CN113441856A - Automatic ship dislocation welding method - Google Patents
Automatic ship dislocation welding method Download PDFInfo
- Publication number
- CN113441856A CN113441856A CN202110698290.1A CN202110698290A CN113441856A CN 113441856 A CN113441856 A CN 113441856A CN 202110698290 A CN202110698290 A CN 202110698290A CN 113441856 A CN113441856 A CN 113441856A
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- welding
- welded
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- automatic
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Classifications
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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
- B23K31/00—Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups
- B23K31/02—Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups relating to soldering or welding
-
- 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
Abstract
An automatic ship dislocation welding method comprises the following steps: s1, arranging two welding robot arms on a welding gantry crane; s2, placing the workpiece to be welded in the working range area of the welding gantry crane; s3, aligning the welding arm of the first welding robot to one side of the welding starting position of the workpiece to be welded as a front welding gun to start automatic welding operation; s4, aligning the welding arm of the second welding robot to the other side of the welding starting position of the workpiece to be welded, and starting automatic welding operation as a rear welding gun when the length of the welding seam welded by the front welding gun reaches 70-80 mm. The welding seam welded by the invention has good slag removal, good forming and less air holes.
Description
Technical Field
The invention relates to an automatic welding technology for ships, in particular to an automatic welding technology for multiple robots.
Background
At present, the automatic welding operation of multiple robots is to weld the tail end welding guns of the robots at two sides simultaneously. When the double robots are used for cooperative welding, if welding guns at the tail ends of the two robots are used for welding at the same position, protective gas at one end passes through the assembly gap, so that opposite molten pool air holes are more, and even after pre-welding treatment such as polishing, rust removal, heating and moisture removal, the molten pool air holes are not ideal to improve.
Disclosure of Invention
The invention aims to provide an automatic ship dislocation welding method, which solves the problem that a plurality of weld pool air holes are formed during the cooperative welding of double robots.
The purpose of the invention can be realized by designing an automatic ship dislocation welding method, which comprises the following steps:
s1, arranging two welding robot arms on a welding gantry crane;
s2, placing the workpiece to be welded in the working range area of the welding gantry crane;
s3, aligning the welding arm of a welding robot to one side of the welding start position of the workpiece to be welded as the front welding gun to start the automatic welding operation;
s4, aligning the welding arm of another welding robot to the other side of the welding starting position of the workpiece to be welded, and starting automatic welding operation as a rear welding gun when the length of the welding seam welded by the front welding gun reaches 70-80 mm.
Preferably, the size of the welding corner is smaller than the thickness of the welding plate and is 0.55-0.75 of the thickness of the welding plate, and the size of the welding corner is smaller than 8mm for the welding plate with the thickness of less than 12 mm; the wire feeding speed of the first welding robot is 5.5-9.5 m/min, and the welding voltage of the first welding robot is 24-32V; the wire feeding speed of the second welding robot is 5.5-9.5 m/min, and the welding voltage of the second welding robot is 25-32V; the advancing speed is 5.5 to 6 mm/s.
Preferably, the rear welding torch starts the automatic welding operation when the length of the weld seam welded by the front welding torch reaches 75 mm.
The welding seam welded by the invention has good slag removal, good forming and less air holes. For most workpieces with good welding conditions, pretreatment before welding is omitted, the flow is simplified, and the welding efficiency is greatly improved.
Detailed Description
The present invention will be further described with reference to the following examples.
An automatic ship dislocation welding method comprises the following steps:
s1, arranging two welding robot arms on a welding gantry crane;
s2, placing the workpiece to be welded in the working range area of the welding gantry crane;
s3, aligning the welding arm of the first welding robot to one side of the welding starting position of the workpiece to be welded as a front welding gun to start automatic welding operation;
s4, aligning the welding arm of the second welding robot to the other side of the welding starting position of the workpiece to be welded, and starting automatic welding operation as a rear welding gun when the length of the welding seam welded by the front welding gun reaches 70-80 mm.
The welding arms of two welding robots in the mechanical arrangement are positioned on the gantry crane, so that the staggered distance is limited, but the staggered distance must be far enough to ensure that the welding robots on two sides of the welding seam do not interfere with the quality of the welding seam.
The size of the welding angle is smaller than the thickness of the welding plate, is 0.55-0.75 of the thickness of the welding plate, and the size of the welding angle is smaller than 8mm for the welding plate with the thickness of less than 12 mm; the wire feeding speed of the first welding robot is 5.5-9.5 m/min, and the welding voltage of the first welding robot is 24-32V; the wire feeding speed of the second welding robot is 5.5-9.5 m/min, and the welding voltage of the second welding robot is 25-32V; the advancing speed is 5.5 to 6 mm/s.
In this embodiment, when the length of the weld seam welded by the front welding torch reaches 75mm, the rear welding torch starts the automatic welding operation. The gun distance value around the welding robot is 75mm, staggers 75mm around two welding robots promptly, procedure automatic weld. At the moment, the workpiece is directly welded without pre-welding pretreatment such as polishing, derusting, heating for removing moisture and the like, the air holes of a molten pool are reduced greatly, the quality even exceeds the effect of manual unilateral welding, and the improvement result of the welding quality is very obvious. Pretreatment before welding can be omitted, the process is simplified, and the efficiency is improved.
The following table shows several embodiments of the present invention for different weld plate thicknesses, and the weld corner size, the wire feeding speed of the welding robot, the welding voltage, the welding advancing speed, etc. are slightly adjusted within the ranges according to the weld plate thickness.
When the double robots are used for cooperative welding, the welding guns on the two sides are staggered, so that the welding seam has good slag removal, good forming and less air holes. For most workpieces with good welding conditions, pretreatment before welding is omitted, the flow is simplified, and the welding efficiency is greatly improved.
Claims (3)
1. An automatic ship dislocation welding method is characterized by comprising the following steps:
s1, arranging two welding robot arms on a welding gantry crane;
s2, placing the workpiece to be welded in the working range area of the welding gantry crane;
s3, aligning the welding arm of the first welding robot to one side of the welding starting position of the workpiece to be welded as a front welding gun to start automatic welding operation;
s4, aligning the welding arm of the second welding robot to the other side of the welding starting position of the workpiece to be welded, and starting automatic welding operation as a rear welding gun when the length of the welding seam welded by the front welding gun reaches 70-80 mm.
2. The automatic ship offset welding method according to claim 1, wherein: the size of the welding angle is smaller than the thickness of the welding plate, is 0.55-0.75 of the thickness of the welding plate, and the size of the welding angle is smaller than 8mm for the welding plate with the thickness of less than 12 mm; the wire feeding speed of the first welding robot is 5.5-9.5 m/min, and the welding voltage of the first welding robot is 24-32V; the wire feeding speed of the second welding robot is 5.5-9.5 m/min, and the welding voltage of the second welding robot is 24-32V; the advancing speed is 5.5 to 6 mm/s.
3. The automatic ship offset welding method according to claim 1, wherein: and when the length of the welding seam welded by the front welding gun reaches 75mm, the rear welding gun starts automatic welding operation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110698290.1A CN113441856A (en) | 2021-06-23 | 2021-06-23 | Automatic ship dislocation welding method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110698290.1A CN113441856A (en) | 2021-06-23 | 2021-06-23 | Automatic ship dislocation welding method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113441856A true CN113441856A (en) | 2021-09-28 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110698290.1A Pending CN113441856A (en) | 2021-06-23 | 2021-06-23 | Automatic ship dislocation welding method |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201395365Y (en) * | 2009-04-08 | 2010-02-03 | 大庆油田有限责任公司 | Large fillet weld connector used between tank bottom edge board and foundation ring wallboard of 150 thousand m<3> storage tank |
| CN106001868A (en) * | 2016-05-18 | 2016-10-12 | 南京合信智能装备有限公司 | Full penetration welding method for simultaneously welding H-shaped steel with two guns |
| CN107598340A (en) * | 2017-10-26 | 2018-01-19 | 上海振华重工(集团)股份有限公司 | Big thick plate T-joint welding method |
| CN112296480A (en) * | 2020-10-23 | 2021-02-02 | 中船黄埔文冲船舶有限公司 | Welding robot and welding process method for sheet structural member |
| CN112498615A (en) * | 2020-10-30 | 2021-03-16 | 沪东中华造船(集团)有限公司 | Building method of ship large-span deck section |
-
2021
- 2021-06-23 CN CN202110698290.1A patent/CN113441856A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201395365Y (en) * | 2009-04-08 | 2010-02-03 | 大庆油田有限责任公司 | Large fillet weld connector used between tank bottom edge board and foundation ring wallboard of 150 thousand m<3> storage tank |
| CN106001868A (en) * | 2016-05-18 | 2016-10-12 | 南京合信智能装备有限公司 | Full penetration welding method for simultaneously welding H-shaped steel with two guns |
| CN107598340A (en) * | 2017-10-26 | 2018-01-19 | 上海振华重工(集团)股份有限公司 | Big thick plate T-joint welding method |
| CN112296480A (en) * | 2020-10-23 | 2021-02-02 | 中船黄埔文冲船舶有限公司 | Welding robot and welding process method for sheet structural member |
| CN112498615A (en) * | 2020-10-30 | 2021-03-16 | 沪东中华造船(集团)有限公司 | Building method of ship large-span deck section |
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Application publication date: 20210928 |