CN112756752A - Self-adaptive adjustable double-wire consumable electrode arc welding device and method - Google Patents
Self-adaptive adjustable double-wire consumable electrode arc welding device and method Download PDFInfo
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- CN112756752A CN112756752A CN202011557022.XA CN202011557022A CN112756752A CN 112756752 A CN112756752 A CN 112756752A CN 202011557022 A CN202011557022 A CN 202011557022A CN 112756752 A CN112756752 A CN 112756752A
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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
- B23K9/173—Arc welding or cutting making use of shielding gas and of a consumable electrode
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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
- B23K9/24—Features related to electrodes
- B23K9/28—Supporting devices for electrodes
- B23K9/287—Supporting devices for electrode holders
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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
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Abstract
The invention discloses a self-adaptive adjustable double-wire consumable electrode arc welding device and a self-adaptive adjustable double-wire consumable electrode arc welding method. The welding machine comprises two consumable electrode welding guns, a travelling mechanism, two welding gun connecting frames, an information acquisition system and a control system; the welding gun connecting frames are symmetrically arranged on two sides of the traveling mechanism and move up and down along the Z-direction guide rails of the traveling mechanism; each welding gun connecting frame is provided with a consumable electrode welding gun, and the consumable electrode welding guns can rotate around the welding gun connecting frames on the plane where the two welding guns are located; the information acquisition system is connected with the control system and transmits the acquired information of the welding gun and the welding seam to the control system. The invention can realize automatic adjustment of the welding process; the formed molten pool has larger fusion depth, and the double wires adopt small current to reduce heat input, so that the fusion depth of the obtained welding line is not less than that of the single wire in large-current welding, and the splashing rate is less than that of the single wire.
Description
Technical Field
The invention belongs to the field of welding, and particularly relates to a self-adaptive adjustable double-wire consumable electrode arc welding device and method.
Background
High nitrogen steel is more and more widely concerned due to the unique advantages of high strength, good toughness, no magnetism, good corrosion resistance, low sensitivity to intergranular corrosion and the like, and is more connected by adopting a welding method in engineering application. Austenitic stainless steel with nitrogen content over 0.4% is generally called high nitrogen steel, but nitrogen as a strong austenite stabilizing element has different solubility in liquid and solid metals, which causes nitrogen in a molten pool and a high nitrogen steel welding wire to easily overflow during welding, so that molten drop transition is unstable, and defects such as air holes are formed.
When the single-wire consumable electrode arc welding process is adopted to weld high-nitrogen steel, in order to obtain larger penetration depth and good weld joint forming, large-current welding is generally adopted, and when a groove thick plate is welded, the accessibility of a welding wire is better, but larger heat input causes larger splashing, and the cladding rate of the welding wire is lower. When the twin-wire consumable electrode arc welding process is adopted to weld high-nitrogen steel, although the welding efficiency is higher, the size of a molten pool is larger, and the twin-wire welding parameters of a welding gun can be independently adjusted, small-current welding can be adopted, the penetration is not less than that of a single wire when the large current is obtained, and the welding spatter is also smaller. However, for the welding of a thick plate with a groove, when the last welding seam is welded, the welding bead gap may be smaller than the distance between the double wires, the deflection angle of the welding wire needs to be manually adjusted, the operation is complex, and the production efficiency is reduced to a certain extent. Meanwhile, due to the overlapping problem, the welding wire on one side is positioned on the welding seam on the previous welding seam, so that the electric arc voltage is reduced, the weld fusion width is reduced, a double-wire co-melting pool is not facilitated, and certain influence is caused on the forming quality of the welding seam.
Disclosure of Invention
The invention aims to provide a self-adaptive adjustable twin-wire consumable electrode arc welding device and a self-adaptive adjustable twin-wire consumable electrode arc welding method, namely, a twin-wire shunting mode is adopted, a larger molten pool and fusion depth are obtained by utilizing twin-wire welding, and meanwhile, the heat input can be effectively reduced by small current, and the splashing in the high-nitrogen steel welding process is reduced.
The technical solution for realizing the purpose of the invention is as follows: a self-adaptive adjustable double-wire consumable electrode arc welding device comprises two consumable electrode welding guns, a travelling mechanism, two welding gun connecting frames, an information acquisition system and a control system;
the welding gun connecting frames are symmetrically arranged on two sides of the traveling mechanism and move up and down along the Z-direction guide rails of the traveling mechanism;
each welding gun connecting frame is provided with a consumable electrode welding gun, and the consumable electrode welding guns can rotate around the welding gun connecting frames on the plane where the two welding guns are located, so that the distance between the outlets of the two consumable electrode welding guns can be adjusted;
the information acquisition system is connected with the control system and transmits the acquired information of the welding gun and the welding seam to the control system;
the control system is connected with the travelling mechanism, the welding gun connecting frame and the two consumable electrode welding guns and is used for controlling the travelling mechanism to travel, and the welding gun connecting frame moves up and down and the two consumable electrode welding guns rotate.
Furthermore, a gear is arranged in the middle of the welding gun connecting frame, and a rack matched with the gear is arranged on the Z-direction guide rail, so that the welding gun connecting frame can move up and down on the Z-direction guide rail of the traveling mechanism through the gear and the rack.
Furthermore, the consumable electrode welding gun is fixed on the welding gun connecting frame through a welding gun clamping mechanism, the welding gun clamping mechanism comprises a clamping part and a half gear part meshed with the welding gun connecting frame, a U-shaped opening is formed in the welding gun connecting frame, and a rack meshed with the half gear part is arranged at the bottom of the U-shaped opening;
the adjustment of the corner of the consumable electrode welding gun is realized through the meshing of the half gear part of the welding gun clamping mechanism and the rack of the welding gun connecting frame.
Furthermore, the information acquisition system is used for acquiring the distance between the grooves, the distance between the two consumable electrode welding guns, the angle of the consumable electrode welding guns and the height of the welding guns from the workpiece.
Furthermore, the information acquisition system comprises a laser vision sensor, two height sensors and two angle sensors;
the laser vision sensor is arranged on the symmetrical middle line of the two consumable electrode welding guns, is used for monitoring the relative positions of the welding guns and the welding bead in real time and transmitting the relative positions to the control system;
the height sensor is arranged at the lower side end of the welding gun connecting frame;
the angle sensor is mounted on the rotatable welding gun clamping mechanism.
Further, the laser vision sensor comprises a line structured laser and an analog camera;
the linear structure laser emits laser beams to irradiate the position of a welding seam on the surface of a welding workpiece to form a linear light spot, the analog camera images the position of the linear light spot, the imaged image is transmitted to a computer to be processed, data information of the welding seam is obtained and fed back to the control system, and the control system controls the travelling mechanism to move up and down and controls the welding gun clamping mechanism to rotate.
A method for welding by the device comprises the following steps:
step (1): pretreating a part to be welded of a high-nitrogen steel material;
step (2): welding the high-nitrogen steel material according to preset welding process parameters and a preset welding groove form;
and (3): scanning the surface of a plate in real time by adopting a laser vision sensor, irradiating laser beams emitted by a linear structure laser on the welding seam position on the surface of a welding workpiece to form a linear light spot, imaging the position of the linear light spot by utilizing a simulation camera, and imaging the imaged pictureThe image is transmitted to a computer for processing to obtain the groove interval L1A value;
and (4): the groove interval L1Distance L between welding gun and double wires2Performing a difference comparison if L1＜L2Then according to the formula theta ═ arcsin [ (L)2-L1)/2L3]L3 is the distance between a welding gun fixed point and the end of a welding gun, the value of a deflection angle theta is obtained, then an angle sensor monitors the deflection angle of the welding gun in real time, information is transmitted to a computer, the computer feeds back the information to a control system, and the control system controls a welding gun connecting frame gear to move, so that the welding gun rotates around the fixed point until the angle theta is reached;
and (5): the height of a welding gun from a base metal is adjusted, in the welding process, the height of the welding gun from a workpiece is possibly lower than a preset height due to overlapping, so that the actual welding voltage is lower than the preset voltage, the weld fusion width is reduced, and a double-wire common molten pool is not facilitated; when the actual height of the welding gun is lower than the preset height, the welding gun moves upwards, so that the actual welding voltage is stabilized within the preset welding voltage range; the height sensor feeds back the height information of the welding gun to the control system in real time, the control system controls the Z-direction guide rail inner gear to move, the welding gun reaches a preset height, and then the gears are meshed to fix the height of the welding gun;
and (6): after welding one welding seam, the position of the welding gun is restored to the original position, and the welding seam to be welded is cooled to a certain temperature to start the welding of the next welding seam until the groove is completely filled.
Further, the pretreatment in the step (1) comprises mechanical grinding and preheating of the welding groove;
the mechanical grinding of the groove is to clean oil stain, rust and water stain in the range of 20-30mm on the bevel face and the edge of the groove on both sides of the weldment by using an angle grinder to present metallic luster; the preheating is to heat the weldment to 150-200 ℃ before soldering.
Further, the welding process parameters in the step (2) are specifically as follows: welding current of 80-120A, welding voltage of 15-20V, welding speed of 3-6mm/s, wire feeding speed of 4-6m/min, and shielding gas of 93.5% Ar + 5% N2+1.5％O2The flow rate of the mixed gas is 15-20LMin; the groove forms mainly comprise a single V-shaped groove and a double V-shaped groove, wherein a plate with the plate thickness of less than 10mm adopts the single V-shaped groove, a plate with the plate thickness of more than 10mm adopts the double V-shaped groove, the groove angle is 45-60 degrees, the groove gap is 2-3mm, and the truncated edge is 1-1.5 mm.
Compared with the prior art, the invention has the remarkable advantages that:
according to the welding device and the welding method, the high-nitrogen steel material is welded through the double-wire consumable electrode arc welding device and the method, the welding seam information can be detected in the material increase process, the pose of the welding gun is adjusted, the accessibility of the welding gun is better, the manual adjustment process is eliminated, and the material increase efficiency is obviously improved; meanwhile, the method further reduces heat input in the welding process by adopting a double-wire small current welding mode by utilizing a double-wire shunting mode, effectively reduces splashing of high-nitrogen steel welding, improves the deposition rate in the welding process, and simultaneously ensures that gas in a welding seam has sufficient time to overflow when the high-nitrogen steel is welded by utilizing the large molten pool fusion depth formed by double-wire welding, thereby solving the problem of gas holes in the high-nitrogen steel welding to a certain extent; and the double-wire welding effectively avoids the incomplete penetration welding defect at the root of the welding line, improves the quality of the welding joint, and improves the welding efficiency by more than 50 percent compared with the single-wire welding.
Drawings
FIG. 1 is a schematic view of an arc welding apparatus according to the present invention.
FIG. 2 is a schematic view of a rotatable weld gun carriage of the present invention.
Fig. 3 is a schematic view of the welding gun rotating around a fixed point by an angle theta.
FIG. 4 is a single V-shaped groove form of a high-nitrogen steel plate with the thickness of less than 10 mm.
FIG. 5 is a double V-groove form of a high-nitrogen steel plate with the thickness of more than 10 mm.
Description of reference numerals:
the device comprises a walking mechanism, a 2-laser vision sensor, a 3-Z-direction guide rail, a 4-welding gun, a 5-welding gun connecting frame, a 6-line structure laser and a 7-analog camera.
Detailed Description
The present invention is described in further detail below with reference to the attached drawing figures.
As shown in fig. 1 to 5, an adaptive adjustable twin-wire consumable electrode arc welding apparatus for high nitrogen steel welding includes:
the welding gun comprises two consumable electrode welding guns 4 and a traveling mechanism 1 in the height direction, wherein a Z-direction guide rail 3 is arranged in the traveling mechanism 1, a welding gun connecting frame 5 is installed on the Z-direction guide rail 3, the welding guns 1 can be connected on the welding gun connecting frame 5 in a manner of rotating left and right in the horizontal plane and perpendicular to the welding direction, and a laser vision sensor, two height sensors and two angle sensors are respectively arranged at positions close to the welding guns 1.
The laser vision sensor is arranged on the symmetrical middle line of the two welding guns with the melting poles, the laser vision sensor is arranged at the position 300-350mm away from the bottom of the travelling mechanism 1, the relative position of the welding guns and the welding bead is monitored in real time, and the relative position is transmitted to a control system;
the height sensor is arranged at the lower side end of the welding gun connecting frame 5, and the double-wire consumable electrode welding is extremely sensitive to the distance from the welding gun to a workpiece, so that the height sensor is added in the height direction, the detection accuracy is ensured, and the welding quality is improved.
The laser vision sensor comprises a line-structured laser 6 and a simulation camera 7, wherein the line-structured laser 6 emits laser beams to irradiate the position of a weld joint on the surface of a welding workpiece to form a linear light spot, the simulation camera 7 images the position of the linear light spot and transmits the imaged image to a computer for processing, data information of the weld joint is obtained and fed back to a control system, and the control system controls the walking mechanism to move up and down and the connecting support to rotate.
The angle sensor is arranged on the rotatable welding gun connecting frame 5, and because the welding groove gap is smaller than the distance between the welding wires, the welding gun needs to adjust a certain angle, so that the angle sensor is additionally arranged on the welding connecting frame 5, and the detection accuracy and the safety are ensured.
An arc welding method of a double-wire consumable electrode capable of self-adaptively adjusting for high-nitrogen steel welding comprises the following specific steps:
and 3, scanning the surface of the plate in real time by adopting a laser vision sensor. The linear structure laser 6 emits laser beams to irradiate the welding seam position on the surface of the welding workpiece to form linear light spots, the position of the linear light spots is imaged by the analog camera 7, the imaged image is transmitted to a computer for processing, and a groove spacing L1 value is obtained;
and 5, adjusting the height of the welding gun from the base metal. Height sensors are installed on the two welding guns, and in the welding process, due to the fact that the welding guns are overlapped, the distance between the welding guns and a workpiece is possibly lower than a preset height, the actual welding voltage is lower than a preset voltage, the weld fusion width is reduced, and double-wire co-melting pool is not facilitated. When the actual height of the welding gun is lower than the preset height, the welding gun moves upwards, so that the actual welding voltage is stabilized within the preset welding voltage range. The height sensor transmits the height information of the welding gun to the computer for processing in real time, the computer feeds the information back to the control system, the control system controls the Z-direction guide rail inner gear to move, the welding gun reaches a preset height, and then the gears are meshed to fix the height of the welding gun.
in the step (1), the pretreatment comprises mechanical grinding and preheating of the welding groove. The mechanical grinding of the groove is to clean up sundries such as oil stain, rust, water stain and the like in the range of 20-30mm on the bevel face at two sides of a weldment and the edge of the groove by using an angle grinder to present metallic luster; the preheating is to heat the weldment to 150-200 ℃ before welding;
in the step (2), the welding process parameters comprise welding current, welding voltage, welding speed, wire feeding speed, gas flow and the like, wherein the welding current is 80-120A, the welding voltage is 15-20V, the welding speed is 3-6mm/s, the wire feeding speed is 4-6m/min, the shielding gas adopts 93.5% Ar + 5% N2+ 1.5% O2 mixed gas, and the gas flow is 15-20L/min; the groove forms mainly comprise a single V-shaped groove and a double V-shaped groove, wherein a plate with the plate thickness of less than 10mm adopts the single V-shaped groove, a plate with the plate thickness of more than 10mm adopts the double V-shaped groove, the groove angle is 45-60 degrees, the groove gap is 2-3mm, and the truncated edge is 1-1.5 mm.
Claims (9)
1. A self-adaptive adjustable double-wire consumable electrode arc welding device is characterized by comprising two consumable electrode welding guns, a travelling mechanism, two welding gun connecting frames, an information acquisition system and a control system;
the welding gun connecting frames are symmetrically arranged on two sides of the traveling mechanism and move up and down along the Z-direction guide rails of the traveling mechanism;
each welding gun connecting frame is provided with a consumable electrode welding gun, and the consumable electrode welding guns can rotate around the welding gun connecting frames on the plane where the two welding guns are located, so that the distance between the outlets of the two consumable electrode welding guns can be adjusted;
the information acquisition system is connected with the control system and transmits the acquired information of the welding gun and the welding seam to the control system;
the control system is connected with the travelling mechanism, the welding gun connecting frame and the two consumable electrode welding guns and is used for controlling the travelling mechanism to travel, and the welding gun connecting frame moves up and down and the two consumable electrode welding guns rotate.
2. The apparatus according to claim 1, wherein the middle of the welding torch link is provided with a gear, and the Z-guide rail is provided with a rack engaged with the gear, so that the welding torch link moves up and down on the Z-guide rail of the traveling mechanism through the gear and the rack.
3. The apparatus of claim 2, wherein the consumable electrode welding torch is fixed to the welding torch holder by a welding torch holding mechanism, the welding torch holding mechanism includes a holding portion and a half gear portion engaged with the welding torch holder, the welding torch holder is provided with a U-shaped opening, and a rack engaged with the half gear portion is provided at a bottom of the U-shaped opening;
the adjustment of the corner of the consumable electrode welding gun is realized through the meshing of the half gear part of the welding gun clamping mechanism and the rack of the welding gun connecting frame.
4. The apparatus of claim 3, wherein the information acquisition system is configured to acquire groove spacing, spacing between two consumable electrode torches, angle of the consumable electrode torch, and height of the torch from the workpiece.
5. The apparatus of claim 4, wherein the information acquisition system comprises a laser vision sensor, two height sensors and two angle sensors;
the laser vision sensor is arranged on the symmetrical middle line of the two consumable electrode welding guns, is used for monitoring the relative positions of the welding guns and the welding bead in real time and transmitting the relative positions to the control system;
the height sensor is arranged at the lower side end of the welding gun connecting frame;
the angle sensor is mounted on the rotatable welding gun clamping mechanism.
6. The apparatus of claim 5, wherein the laser vision sensor comprises a line structured laser and an analog camera;
the linear structure laser emits laser beams to irradiate the position of a welding seam on the surface of a welding workpiece to form a linear light spot, the analog camera images the position of the linear light spot, the imaged image is transmitted to a computer to be processed, data information of the welding seam is obtained and fed back to the control system, and the control system controls the travelling mechanism to move up and down and controls the welding gun clamping mechanism to rotate.
7. A method of welding using the apparatus of claim 6, comprising the steps of:
step (1): pretreating a part to be welded of a high-nitrogen steel material;
step (2): welding the high-nitrogen steel material according to preset welding process parameters and a preset welding groove form;
and (3): the method comprises the steps of scanning the surface of a plate in real time by adopting a laser vision sensor, irradiating laser beams emitted by a linear structure laser on the welding seam position on the surface of a welding workpiece to form linear light spots, imaging the positions of the linear light spots by utilizing an analog camera, transmitting the imaged images to a computer for processing, and obtaining the groove interval L1A value;
and (4): the groove interval L1Distance L between welding gun and double wires2Performing a difference comparison if L1＜L2Then according to the formula theta ═ arcsin [ (L)2-L1)/2L3]L3 is the distance between a welding gun fixed point and the end of a welding gun, the value of a deflection angle theta is obtained, then an angle sensor monitors the deflection angle of the welding gun in real time, information is transmitted to a computer, the computer feeds back the information to a control system, and the control system controls a welding gun connecting frame gear to move, so that the welding gun rotates around the fixed point until the angle theta is reached;
and (5): the height of a welding gun from a base metal is adjusted, in the welding process, the height of the welding gun from a workpiece is possibly lower than a preset height due to overlapping, so that the actual welding voltage is lower than the preset voltage, the weld fusion width is reduced, and a double-wire common molten pool is not facilitated; when the actual height of the welding gun is lower than the preset height, the welding gun moves upwards, so that the actual welding voltage is stabilized within the preset welding voltage range; the height sensor feeds back the height information of the welding gun to the control system in real time, the control system controls the Z-direction guide rail inner gear to move, the welding gun reaches a preset height, and then the gears are meshed to fix the height of the welding gun;
and (6): after welding one welding seam, the position of the welding gun is restored to the original position, and the welding seam to be welded is cooled to a certain temperature to start the welding of the next welding seam until the groove is completely filled.
8. The method of claim 7, wherein the pre-treatment in step (1) comprises mechanical grinding and pre-heating of the weld groove;
the mechanical grinding of the groove is to clean oil stain, rust and water stain in the range of 20-30mm on the bevel face and the edge of the groove on both sides of the weldment by using an angle grinder to present metallic luster; the preheating is to heat the weldment to 150-200 ℃ before soldering.
9. The method according to claim 8, characterized in that the welding process parameters in step (2) are in particular: welding current of 80-120A, welding voltage of 15-20V, welding speed of 3-6mm/s, wire feeding speed of 4-6m/min, and shielding gas of 93.5% Ar + 5% N2+1.5％O2Mixing gas, wherein the gas flow is 15-20L/min; the groove forms mainly comprise a single V-shaped groove and a double V-shaped groove, wherein a plate with the plate thickness of less than 10mm adopts the single V-shaped groove, a plate with the plate thickness of more than 10mm adopts the double V-shaped groove, the groove angle is 45-60 degrees, the groove gap is 2-3mm, and the truncated edge is 1-1.5 mm.
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| CN115194182A (en) * | 2022-06-30 | 2022-10-18 | 中船重工信息科技有限公司 | Arc additive manufacturing conformal scanning nozzle height measurement and control device and method |
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