CN112743206A - Robot welding process for assembling in ship - Google Patents
Robot welding process for assembling in ship Download PDFInfo
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- CN112743206A CN112743206A CN202011399798.3A CN202011399798A CN112743206A CN 112743206 A CN112743206 A CN 112743206A CN 202011399798 A CN202011399798 A CN 202011399798A CN 112743206 A CN112743206 A CN 112743206A
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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
- B23K9/235—Preliminary treatment
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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 discloses a robot welding process for assembling in a ship, which comprises the following steps of a, preparing before welding, and inspecting a workpiece after the workpiece is moved to a welding position; b. after the workpiece is in place, positioning welding seams, and determining a welding sequence, a starting point and an end point of each welding seam; c. adjusting the angle of a welding gun, wherein the welding gun with a bending angle at the goose neck part is adopted as the welding gun, and the welding gun reaches the starting point and the end point of a welding seam to complete flat fillet welding and vertical fillet welding; d. after welding for a certain time, starting gun cleaning, wire cutting and oil spraying procedures of a welding gun to prevent the welding gun from being blocked; e. after all the welding robots are welded, the appearance and the size of the welding seam need to be detected. Arc tracking is adopted in the welding process, and under the matching use of a specific robot welding posture, a welding process, a welding sequence and a swinging mode, the automatic welding of straight angle and vertical angle welding seams of the assembled components in the ship is realized.
Description
Technical Field
The invention mainly relates to the technical field of welding of assembled components in ships, in particular to a robot welding process for assembling in ships, and particularly relates to a GMAW (welding robot fillet weld) welding process.
Background
As a world shipbuilding big country, the current ship yield of China stably stays in the first three of the world, but the large but not strong aeipathia is still very outstanding, the shipbuilding technology, the production efficiency and the quality level are still lower than those of China in China for great convenience, production, intelligent manufacturing, digitization, automation and integration, and particularly the core technology of shipb. With the proposal of "industry 4.0", the shipbuilding industry is greatly developing towards automation and intellectualization.
Independent research and development and innovation lead are the key points of ship construction in China. The welding technology is a key technology in the ship building process and accounts for 30% -40% of the ship building period, the assembling welding is a core process of ship manufacturing and accounts for about 40% -50% of the total welding amount of the ship, and the welding technology has a considerable influence on the ship building quality and the ship building period. Although the welding robot technology in the industries of automobile manufacturing and the like is relatively mature, and automatic welding of long and straight welding seams is realized by adopting a special automatic welding machine in the processes of plate splicing, small assembly and the like in ship manufacturing, the robot welding technology cannot meet flexible and various welding requirements due to irregular structural form of components, various welding seam types and complex welding paths in the assembly stage of ships, and mainly depends on manual welding at present.
Disclosure of Invention
Aiming at the problems, the invention provides a robot welding process for assembling in a ship, which can adapt to complicated welding paths and meet the requirements of various welding seams and various welding.
The purpose of the invention can be realized by the following technical scheme: a robot welding process for assembling in a ship is characterized by comprising the following steps: a. preparing before welding, after moving a workpiece to a welding position, checking the workpiece, and meeting the requirements that the maximum assembly gap of a fillet weld is 3mm, the height of a tack weld leg is less than or equal to 5mm, and the two ends of the tack weld are in smooth transition with a base metal; b. after the workpiece is in place, positioning welding seams, and determining a welding sequence, a starting point and an end point of each welding seam; c. adjusting the angle of a welding gun, wherein the welding gun is a welding gun with a bending angle at the goose neck part, and is matched with a welding gun clamping device to ensure that the nozzle of the welding gun and a sixth shaft flange of the robot keep an angle of 30-45 degrees, and the welding gun reaches the starting point and the end point of a welding seam on the premise of meeting the condition that an anteversion angle C is 0-10 degrees during welding to finish flat angle welding and vertical angle welding; d. after welding for a certain time, starting gun cleaning, wire cutting and oil spraying procedures of a welding gun to prevent the welding gun from being blocked; e. after all the welding robots are welded, the appearance and the size of the welding seam need to be detected.
Preferably, in the step C, during flat angle welding, a welding gun keeps a forward inclination angle C of 0-10 degrees, and an included angle between the welding gun and two workpieces forming an angle welding seam is 45 degrees; the welding gun adopts a crescent swing mode, the two sides of the swing stay for 0.12 second respectively during the swing, and the middle part of the swing stays for 0.06 second, so that the root of the welding line is completely fused and the welding toe has no undercut during the large welding angle.
Further, in the step C, during vertical angle welding, the welding gun anteversion angle C is about 7 degrees, and the included angle between the welding gun and two workpieces forming an angle welding seam is 45 degrees; the welding gun adopts a regular triangle swinging mode, the swinging sides stay for 0.85 second respectively during swinging, the swinging middle part stays for 0.5 second, and the swinging amplitude of the welding advancing direction of the middle part is 10-15% of the swinging amplitude of the left and right directions.
Furthermore, in the step c, a phi 1.2mm solid welding wire and 80% Ar +20% CO2 mixed gas are adopted for welding, a direct current reverse connection and high-speed pulse mode is adopted for welding, and arc tracking is started in the welding process.
Compared with the prior art, the technical scheme of the invention comprises the improvement of a plurality of details besides the improvement of the whole technical scheme, and particularly has the following beneficial effects:
1. according to the improved scheme, the welding gun is provided with a bending angle at the goose neck part, the welding gun clamping device is matched to enable the welding gun nozzle to keep an angle of 30-45 degrees with the robot flange, and the welding gun reaches the starting point and the end point of a welding line on the premise that a forward rake angle C is 0-10 degrees during welding to complete flat angle welding and vertical angle welding, so that the welding quality is stable and reliable, and the welding efficiency is effectively improved;
2. according to the technical scheme, arc tracking is adopted in the welding process, and straight angle and vertical angle welding seams of assembled components in the ship are welded under the matching use of specific robot welding gun configuration, welding posture, welding process, swinging mode and welding sequence, so that the automatic welding capacity and level of sectional manufacturing in the ship industry in China are obviously improved;
3. according to the technical scheme, after welding for a certain time, the processes of gun cleaning, wire cutting and oil spraying of the welding gun are started, so that the welding gun is prevented from being blocked, the quality of a welding seam is improved, the service life of the welding gun is prolonged, the field operation environment is improved in reply, and the method has high commercial popularization value.
Drawings
FIG. 1 is a schematic structural diagram of the present invention.
FIG. 2 is a schematic view of a distribution structure of a weld joint according to an embodiment of the present invention.
FIG. 3 is a schematic view of the welding gun crescent swinging during flat fillet welding.
FIG. 4 is a schematic view of the welding gun regular triangle swinging during fillet welding.
FIG. 5 is a schematic view of an angle between a welding gun and a workpiece according to the present invention.
FIG. 6 is an angle schematic of a weld gun rake angle of the present invention.
FIG. 7 is a view of the welding gun and robot sixth axis flange configuration of the present invention.
The labels in the figure are as follows:
the welding robot comprises a base plate 1, a first partition plate 2, a second partition plate 3, a 4T section bar, a third partition plate 5, a rib plate 6, a vertical fillet weld 7, a flat fillet weld 8, a welding gun 9, a workpiece 10 and a robot sixth-axis flange 11.
Detailed Description
The following detailed description of the embodiments of the invention, taken in conjunction with the accompanying drawings, will make it clear to those skilled in the art how the invention may be practiced. While the invention has been described in connection with preferred embodiments thereof, these embodiments are merely illustrative, and not restrictive, of the scope of the invention.
A robotic welding process for erection in a ship, comprising a welding robot and a cooperating welding gun, which differs from the prior art in that the welding process comprises the steps of: a. preparing before welding, after moving a workpiece to a welding position, checking the workpiece, and meeting the requirements that the maximum assembly gap of a fillet weld is 3mm, the height of a tack weld leg is less than or equal to 5mm, and the two ends of the tack weld are in smooth transition with a base metal; b. after the workpiece 10 is in place, positioning welding seams, and determining a welding sequence, a starting point and an end point of each welding seam; c. adjusting the angle of a welding gun, wherein the welding gun adopts a welding gun 9 with a bending angle at the goose neck part, and a welding gun clamping device is matched to ensure that the nozzle of the welding gun keeps an angle of 30-45 degrees with a sixth shaft flange 11 of the robot, and the welding gun reaches the starting point and the end point of a welding line on the premise that the forward angle C is 0-10 degrees during welding to finish flat angle welding and vertical angle welding; d. after welding for a certain time, starting gun cleaning, wire cutting and oil spraying procedures of a welding gun to prevent the welding gun from being blocked; e. after all the welding robots are welded, the appearance and the size of the welding seam need to be detected.
Specifically, a workpiece is placed on a bottom plate 1 to be welded, a first partition plate, a second partition plate and a third partition plate 2, 3 and 5 are arranged on the bottom plate, three partition plates surround to form a welding area, a welding gun can perform welding operation in the welding area, a rib plate 6 perpendicular to the second partition plate is arranged on the second partition plate 3 in a matched mode, and a T-shaped section 4 can be arranged between adjacent welding positions.
Further, in the step C, during flat angle welding, a welding gun keeps a forward inclination angle C of 0-10 degrees, and the included angle between the welding gun and two workpieces forming an angle welding seam is 45 degrees; the welding gun adopts a crescent swing form, the two sides of the swing respectively stay for 0.12 second during the swing, and the middle part of the swing stays for 0.06 second, so that the root of the welding line is completely fused and the welding toe has no undercut when the welding angle is large.
In the step C, during vertical angle welding, the welding gun anteversion angle C is about 7 degrees, and the included angle between the welding gun and two workpieces forming an angle welding seam is 45 degrees; the welding gun adopts a regular triangle swinging mode, the swinging sides stay for 0.85 second respectively during swinging, the swinging middle part stays for 0.5 second, and the swinging amplitude of the welding advancing direction of the middle part is 10-15% of the swinging amplitude of the left and right directions.
Preferably, in the step c, a phi 1.2mm solid welding wire and 80% Ar +20% CO2 mixed gas are adopted for welding, a direct current reverse connection and high-speed pulse mode is adopted for welding, and arc tracking is started in the welding process. And d, cleaning guns once for each welding seam of the vertical fillet welding seam and cleaning guns once for every three welding seams of the flat fillet welding seam.
Example 1
The invention adopts a large-span semi-portal structure, and is matched with an external axis of a robot which can move back and forth, left and right and up and down and an automatic visual locating technology to quickly realize the weld positioning, wherein the locating technology is the prior art, and how to realize the weld positioning is not repeated. The adopted welding robot and welding gun are also the prior art, the welding adopts solid welding wire mixed gas shielded welding (GMAW), the arc tracking is adopted in the welding process, the welding of straight angle and vertical angle welding seams of the assembled components in the ship is carried out under the matching use of specific robot welding gun configuration, welding posture, welding process, swinging mode and welding sequence, and the welding gun carries out one-time gun cleaning, wire cutting and oil spraying treatment after the welding is carried out for specific time until all welding seams are welded.
The method comprises the following specific steps:
a) the robot welding adopts a large-span semi-portal structure, and can realize the quick positioning of welding seams by matching with an external robot shaft capable of moving back and forth, left and right and up and down and an automatic visual locating technology;
b) when the robot is used for welding, the maximum adaptable assembly gap of the flat fillet weld and the vertical fillet weld is 3mm, the height of the positioning welding leg is less than or equal to 5mm, and two ends of the positioning welding are in smooth transition with the parent metal;
c) the robot welding gun adopts a welding gun with a bending angle at the gooseneck part and is matched with a welding gun clamping device, so that the angle between a welding gun nozzle and a robot flange is kept at 30-45 degrees, the welding gun can reach a welding seam starting point and a welding seam finishing point on the premise of meeting the condition that the forward inclination angle C is 0-10 degrees during welding, and the welding starting point and the welding finishing point have no welding blind areas;
d) when the robot is in fillet welding, a welding gun keeps an anteversion angle C equal to 0-10 degrees, and an angle B between the welding gun and two workpieces forming an fillet weld equal to 45 degrees;
e) when the robot is used for flat fillet welding, the welding gun adopts a crescent swing mode, and the two sides and the middle part of the swing slightly stay during the swing, so that the root part of a welding seam is completely fused and the welding toe has no undercut when the welding angle is large;
f) when the robot is used for vertical angle welding, the included angle between a welding gun and two workpieces forming an angle welding line is 45 degrees, and the included angle between the welding gun and the two workpieces forming the angle welding line is about 7 degrees;
g) when the robot is used for vertical fillet welding, the welding gun adopts a regular triangle swinging mode, the two sides and the middle part of the welding gun slightly stay during swinging, and the swinging amplitude of the welding advancing direction of the middle part is 10-15% of the swinging amplitude of the left and right directions. Compared with the common sawtooth swing, the regular triangle swing can meet the requirements of complete fusion of the root of the welding line, smooth appearance of the welding line and no undercut of the welding toe when the welding angle is large;
h) the robot welding adopts a phi 1.2mm solid welding wire and 80% Ar +20% CO2 mixed gas, the welding adopts a direct current reverse connection and high-speed pulse mode, and the arc tracking is started in the welding process;
i) after the robot welds the specific time, by the automatic clear rifle of robot host computer control program start, cut the silk, the oil spout procedure, prevent that welder from blockking up.
Example 2
The robot welding system mainly comprises a large-span half-gantry robot welding portal system, a robot welding system, a 3D laser scanning system, a point laser locating system and the like, wherein the 3D scanning system generates discrete point cloud data by scanning key nodes of a workpiece, and the point cloud data generates key node outline and coordinate data of the workpiece through analysis, calculation and secondary development; the point laser replaces the traditional contact locating through the precise distance measurement of the vision sensing system, and the flexibility and the efficiency of locating are greatly improved.
a) Preparing before welding: after the workpiece is moved in place, firstly, manually checking the assembly precision and the positioning welding specification and size of the workpiece, wherein the requirement that the maximum assembly gap of a fillet weld is 3mm, the height of a positioning welding leg is less than or equal to 5mm and the two ends of the positioning welding are in smooth transition with a base metal is met;
b) positioning a workpiece and a welding seam: after the workpiece is in place, the welding system starts a 3D laser scanning system and a point laser scanning system, the accurate locating of the starting point and the end point of the first welding seam is completed according to the specified welding sequence, and the system automatically performs automatic welding of the welding seam after the locating is completed. The system finishes the locating and welding of all welding lines according to the principle of locating and welding one welding line;
c) for a typical welding unit of this embodiment, there are 4 vertical fillets 7 and 6 flat fillets 8, the weld distribution being shown in FIG. 2. The size of a fillet weld leg is 8mm, and when the robot welds, welding is carried out according to the sequence of first vertical fillet welding and then flat fillet welding;
d) welding by a vertical fillet welding robot: fillet welding was performed in the order of L1 → L2 → L3 → L4, with each weld being from bottom to top. The forerake angle C of the welding starting point of the robot is more than or equal to 0 degree, the forerake angle after the welding starting point is 150mm keeps the angle C equal to 7 degrees, and the angle between the welding gun and the workpiece is equal to 45 degrees; the arc tracking is started in the welding process, and the welding process parameters of the 8mm vertical fillet welding in the embodiment are as follows:
e) welding by a flat fillet welding robot: fillet welding was performed in the order H1 → H2 → H2 → H4 → H5 → H6, with each weld being welded in the direction of fig. 2-4. The welding starting point of the robot is that the forward angle C is more than or equal to 0 degree, the forward angle after the starting point is 150mm keeps the angle C between 0 and 10 degrees, and the angle B between the welding gun and the workpiece is 45 degrees; the arc tracking was started during the welding process, and the parameters of the 8mm flat fillet welding process of this example are shown in the following table:
f) automatic gun cleaning, wire cutting and oil spraying: in order to prevent the welding gun from being blocked, the gun is cleaned once for each welding seam of the vertical fillet welding and once for every three welding seams of the flat fillet welding.
g) After all the welding robots are welded, the appearance of the welding seam needs to be detected, the size of a welding leg is required to meet the requirement, the appearance of the welding seam is attractive, and the defects of undercut, air holes, slag inclusion, welding beading and the like are avoided. By adopting the welding process of the ship assembling robot, the current situation that the assembling welding in the ship is mainly completed manually at present is improved, the welding quality can be further ensured, the welding efficiency is improved, and the intelligent welding capacity and level of ship sectional manufacturing in China are effectively improved.
It should be noted that many variations and modifications of the embodiments of the present invention fully described are possible and are not to be considered as limited to the specific examples of the above embodiments. The above-described embodiments are merely illustrative of the present invention and are not to be construed as limiting the invention. In conclusion, the scope of the present invention shall include those alterations or substitutions and modifications which are obvious to those skilled in the art, and shall be subject to the appended claims.
Claims (5)
1. A robot welding process for assembling in a ship is characterized by comprising the following steps: a. preparing before welding, after moving a workpiece to a welding position, checking the workpiece, and meeting the requirements that the maximum assembly gap of a fillet weld is 3mm, the height of a tack weld leg is less than or equal to 5mm, and the two ends of the tack weld are in smooth transition with a base metal; b. after the workpiece is in place, positioning welding seams, and determining a welding sequence, a starting point and an end point of each welding seam; c. adjusting the angle of a welding gun, wherein the welding gun is provided with a bending angle at the goose neck part, and is matched with a welding gun clamping device to enable a welding gun nozzle to keep an angle of 30-45 degrees with a sixth-axis flange of the robot, and the welding gun reaches a welding seam starting point and a welding seam finishing point on the premise that a forward rake angle C = 0-10 degrees during welding, so that flat angle welding and vertical angle welding are completed; d. after welding for a certain time, starting gun cleaning, wire cutting and oil spraying procedures of a welding gun to prevent the welding gun from being blocked; e. after all the welding robots are welded, the appearance and the size of the welding seam need to be detected.
2. The robot welding process for assembling in ships according to claim 1, characterized in that in the step C, during the flat angle welding, a welding gun keeps a forward inclination angle C =0 ° -10 °, and the angle between the welding gun and two workpieces forming the fillet weld is 45 °; the welding gun adopts a crescent swing form, the two sides of the swing respectively stay for 0.12 second during the swing, and the middle part of the swing stays for 0.06 second, so that the root of the welding line is completely fused and the welding toe has no undercut when the welding angle is large.
3. The robot welding process for assembling in ships according to claim 1, characterized in that in step C, during vertical angle welding, a welding gun forerake angle C =7 degrees, and an included angle between the welding gun and two workpieces forming a fillet weld is 45 degrees; the welding gun adopts a regular triangle swinging mode, the swinging sides stay for 0.85 second respectively during swinging, the swinging middle part stays for 0.5 second, and the swinging amplitude of the welding advancing direction at the center position of a welding seam is 10% -15% of the swinging amplitude of the left and right directions.
4. The robot welding process for assembling in ships according to claim 1, wherein in the step c, a phi 1.2mm solid wire and 80% Ar +20% CO2 mixed gas are adopted for welding, a direct current reverse connection and high-speed pulse mode is adopted for welding, and arc tracking is started in the welding process.
5. The robotic welding process for erection in a ship of claim 1, wherein in step d, the vertical fillet weld is cleared every weld and the flat fillet weld is cleared every three welds.
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| CN113894805A (en) * | 2021-09-27 | 2022-01-07 | 深圳市启玄科技有限公司 | Cooperative welding method, device, terminal and storage medium |
| CN114147317A (en) * | 2021-10-26 | 2022-03-08 | 上海中船临港船舶装备有限公司 | Robot welding process for ship curved surface structure |
| CN114211090A (en) * | 2021-12-17 | 2022-03-22 | 江苏靖宁智能制造有限公司 | Method for realizing joint-free connection of closed-loop welding seams by utilizing robot double-arc cooperative welding |
| CN114905115A (en) * | 2022-06-30 | 2022-08-16 | 中船黄埔文冲船舶有限公司 | Robot welding method and device for assembling vertical welding seams |
| CN115041856A (en) * | 2022-06-30 | 2022-09-13 | 中船黄埔文冲船舶有限公司 | Welding method and device for intermediate-assembled vertical fillet weld |
| CN115055783A (en) * | 2022-06-30 | 2022-09-16 | 中船黄埔文冲船舶有限公司 | Fillet welding method and device for middle-assembled vertical fillet weld |
| CN115488535A (en) * | 2022-09-14 | 2022-12-20 | 中船黄埔文冲船舶有限公司 | Welding gun track generation method and device for medium-assembly welding seam |
| CN116690046A (en) * | 2023-08-04 | 2023-09-05 | 中国电力科学研究院有限公司 | Weld position indicator, method for positioning end point of fillet weld and welding method |
| WO2023202025A1 (en) * | 2022-04-18 | 2023-10-26 | 中车株洲车辆有限公司 | Method for welding end wall component of railway freight car |
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| CN113894805B (en) * | 2021-09-27 | 2023-01-03 | 深圳市启玄科技有限公司 | Cooperative welding method, device, terminal and storage medium |
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| CN114147317A (en) * | 2021-10-26 | 2022-03-08 | 上海中船临港船舶装备有限公司 | Robot welding process for ship curved surface structure |
| CN114211090A (en) * | 2021-12-17 | 2022-03-22 | 江苏靖宁智能制造有限公司 | Method for realizing joint-free connection of closed-loop welding seams by utilizing robot double-arc cooperative welding |
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| CN115055783A (en) * | 2022-06-30 | 2022-09-16 | 中船黄埔文冲船舶有限公司 | Fillet welding method and device for middle-assembled vertical fillet weld |
| CN114905115A (en) * | 2022-06-30 | 2022-08-16 | 中船黄埔文冲船舶有限公司 | Robot welding method and device for assembling vertical welding seams |
| CN114905115B (en) * | 2022-06-30 | 2023-12-26 | 中船黄埔文冲船舶有限公司 | Robot welding method and device for middle-assembling vertical welding seam |
| CN115055783B (en) * | 2022-06-30 | 2024-03-26 | 中船黄埔文冲船舶有限公司 | Corner wrapping welding method and device for middle-assembled fillet weld |
| CN115041856B (en) * | 2022-06-30 | 2024-03-26 | 中船黄埔文冲船舶有限公司 | Welding method and device for middle-assembling fillet weld |
| CN115488535A (en) * | 2022-09-14 | 2022-12-20 | 中船黄埔文冲船舶有限公司 | Welding gun track generation method and device for medium-assembly welding seam |
| CN115488535B (en) * | 2022-09-14 | 2023-08-29 | 中船黄埔文冲船舶有限公司 | Welding gun track generation method and device for middle-group welding seam |
| CN116690046A (en) * | 2023-08-04 | 2023-09-05 | 中国电力科学研究院有限公司 | Weld position indicator, method for positioning end point of fillet weld and welding method |
| CN116690046B (en) * | 2023-08-04 | 2023-09-29 | 中国电力科学研究院有限公司 | Weld position indicator, method for positioning end point of fillet weld and welding method |
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