CN112548420A - Automatic cylinder welding equipment and method - Google Patents
Automatic cylinder welding equipment and method Download PDFInfo
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- CN112548420A CN112548420A CN202011364535.9A CN202011364535A CN112548420A CN 112548420 A CN112548420 A CN 112548420A CN 202011364535 A CN202011364535 A CN 202011364535A CN 112548420 A CN112548420 A CN 112548420A
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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
- B23K37/02—Carriages for supporting the welding or cutting element
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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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- 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
- B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
- B23K37/047—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work moving work to adjust its position between soldering, welding or cutting steps
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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
- B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
- B23K37/053—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work aligning cylindrical work; Clamping devices therefor
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Abstract
The invention discloses automatic welding equipment and method for a cylinder, wherein the automatic welding equipment for the cylinder comprises a welding sliding table, a laser sensor, a welding vertical rod, a welding gun, a cylinder supporting wheel, a cylinder driving wheel, an encoder, a driving motor, an upper computer and a controller, wherein the cylinder supporting wheel is parallel to the cylinder driving wheel, the cylinder driving wheel is connected with the driving motor, the encoder is coaxially arranged on the cylinder driving wheel, the welding sliding table is arranged on one side of the cylinder supporting wheel and one side of the cylinder driving wheel, the welding vertical rod is arranged on the welding sliding table, the welding gun and the laser sensor are arranged on the welding vertical rod, the upper computer is connected with the controller, and the welding sliding table, the laser sensor, the encoder and the driving motor. The invention can be well adapted to the change of the outer contour of the cylinder in the welding process, realizes automation, reduces the labor intensity of workers, and improves the working efficiency and the welding quality.
Description
Technical Field
The invention belongs to the field of automatic welding equipment, and particularly relates to automatic cylinder welding equipment and method.
Background
Automatic welding has gradually replaced manual welding, and the welding of cylindrical workpieces at present needs to be carried out manually. Some cylinders have deformation, the outer contour of the cylinders is not completely ideal round, manual welding is needed, and the working efficiency is low.
Disclosure of Invention
Aiming at the defects of the existing cylinder welding, the invention aims to provide automatic cylinder welding equipment and method, so as to solve the problem that the automatic welding cannot be completed in the prior art and improve the working efficiency.
The technical scheme adopted by the invention is as follows:
the utility model provides an automatic welding equipment of drum, including the welding slip table, laser sensor, the welding montant, welder, the drum supporting wheel, the drum drive wheel, the encoder, driving motor, host computer and controller, drum supporting wheel and drum drive wheel are parallel, the drum drive wheel is connected with driving motor, encoder coaxial arrangement is on the drum drive wheel, the welding slip table sets up in one side of drum supporting wheel and drum drive wheel, the welding montant sets up on the welding slip table, welder and laser sensor set up on the welding montant, the host computer is connected with the controller, the welding slip table, laser sensor, encoder and driving motor all are connected with the controller electricity.
Preferably, the welding vertical rod adopts a telescopic rod.
Preferably, the welding gun is connected with the welding vertical rod through a hinge.
The invention also provides an automatic welding method for the cylinder, which is carried out by adopting the automatic welding equipment for the cylinder, and comprises the following processes:
adjusting equipment: placing a cylinder to be welded on a cylinder supporting wheel and a cylinder driving wheel, adjusting the sliding direction of a welding sliding table to be a direction close to and far away from the cylinder to be welded, adjusting a laser sensor to be at the same height with the center of the cylinder to be welded, adjusting a line light source of the laser sensor to be parallel to the axis of the cylinder to be welded, and adjusting a welding gun to a welding position;
obtaining the feeding amount: the cylinder driving wheel drives the cylinder to be welded to rotate; in the process of rotating the cylinder to be welded, a laser sensor measures the outer contour of the cylinder; acquiring the feeding amount of a welding gun and a welding sliding table according to the measurement result of the laser sensor;
cylinder welding: the cylinder driving wheel drives the cylinder to be welded to rotate, the welding gun welds the cylinder to be welded, and when the welding gun welds the cylinder to be welded, the welding gun and the welding sliding table move according to the feeding amount.
Preferably, when the laser sensor measures the outer contour of the cylinder, the method comprises the following steps:
data acquisition: setting sampling frequency of a laser sensor and the rotating speed of a driving motor, driving a cylinder driving wheel to drive a cylinder to be welded to rotate, continuously sampling by the laser sensor from an initial sampling point on the cylinder to be welded, and stopping sampling after the cylinder to be welded rotates for one circle to obtain a group of point cloud data of the outer contour of the cylinder to be welded;
and (3) coordinate transformation: converting the obtained point cloud data of the outer contour of the cylinder to be welded into a plane parallel to the cylinder to be welded through coordinate conversion, wherein the origin of coordinates is the intersection point between a vertical plane of the cylinder supporting wheel and the cylinder driving wheel and a horizontal line with the same height of the laser sensor;
and (3) fitting data: and fitting the outer contour of the cylinder to be welded by utilizing an ellipse fitting algorithm according to the coordinate transformation result.
Preferably, the non-standard equation of the ellipse used in the ellipse fitting algorithm is as follows:
wherein, A, B, C, D and E respectively represent parameters to be fitted in an elliptic expression, (x)i,yi) And converting the data points acquired each time into a two-dimensional coordinate in a plane parallel to the cylinder to be welded, wherein N is the number of each group of sampling points.
Preferably, the non-standard equation fitting of the ellipse is performed on each set of sampling points by a least square method according to the non-standard equation of the ellipse.
Preferably, the process of acquiring the feeding amount of the welding gun and the welding slide table includes: calculating deviation: subtracting the theoretical value of the fitted outer contour from the measured value of the laser sensor corresponding to each angle to obtain a deviation value of the point on the outer contour;
and calculating the feeding amount of the welding gun and the welding sliding table according to the deviation value.
Preferably, the feed amount of the welding gun is controlled by the feed amount of the welding slide, and the distance f of the welding gun from the cylinder to be welded satisfies the following relationship:
wherein: f is the distance between the welding gun and the cylinder to be welded and is the quantity to be calculated; d is the distance between the cylinder to be welded and the laser sensor measured by the laser sensor; c is the horizontal distance of the straight part of the welding gun from the laser sensor; e is the length of the inclined part of the welding gun, R is the radius of the cylinder to be welded, and a is the included angle between the connecting line of the inclined part of the welding gun and the center of the cylinder to be welded and the vertical direction;
the feed amount Δ of the welding slide table is f × sin (a).
Preferably, when the welding gun welds the cylinder to be welded, the welding sliding table performs feeding motion according to the feeding amount delta of the sliding table, the cylinder to be welded rotates for a circle from the starting point, and the welding is completed.
The invention has the following beneficial effects:
the cylinder automatic welding equipment is provided with the cylinder supporting wheel and the cylinder driving wheel which are arranged in parallel, so that a cylinder to be welded can be placed on the cylinder supporting wheel and the cylinder driving wheel, and the cylinder driving wheel can drive the cylinder to be welded to rotate, and necessary implementation conditions are provided for measurement and welding; by coaxially mounting the encoder on the cylinder driving wheel, the encoder can synchronously rotate along with the cylinder to be welded for feeding back the rotating angle of the cylinder to be welded. The laser sensor can be matched with the encoder to collect the outer contour point cloud data of the to-be-welded part of the to-be-welded cylinder, the upper computer can calculate the feeding amount of the welding gun and the welding sliding table through the data measured by the laser sensor and the encoder, and the controller controls the welding sliding table to perform feeding motion according to the feeding amount, so that automatic welding of a cylindrical workpiece is achieved, the labor intensity of workers is reduced, and the working efficiency and the welding quality are improved.
Compared with the original manual welding, the automatic welding method for the cylinder can well adapt to the change of the outer contour of the cylinder in the welding process, thereby realizing automation; the labor intensity of workers is reduced, and the working efficiency and the welding quality are improved.
Drawings
FIG. 1 is a schematic structural diagram of an automated welding apparatus for a cylinder according to the present invention.
FIG. 2 is a flow chart of a cylinder measurement process of the present invention.
FIG. 3 is a graph illustrating the calculation of the geometric relationship between the cylinder measurement and the torch feed of the present invention.
In the figure: the welding device comprises a welding trolley 1, a welding sliding table 2, a laser sensor 3, a welding vertical rod 4, a welding gun 5, a cylinder to be welded 6, a cylinder supporting wheel 7, a cylinder driving wheel 8, an encoder 9, a driving motor 10, an upper computer 11 and a controller 12.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.
As shown in fig. 1, the automatic welding equipment for the cylinder comprises a welding trolley 1, a welding sliding table 2, a laser sensor 3, a welding vertical rod 4, a welding gun 5, a cylinder supporting wheel 7, a cylinder driving wheel 8, an encoder 9, a driving motor 10, an upper computer 11 and a controller 12. Drum supporting wheel 7 and drum drive wheel 8 are parallel, drum drive wheel 8 is connected with driving motor 10, encoder 9 coaxial arrangement is on drum drive wheel 8, welding trolley 1 sets up in one side of drum supporting wheel 7 and drum drive wheel 8, welding slip table 2 sets up on welding trolley 1, welding montant 4 sets up on welding slip table 2, welder 5 and laser sensor 3 set up on welding montant 4, host computer 11 is connected with controller 12, welding slip table 2, laser sensor 3, encoder 9 and driving motor 10 all are connected with controller 12 electricity. The main idea of the automatic cylinder welding equipment is that a driving motor 10 drives a driving wheel 8 to further drive a cylinder 6 to be welded to rotate at a constant speed, meanwhile, a laser sensor 3 and an encoder 9 are matched to acquire outline point cloud data of a part to be welded of the cylinder 6 to be welded, and then the outline of the cylinder is fitted through an elliptic equation. The upper computer 11 converts the measurement result of the laser sensor 3 into the feeding amount of the welding gun through calculation. When the cylinder 6 to be welded rotates for the second circle again, the upper computer 11 sends an instruction to the controller 12, and the controller 12 controls the welding sliding table 2 to drive the welding gun 5 to make a front-back feeding motion to weld the cylinder 6 to be welded. The cylinder supporting wheel 7 and the cylinder driving wheel 8 are used for placing and supporting the cylinder 6 to be welded, further, the axes of the cylinder supporting wheel 7 and the cylinder driving wheel 8 are parallel to the axis of the cylinder 6 to be welded, and the cylinder driving wheel 8 also has a supporting function. The cylinder 6 to be welded needs to be punched in advance at the welded portion as a start position marking hole for determining the start position of welding of the cylinder 6 to be welded. The driving motor 10 drives the cylinder driving wheel 8 to rotate through belt transmission, and the cylinder driving wheel 8 drives the cylinder 6 to be welded to rotate at a constant speed through friction. The encoder 9 and the cylinder driving wheel 8 are coaxially installed, and the encoder 9 synchronously rotates along with the cylinder 6 to be welded and is used for feeding back the rotating angle of the cylinder 6 to be welded. The encoder 9 can also eliminate the effect of the motor backlash. The welding carriage 1 is used for supporting the cylinder 6 to be welded for measurement and automatic welding. After the cylinder 6 to be welded is installed, the welding carriage 1 needs to be moved to a proper position parallel to and close to the cylinder 6 to be welded, and then four wheels of the welding carriage 1 are fixed to reduce measurement and welding errors. The welding sliding table 2 is arranged on the welding trolley 1 through a sliding rail, and the welding sliding table 2 can perform feeding motion in the front and back directions (close to and far away from the cylinder 6 to be welded) along the sliding rail. The welding vertical rod 4 is fixedly connected to the welding sliding table 2, and the welding vertical rod 4 is used for supporting the welding gun 5 and the laser sensor 3.
In the preferred embodiment of the present invention, the welding rod 4 is a telescopic rod, and the welding rod 4 can be extended and shortened within a certain range, so that the height of the welding gun 5 can be adjusted to fit cylinders 6 to be welded with different diameters. The laser sensor 3 is arranged on the welding vertical rod 4, and a line light source of the laser sensor is parallel to the axis of the cylinder.
As a preferred embodiment of the present invention, the laser sensor 3 can slide up and down on the welding vertical rod 4 to adjust the height to accommodate the cylinders 6 to be welded of different diameters. The laser sensor 3 needs to be adjusted to be at the same height as the center of the cylinder 6 to be welded, and is fixed after being adjusted to a proper height, so that the measurement accuracy can be improved.
As a preferred embodiment of the invention, the welding gun 5 is connected with the vertical welding rod 4 through a hinge, so that the angle of the welding gun 5 can be adjusted to meet the welding angle requirements of the cylinders 6 to be welded with different sizes.
Based on above-mentioned automatic welding equipment of drum, its welding process mainly includes the following step:
step one, rotating a cylinder: placing a cylinder 6 to be welded on a cylinder supporting wheel 7 and a cylinder driving wheel 8, and setting the rotating speed of a driving motor 10 in an upper computer 11; then, the upper computer 11 controls the driving motor 10 through the controller 12, so that the cylinder 6 to be welded rotates at a constant speed.
Step two, cylinder measurement: the sampling interval of the laser sensor 3 is set in the upper computer 11, and the laser sensor 3 accurately measures the outer contour of the cylinder 6 to be welded in the rotating process of the cylinder 6 to be welded.
Step three, calculating the feeding amount: according to the measurement result of the laser sensor 3, the upper computer 11 converts the measurement result into the feeding amount of the welding gun 5 and the welding sliding table 2 through geometric relation conversion.
Step four, cylinder welding: the driving motor 10 drives the cylinder 6 to be welded to continue rotating, meanwhile, the controller 12 controls the welding gun 5 to weld the cylinder 6 to be welded, and the cylinder 6 to be welded completes the welding of the circular cylinder weld after rotating for a second circle.
Referring to fig. 2, step two includes the following process steps:
step 2.1, data acquisition: the sampling frequency of the laser sensor 3 and the rotating speed of the driving motor 10 are set in the upper computer 11, and the driving motor 10 drives the cylinder 6 to be welded to rotate. And adjusting the centers of the laser sensor 3 and the cylinder 6 to be welded to be at the same height, starting continuous sampling when the laser sensor 3 detects an initial hole on the cylinder 6 to be welded, and stopping sampling after the cylinder 6 to be welded rotates for 360 degrees to finally obtain a batch of point cloud data of the outer contour of the cylinder 6 to be welded.
Step 2.2, coordinate transformation: the point cloud data is transformed by means of a coordinate transformation into a plane parallel to the cylinder 6 to be welded. The origin of coordinates is the intersection point between the vertical planes of the cylinder supporting wheel 7 and the cylinder driving wheel 8 and the laser sensor 3 and the height horizontal line.
Step 2.3, data fitting: and fitting the outer contour of the cylinder by using an ellipse fitting algorithm (fitting by using an ellipse in consideration of the deformation condition of the cylinder).
Specifically, the non-standard equation of the ellipse is as follows
Wherein, A, B, C, D and E respectively represent parameters to be fitted in an elliptic expression, (x)i,yi) The data points collected each time are converted into two-dimensional coordinates in a plane parallel to the cylinder 6 to be welded, and N is the number of each group of sampling points.
And according to the non-standard equation of the ellipse, respectively fitting the non-standard equation of the ellipse to each group of sampling points by a least square method.
Step 2.4, calculating deviation: the deviation of this point on the outer contour is determined by subtracting the theoretical value of the fit from the measured value for each angle.
The third step comprises the following processes:
and (4) calculating the deviation value obtained in the step (2.4) through a geometrical relationship, and converting the deviation value into the feeding amount of the welding gun. Specifically, according to the geometric relationship shown in fig. 3, the calculation formula is:
wherein: f is the distance between the welding gun and the cylinder and is the waiting quantity. d is the distance between the cylinder and the laser sensor measured by the laser sensor, c is the horizontal distance between the straight part of the welding gun and the laser sensor, e is the length of the inclined part of the welding gun, R is the radius of the cylinder, and a is the included angle between the connecting line of the inclined part of the welding gun and the center of the cylinder and the vertical direction.
The welding slide table feed amount is Δ f × sin (a), and the feed amount of the welding gun 5 is controlled by the feed amount of the welding slide 2.
The fourth step comprises the following steps:
and 4.1, controlling the driving motor 10 by the controller 12 so as to drive the cylinder 6 to be welded to rotate.
And 4.2, opening a welding gun according to the welding parameter controller to start welding.
And 4.3, the controller 12 controls the welding sliding table 2 to perform feeding motion according to the sliding table feeding amount delta while the cylinder 6 to be welded rotates, and welding is completed after the cylinder 6 to be welded rotates for the second circle.
The welding equipment and the method can be used for automatically welding the annular welding seam of the large-diameter cylinder (with the diameter of 1000-3000 mm).
As a preferred embodiment of the invention, the upper computer adopts a control computer, the controller adopts a PLC, the laser sensor adopts a kirschner laser displacement sensor, the driving motor adopts a stepping motor, all the components are universal and have no particularity, and the upper computer can directly select a proper model according to the measurement requirement when in use.
Compared with the original manual welding, the invention can better adapt to the outer contour change of the cylinder in the welding process, realizes automation, reduces the labor intensity of workers, and improves the working efficiency and the welding quality. Due to the addition of the laser measuring and welding sliding table, the welding equipment can well adapt to the change of the outer contour of the cylinder in the welding process, and the automation of cylinder welding is realized.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.
Claims (10)
1. The utility model provides an automatic welding equipment of drum, a serial communication port, including welding slip table (2), laser sensor (3), welding montant (4), welder (5), drum supporting wheel (7), drum drive wheel (8), encoder (9), driving motor (10), host computer (11) and controller (12), drum supporting wheel (7) and drum drive wheel (8) are parallel, drum drive wheel (8) are connected with driving motor (10), encoder (9) coaxial arrangement is on drum drive wheel (8), welding slip table (2) set up in one side of drum supporting wheel (7) and drum drive wheel (8), welding montant (4) set up on welding slip table (2), welder (5) and laser sensor (3) set up on welding montant (4), host computer (11) are connected with controller (12), welding slip table (2), The laser sensor (3), the encoder (9) and the driving motor (10) are all electrically connected with the controller (12).
2. The automatic welding equipment of cylinders according to claim 1, characterized in that the vertical welding rod (4) is a telescopic rod.
3. The automatic welding equipment of cylinders according to claim 1, characterized in that the welding gun (5) is hinged to the welding stem (4).
4. An automatic welding method for a cylinder, which is performed by the automatic welding apparatus for a cylinder according to any one of claims 1 to 3, comprising the steps of:
adjusting equipment: placing a cylinder (6) to be welded on a cylinder supporting wheel (7) and a cylinder driving wheel (8), adjusting the sliding direction of a welding sliding table (2) to be close to and far away from the cylinder (6) to be welded, adjusting a laser sensor (3) to be at the same height with the center of the cylinder (6) to be welded, adjusting a line light source of the laser sensor (3) to be parallel to the axis of the cylinder (6) to be welded, and adjusting a welding gun (5) to a welding position;
obtaining the feeding amount: the cylinder driving wheel (8) drives the cylinder (6) to be welded to rotate; in the process of rotating the cylinder (6) to be welded, the laser sensor (3) measures the outer contour of the cylinder; according to the measurement result of the laser sensor (3), the feeding amount of the welding gun (5) and the welding sliding table (2) is obtained;
cylinder welding: the cylinder driving wheel (8) drives the cylinder (6) to be welded to rotate, the welding gun (5) welds the cylinder (6) to be welded, and when the welding gun (5) welds the cylinder (6) to be welded, the welding gun (5) and the welding sliding table (2) move according to the feeding amount.
5. The automatic welding method for the cylinder as claimed in claim 4, characterized in that the laser sensor (3) measures the outer contour of the cylinder by the following steps:
data acquisition: setting the sampling frequency of a laser sensor (3) and the rotating speed of a driving motor (10), driving a cylinder driving wheel (8) to drive a cylinder to be welded (6) to rotate, continuously sampling the laser sensor (3) from an initial sampling point on the cylinder to be welded (6), and stopping sampling after the cylinder to be welded (6) rotates for one circle to obtain a group of point cloud data of the outer contour of the cylinder to be welded (6);
and (3) coordinate transformation: the obtained point cloud data of the outer contour of the cylinder (6) to be welded is converted into a plane parallel to the cylinder (6) to be welded through coordinate conversion, and the origin of coordinates is the intersection point between the vertical plane of the cylinder supporting wheel (7) and the cylinder driving wheel (8) and the horizontal line with the same height of the laser sensor (3);
and (3) fitting data: and fitting the outer contour of the cylinder (6) to be welded by utilizing an ellipse fitting algorithm according to the coordinate transformation result.
6. The automated welding method of claim 5, wherein the non-standard equation of the ellipse used in the ellipse fitting algorithm is as follows:
wherein A, B, C, D and E respectively represent parameters to be fitted in an elliptic expressionNumber (x)i,yi) And converting the data points acquired each time into a two-dimensional coordinate in a plane parallel to the cylinder (6) to be welded, wherein N is the number of each group of sampling points.
7. The automated welding method of claim 6, wherein fitting the non-standard equation of the ellipse to each set of sampling points is performed by least squares based on the non-standard equation of the ellipse.
8. The automated welding method of cylinders according to claim 5, characterized in that the process of acquiring the feed of the welding torch (5) and the welding slide (2) comprises: calculating deviation: subtracting the theoretical value of the fitted outer contour from the measured value of the laser sensor (3) corresponding to each angle to obtain a deviation value of the point on the outer contour;
and calculating the feeding amount of the welding gun (5) and the welding sliding table (2) according to the deviation value.
9. An automated cylinder welding method according to claim 8, characterized in that the feed of the welding torch (5) is controlled by the feed of the welding carriage (2), the distance f of the welding torch (5) from the cylinder (6) to be welded satisfying the following relation:
wherein: f is the distance between the welding gun (5) and the cylinder (6) to be welded, which is the quantity to be calculated; d is the distance between the cylinder (6) to be welded and the laser sensor (3) measured by the laser sensor (3); c is the horizontal distance of the straight part of the welding gun from the laser sensor; e is the length of the inclined part of the welding gun, R is the radius of the cylinder (6) to be welded, and a is the included angle between the connecting line of the inclined part of the welding gun and the circle center of the cylinder (6) to be welded and the vertical direction;
the feeding amount delta of the welding sliding table (2) is f multiplied by sin (a).
10. The automatic welding method of the cylinder as claimed in claim 9, characterized in that when the welding gun (5) welds the cylinder (6) to be welded, the welding slide (2) is fed according to the slide feed amount Δ, and the cylinder (6) to be welded rotates by one circle from the starting point, and the welding is completed.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117206633A (en) * | 2023-11-09 | 2023-12-12 | 二重（德阳）重型装备有限公司 | Surfacing equipment and surfacing method for pump shell of nuclear power main pump |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117206633A (en) * | 2023-11-09 | 2023-12-12 | 二重（德阳）重型装备有限公司 | Surfacing equipment and surfacing method for pump shell of nuclear power main pump |
| CN117206633B (en) * | 2023-11-09 | 2024-02-20 | 二重（德阳）重型装备有限公司 | Surfacing equipment and surfacing method for pump shell of nuclear power main pump |
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| CN112548420B (en) | 2022-04-22 |
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