded to program documentaion
The setting of parameter realizes in multi-layer multi-pass welding, and each layer allows the finger at welding wire tip per all subsidiary certain rotation angle together
To the lateral welding base metal of weld seam is tended to, the weld seam for coming out welding has preferably fusion effect and molding effect；The weldering
It connects parameter and refers to that the welding parameter of every one of weld seam has three, be respectively intended to forward bias corner, the lateral deflection of setting welding gun
Angle and rotation angle along welding gun TCP.
The forward bias corner are as follows: using offset Y-direction as the rifle appearance angle of axial adjustment welding gun, along weld seam welding direction
Forward direction is deflected；The lateral deflection angle are as follows: using offset X direction as the rifle appearance angle of axial adjustment welding gun, welded along weld seam
Direction is laterally deflected；The rotation angle along welding gun TCP are as follows: using offset Z-direction as the rifle appearance angle of axial adjustment welding gun
Degree, the vertical direction along weld seam welding direction are rotated.
The invention has the advantages that increase in multi-pass welding the lateral fusion penetration of filled layer and capping layer, while appearance at
There is certain control to the reinforcement etc. of control weld seam in type, promotes integral solder molding effect, and make the weldering of arc welding robot
It is more flexible to connect mode.
Detailed description of the invention
Fig. 1 is offset direction used in arc welding robot welding process of the present invention and TCP direction schematic diagram.
Fig. 2 is arc welding robot of the present invention to parameter value used in different size groove weld and number of rotation.
It elaborates with reference to the accompanying drawing to the embodiment of the present invention, the present embodiment before being with technical solution of the present invention
It puts and is implemented, the detailed implementation method and specific operation process are given, but protection scope of the present invention is not limited to down
State embodiment.
As shown in Figure 1, multi-layer multi-pass welding method of the arc welding robot of the present invention in hydraulic support welding, passes through
Setting to program documentaion welding parameter realizes that in multi-layer multi-pass welding, each layer is every to be all attached to certain rotation angle together,
Allow the direction at welding wire tip to tend to the lateral welding base metal of weld seam, make welding come out weld seam have preferably fusion effect and at
Type effect；Welding parameter refers to that the welding parameter of every one of weld seam has three, be respectively intended to setting welding gun forward bias corner,
Lateral deflection angle and rotation angle along welding gun TCP.
The forward bias corner are as follows: using offset Y-direction as the rifle appearance angle of axial adjustment welding gun, along weld seam welding direction
Forward direction is deflected；The lateral deflection angle are as follows: using offset X direction as the rifle appearance angle of axial adjustment welding gun, welded along weld seam
Direction is laterally deflected；The rotation angle along welding gun TCP are as follows: using offset Z-direction as the rifle appearance angle of axial adjustment welding gun
Degree, the vertical direction along weld seam welding direction are rotated.
In Fig. 2, dotted line represents posture direction of the welding gun relative to groove weld；Angle value indicates each in weld seam welding process
The soldering angle of road number；Mark number 1-9 etc. represents weld seam welding road number, and multilayer multiple tracks when the mark is sequentially actual welding
The welding sequence of weldering；Arc welding robot is two guarantor's weldering 1.6mm welding wire cut deal welding, root face 2mm assembly gap 2mm.
Indicate that first of degree of weld seam all refers to that welding wire toward 20 ° of the formed angle of bevelled edge, that is, divides this equally in Fig. 2
Groove weld angle；Welding wire direction divides the slope equally relative to first when the angle identified after second is road welding
The angle that welding wire direction is changed when mouth.
The number of plies, road number in Fig. 2 illustrate the number of plies road of required welding at the end of welding this size groove weld
Number.
Now add so that weld seam size in Fig. 2 is 14mm as an example and be described:
In Fig. 2, weld seam refers to for 14mm: the groove weld that groove depth is 14mm and bevel angle is 40 °.14mm size
Weld seam needs three layer 4 altogether.Wherein, first layer has 1, and when carrying out the road and welding, welding gun rifle appearance should ensure that welding gun divides weld seam angle equally
Degree, that is to say, that welding wire at this time towards the groove two sides that should keep at a distance be 20 °；The second layer has 1, is carrying out the road welding
When welding gun rifle appearance should deflect 10 °, at this time welding wire towards apart from groove side angle degree be 10 °, apart from straight flange side angle degree be 30 °；Third
Layer has 2, distinguishes the 3rd and the 4th of groove weld thus, the base of welding gun rifle appearance Ying 1 when carrying out the 3rd welding
2 degree are deflected to straight flange direction on plinth, and it is inclined to groove direction on the basis of welding gun 1 Ying of rifle appearance when carrying out the 4th and connecing
Turn 5 degree.
The weldering that the weld seam and weld seam size that weld seam size is 16mm as a result, weld seam, weld seam size are 18mm are 23mm
The welding number of plies, road number and the deflection angle of seam are all listed in Fig. 2.
The present invention is referred from manual welding, carries out by way of by the welding manner of arc welding robot and manual welding pair
Than by hand when welding to different layers road weld seam, welding gun has certain variation relative to the angle of weld seam and workpiece, makes for discovery
Welding wire tip is all as far as possible towards weld seam side, and such welding fabrication effect is more preferable, and the lateral fusion depth of weld seam is bigger.Cause
This is reached by the setting to arc welding robot program documentaion welding parameter and is increased the lateral fusion depth of weld seam, improves welding
Quality purpose.
Claims (2)
1. a kind of multi-layer multi-pass welding method of arc welding robot in hydraulic support welding, it is characterised in that: by program
The setting of text welding parameter realizes in multi-layer multi-pass welding, and each layer allows welding wire per all subsidiary certain rotation angle together
The direction at tip tends to the lateral welding base metal of weld seam, and the weld seam for coming out welding has preferably fusion effect and molding effect
Fruit；The welding parameter refers to that the welding parameter of every one of weld seam has three, be respectively intended to setting welding gun forward bias corner,
Lateral deflection angle and rotation angle along welding gun TCP.
2. multi-layer multi-pass welding method of the arc welding robot in hydraulic support welding, feature exist according to claim 1
In: the forward bias corner are as follows: using offset Y-direction as the rifle appearance angle of axial adjustment welding gun, along the forward direction of weld seam welding direction
It is deflected；The lateral deflection angle are as follows: using offset X direction as the rifle appearance angle of axial adjustment welding gun, along weld seam welding direction
Laterally deflected；The rotation angle along welding gun TCP are as follows: using offset Z-direction as the rifle appearance angle of axial adjustment welding gun, edge
The vertical direction of weld seam welding direction is rotated.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910284746.2A CN109909583A (en) | 2019-04-10 | 2019-04-10 | Multi-layer multi-pass welding method of the arc welding robot in hydraulic support welding |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910284746.2A CN109909583A (en) | 2019-04-10 | 2019-04-10 | Multi-layer multi-pass welding method of the arc welding robot in hydraulic support welding |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109909583A true CN109909583A (en) | 2019-06-21 |
Family
ID=66969219
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910284746.2A Withdrawn CN109909583A (en) | 2019-04-10 | 2019-04-10 | Multi-layer multi-pass welding method of the arc welding robot in hydraulic support welding |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109909583A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110860765A (en) * | 2019-12-03 | 2020-03-06 | 北京理工大学 | Array metal 3D printing apparatus |
| CN112059371A (en) * | 2020-08-26 | 2020-12-11 | 郑州煤矿机械集团股份有限公司 | Automatic welding method for narrow groove of hydraulic support structural part |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1457280A (en) * | 2001-02-19 | 2003-11-19 | 日立建机株式会社 | Welding method, welding device, welded joint and welded structure |
| CN102380687A (en) * | 2010-08-30 | 2012-03-21 | 深圳市瑞凌实业股份有限公司 | Double-gun horizontal automatic welding device and welding method thereof |
| CN106181043A (en) * | 2016-09-22 | 2016-12-07 | 哈尔滨工业大学 | A kind of welding method improving hybrid Laser-Arc Welding process stability |
| CN108274095A (en) * | 2018-01-18 | 2018-07-13 | 天津工业大学 | Asymmetry angle weld seam welding quality detection method based on front crater image feature |
-
2019
- 2019-04-10 CN CN201910284746.2A patent/CN109909583A/en not_active Withdrawn
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1457280A (en) * | 2001-02-19 | 2003-11-19 | 日立建机株式会社 | Welding method, welding device, welded joint and welded structure |
| CN102380687A (en) * | 2010-08-30 | 2012-03-21 | 深圳市瑞凌实业股份有限公司 | Double-gun horizontal automatic welding device and welding method thereof |
| CN106181043A (en) * | 2016-09-22 | 2016-12-07 | 哈尔滨工业大学 | A kind of welding method improving hybrid Laser-Arc Welding process stability |
| CN108274095A (en) * | 2018-01-18 | 2018-07-13 | 天津工业大学 | Asymmetry angle weld seam welding quality detection method based on front crater image feature |
Non-Patent Citations (2)
| Title |
|---|
| 薛力猛: "煤矿液压支架焊接机器人研究", 《中国优秀硕士学位论文全文数据库信息科技辑》 * |
| 陈迎华等: "矿用高端液压支架结构件焊接未熔合缺陷的分析及预防", 《金属加工(热加工)》 * |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110860765A (en) * | 2019-12-03 | 2020-03-06 | 北京理工大学 | Array metal 3D printing apparatus |
| CN112059371A (en) * | 2020-08-26 | 2020-12-11 | 郑州煤矿机械集团股份有限公司 | Automatic welding method for narrow groove of hydraulic support structural part |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US8729424B2 (en) | Hybrid welding with multiple heat sources | |
| US8426766B2 (en) | Welding method and welding apparatus for an impeller | |
| CN105522279B (en) | The automatic welding device and its welding method of a kind of efficient multi-functional conversion of laser MIG, TIG | |
| CN111496428B (en) | Multilayer multi-pass welding bead planning method based on straight welding seam contour recognition and welding workstation | |
| CN109909583A (en) | Multi-layer multi-pass welding method of the arc welding robot in hydraulic support welding | |
| CN112743206A (en) | Robot welding process for assembling in ship | |
| CN102275026A (en) | Welding process for U-shaped rib of steel bridge panel | |
| CN106141372A (en) | The multi-layer multi-pass welding method of groove weld robot horizontal position welding | |
| CN109702361A (en) | A kind of laser bevel cutting method and laser cutting machine | |
| WO2018092647A1 (en) | Gouging-less complete penetration welding method, and welded joint | |
| US11654500B2 (en) | Joining method and structure for laminate shaping component, and laminate shaping component | |
| CN110788450A (en) | Vertical fillet welding non-back-gouging welding method for double-sided double-robot T-shaped connector of medium plate | |
| CN107378203A (en) | The welding method of box column | |
| CN106271140A (en) | A kind of plasma MAG complex welding method | |
| CN111655417B (en) | Swing control method and swing control system | |
| KR101906370B1 (en) | Wide gap butt welding method | |
| CN104646831A (en) | Hybrid welding apparatuses, systems and methods for spatially offset components | |
| JP2020082287A (en) | Welding robot | |
| KR101093650B1 (en) | High Deposition Three Dimension Weaving Method for Butt Weld | |
| CN107962308A (en) | One kind swings laser-CMT complex welding methods | |
| CN204673159U (en) | A kind of plasma-submerged arc composite welding system | |
| CN112025045A (en) | Butt weld seam single-side welding double-side forming manufacturing process | |
| CN104014946B (en) | The bevel for welding structure of Z-type aluminium alloy extrusions butt weld and welding method thereof | |
| CN103785917B (en) | A kind of automobile soldering device | |
| CN205414670U (en) | Novel accurate arc welding robot |
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 | ||
| WW01 | Invention patent application withdrawn after publication | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20190621 |