CN111299768A - Double-robot welding system and welding method thereof - Google Patents
Double-robot welding system and welding method thereof Download PDFInfo
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- CN111299768A CN111299768A CN202010243063.5A CN202010243063A CN111299768A CN 111299768 A CN111299768 A CN 111299768A CN 202010243063 A CN202010243063 A CN 202010243063A CN 111299768 A CN111299768 A CN 111299768A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/16—Arc welding or cutting making use of shielding gas
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/12—Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
- B23K9/126—Controlling the spatial relationship between the work and the gas torch
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/12—Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
- B23K9/127—Means for tracking lines during arc welding or cutting
- B23K9/1272—Geometry oriented, e.g. beam optical trading
- B23K9/1274—Using non-contact, optical means, e.g. laser means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/18—Submerged-arc welding
Abstract
The invention discloses a double-robot welding system and a welding method thereof, wherein the welding system comprises a base, a truss assembly, a submerged arc welding mechanism, an argon arc welding mechanism, a workpiece mounting assembly and a control cabinet, wherein the truss assembly is fixedly arranged on the base and comprises a truss X shaft, a truss Y shaft and a truss Z shaft, and the truss Y shaft and the truss Z shaft are arranged at two ends of the truss X shaft; the submerged-arc welding mechanism is positioned at one end of the X axis of the truss and used for realizing submerged-arc welding; the argon arc welding mechanism is positioned at the other end of the X axis of the truss and is used for realizing argon arc welding; the welded workpiece is arranged on the workpiece mounting assembly, and rotary displacement can be realized; and the control cabinet is respectively connected with the workpiece mounting assembly, the submerged-arc welding mechanism and the argon arc welding mechanism. The welding method specifically comprises the following steps: when butt welding seams are welded, argon arc welding is firstly adopted for bottoming, and then submerged arc welding is adopted for welding and filling the cover surface. The invention adopts the mode of matching submerged-arc welding and argon arc welding, and can effectively improve the welding quality of the welding seam.
Description
Technical Field
The invention relates to the technical field of robot welding, in particular to a double-robot welding system and a welding method thereof.
Background
Welding, also known as fusion, welding, is a manufacturing process and technique for joining metals or other thermoplastic materials, such as plastics, in a heated, high temperature or high pressure manner. Welding has been the most common processing technique in many fields such as automobiles and aviation, and has been the focus and research of many technicians. In order to improve the welding efficiency and quality, more and more welding robots are put into production in succession, so that great convenience is brought to welding work.
At present, in the field of pressure vessel manufacturing, manual welding is also commonly used, because the outer wall of the pressure vessel is of a curved surface structure, and welding equipment capable of meeting the welding requirements is not available except for a welding robot used for automobile manufacturing. In addition, with the rapid development of industries requiring a large number of pressure vessels such as chemical engineering and medicine, the specification and the overall dimension of the pressure vessels are also larger and larger, so that for a welder, the increase of the dimension inevitably leads to the increase of the welding difficulty and the labor intensity, and in the past, the welding quality can be reduced, and greater potential safety hazards also exist, so that the benefits of enterprises are influenced. Moreover, welding is more harmful to the body of workers, and with the pursuit of people for quality of life, fewer people are willing to engage in the industry, so that the use of robots instead of workers is urgently needed at present.
The size difference of the pressure vessel is large, the common diameter is 3-5 m, the number of accessories is large, the welding seam forms are various, almost all the welding seam joint forms at present are covered, and the welding seam quality requirement is high. The large welding amount comprises butt welding seams among pipes, overlaying welding of bottle caps, welding of heat exchanger pipe plates and the like, and welding seams of all pressure vessels specified by national standards do not allow gas shield welding and only allow argon arc welding and submerged arc welding. The conventional robot argon arc welding has the disadvantages of low welding speed and small filling amount, so that the robot argon arc welding is not suitable for welding a pressure container; the problems that welding flux is paved and recycled, welding slag is cleaned, welding wires are thick, wire feeding is easy to be unsmooth, large accessibility of workpieces is not enough and the like need to be considered in the robot submerged arc welding, and the submerged arc welding cannot be used for welding seams of multilayer multi-pass welding of thick plate welding seams.
The patent application with the prior application publication number of CN104191117A discloses a tooling system for automatically welding a pressure vessel jacket, which is characterized by comprising two position changing machines, a control cabinet and a welding robot, wherein the control system sends an instruction to the welding robot control system, and the robot control system performs automatic control and performs welding in coordination with the position changing machines. Although the double-station mode is adopted to improve the welding efficiency, particularly when one welding station in the double stations is used for welding, the other welding station can simultaneously assemble and disassemble the jacket product, so that the efficiency of the whole system is improved, the welding quality of the welding mode is still improved, and the welding requirements with high welding seam quality requirements are difficult to meet, such as butt welding seams between pipes with large welding quantity, overlaying welding of bottle caps, welding of tube plates of heat exchangers and the like.
Disclosure of Invention
Aiming at the problems in the prior art, the invention aims to provide a double-robot welding system and a welding method thereof, when butt-welding seams are welded, submerged-arc welding and argon arc welding are adopted to be matched for use so as to realize all-position seam welding of a pressure container, wherein the argon arc welding realizes bottoming treatment on the butt-welding seams, the quality of the welding seams is ensured, back surfaces do not need back chipping, the argon arc welding speed is high, the production efficiency can be improved, and the defects of the argon arc welding are effectively avoided; and then, submerged-arc welding is adopted to fill the cover surface, so that the welding speed is improved, and the quality of a welding seam is ensured.
The specific technical scheme is as follows:
the utility model provides a double robot welding system, includes the base, still includes:
the truss assembly is fixedly arranged on the base and comprises a truss X shaft, a truss Y shaft and a truss Z shaft, wherein the truss Y shaft and the truss Z shaft are arranged at two ends of the truss X shaft;
the argon arc welding mechanism is positioned at one end of the X axis of the truss and is used for realizing argon arc welding backing welding;
the submerged-arc welding mechanism is positioned at the other end of the X axis of the truss and is used for realizing submerged-arc welding filling cover surface welding;
the workpiece mounting assembly is used for realizing the rotary displacement of the welded workpiece;
the control cabinet is respectively connected with the workpiece mounting assembly, the submerged-arc welding mechanism and the argon arc welding mechanism, and a control system is arranged in the control cabinet and used for controlling the submerged-arc welding mechanism and the argon arc welding mechanism to complete welding of the workpiece.
Specifically, argon arc welds welding mechanism and includes that argon arc welds switch board, argon arc welding machine, argon arc welding robot, argon arc welding send a bucket and argon arc welding welder, wherein argon arc weld switch board control argon arc welding machine send a bucket fortune to argon arc welding welder with the welding wire through argon arc welding, argon arc welding robot install and set up on the mount pad of truss Y axle, and the steerable argon arc of argon arc welding robot welds welder's removal and welding operations.
Furthermore, a laser tracking device is arranged on the argon arc welding gun, so that real-time tracking of a welding seam is realized, and the welding quality is ensured.
Furthermore, 3D visual equipment is arranged on the argon arc welding gun. Because the pressure vessel work piece is too big, installation positioning accuracy is not enough, adopts 3D vision equipment to scan the location to the heat exchanger tube sheet, ensures the welding seam quality.
The submerged-arc welding mechanism comprises a submerged-arc welding control cabinet, a submerged-arc welding machine, a submerged-arc welding wire barrel, a submerged-arc welding robot, a submerged-arc welding wire feeder and a submerged-arc welding gun, wherein the submerged-arc welding control cabinet controls the submerged-arc welding machine to convey welding wires in the submerged-arc welding wire barrel to the submerged-arc welding gun through the submerged-arc welding wire feeder, the submerged-arc welding robot is arranged on a mounting seat of a Y shaft of the truss, and the submerged-arc welding robot can control the movement and welding operation of the submerged-arc welding gun.
Furthermore, the submerged arc welding mechanism also comprises a submerged arc welding flux laying and recycling device, waste of the flux is reduced, the recycling effect is good, the dust removal performance is good, the economic benefit is improved, and meanwhile, the environmental pollution is effectively reduced.
Furthermore, a laser tracking device is arranged on the submerged-arc welding gun, so that real-time tracking of a welding seam is realized, and the welding quality is ensured.
Furthermore, the submerged arc welding machine is a single-power-supply double-wire submerged arc welding machine, the single-power-supply double-wire submerged arc welding machine is matched with the welding line laser to track multilayer multi-pass welding to fill the cover surface, the welding speed is improved, and the welding line quality is ensured.
Specifically, the workpiece mounting assembly comprises a roller frame, a roller and a servo motor, the roller is mounted on the roller frame, the servo motor drives the roller to rotate, and the control cabinet controls the operation of the servo motor and the rotation of the roller. The friction force between the roller and the cylindrical workpiece (namely, a pressure container) is utilized to drive the workpiece to rotate so as to realize displacement, the horizontal position welding of the inner and outer circular seams and the inner and outer longitudinal seams of the workpiece can be realized, and the automatic welding can be realized by matching with automatic welding equipment.
Preferably, the control cabinet is a PLC control cabinet. The control cabinet is internally provided with a control system, is respectively connected with the submerged-arc welding mechanism and the argon arc welding mechanism and is used for controlling the submerged-arc welding mechanism and the argon arc welding mechanism to complete the welding of the workpiece, and is also connected with a servo motor in the workpiece mounting assembly and is used for controlling the rolling of the roller to control the rotary deflection of the pressure container, so that the uniform rotating speed and the adjustable speed during the welding are ensured.
A welding method of a double-robot welding system specifically comprises the following steps: when butt welding seams are welded, argon arc welding is firstly adopted for bottoming, and then submerged arc welding is adopted for welding and filling the cover surface.
The invention adopts the design of double-robot system welding, namely the submerged arc welding and the argon arc welding are matched for use to realize the application of all-position welding line welding of the pressure vessel. The argon arc welding realizes the priming treatment of butt welding seams, ensures the quality of the welding seams, does not need back chipping on the back, has high welding speed, can improve the production efficiency and effectively avoids the defects of the argon arc welding; the argon arc welding is matched with laser tracking to track the welding seam in real time, so that welding defects caused by the problems of poor assembly precision, welding seam deformation, workpiece shifting during rotation and the like are avoided; 3D vision equipment is configured for welding the tube plate by adopting an argon arc welding robot, and the 3D vision equipment is adopted for scanning and positioning the tube plate of the heat exchanger to ensure the quality of a welding seam because a workpiece is too large and the mounting and positioning accuracy is insufficient; and then submerged arc welding is adopted, the thickness of a butt welding seam plate is thick, the filling amount is large, the single-power-supply double-wire submerged arc welding machine is adopted to perform laser tracking on the welding seam to perform multilayer multi-pass welding to fill the capping surface, the welding speed is improved, and the welding seam quality is ensured. The method of combining submerged arc welding and argon arc welding is mainly used for welding butt-jointed seams and adopts a welding method of backing by argon arc welding and filling cover surfaces by submerged arc welding.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is an enlarged view of the submerged arc welding mechanism according to the present invention;
FIG. 3 is an enlarged view of the argon arc welding mechanism according to the present invention;
fig. 4 is a side view of the overall structure of the present invention.
In the attached drawings, 1, a base; 2.1, truss X-axis; 2.2, truss Y axis; 2.3, truss Z axis; 3. an argon arc welding mechanism; 3.1, argon arc welding control cabinet; 3.2, argon arc welding machine; 3.3, an argon arc welding robot; 3.4, argon arc welding wire feeding barrel; 3.5, argon arc welding gun; 4. a submerged arc welding mechanism; 4.1, a submerged arc welding control cabinet; 4.2, a submerged arc welding machine; 4.3, welding wire barrel for submerged-arc welding; 4.4, a submerged arc welding robot; 4.5, a submerged arc welding wire feeder; 4.6, a submerged arc welding gun; 5.1, a roller frame; 5.2, rollers; 6. a control cabinet.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1 and 4, a two-robot welding system is shown, which comprises a base 1, a truss assembly, a submerged arc welding mechanism 4, an argon arc welding mechanism 3, a workpiece mounting assembly and a control cabinet 6. The truss assembly is fixedly arranged on the base 1 and comprises a truss X shaft 2.1, a truss Y shaft 2.2 and a truss Z, the truss X shaft 2.1 is a long shaft arranged horizontally, and the stroke can reach 40 m; two truss Z shafts 2.3 are respectively and vertically arranged on the mounting plates at two ends of the truss X shaft 2.1, the two truss Z shafts 2.3 are distributed in parallel, and the stroke of each truss Z shaft 2.3 can reach 5 m; two fixing shafts with the length of 1.5m are arranged on the two truss Y shafts 2.2 and are respectively and vertically arranged on the mounting plate of the truss Z shaft 2.3, the truss Z shaft 2.3 can walk up and down, the effective stroke is 5m, the two truss Y shafts 2.2 are distributed in parallel, the submerged-arc welding mechanism 4 and the argon arc welding mechanism 3 are respectively arranged at two ends of the truss X shaft 2.1, and the truss X shaft 2.1 and the truss Z shaft 2.3 are respectively controlled to respectively realize up-down and left-right movement so as to fulfill the aim of the matching welding of submerged-arc welding and argon arc welding.
As shown in fig. 3, the argon arc welding mechanism 3 is located at one end of the X-axis 2.1 of the truss for realizing argon arc backing welding. Specifically, the argon arc welding mechanism 3 comprises an argon arc welding control cabinet 3.1, an argon arc welding machine 3.2, an argon arc welding robot 3.3, an argon arc welding wire feeding barrel 3.4 and an argon arc welding gun 3.5, wherein the argon arc welding control cabinet 3.1 controls the argon arc welding machine 3.2 to convey welding wires to the argon arc welding gun 3.5 through the argon arc welding wire feeding barrel 3.4, the argon arc welding robot 3.3 is arranged on an installation seat of a truss Y-axis 2.2, and the argon arc welding robot 3.3 can control the movement and welding operation of the argon arc welding gun 3.5. The argon arc welding robot 3.3 in the invention is also a Senaceae six-axis robot, the robot is configured with TOPTIG argon arc welding of Lincoln, and the welding speed is several times of that of a common welding machine.
Furthermore, the argon arc welding gun 3.5 is also provided with a laser tracking device, so that the real-time tracking of the welding seam is realized, the welding quality is ensured, and the welding defects caused by the problems of poor assembly precision, welding seam deformation, workpiece shifting during rotation and the like are avoided. The working principle of laser tracking is that when a robot welds, a laser tracking laser line scans the position of a weld joint in front of the weld joint, the laser tracking calculates the three-dimensional space coordinate data of the center of the weld joint and sends the three-dimensional space coordinate data to the robot, and the robot corrects the position of a welding gun in real time according to the data, so that the welding joint is prevented from welding deviation or unqualified quality caused by the problems of insufficient groove precision, insufficient assembly precision, welding deformation, workpiece movement on a roller 5.2 and the like. The laser tracking equipment can achieve weld joint deviation (the laser tracking weld joint needs characteristic points, the characteristic points are lost in the welding weld joint filling process during multi-layer and multi-pass welding, so that the laser tracking can track at a fixed position, data are transmitted to a robot by calculating the deviation amount), the tracked data can be deviated at a certain position in space by a program, and the data are transmitted to the robot in real time.
Furthermore, 3D vision equipment is arranged on the argon arc welding gun 3.5 and used for welding tube plates, three-dimensional coordinate points are sent to the robot after the three-dimensional space position of each tube is scanned, and the robot executes a program for teaching and programming in advance according to the center position of the tube. Because the pressure vessel work piece is too big, installation positioning accuracy is not enough, adopts 3D vision equipment to scan the location to the heat exchanger tube sheet, ensures the welding seam quality. When the argon arc welding is adopted to weld the tube plate, the defect of a traditional argon arc welding gun 3.5 is avoided, the center distance between the tube and the tube is only about 30mm generally, and the diameter of the tube is about 20mm, so that the traditional argon arc welding gun 3.5 can interfere with the tube during welding, which is the reason why the robot argon arc welding can not directly weld the tube plate so far, and the interference can be perfectly avoided by adopting the special welding gun (toptig is a special welding gun which integrates a welding wire into the welding gun and is different from the traditional argon arc welding gun 3.5).
As shown in fig. 2, a submerged arc welding mechanism 4 is located at the other end of the truss X-axis 2.1 for achieving submerged arc fill facing welding. Specifically, the submerged-arc welding mechanism 4 comprises a submerged-arc welding control cabinet 4.1, a submerged-arc welding machine 4.2, a submerged-arc welding wire barrel 4.3, a submerged-arc welding robot 4.4, a submerged-arc welding wire feeder 4.5 and a submerged-arc welding gun 4.6, wherein the submerged-arc welding control cabinet 4.1 controls the submerged-arc welding machine 4.2 to convey welding wires in the submerged-arc welding wire barrel 4.3 to the submerged-arc welding gun 4.6 through the submerged-arc welding wire feeder 4.5, the submerged-arc welding robot 4.4 is arranged on a mounting seat of a truss Y shaft 2.2, and the submerged-arc welding robot 4.4 can control movement and welding operation of the submerged-arc welding gun 4.6. The submerged arc welding robot 4.4 is a Seneko six-axis robot, the robot is matched with a single power supply double wire of a submerged arc welding machine of Lincoln, a welding wire with the thickness of 1.2mm can ensure that the wire is smoothly fed in the running process of the robot, the double wires can ensure the welding speed, and the filling amount of a welding line is improved.
Furthermore, in order to ensure normal recycling of the welding flux and effective removal of welding flux dust, a submerged arc welding flux laying and recycling device is arranged, the device has the functions of automatic addition and automatic heating of the welding flux (the welding flux is dried and heated before welding), the welding flux can be automatically laid and recycled while being welded, waste of the welding flux is reduced, the recycling effect is good, the dust removal performance is good, the economic benefit is improved, and meanwhile, the environmental pollution is effectively reduced.
Furthermore, the submerged arc welding gun 4.6 is provided with a laser tracking device, the working principle of the device is the same, real-time tracking of the welding seam is realized, and the welding quality is ensured.
The submerged arc welding robot 4.4 and the argon arc welding robot respectively control the linkage of the X-axis and the Z-axis of the truss on one side besides the six-axis linkage of the submerged arc welding robot, so that the coordinated linkage is realized. Because the submerged arc welding robot 4.4 and the argon arc welding robot are respectively arranged on the fixed shaft, namely the mounting seat of the truss Y shaft 2.2, the fixed truss Y shaft 2.2 is used for increasing the working radius of the robot, the mounting mode different from the previous mounting mode is adopted, the maximum stroke of the submerged arc welding robot 4.4 and the maximum stroke of the argon arc welding robot are ensured, the accessibility is highest during welding, the stroke of the truss X shaft 2.1 can reach 40m, and the stroke of the truss Z shaft 2.3 can reach 5 m. Due to the fact that the truss stroke is long, the control cabinet 6 and the welding machine of the robot need to walk on the truss synchronously with the robot in consideration of cable signal attenuation and heating. In the invention, the robots all adopt 45kg welding robots with the Sendai load, the arms are extended long, the body load exceeds 500kg, so that the 2.1 load of the X axis of the truss is more than 4T, the parameter configuration of the truss increases great difficulty for design, processing, installation and debugging, and the first time in the industry is achieved. The design concept of the large-stroke large-load double-robot truss breaks through the difficulty left in the traditional truss design.
The workpiece mounting assembly is used for placing the workpiece to be welded, and the workpiece to be welded can realize rotary deflection on the workpiece mounting assembly so as to adapt to the welding process. Specifically, the workpiece mounting assembly comprises a roller frame 5.1, rollers 5.2 and a servo motor, the rollers 5.2 are mounted on the roller frame 5.1, the servo motor drives the rollers 5.2 to rotate, friction force between the rollers 5.2 and the cylindrical workpieces drives the workpieces to rotate to realize displacement, horizontal position welding of inner and outer circumferential seams and inner and outer longitudinal seams of the workpieces can be realized, and automatic welding can be realized by matching automatic welding equipment. In one embodiment of the invention, two sets of workpiece mounting assemblies are employed to stabilize the workpiece.
The control cabinet 6 is a control end of the whole system, preferably a PLC control cabinet 6 is adopted, a control system is arranged in the control cabinet 6, the control cabinet 6 is respectively connected with the submerged-arc welding mechanism 4 and the argon arc welding mechanism 3 and used for controlling the submerged-arc welding mechanism 4 and the argon arc welding mechanism 3 to complete welding of a workpiece, and the control cabinet 6 is also connected with a servo motor in the workpiece mounting assembly and used for controlling rolling of the roller 5.2 to control rotary deflection of the pressure container, so that the uniform rotating speed and adjustable speed during welding are ensured.
The double-robot welding system adopts the cooperation of argon arc welding and submerged arc welding to realize the all-position welding line of a welding pressure container, adopts the centralized control principle, and adopts the PLC control cabinet 6 to control the two robots of the argon arc welding robot 3.3 and the submerged arc welding robot 4.4 and the servo motor in the workpiece installation assembly. The argon arc welding machine 3.2, the submerged arc welding machine 4.2, the laser tracking equipment, the welding flux laying and recovering device, the 3D vision equipment and the like are the most advanced equipment in respective fields, are in digital communication with a robot system and are controlled by the robot control system, and the argon arc welding machine has the characteristics of high integration level, convenience in operation, wide application and the like.
Because the argon arc welding has the characteristics of high welding seam quality, few defects and the like, the argon arc welding is firstly used for backing when butt welding seams are welded, the back gouging process during manual welding is avoided, the welding speed is greatly improved by the special process, and the inherent defects of low welding speed and small filling amount of the argon arc welding are avoided. After argon arc welding and bottoming, weld joint quality inspection is carried out, submerged arc welding is adopted for filling the cover surface after the inspection is qualified, double-wire submerged arc welding with thin wires avoids the inherent defects of the submerged arc welding of a robot (a thick welding wire is used for common single-wire submerged arc welding, the robot is a six-axis robot which does complex curvilinear motion in a three-dimensional space, so that the welding wire is easily bent, a wire feeder is clamped, unsmooth wire feeding can occur), double wires can ensure high deposition rate during welding, the welding speed is improved, and the like. The argon arc welding machine 3.2 and the submerged arc welding machine 4.2 both have digital communication functions, are perfectly combined with a built-in welding program in the robot, and the robot can also directly call a welding process parameter package which is set for different plates, plate thicknesses, grooves, residual heights and the like in the welding machine, so that the requirements on a robot debugging engineer are greatly reduced, and welding process personnel do not need to debug welding parameters again.
Although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that various changes in the embodiments and/or modifications of the invention can be made, and equivalents and modifications of some features of the invention can be made without departing from the spirit and scope of the invention.
Claims (10)
1. The utility model provides a double robot welding system, includes base (1), its characterized in that still includes:
the truss assembly is fixedly arranged on the base (1) and comprises a truss X shaft (2.1), truss Y shafts (2.2) and truss Z shafts (2.3) which are arranged at two ends of the truss X shaft (2.1);
the argon arc welding mechanism (3) is positioned at one end of the X axis (2.1) of the truss and is used for realizing argon arc welding backing welding;
the submerged-arc welding mechanism (4) is positioned at the other end of the X axis (2.1) of the truss and used for realizing submerged-arc welding filling cover surface welding;
the workpiece mounting assembly is used for realizing the rotary displacement of the welded workpiece;
the control cabinet (6), the control cabinet (6) links to each other with work piece installation component, submerged arc welding mechanism (4) and argon arc welding mechanism (3) respectively, control system is equipped with in the control cabinet (6) for control submerged arc welding mechanism (4) and argon arc welding mechanism (3) accomplish the welding to the work piece.
2. The dual-robot welding system of claim 1, wherein: argon arc welds welding mechanism (3) and welds robot (3.3), argon arc welding and send a bucket (3.4) and argon arc welding welder (3.5) including argon arc welding switch board (3.1), argon arc welding, wherein argon arc welding switch board (3.1) control argon arc welding machine (3.2) send a bucket (3.4) fortune to argon arc welding welder (3.5) with the welding wire through argon arc welding, argon arc welding robot (3.3) install and set up on the mount pad of truss Y axle (2.2), and argon arc welding robot (3.3) steerable argon arc welding welder (3.5) remove and welding jobs.
3. The dual-robot welding system of claim 2, wherein: and 3D visual equipment is arranged on the argon arc welding gun (3.5).
4. The dual-robot welding system of claim 1, wherein: the submerged-arc welding mechanism (4) comprises a submerged-arc welding control cabinet (4.1), a submerged-arc welding machine (4.2), a submerged-arc welding wire barrel (4.3), a submerged-arc welding robot (4.4), a submerged-arc welding wire feeder (4.5) and a submerged-arc welding gun (4.6), wherein the submerged-arc welding control cabinet (4.1) controls the submerged-arc welding machine (4.2) to convey welding wires in the submerged-arc welding wire barrel (4.3) to the submerged-arc welding gun (4.6) through the submerged-arc welding wire feeder (4.5), the submerged-arc welding robot (4.4) is arranged on a mounting seat of a truss Y shaft (2.2), and the submerged-arc welding robot (4.4) can control movement and welding operation of the submerged-arc welding gun (4.6).
5. The dual-robot welding system of claim 4, wherein: the submerged arc welding mechanism (4) further comprises a submerged arc welding flux laying and recycling device.
6. The dual-robot welding system of claim 4, wherein: the submerged arc welding machine (4.2) is a single-power-supply double-wire submerged arc welding machine (4.2).
7. The dual-robot welding system of claim 2 or 4, wherein: and the welding gun is provided with a laser tracking device.
8. The dual-robot welding system of claim 1, wherein: the workpiece mounting assembly comprises a roller frame (5.1), rollers (5.2) and a servo motor, the rollers (5.2) are mounted on the roller frame (5.1), the servo motor drives the rollers (5.2) to rotate, and the control cabinet (6) controls the operation of the servo motor and the rotation of the rollers (5.2).
9. The dual-robot welding system of claim 1, wherein: the control cabinet (6) is a PLC control cabinet (6).
10. The welding method of the dual-robot welding system of any one of claims 1-9, wherein: when butt welding seams are welded, argon arc welding is firstly adopted for bottoming, and then submerged arc welding is adopted for welding and filling the cover surface.
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| CN202010243063.5A CN111299768A (en) | 2020-03-31 | 2020-03-31 | Double-robot welding system and welding method thereof |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112605498A (en) * | 2020-12-10 | 2021-04-06 | 中国船舶重工集团公司第七一六研究所 | Robot butt welding system and method for complex piping system |
| CN113600966A (en) * | 2021-08-11 | 2021-11-05 | 潍坊新松机器人自动化有限公司 | Double-robot welding workstation and welding method |
| CN114273832A (en) * | 2022-01-20 | 2022-04-05 | 广东省科学院中乌焊接研究所 | Welding equipment and welding method |
| CN114714020A (en) * | 2022-05-10 | 2022-07-08 | 中国水利水电夹江水工机械有限公司 | Groove weld welding method for multi-cavity steel member |
-
2020
- 2020-03-31 CN CN202010243063.5A patent/CN111299768A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112605498A (en) * | 2020-12-10 | 2021-04-06 | 中国船舶重工集团公司第七一六研究所 | Robot butt welding system and method for complex piping system |
| CN113600966A (en) * | 2021-08-11 | 2021-11-05 | 潍坊新松机器人自动化有限公司 | Double-robot welding workstation and welding method |
| CN114273832A (en) * | 2022-01-20 | 2022-04-05 | 广东省科学院中乌焊接研究所 | Welding equipment and welding method |
| CN114714020A (en) * | 2022-05-10 | 2022-07-08 | 中国水利水电夹江水工机械有限公司 | Groove weld welding method for multi-cavity steel member |
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Effective date of registration: 20201218 Address after: 2 / F, 555 Juxian Road, high tech Zone, Ningbo, Zhejiang 315000 Applicant after: NINGBO SIASUN ROBOT TECHNOLOGY Co.,Ltd. Applicant after: Jiangsu Yongzhu Machinery Co., Ltd Address before: 2 / F, Microsoft building, 555 Juxian Road, high tech Zone, Ningbo City, Zhejiang Province, 315048 Applicant before: NINGBO SIASUN ROBOT TECHNOLOGY Co.,Ltd. Applicant before: Jiangsu yongyang process equipment Co.,Ltd. |