CN110153577B - Robot automatic welding method for special-shaped box body - Google Patents
Robot automatic welding method for special-shaped box body Download PDFInfo
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- CN110153577B CN110153577B CN201810140685.8A CN201810140685A CN110153577B CN 110153577 B CN110153577 B CN 110153577B CN 201810140685 A CN201810140685 A CN 201810140685A CN 110153577 B CN110153577 B CN 110153577B
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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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Abstract
The invention discloses an automatic robot welding method for a special-shaped box, which integrates the technologies of digital welding process design, automatic robot welding, intelligent welding, welding process monitoring, welding informatization management and the like; the welding device is used for a long and complicated crane shore bridge box girder component, and can realize automatic welding of an ultra-large component, a narrow space and a thin plate complicated structural component; the welding machine is suitable for forming and welding three surfaces of a girder of a port machine shore bridge and assembling and welding a partition plate, and realizes automatic welding of components. Compared with the traditional manual welding, the welding seam is uniform and consistent, the welding qualification rate is greatly improved, any polishing repair and the like are not needed after the welding is finished, the material consumption and labor cost are saved, and the pollution to the environment is reduced; and proper robot welding parameters are adopted in the welding process.
Description
Technical Field
The invention relates to the technical field of intelligent welding for steel structure robots of large equipment, in particular to an automatic welding method for a robot for special-shaped boxes.
Background
The large-scale hoisting machinery plays an important role in the construction of industrial facilities such as shipping, metallurgy, chemical engineering, power stations, bridges, water conservancy and electric power and the like, and is important mechanical equipment indispensable to the construction of national infrastructure. Wherein the large box girder structure belongs to a key structural member in the large complex steel structure equipment. The traditional welding mode adopts a manual welding mode, people need to drill into the narrow box body for welding, an FCAW welding method is adopted, and polishing and repairing are carried out after welding. The traditional welding mode has the problems of backward manufacturing process, low automation degree of welding equipment, unstable welding manufacturing quality, low manufacturing efficiency, high manufacturing cost and the like.
Disclosure of Invention
Technical problem to be solved
The invention aims to solve the problems of backward manufacturing process, low automation degree of welding equipment, unstable welding manufacturing quality, low manufacturing efficiency and high manufacturing cost in the traditional welding mode, and provides an automatic welding method of a special-shaped box robot, which integrates the technologies of digital welding process design, automatic robot welding, intelligent welding, welding process monitoring, welding informatization management and the like, is used for a long and complicated crane shore bridge box girder component and realizes the automatic welding of an oversized component, a narrow space and a complicated thin plate component.
(II) technical scheme
A robot automatic welding method for special-shaped boxes comprises the following steps:
s1, vertically welding the right side partition plate and the vertical fillet weld (1) of the straight web upwards;
s2, vertically welding the right side partition plate and the oblique web plate in an upward direction by using a vertical fillet weld (2) and a vertical fillet weld (3);
s3, welding flat fillet welds (4) and (5) between the right side partition plate and the bottom plate from the straight web side to the inclined web side;
s4, welding a flat fillet weld (6) of the bottom plate angle steel and the bottom plate from the right side to the left side;
s5, welding an inner corner welding seam (7) of the straight web plate and the bottom plate from the right side to the left side;
s6, welding an inner angle welding seam (8) of the oblique web plate and the bottom plate from the right side to the left side;
s7, vertically welding the left partition plate and the vertical fillet weld (9) of the straight web plate upwards;
s8, vertically welding the left partition plate and the inclined web plate with a vertical fillet weld (10) and a vertical fillet weld (11) upwards;
s9, welding flat fillet welds (12) and (13) between the left side partition plate and the bottom plate from the straight web side to the inclined web side;
and S10, circularly welding the bottom plate angle steel and the bottom plate flat fillet weld (6).
According to an embodiment of the present invention, the step S2 of vertical welding includes reinforcing triangular rib plates and T-shaped steel weldable welds.
According to an embodiment of the invention, the welding of step S3 includes fillet welding the bottom plate angle and the partition plate through hole.
According to an embodiment of the present invention, the step S8 of vertical welding includes reinforcing triangular rib plates and T-shaped steel weldable welds.
According to an embodiment of the invention, the welding of step S9 includes fillet welding the bottom plate angle and the partition plate through hole.
According to one embodiment of the invention, the welding is flux-cored carbon dioxide gas shielded welding.
According to one embodiment of the invention, the welding material is a Huanton welding material (HTW-711), the diameter of the welding wire is 1.2mm, and the shielding gas is 99.9% CO2。
(III) advantageous effects
By adopting the technical scheme, the robot automatic welding method for the special-shaped box body is used for the long and complicated crane shore bridge box girder member, and can realize the automatic welding of the extra-large member, the narrow space and the complicated sheet structural member; on the basis of a large number of tests and popularization and application, the requirement on component assembly precision is high; compared with the traditional manual welding, the welding seam is uniform and consistent, the welding qualification rate is greatly improved, any polishing repair and the like are not needed after the welding is finished, the material consumption and labor cost are saved, and the pollution to the environment is reduced. The welding process adopts proper robot welding parameters, and the welding method has the following advantages: 1) the automatic production rate is improved, the production efficiency is improved, and the delivery period is shortened; 2) the working procedures of carbon planing, grinding and the like are reduced, the production cost is reduced, the material consumption and the power consumption are saved, the economic benefit is obvious, and the pollution of carbon emission to the environment is reduced; 3) the damage of carbon planing and polishing to the base metal is reduced, the welding quality uniformity is ensured, and the repair rate is reduced; 4) the working environment is improved, the labor intensity of workers is reduced, and the environment protection and labor protection expenditure are reduced; 5) the digital, information and automatic production management is realized.
Drawings
In the present invention, like reference numerals refer to like features throughout, wherein:
FIG. 1 is a three-sided forming assembly and welding sequence of a conventional girder;
FIG. 2 is a sequence of four-side forming, assembling and welding of a conventional girder;
FIG. 3 is a flow chart of a welding method of the present invention;
FIG. 4 is a block welding sequence diagram after the girder of the shore bridge is formed on three sides.
Detailed Description
The technical scheme of the invention is further explained by combining the drawings and the embodiment.
The traditional girder manual welding process flow. With reference to fig. 1, a three-side molding assembly is performed first, and the welding sequence after the three-side molding is as follows: a. the vertical welding seam between the partition board and the web plate is noticed that H/4 is left at the upper opening and is not welded temporarily; b. the connection welding seam of the clapboard and the lower wing plate; c. a connecting welding seam between the inner side of the box body web plate and the lower wing plate (note that two meters in the empty position of the hinge point are not welded at first); d. and the connection welding seam between the outer side of the box body web plate and the lower wing plate.
With reference to fig. 2, then four-sided forming of the cover plate is performed, and the welding sequence is as follows: a. h/4 vertical welding seams between the partition plates and the web plates; b. the connection welding seam of the clapboard and the upper wing plate; c. a connecting welding seam between the inner side web plate and the upper wing plate in the box body; d. and the connection welding seam of the box body outer side web plate and the upper wing plate. And finally, turning over the welding seams of other accessories in the welding box body.
The traditional girder is only partially welded by a semi-automatic special machine, the interior of the box body is welded by adopting the traditional manual flux-cored wire CO2 gas shielded welding, and the outer main fillet weld is welded by an automatic fillet welding trolley tool. The problems of unstable welding manufacturing quality, low manufacturing efficiency, high manufacturing cost and the like exist.
With reference to the flowchart 3 and the welding sequence chart 4, an automatic welding method for a robot for special-shaped boxes comprises the following steps:
s1, vertically welding the right side partition plate and the vertical fillet weld 1 of the straight web upwards;
s2, welding the right side partition plate and the oblique web plate elevation fillet weld 2 and the vertical fillet weld 3 upwards in an upright manner, wherein the weld comprises a reinforcing triangular rib plate and a T-shaped steel weldable seam;
s3, welding flat fillet welds 4 and 5 between the right side partition plate and the bottom plate from the side of the straight web to the side of the inclined web, and performing vertical fillet weld on the bottom plate angle steel and the partition plate through holes;
s4, welding a bottom plate angle steel and bottom plate flat fillet weld 6 from the right side to the left side;
s5, welding a straight web plate and a bottom plate inner corner welding seam 7 from the right side to the left side;
s6, welding an inner angle welding seam 8 of the oblique web plate and the bottom plate from the right side to the left side;
s7, vertically welding the left partition plate and the vertical fillet weld 9 of the straight web upwards;
s8, welding the left baffle plate and the inclined web plate upward vertical fillet weld 10 and the vertical fillet weld 11, and welding the left baffle plate and the inclined web plate upward vertical including a reinforcing triangular rib plate and a T-shaped steel weldable weld;
s9, welding flat fillet welds 12 and 13 between the left side partition plate and the bottom plate from the straight web side to the inclined web side, and performing vertical fillet weld on the bottom plate angle steel and the partition plate through holes;
and S10, circularly welding the bottom plate angle steel and the bottom plate flat fillet weld 6.
The girder is welded from the middle to the two ends in the length direction.
Taking a shore bridge girder as an example, main welding seams in the box body comprise transverse fillet welding, vertical fillet welding and 71-degree elevation fillet welding, the welding process is particularly important by adopting proper robot welding parameters, and the assembly size can be set according to the assembly size (the gap is 0-3mm) of a normal fillet welding seam.
The moving program in the machine welding process is pre-programmed in a demonstrator, and the welding parameters are set to be proper according to the size of a welding corner required on a drawing. The welding adopts flux-cored wire carbon dioxide gas shielded welding, the welding material adopts Huatong welding material (HTW-711), the diameter of the welding wire is 1.2mm, and the shielding gas is 99.9 percent CO2. And after welding is finished for 48 hours, 100% magnetic powder inspection is carried out according to the AWS D1.1 standard, and the inspection result is 98% of the qualification rate.
Controlling welding forming: welding corners, root penetration and surface forming such as vertical welding, vertical overhead welding, transverse fillet welding and the like; different fillet requirements require different welding parameters to be set. The invention can realize the maximum workpiece specification of the box girder component of the large and heavy shore bridge: 80000mm is multiplied by 1300mm is multiplied by 2400mm three-face forming internal robot automatic welding production. The post weld quality requirements are as in table 1. The welding quality meets the requirements of attractive appearance of the formed welding line, no appearance defects such as undercut, welding beading, air holes and the like, the formed welding line is attractive, and the VT qualification rate is more than or equal to 99.9 percent.
Table 1: post weld quality requirements
Compared with the traditional manual welding, the welding seam is uniform and consistent, the welding qualification rate is greatly improved, any polishing repair and the like are not needed after the welding is finished, the material consumption and labor cost are saved, and the pollution to the environment is reduced. The welding method reduces the post-welding procedures and improves the welding efficiency; the energy consumption, the material consumption and the carbon emission are reduced, the production cost is saved, and the economic benefit is remarkable; the welding quality uniformity and stability are ensured, and the repair and polishing of welding seams are reduced.
In conclusion, by adopting the technical scheme of the invention, the special-shaped box body robot automatic welding method integrates the technologies of digital welding process design, robot automatic welding, intelligent welding, welding process monitoring, welding informatization management and the like; the welding device is used for a long and complicated crane shore bridge box girder component, and can realize automatic welding of an ultra-large component, a narrow space and a thin plate complicated structural component; the welding machine is suitable for forming and welding three surfaces of a girder of a port machine shore bridge and assembling and welding a partition plate, and realizes automatic welding of components.
The automatic welding of the box girder component is successfully realized through a reasonable welding sequence and proper welding parameters by the aid of a welding robot. On the basis of a large number of tests and popularization and application, the requirement on component assembly precision is high; compared with the traditional manual welding, the welding seam is uniform and consistent, the welding qualification rate is greatly improved, any polishing and repairing and the like are not needed after the welding is finished, the material consumption and labor cost are saved, and the pollution to the environment is reduced; and proper robot welding parameters are adopted in the welding process.
The welding method of the invention has the following advantages:
1) the automatic production rate is improved, the production efficiency is improved, and the delivery period is shortened.
2) The processes of carbon planing, grinding and the like are reduced, the production cost is reduced, the material consumption and the power consumption are saved, the economic benefit is obvious, and the pollution of carbon emission to the environment is reduced.
3) Reduce the damage of carbon plane, polishing to the base metal, guarantee welding quality homogeneity, reduce the rate of repairing.
4) The working environment is improved, the labor intensity of workers is reduced, and the environment protection and labor protection expenditure are reduced.
5) The digital, information and automatic production management is realized.
It should be understood by those skilled in the art that the above embodiments are only for illustrating the present invention and are not to be used as a limitation of the present invention, and that changes and modifications to the above described embodiments are within the scope of the claims of the present invention as long as they are within the spirit and scope of the present invention.
Claims (6)
1. The robot automatic welding method for the special-shaped box body is characterized in that the special-shaped box body is a large and heavy shore bridge box girder member, and comprises the following steps: the method comprises the following steps:
s1, vertically welding the right side partition plate and the vertical fillet weld (1) of the straight web upwards;
s2, vertically welding the right side partition plate and the oblique web plate in an upward direction by using a vertical fillet weld (2) and a vertical fillet weld (3);
s3, welding flat fillet welds (4) and (5) between the right side partition plate and the bottom plate from the straight web side to the inclined web side;
s4, welding a flat fillet weld (6) of the bottom plate angle steel and the bottom plate from the right side to the left side;
s5, welding an inner corner welding seam (7) of the straight web plate and the bottom plate from the right side to the left side;
s6, welding an inner angle welding seam (8) of the oblique web plate and the bottom plate from the right side to the left side;
s7, vertically welding the left partition plate and the vertical fillet weld (9) of the straight web plate upwards;
s8, vertically welding the left partition plate and the inclined web plate with a vertical fillet weld (10) and a vertical fillet weld (11) upwards;
s9, welding flat fillet welds (12) and (13) between the left side partition plate and the bottom plate from the straight web side to the inclined web side;
s10, circularly welding the angle steel of the bottom plate and the flat fillet weld (6) of the bottom plate,
wherein, the welding adopts flux-cored wire carbon dioxide gas shielded welding.
2. The automatic robot welding method for the special-shaped box body as claimed in claim 1, wherein the method comprises the following steps: and step S2, vertical welding comprises a reinforcing triangular rib plate and a T-shaped steel weldable welding seam.
3. The automatic robot welding method for the special-shaped box body as claimed in claim 1, wherein the method comprises the following steps: and the step S3 of welding comprises the step of fillet welding the bottom plate angle steel and the partition plate through holes.
4. The automatic robot welding method for the special-shaped box body as claimed in claim 1, wherein the method comprises the following steps: and step S8, vertical welding comprises a reinforcing triangular rib plate and a T-shaped steel weldable welding seam.
5. The automatic robot welding method for the special-shaped box body as claimed in claim 1, wherein the method comprises the following steps: and the step S9 of welding comprises the step of fillet welding the bottom plate angle steel and the partition plate through holes.
6. The automatic robot welding method for the special-shaped box body as claimed in claim 1, wherein the method comprises the following steps: the welding material adopts a Huatong welding material HTW-711, the diameter of the welding wire is 1.2mm, and the protective gas is CO with the purity of 99.9 percent2。
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810140685.8A CN110153577B (en) | 2018-02-11 | 2018-02-11 | Robot automatic welding method for special-shaped box body |
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| CN201810140685.8A CN110153577B (en) | 2018-02-11 | 2018-02-11 | Robot automatic welding method for special-shaped box body |
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| CN110153577B true CN110153577B (en) | 2021-03-16 |
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| CN113070546B (en) * | 2021-03-30 | 2022-08-23 | 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 |
| CN102699497B (en) * | 2012-05-07 | 2014-09-24 | 河南省矿山起重机有限公司 | Crane main beam welding machine |
| CN104607815B (en) * | 2014-12-18 | 2016-08-17 | 大连船舶重工集团装备制造有限公司 | A kind of method making and control crane girder camber |
| CN106586827B (en) * | 2017-01-23 | 2018-08-07 | 上海振华重工(集团)股份有限公司 | A kind of steel flanged beam crane runway beam and gantry crane |
| CN106994578B (en) * | 2017-06-01 | 2019-03-08 | 上海振华重工(集团)股份有限公司 | A kind of body beam assembly welding equipment |
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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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