CN110153577A - A kind of abnormity cabinet robot automation's welding method - Google Patents
A kind of abnormity cabinet robot automation's welding method Download PDFInfo
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- CN110153577A CN110153577A CN201810140685.8A CN201810140685A CN110153577A CN 110153577 A CN110153577 A CN 110153577A CN 201810140685 A CN201810140685 A CN 201810140685A CN 110153577 A CN110153577 A CN 110153577A
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- welding
- vertical position
- bottom plate
- weld
- fillet
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K31/00—Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups
- B23K31/02—Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups relating to soldering or welding
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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
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- Optics & Photonics (AREA)
- Butt Welding And Welding Of Specific Article (AREA)
Abstract
Present invention discloses a kind of special-shaped cabinet robot automation's welding methods, by technological incorporation such as welding procedure Design of digital, robot automation's welding, intelligent welding, welding process monitoring, weld information management；For tediously long and structure is complicated crane gantry crane box beam component, the automatic welding of super large part, narrow space, thin plate complex structural member may be implemented；Suitable for three face forming welding of port machine gantry crane crossbeam and partition erection welding, component automatic welding is realized.For the present invention compared with traditional manual welding, even weld is consistent, and solder yield improves a lot, and does not need to carry out any polishing repairing etc. after the completion of welding, and saves consumptive material and cost of labor, and reduce the pollution to environment；Suitable robot welding parameter is used in welding process.
Description
Technical field
The present invention relates to towards Large-Scale Equipment steel construction intelligent robot welding technology field, more specifically refer to a kind of abnormity
Cabinet robot automation's welding method.
Background technique
Large scale hoisting machinery is in the construction of the industrial plants such as shipping, metallurgy, chemical industry, power station, bridge and hydraulic and electric engineering
It plays an important role, is indispensable important mechanical equipment in national basis Facilities Construction.Wherein large box girder structure exists
Belong to key structure part in such large and complex steel structure equipment.Prior welding mode uses artificial manual welding mode, and people will bore
Welding is carried out inside into narrow box, using FCAW welding method, postwelding will be polished and be repaired.Prior welding mode exists
Manufacture craft falls behind, and welding jig the degree of automation is low, and welding production unstable quality, producing efficiency is low, cost of manufacture
The problems such as high.
Summary of the invention
(1) the technical issues of solving
The purpose of the present invention aims to solve the problem that above-mentioned prior welding mode, and there are manufacture craft backwardnesss, welding jig automation journey
Low, welding production unstable quality, the defect problem that producing efficiency is low, cost of manufacture is high are spent, a kind of special-shaped cabinet is provided
Robot automation's welding method by welding procedure Design of digital, robot automation's welding, intelligent welding, was welded
The technological incorporation such as range monitoring, weld information management realize super large for tediously long and structure is complicated crane gantry crane box beam component
Part, narrow space, thin plate complex structural member automatic welding.
(2) technical solution
A kind of abnormity cabinet robot automation's welding method, comprising the following steps:
S1, right side partition and straight web fillet weld in the vertical position (1), upward welding in the vertical position；
S2, right side partition and skew web plate face upward fillet weld in the vertical position (2) and fillet weld in the vertical position (3), upward welding in the vertical position；
S3, right side partition and bottom plate fillet weld in the flat position (4), (5) are welded by the lateral skew web plate side of straight web；
S4, bottom plate angle steel and bottom plate fillet weld in the flat position (6), by right side welding to the left；
S5, straight web and bottom plate inside fillet (7), by right side welding to the left；
The inside fillet (8) of S6, skew web plate and bottom plate, by right side welding to the left；
S7, left side partition and straight web fillet weld in the vertical position (9), upward welding in the vertical position；
S8, left side partition and skew web plate face upward fillet weld in the vertical position (10) and fillet weld in the vertical position (11), upward welding in the vertical position；
S9, left side partition and bottom plate fillet weld in the flat position (12), (13) are welded by the lateral skew web plate side of straight web；
S10, bottom plate angle steel and bottom plate fillet weld in the flat position (6) circulation are welded.
An embodiment according to the present invention, the step S2 vertical position welding includes reinforcement triangle gusset and T-steel can welding weld seam.
An embodiment according to the present invention, the step S3 welding include that bottom plate angle steel and partition pass through hole fillet welding in the vertical position.
An embodiment according to the present invention, the step S8 vertical position welding includes reinforcement triangle gusset and T-steel can welding weld seam.
An embodiment according to the present invention, the step S9 welding include that bottom plate angle steel and partition pass through hole fillet welding in the vertical position.
An embodiment according to the present invention is welded using flux-cored wire carbon dioxide gas arc welding.
An embodiment according to the present invention, the wlding is logical wlding (HTW-711) using China, gage of wire 1.2mm, protection
Gas is 99.9%CO2。
(3) beneficial effect
Using technical solution of the present invention, special-shaped cabinet robot automation welding method is multiple for tediously long and structure
Miscellaneous crane gantry crane box beam component, may be implemented the automatic welding of super large part, narrow space, thin plate complex structural member；A large amount of
Test and popularization and application on the basis of, component assembly precision requires high；Compared with traditional craft, even weld is consistent, welding
Qualification rate improves a lot, and does not need to carry out any polishing repairing etc. after the completion of welding, and saves consumptive material and cost of labor,
And reduce the pollution to environment.Suitable robot welding parameter is used in welding process, welding method has the advantage that
1) automated production rate is promoted, production efficiency is improved, shortens delivery date；2) processes, the reductions such as carbon plane, polishing is reduced to be produced into
This, saves consumptive material and power consumption, remarkable in economical benefits, and reduce pollution of the carbon emission to environment；3) it reduces carbon plane, polish to base material
Damage, guarantee welding quality homogeneity, reduce repair rate；4) operating environment is improved, labor intensity of workers is reduced, to subtract
Few environmental protection and labour insurance expenditure；5) digitlization, information-based and automated production management are realized.
Detailed description of the invention
In the present invention, identical appended drawing reference always shows identical feature, in which:
Fig. 1 is traditional three face of crossbeam molding sequence of erection and welding；
Fig. 2 is traditional crossbeam four sides molding sequence of erection and welding；
Fig. 3 is welding method flow chart of the present invention；
Fig. 4 is lattice gear welding sequence figure after the molding of three face of gantry crane crossbeam.
Specific embodiment
Technical solution of the present invention is further illustrated with reference to the accompanying drawings and examples.
Traditional crossbeam human weld process flow.In conjunction with Fig. 1, the molding assembly of three faces, the welding after molding of three faces are first carried out
Sequentially are as follows: the cross joint between a, partition and web, pay attention to it is suitable for reading should there are H/4 not to weld temporarily；B, the connection of partition and lower wing plate
It is weld seam；C, the connective weld (noticing that empty two meters of elder generations do not weld at hinge) of cabinet web inside and lower wing plate；D, outside cabinet web
The connective weld of side and lower wing plate.
In conjunction with Fig. 2, four sides is then carried out again and forms cover board, welding sequence: the H/4 cross joint between a, partition and web；
B, the connective weld of partition and upper flange；C, the connective weld of box inside web and upper flange；D, cabinet outboard web with it is upper
The connective weld of wing plate.Finally turn over the weld seam of other accessories in welding cabinet.
Traditional crossbeam only partially carries out welding production using semi-automatic special machine, and box house is all using traditional manual medicine
Core welding wire CO2 gas shielded arc welding is welded, and outer leading role's weld seam is aided with automatic fillet welding trolley tooling and welds.It is made in the presence of welding
Unstable quality is made, the problems such as producing efficiency is low, and cost of manufacture is high.
In conjunction with flow chart 3 and welding sequence Fig. 4, a kind of abnormity cabinet robot automation's welding method, including following step
It is rapid:
S1, right side partition and straight web fillet weld in the vertical position 1, upward welding in the vertical position；
S2, right side partition and skew web plate face upward fillet weld in the vertical position 2 and fillet weld in the vertical position 3, upward welding in the vertical position, including reinforce triangle gusset and
T-steel can welding weld seam；
S3, right side partition and bottom plate fillet weld in the flat position 4,5 are welded by the lateral skew web plate side of straight web, including bottom plate angle steel with
Partition passes through hole fillet welding in the vertical position；
S4, bottom plate angle steel and bottom plate fillet weld in the flat position 6, by right side welding to the left；
S5, straight web and bottom plate inside fillet 7, by right side welding to the left；
The inside fillet 8 of S6, skew web plate and bottom plate, by right side welding to the left；
S7, left side partition and straight web fillet weld in the vertical position 9, upward welding in the vertical position；
S8, left side partition and skew web plate face upward fillet weld in the vertical position 10 and fillet weld in the vertical position 11, upward welding in the vertical position, including reinforce triangle gusset
And T-steel can welding weld seam；
S9, left side partition and bottom plate fillet weld in the flat position 12,13 are welded by the lateral skew web plate side of straight web, including bottom plate angle steel
Hole fillet welding in the vertical position is passed through with partition；
S10, bottom plate angle steel and the circulation of bottom plate fillet weld in the flat position 6 are welded.
Crossbeam length direction welding sequence is from centre to both ends welding.
By taking gantry crane crossbeam as an example, main weld seam includes that horizontal fillet welding, fillet welding in the vertical position and 71 ° face upward fillet welding in the vertical position in cabinet, is welded
The suitable robot welding parameter of Cheng Caiyong is particularly important, and fitted position is according to normal fillet weld fitted position (gap 0-3mm)
?.
Traveling program in machine welding process weaves in teaching machine in advance, and welding parameter is then wanted according on drawing
Suitable welding parameter is arranged in the welding angle size asked.Using flux-cored wire carbon dioxide gas arc welding, wlding is adopted for welding
It is that China is logical wlding (HTW-711), gage of wire 1.2mm, protective gas is 99.9%CO2.Welding complete 48h after according to
AWS D1.1 standard has carried out 100% magnetic powder inspection, and result of detection is qualification rate 98%.
The control of welding fabrication: welding angles, root penetration, the surface forming such as vertical position welding, vertical overhead welding, horizontal fillet welding；Different welding angles
It is required that needing to be arranged different welding parameters.Big, heavy gantry crane box beam component maximum specification of workpieces can be achieved in the present invention:
Three face shaped inner robot automation's welding production of 80000mm × 1300mm × 2400mm cabinet.Postwelding quality requirement such as table
1.Welding quality meets the appearance looks elegant of molding weld seam, and the open defects such as no undercut, overlap, stomata, appearance of weld is beautiful, and VT is closed
Lattice rate >=99.9%.
Table 1: postwelding quality requirement
Compared with traditional craft, even weld is consistent, and solder yield improves a lot, and is not required to after the completion of welding
Any polishing repairing etc. is carried out, saves consumptive material and cost of labor, and reduce the pollution to environment.Present invention welding side
Method reduces postwelding process, improves welding efficiency；Energy consumption, consumptive material, carbon emission are reduced, production cost is saved, economic benefit is aobvious
It writes；It ensure that welding quality homogeneity, stability, reduce Weld Seam Repairation polishing.
In conclusion using technical solution of the present invention, special-shaped cabinet robot automation welding method, by Welder
The technologies such as skill Design of digital, robot automation's welding, intelligent welding, welding process monitoring, weld information management are melted
It closes；For tediously long and structure is complicated crane gantry crane box beam component, super large part, narrow space, thin plate complex structural member may be implemented
Automatic welding；Suitable for three face forming welding of port machine gantry crane crossbeam and partition erection welding, component automatic welding is realized.
By welding robot by reasonable welding sequence and suitable welding parameter, box beam component is successfully realized
Automatic welding.On the basis of a large amount of test and popularization and application, component assembly precision requires high；Compared with traditional craft,
Even weld is consistent, and solder yield improves a lot, and does not need to carry out any polishing repairing etc. after the completion of welding, and saves
Consumptive material and cost of labor, and reduce the pollution to environment；Suitable robot welding parameter is used in welding process.
Welding method of the present invention has the advantage that
1) automated production rate is promoted, production efficiency is improved, shortens delivery date.
2) processes such as carbon plane, polishing are reduced, production cost is reduced, save consumptive material and power consumption, remarkable in economical benefits, and reduce
Pollution of the carbon emission to environment.
3) carbon plane, the damage polished to base material are reduced, guarantees welding quality homogeneity, reduces repair rate.
4) operating environment is improved, labor intensity of workers is reduced, to reduce environmental protection and labour insurance expenditure.
5) digitlization, information-based and automated production management are realized.
Those of ordinary skill in the art it should be appreciated that more than embodiment be intended merely to illustrate the present invention,
And be not used as limitation of the invention, as long as the change in spirit of the invention, to embodiment described above
Change, modification will all be fallen within the scope of claims of the present invention.
Claims (7)
1. a kind of abnormity cabinet robot automation's welding method, it is characterised in that: the following steps are included:
S1, right side partition and straight web fillet weld in the vertical position (1), upward welding in the vertical position；
S2, right side partition and skew web plate face upward fillet weld in the vertical position (2) and fillet weld in the vertical position (3), upward welding in the vertical position；
S3, right side partition and bottom plate fillet weld in the flat position (4), (5) are welded by the lateral skew web plate side of straight web；
S4, bottom plate angle steel and bottom plate fillet weld in the flat position (6), by right side welding to the left；
S5, straight web and bottom plate inside fillet (7), by right side welding to the left；
The inside fillet (8) of S6, skew web plate and bottom plate, by right side welding to the left；
S7, left side partition and straight web fillet weld in the vertical position (9), upward welding in the vertical position；
S8, left side partition and skew web plate face upward fillet weld in the vertical position (10) and fillet weld in the vertical position (11), upward welding in the vertical position；
S9, left side partition and bottom plate fillet weld in the flat position (12), (13) are welded by the lateral skew web plate side of straight web；
S10, bottom plate angle steel and bottom plate fillet weld in the flat position (6) circulation are welded.
2. a kind of special-shaped cabinet robot automation's welding method as described in claim 1, it is characterised in that: the step S2
Vertical position welding includes reinforcement triangle gusset and T-steel can welding weld seam.
3. a kind of special-shaped cabinet robot automation's welding method as described in claim 1, it is characterised in that: the step S3
Welding includes that bottom plate angle steel and partition pass through hole fillet welding in the vertical position.
4. a kind of special-shaped cabinet robot automation's welding method as described in claim 1, it is characterised in that: the step S8
Vertical position welding includes reinforcement triangle gusset and T-steel can welding weld seam.
5. a kind of special-shaped cabinet robot automation's welding method as described in claim 1, it is characterised in that: the step S9
Welding includes that bottom plate angle steel and partition pass through hole fillet welding in the vertical position.
6. a kind of special-shaped cabinet robot automation's welding method as described in claim 1, it is characterised in that: weld use
It is flux-cored wire carbon dioxide gas arc welding.
7. a kind of special-shaped cabinet robot automation's welding method as claimed in claim 6, it is characterised in that: the wlding is adopted
Logical wlding (HTW-711) with China, gage of wire 1.2mm, protective gas is 99.9%CO2。
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810140685.8A CN110153577B (en) | 2018-02-11 | 2018-02-11 | Robot automatic welding method for special-shaped box body |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810140685.8A CN110153577B (en) | 2018-02-11 | 2018-02-11 | Robot automatic welding method for special-shaped box body |
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| Publication Number | Publication Date |
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| CN110153577A true CN110153577A (en) | 2019-08-23 |
| CN110153577B CN110153577B (en) | 2021-03-16 |
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| CN201810140685.8A Active CN110153577B (en) | 2018-02-11 | 2018-02-11 | Robot automatic welding method for special-shaped box body |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113070546A (en) * | 2021-03-30 | 2021-07-06 | 中铁宝桥（扬州）有限公司 | Automatic welding method for steel beam rod piece groove-shaped structure |
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| KR101014386B1 (en) * | 2010-10-13 | 2011-02-15 | 조항우 | Tank production automation system |
| CN102699497A (en) * | 2012-05-07 | 2012-10-03 | 河南省矿山起重机有限公司 | Crane main beam welding machine |
| CN104607815A (en) * | 2014-12-18 | 2015-05-13 | 大连船舶重工集团装备制造有限公司 | Method for manufacturing and controlling camber of crane main girder |
| CN106586827A (en) * | 2017-01-23 | 2017-04-26 | 上海振华重工(集团)股份有限公司 | Solid web type crane track beam and shore bridge |
| CN106994578A (en) * | 2017-06-01 | 2017-08-01 | 上海振华重工(集团)股份有限公司 | A kind of assembled welding equipment of body beam |
-
2018
- 2018-02-11 CN CN201810140685.8A patent/CN110153577B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR101014386B1 (en) * | 2010-10-13 | 2011-02-15 | 조항우 | Tank production automation system |
| CN102699497A (en) * | 2012-05-07 | 2012-10-03 | 河南省矿山起重机有限公司 | Crane main beam welding machine |
| CN104607815A (en) * | 2014-12-18 | 2015-05-13 | 大连船舶重工集团装备制造有限公司 | Method for manufacturing and controlling camber of crane main girder |
| CN106586827A (en) * | 2017-01-23 | 2017-04-26 | 上海振华重工(集团)股份有限公司 | Solid web type crane track beam and shore bridge |
| CN106994578A (en) * | 2017-06-01 | 2017-08-01 | 上海振华重工(集团)股份有限公司 | A kind of assembled welding equipment of body beam |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113070546A (en) * | 2021-03-30 | 2021-07-06 | 中铁宝桥（扬州）有限公司 | Automatic welding method for steel beam rod piece groove-shaped structure |
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| CN110153577B (en) | 2021-03-16 |
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Effective date of registration: 20210908 Address after: 200125 No. 3261 Dongfang Road, Shanghai, Pudong New Area Patentee after: SHANGHAI ZHENHUA HEAVY INDUSTRIES Co.,Ltd. Patentee after: CCCC HIGHWAY BRIDGES NATIONAL ENGINEERING RESEARCH CENTER Co.,Ltd. Address before: 200125 No. 3261 Dongfang Road, Shanghai, Pudong New Area Patentee before: SHANGHAI ZHENHUA HEAVY INDUSTRIES Co.,Ltd. |
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