CN112059371A - Automatic welding method for narrow groove of hydraulic support structural part - Google Patents
Automatic welding method for narrow groove of hydraulic support structural part Download PDFInfo
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- CN112059371A CN112059371A CN202010873678.6A CN202010873678A CN112059371A CN 112059371 A CN112059371 A CN 112059371A CN 202010873678 A CN202010873678 A CN 202010873678A CN 112059371 A CN112059371 A CN 112059371A
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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
- B23K9/24—Features related to electrodes
- B23K9/28—Supporting devices for electrodes
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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
- B23K9/32—Accessories
Abstract
The invention provides a method for automatically welding a narrow groove of a hydraulic support structural part, which comprises the following steps of: step S1, splicing the hydraulic support structural part to be welded into a narrow groove, wherein the groove angle of the narrow groove is 30-40 degrees; step S2, performing off-line programming or on-site programming teaching on the welding robot; step S3, starting a large fusion depth function of the welding robot, adjusting the angle of a welding gun of the welding robot, enabling the welding gun to equally divide the narrow groove, and performing compressed arc large fusion depth backing welding; and step S4, performing filling cover surface welding on the narrow groove. The automatic welding method for the narrow groove of the hydraulic support structural part has the advantages of high welding efficiency, good fusion effect of the root part of the narrow groove, strong consistency of welding effect at each part and good product performance.
Description
Technical Field
The invention relates to a welding method, in particular to a method for automatically welding a narrow groove of a hydraulic support structural part.
Background
The hydraulic support is used as a main supporting device in the fully mechanized mining equipment of the coal mine, and has the characteristics of large volume and weight, severe service conditions, many box-type welding structures, complex welding seams, large welding quantity and the like. All parts of the hydraulic support are box-shaped structures formed by medium-thickness plates, a common box body is formed by a bottom plate, a vertical plate, a cover plate and the like, welding seams at the cover plate are groove welding seams, in order to improve welding efficiency and reduce welding cost, the groove angle of part of the cover plate is smaller than 45 degrees, the angle is generally 30-40 degrees, and the angle is called as a narrow groove. On one hand, the cover plate is thick and generally ranges from 20 mm to 30mm, the welding arc is difficult to penetrate into the root due to the narrow groove, the large depth and the narrow groove root space, the root is difficult to fuse in a common welding mode, gaps are easy to remain, and the performance of a welding line is influenced; on the other hand, theoretically, the truncated edge of the narrow groove is about 2mm generally, but due to cutting errors, the truncated edge of the groove of an actual cover plate part floats within 0-4mm, and due to low assembling precision, the consistency of the gap of the groove formed by the cover plate part is poor, and the gap generally changes frequently within the range of 0-2mm, so that the consistency of welding effects at each position is difficult to maintain, and the welding difficulty is very high. The welding wires generally adopted for welding the hydraulic support structural part in the industry at present are solid welding wires, the diameter of each welding wire is phi 1.2mm and phi 1.6mm, when a narrow groove is welded by adopting a smaller welding wire phi 1.2mm, although smaller electric arc is generated by smaller current, the fusion of the root part of the narrow groove is facilitated, the welding efficiency of the welding wire is low, the average welding wire deposition rate can only reach 5kg/h, the automatic welding of the hydraulic support is not facilitated, and the production cycle of the hydraulic support and the improvement of the welding quality are severely restricted; after the welding wire with the diameter being thicker and phi 1.6mm is adopted, although the welding efficiency is obviously improved, the fusion property of the root of the welding seam is poor because the electric arc at the tail end of the welding wire is thick and the molten pool can not enter the root of the narrow groove.
At present, no welding method with high welding efficiency and excellent welding effect exists for the cover plate narrow groove with the characteristics of narrow groove, large depth, poor truncated edge consistency and the like.
In order to solve the above problems, people are always seeking an ideal technical solution.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, and provides the automatic welding method for the narrow groove of the hydraulic support structural part, which has the advantages of high welding efficiency, good fusion effect of the root part of the narrow groove, strong consistency of welding effects at all positions and good product performance.
In order to achieve the purpose, the invention adopts the technical scheme that: a method for automatically welding a narrow groove of a hydraulic support structural part comprises the following steps: step S1, splicing the hydraulic support structural part to be welded into a narrow groove, wherein the groove angle of the narrow groove is 30-40 degrees; step S2, performing off-line programming or on-site programming teaching on the welding robot; step S3, starting the large fusion depth function of the welding robot, adjusting the angle of a welding gun of the welding robot, enabling the welding gun to equally divide the narrow groove, and carrying out compressed arc large fusion depth backing welding, wherein the welding parameters are as follows: welding current of 300-340A, welding voltage of 27-32V, welding speed of 35-45cm/min, dry extension of 20-25mm, swing amplitude of 2-4mm at the end of the welding wire, and Ar and CO as protective gases2The flow rate of the mixed gas is 20-30L/min; step S4, performing filling cover surface welding on the narrow groove, wherein the welding parameters are as follows: the welding current is 380-440A, the welding voltage is 28-36V, the welding speed is 35-50cm/min, the dry extension of the welding wire is 15-25mm, and the swing amplitude of the end part of the welding wireThe temperature is 1-4mm, and the protective gas is Ar and CO2The flow rate of the protective gas is 20-30L/min.
Based on the above, the step S1 includes the following sub-steps: (1) cleaning the groove, namely preparing each hydraulic support structural part to be welded, removing impurities such as rust, oil stain, scum and the like within the range of 30-50mm on two sides of the groove, and polishing the groove by using an angle grinder until the metal luster appears; (2) assembling the grooves, namely assembling the grooves of the structural parts of the hydraulic support to be welded together, wherein the assembling clearance is ensured to be less than or equal to 2mm during assembling; (3) and (3) performing point-fixing welding on the assembled narrow groove, wherein the height of the point-fixing welding line is less than 5mm, the length is 40-60mm, the interval is 300-500mm, and welding beads are uniformly distributed on the point-fixing welding line.
Based on the above, when backing welding is performed in step S3, the welding robot starts an arc tracking function, senses and tracks the actual path of the groove weld through the swing of the arc at the end of the welding wire, and after the backing welding is completed, the welding robot automatically generates the actual welding path according to the arc tracking data, and automatically generates the filling capping welding program according to the angle, depth and other data of the narrow groove.
Based on the above, when backing welding is performed in step S3, the distance between the end of the welding wire and the groove root is set to be less than 1 mm.
Based on the above, when backing welding is performed in step S3, the welding robot starts the constant penetration function, and when the dry elongation of the welding wire changes in the welding process due to errors occurring at the truncated edges of the narrow groove, it is ensured that the welding current, the weld penetration, and the arc shape remain unchanged under the set welding parameters.
Based on the above, when backing welding is performed in step S3, right-hand welding is used, and the included angle between the axis of the welding gun and the normal of the weld is 10-20 °.
Based on the above, the front end of the nozzle of the welding gun of the welding robot is in a conical structure.
Based on the above, the diameter of the welding wire used by the welding robot is 1.6 mm.
Compared with the prior art, the invention has outstanding substantive characteristics and remarkable progress, and particularly, when backing welding is carried out on the narrow groove, the large penetration function of the welding robot is adopted, matched welding parameters are obtained through long-term tests, and the electric arc with high specific penetrating power is obtained by adopting a compressed electric arc, so that the electric arc can directly act on the root of the narrow groove, the root of the narrow groove is ensured to be fully fused, gaps are avoided in the welding process, and after the backing welding is finished, the filling cover surface welding is carried out by utilizing set parameters, and the welding seams are ensured to be well fused, thereby obtaining the hydraulic support structural part with excellent performance. A large number of tests show that the parameters of the invention are adopted for backing welding, and the problems of narrow groove welding of the hydraulic support, such as narrow groove root space, poor blunt edge consistency, inconsistent groove gaps, easiness in welding through, welding leakage and the like can be solved.
Furthermore, when backing welding is carried out, the distance between the end part of the welding wire and the root part of the groove is set to be smaller than 1mm, so that the compressed electric arc can directly act on the root part of the narrow groove during welding, and the fusion effect is better; when backing welding is carried out, the constant penetration function is started, so that the consistency of the welding effect of the truncated edges at each position of the narrow groove can be ensured, and the welded hydraulic support structural part has better performance; during backing welding, a right-hand welding method with larger fusion depth is adopted, and the angle is adjusted, so that the method is better suitable for the narrow groove, and the fusion effect of the root part of the narrow groove is better; will welding robot welder's nozzle front end sets up to the toper structure, conveniently carries out swing welding in narrow and small box structure in space or narrow groove.
Furthermore, as the arc form adopted by the method is compressed, when a welding wire with a diameter of 1.6mm is used, a molten pool can enter the root of the narrow groove, and the root of the welding line can be fused well; through tests, compared with the traditional mode that welding wires with the diameter of 1.2mm are adopted in the welding process of welding the narrow groove, the welding wire with the diameter of 1.6mm is used in the method, the root fusion of the welding line is better, the penetration is more uniform and consistent, and the quality is obviously improved; the average welding efficiency can be improved by more than 40%; the comprehensive welding cost of each ton of welding wire can be saved by more than 1500 yuan, which is very beneficial to automatic welding of a robot. The following table shows typical welding parameters and root penetration data for the inventive method in comparison to conventional phi 1.2mm solid wire:
| welding method | Diameter of welding wire | Base current A | Backing welding voltage V | Filling cover surface welding current: a. the | Filling cover surface welding voltage: v | Average deposition rate kg/h | Weld root fusion condition | Root penetration uniformity |
| In a conventional manner | 1.2 | 260 | 26 | 310 | 31 | 4.8 | Weld root fusion with 60% probability Good in combination | Affected by blunt edge of groove Large and unstable penetration Stator |
| The present invention | 1.6 | 330 | 31 | 420 | 33 | 6.8 | 80% probability weld root fusion Good in combination | The fusion depth is stabilized at 2mm Left and right |
Drawings
Fig. 1 is a schematic structural view of a tank structure of a structural member of a hydraulic bracket according to the present invention.
FIG. 2 is a schematic view of a gun posture structure of a welding gun for welding a narrow groove in the invention.
In the figure: 1. a cover plate; 2. a vertical plate; 3. a base plate; 4. narrow beveling; 5. a blunt edge; 6. and (4) welding the welding gun.
Detailed Description
The technical solution of the present invention is further described in detail by the following embodiments.
As shown in fig. 1 and 2, an automatic welding method for a narrow groove of a structural member of a hydraulic bracket comprises the following steps:
the method comprises the following steps of firstly, cleaning a groove, preparing each hydraulic support structural part to be welded, removing impurities such as rust, oil stain and scum within the range of 30-50mm on two sides of the groove, and polishing the groove by using an angle grinder until the groove has metallic luster;
secondly, assembling the grooves, namely assembling the grooves of the hydraulic support structural part to be welded together, wherein the assembling clearance is not more than 2mm and the groove angle is 30-40 degrees (the cover plate 1, the vertical plate 2 and the bottom plate 3 form a box-type structure of the hydraulic support structural part);
thirdly, performing point-fixing welding on the assembled narrow groove 4, wherein the height of a point-fixing welding line is less than 5mm, the length of the point-fixing welding line is 40-60mm, the interval is 300 plus 500mm, and welding beads are uniformly distributed on the point-fixing welding line;
fourthly, performing off-line programming or on-site programming teaching on the welding robot;
fifthly, open welding robot's big penetration function, adjustment welding robot's 6 angles of welder make 6 divide equally narrow groove 4 carries out the welding of the big penetration bottoming of compression electric arc, and welding parameters is: welding current of 300-340A, welding voltage of 27-32V, welding speed of 35-45cm/min, dry extension of 20-25mm, swing amplitude of 2-4mm at the end of the welding wire, and Ar and CO as protective gases2The flow rate of the mixed gas is 20-30L/min; when backing welding is carried out, the welding robot starts an arc tracking function, and senses and tracks the actual path of a groove welding seam through the swing of an electric arc at the end part of a welding wire; when backing welding is carried out, the distance between the end part of the welding wire and the root of the narrow groove 4 is less than 1mm, so that the welding wire can directly act on the root of the narrow groove 4; when backing welding is carried out, the welding robot starts a constant penetration function, and when the dry elongation of a welding wire changes in the welding process due to errors of the blunt edges 5 at all positions of the narrow groove 4, the welding current, the weld penetration and the arc form are kept unchanged under set welding parameters, so that the consistency of the welding effect is ensured; when backing welding is carried out, right-hand welding is adopted, and the included angle between the axis of the welding gun 6 and the normal line of the welding seam is 10-20 degrees, so that larger fusion depth can be obtained;
sixthly, after backing welding is finished, the welding robot automatically generates an actual welding path according to data tracked by the electric arc, and automatically generates a filling cover surface welding program according to data such as the angle and the depth of the narrow groove 4;
and seventhly, performing filling cover surface welding on the narrow groove 4, wherein the welding parameters are as follows: the welding current is 380-440A, the welding voltage is 28-36V, the welding speed is 35-50cm/min, the dry extension of the welding wire is 15-25mm, the swing amplitude of the end part of the welding wire is 1-4mm, and the protective gas is Ar and CO2The flow rate of the protective gas is 20-30L/min.
In order to facilitate swing welding in a narrow box structure or a narrow groove 4, the front end of a nozzle of a welding gun 6 of the welding robot is of a conical structure, and the diameter of a welding wire used for welding of the welding robot is specifically 1.6 mm.
Comparing each typical welding parameter and root penetration data of the traditional phi 1.2mm solid welding wire:
| welding method | Diameter of welding wire | Base current A | Backing welding voltage V | Filling cover surface welding current: a. the | Filling cover surface welding voltage: v | Average deposition rate kg/h | Weld root fusion condition | Root penetration uniformity |
| In a conventional manner | 1.2 | 260 | 26 | 310 | 31 | 4.8 | Weld root fusion with 60% probability Good in combination | Is blunt to be beveledSide effects Large and extremely unstable penetration |
| The invention Operation of the art | 1.6 | 330 | 31 | 420 | 33 | 6.8 | 80% probability weld root fusion Good in combination | The fusion depth is stabilized at about 2mm Right side |
Compared with the traditional method which adopts a welding wire with the diameter of 1.2mm for welding the narrow groove, the welding method has the advantages that the root fusion of the welding line is better, the penetration is more uniform and consistent, and the quality is obviously improved; the average welding efficiency can be improved by more than 40%; the comprehensive welding cost of each ton of welding wire can be saved by more than 1500 yuan, which is very beneficial to automatic welding of a robot. The working principle is as follows:
it is right when narrow groove 4 carries out backing weld, adopt welding robot's big penetration function, through the welding parameter that long-term test found out the matching, adopt compression electric arc, obtained the electric arc of concrete stronger penetrating power, can direct action narrow groove 4 root guarantees narrow groove 4 root is fully fused, avoids leaving the space among the welding process, and backing weld accomplishes the back, recycles the settlement parameter and fills the facing weld, guarantees that each welding seam fuses well to obtain the excellent hydraulic support structure of performance.
Finally, it should be noted that the above examples are only used to illustrate the technical solutions of the present invention and not to limit the same; although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art will understand that: modifications to the specific embodiments of the invention or equivalent substitutions for parts of the technical features may be made; without departing from the spirit of the present invention, it is intended to cover all aspects of the invention as defined by the appended claims.
Claims (8)
1. The automatic welding method for the narrow groove of the hydraulic support structural part is characterized by comprising the following steps of:
step S1, splicing the hydraulic support structural part to be welded into a narrow groove, wherein the groove angle of the narrow groove is 30-40 degrees;
step S2, performing off-line programming or on-site programming teaching on the welding robot;
step S3, starting the large fusion depth function of the welding robot, adjusting the angle of a welding gun of the welding robot, enabling the welding gun to equally divide the narrow groove, and carrying out compressed arc large fusion depth backing welding, wherein the welding parameters are as follows: welding current of 300-340A, welding voltage of 27-32V, welding speed of 35-45cm/min, dry extension of 20-25mm, swing amplitude of 2-4mm at the end of the welding wire, and Ar and CO as protective gases2The flow rate of the mixed gas is 20-30L/min;
step S4, performing filling cover surface welding on the narrow groove, wherein the welding parameters are as follows: the welding current is 380-440A, the welding voltage is 28-36V, the welding speed is 35-50cm/min, the dry extension of the welding wire is 15-25mm, the swing amplitude of the end part of the welding wire is 1-4mm, and the protective gas is Ar and CO2The flow rate of the protective gas is 20-30L/min.
2. The method for automatically welding the narrow groove of the structural part of the hydraulic bracket according to claim 1, wherein the step S1 comprises the following substeps:
(1) cleaning the groove, namely preparing each hydraulic support structural part to be welded, removing impurities such as rust, oil stain, scum and the like within the range of 30-50mm on two sides of the groove, and polishing the groove by using an angle grinder until the metal luster appears;
(2) assembling the grooves, namely assembling the grooves of the structural parts of the hydraulic support to be welded together, wherein the assembling clearance is ensured to be less than or equal to 2mm during assembling;
(3) and (3) performing point-fixing welding on the assembled narrow groove, wherein the height of the point-fixing welding line is less than 5mm, the length is 40-60mm, the interval is 300-500mm, and welding beads are uniformly distributed on the point-fixing welding line.
3. The automatic narrow groove welding method for the structural part of the hydraulic support according to claim 1, characterized by comprising the following steps: and when backing welding is performed in the step S3, the welding robot starts an arc tracking function, senses and tracks the actual path of the groove welding seam through the swing of the arc at the end part of the welding wire, automatically generates an actual welding path according to the arc tracking data after the backing welding is completed, and automatically generates a filling capping welding program according to the angle, the depth and other data of the narrow groove.
4. The method for automatically welding the narrow groove of the structural part of the hydraulic support according to any one of claims 1 to 3, wherein the method comprises the following steps: and in the step S3, when backing welding is carried out, the distance between the end part of the welding wire and the root part of the groove is set to be less than 1 mm.
5. The automatic narrow groove welding method for the structural part of the hydraulic support according to claim 4, characterized by comprising the following steps: when backing welding is performed in the step S3, the welding robot starts a constant penetration function, and when the dry elongation of the welding wire changes in the welding process due to errors occurring at the truncated edges of the narrow groove, the welding current, the weld penetration and the arc shape are kept unchanged under the set welding parameters.
6. The automatic narrow groove welding method for the structural part of the hydraulic support according to claim 5, characterized by comprising the following steps: when backing welding is performed in step S3, right-hand welding is used, and the included angle between the axis of the welding gun and the normal of the weld is 10-20 °.
7. The method for automatically welding the narrow groove of the structural part of the hydraulic support according to any one of claims 1, 2, 3, 5 and 6, wherein the method comprises the following steps: the front end of a nozzle of a welding gun of the welding robot is of a conical structure.
8. The automatic narrow groove welding method for the structural part of the hydraulic support according to claim 7, characterized by comprising the following steps: the diameter of a welding wire used for welding by the welding robot is 1.6 mm.
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113070549A (en) * | 2021-04-07 | 2021-07-06 | 南京奥特自动化有限公司 | Pipeline steel two-to-one butt weld pipeline deep melting high-speed welding process method |
| CN113275710A (en) * | 2021-05-31 | 2021-08-20 | 郑州煤矿机械集团股份有限公司 | Non-preheating welding method for 750MPa grade high-strength steel medium plate for hydraulic support |
| CN113275711A (en) * | 2021-05-31 | 2021-08-20 | 郑州煤矿机械集团股份有限公司 | Method for welding hydraulic support structural part by using welding wire with diameter of 1.4mm |
| CN113510342A (en) * | 2021-06-30 | 2021-10-19 | 郑州煤矿机械集团股份有限公司 | Low-preheating welding method for Q690-grade quenched and tempered steel medium plate for hydraulic support |
| CN115026389A (en) * | 2022-06-30 | 2022-09-09 | 郑州煤矿机械集团股份有限公司 | Welding method suitable for groove weld of shield beam bent cover plate of hydraulic support |
| CN115635169A (en) * | 2022-11-15 | 2023-01-24 | 郑煤机智鼎液压有限公司 | High-reliability welding method for high-pressure oil cylinder accessory and hydraulic oil cylinder |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113070549A (en) * | 2021-04-07 | 2021-07-06 | 南京奥特自动化有限公司 | Pipeline steel two-to-one butt weld pipeline deep melting high-speed welding process method |
| CN113275710A (en) * | 2021-05-31 | 2021-08-20 | 郑州煤矿机械集团股份有限公司 | Non-preheating welding method for 750MPa grade high-strength steel medium plate for hydraulic support |
| CN113275711A (en) * | 2021-05-31 | 2021-08-20 | 郑州煤矿机械集团股份有限公司 | Method for welding hydraulic support structural part by using welding wire with diameter of 1.4mm |
| CN113510342A (en) * | 2021-06-30 | 2021-10-19 | 郑州煤矿机械集团股份有限公司 | Low-preheating welding method for Q690-grade quenched and tempered steel medium plate for hydraulic support |
| CN115026389A (en) * | 2022-06-30 | 2022-09-09 | 郑州煤矿机械集团股份有限公司 | Welding method suitable for groove weld of shield beam bent cover plate of hydraulic support |
| WO2024001438A1 (en) * | 2022-06-30 | 2024-01-04 | 郑州煤矿机械集团股份有限公司 | Welding method suitable for groove weld of hydraulic support shield beam bent cover plate |
| CN115635169A (en) * | 2022-11-15 | 2023-01-24 | 郑煤机智鼎液压有限公司 | High-reliability welding method for high-pressure oil cylinder accessory and hydraulic oil cylinder |
| CN115635169B (en) * | 2022-11-15 | 2023-07-21 | 郑煤机智鼎液压有限公司 | High-pressure oil cylinder accessory welding method and hydraulic oil cylinder |
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