CN114131278A - Method for automatically setting welding linear velocity of inner wall of spherical end socket - Google Patents
Method for automatically setting welding linear velocity of inner wall of spherical end socket Download PDFInfo
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- CN114131278A CN114131278A CN202111580544.6A CN202111580544A CN114131278A CN 114131278 A CN114131278 A CN 114131278A CN 202111580544 A CN202111580544 A CN 202111580544A CN 114131278 A CN114131278 A CN 114131278A
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- welding
- positioner
- speed
- end socket
- spherical
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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
Abstract
The invention discloses an automatic setting method for the welding linear speed of the inner wall of a spherical seal head, relates to the technical field of welding, and particularly relates to a calculation and implementation method for automatic setting of the surfacing welding linear speed of the inner wall of the spherical seal head. The invention comprises the following steps: 11. assembling a spherical end socket: assembling the end socket on a positioner, wherein the rotation central axis of the end socket is superposed with the rotation central axis of a turntable of the positioner; 12. data input: inputting the spherical diameter and the welding linear speed of the spherical end socket into a positioner; 13. establishing a mathematical model: and (3) obtaining a calculation formula through modeling: v 2 pi SR ω sin α; automatically calculating the rotation speed according to the detected tilting angle, the input spherical diameter of the spherical end socket and the input welding speed by a formula v-2 pi SR omega sin alpha; 14. and (6) welding. The technical scheme of the invention solves the problems that the existing welding positioner in the prior art can only set the rotating speed of the rotating shaft, is not the linear speed required by the actual welding process, requires an operator to repeatedly adjust the rotating speed of the positioner and pinches a meter to measure and calculate the actual linear speed of the welding position so as to enable the actual linear speed of the welding position to be close to the required welding speed, needs to manually adjust the rotating speed again after the roll-over angle of the end enclosure is changed, and has low welding speed adjusting efficiency and large error so as to reduce the welding efficiency and cause unstable welding quality.
Description
Technical Field
The invention discloses an automatic setting method for the welding linear speed of the inner wall of a spherical seal head, relates to the technical field of welding, and particularly relates to a calculation and implementation method for automatic setting of the surfacing welding linear speed of the inner wall of the spherical seal head.
Background
When the spherical end socket, especially a large spherical end socket, is subjected to automatic surfacing welding of a stainless steel layer on the inner wall, a welding torch is generally in a vertical state and is fixed during welding, and in order to guarantee welding quality, a welding position is required to be a horizontal position, so that the end socket needs to be installed on a rotary disc of a welding positioner for welding. The welding positioner is provided with two tilting and rotating shafts; the tilting shaft is parallel to the rotary disc and is used for adjusting the included angle between the spherical seal head and the horizontal plane so as to keep the welding position horizontal; the rotating shaft is vertical to the turning shaft and coaxial with the rotating disc, and the rotating shaft rotates to provide welding speed during welding.
At present, all welding positioners can only set the rotating speed of a rotating shaft when the welding speed is set, but not the linear speed required by the actual welding process. In the actual operation process, the rotating speed is only a reference, the actual welding speed needs to be measured by pinching a table or is obtained by measuring the radius of gyration and then calculating, and each path is different, so that operators often observe the welding speed by eyes and need to adjust the gyration speed according to the change of a welding position, the welding efficiency is influenced, and the welding quality is unstable.
Aiming at the problems in the prior art, a novel automatic setting method for the welding linear velocity of the inner wall of the spherical end socket is researched and designed, so that the problem in the prior art is very necessary to be solved.
Disclosure of Invention
The conventional welding positioner provided according to the prior art can only set the rotating speed of a rotating shaft, but not the linear speed required in the actual welding process, an operator is required to repeatedly adjust the rotating speed of the positioner and pinches a meter to measure and calculate the actual linear speed of a welding position, so that the actual linear speed of the welding position is close to the required welding speed, the rotating speed needs to be manually adjusted again after the head tip angle changes, the welding speed adjusting efficiency is low, the error is large, the welding efficiency is reduced, and the welding quality is unstable. The method mainly converts the welding linear velocity into the rotation speed of the spherical end socket through the diameter of the spherical end socket and the turnover angle of the positioner so as to automatically set the rotation speed of the positioner, thereby ensuring the accurate and stable welding speed of all welding positions in the welding process of the inner wall of the spherical end socket, avoiding the frequent manual adjustment of the welding speed, and further improving the welding efficiency and quality.
The technical means adopted by the invention are as follows:
the automatic setting method for the welding linear velocity of the inner wall of the spherical end socket comprises the following steps:
11. assembling a spherical end socket: assembling the end enclosure on a positioner, wherein the horizontal distance fluctuation and the vertical distance fluctuation of the inner edge of the end enclosure from a reference mark rod are both required to be less than 5mm, so that the rotation central axis of the end enclosure can be approximately considered to be coincident with the rotation central axis of a turntable of the positioner, and the positions of the end enclosure and the turntable of the positioner can be seen in figure 1;
12. data input: inputting the spherical diameter and the welding linear speed of the spherical end socket into a positioner;
14. establishing a mathematical model: as shown in the figure l, l is a horizontal plane, and m is a positioner working turntable; the point A is the center of a welding strip at the welding position, and the welding position is required to be a horizontal position, so that the horizontal plane and the inner surface of the end socket are tangent to the point A, and OA T |; OP is a rotary central shaft of the end socket and the rotary table, so OP is T m; the angle alpha is the angle formed by the turntable m and the horizontal plane l when the current welding position finds the tipping angle of the horizontal back end socket; OA is the spherical radius of the inner surface of the end socket; AB is the rotary radius of the end socket, and AB is T OP. Obtaining an angle AOP ═ alpha from OP ═ m and OA ═ l;
and (3) obtaining a calculation formula: v 2 pi SR ω sin α; automatically calculating the rotation speed according to the detected tilting angle, the input spherical diameter of the spherical end socket and the input welding speed by a formula v-2 pi SR omega sin alpha;
14. and (6) welding.
Further, in the formula v ═ 2 pi SR ω sin α:
v-linear velocity of the central point of the welding strip at the welding position, mm/min;
SR is the spherical radius of the inner surface of the end socket, mm;
omega-rotation speed of the end socket, rotation/min;
alpha-the tip angle of the head, degree.
Further, as shown in fig. 2, the welding speed in the formula v 2 pi SR ω sin α can be expressed as the linear speed of the center point of the welding strip at the welding position, which is only related to SR, ω and α, and is not related to the distance of the head from the turntable (the height of the tie bar during assembly) and the thickness of the head.
Furthermore, the positioner is divided into two types, namely a positioner with a control system and a positioner without a control system;
further, when the positioner is provided with a control system, the control system is used for detecting the tilting angle of the turnover shaft, and then the rotation speed calculated according to the formula v ═ 2 pi SR ω sin alpha is used for controlling the rotation of the rotating shaft through inputting the diameter of the spherical end socket in the control system and the set welding speed;
furthermore, when the positioner does not have a control system, an external controller and an inclination angle sensor need to be arranged; detecting a tipping angle by using an inclination angle sensor, inputting the tipping angle, the spherical diameter of the spherical end socket and a set welding speed into an external controller, calculating by the external controller through a formula v ═ 2 pi SR ω sin alpha to obtain the rotating speed of the rotating shaft, and finally controlling the rotation of the rotating shaft of the positioner;
further, the positioner detects the tilt angle of the reversing shaft in the following two ways:
the positioner is provided with a tilting shaft servo system, and the tilting angle is detected by the tilting shaft servo system;
and secondly, the positioner does not have a tilting axis servo system, needs to be provided with an external tilt angle sensor, and depends on the tilt angle sensor to detect the tilting angle.
Further, the external controller is one of a single chip microcomputer and a PLC, but is not limited to the above two.
Compared with the prior art, the invention has the following advantages:
1. according to the automatic setting method for the inner wall surfacing welding linear speed of the spherical end socket, the rotary rotating speed of the positioner is automatically controlled after the welding linear speed and the spherical diameter of the end socket are directly input, so that the real-time automatic setting of the welding speed is realized during the inner wall surfacing welding of the spherical end socket, manual meter clamping and calculation are avoided, the welding rotating speed is adjusted, and the welding efficiency is improved;
2. according to the automatic setting method for the bead welding linear velocity of the inner wall of the spherical seal head, the rotary speed of the positioner is automatically controlled through automatic calculation of the linear velocity, so that the welding speed setting precision during bead welding of the inner wall of the spherical seal head is improved, and the welding quality is improved;
3. according to the automatic setting method for the inner wall surfacing welding linear speed of the spherical seal head, the rotary rotating speed corresponding to the welding speed is automatically calculated by detecting the tipping angle of the seal head in real time, so that the rotary rotating speed corresponding to the welding speed is automatically adjusted after the tipping angle of the seal head is changed, the rotary rotating speed is not required to be manually adjusted again, and the welding efficiency is further improved.
In conclusion, the technical scheme of the invention solves the problems that the existing welding positioner in the prior art can only set the rotating speed of the rotating shaft, is not the linear speed required by the actual welding process, requires an operator to repeatedly adjust the rotating speed of the positioner and pinches a meter to measure and calculate the actual linear speed of the welding position, so that the actual linear speed of the welding position is close to the required welding speed, the rotating speed needs to be manually adjusted again after the roll-over angle of the end socket is changed, the welding speed adjusting efficiency is low, the error is large, and the welding efficiency is reduced and the welding quality is unstable.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a schematic view of the installation position of the seal head of the present invention;
FIG. 2 is a schematic diagram illustrating the independence of line speed from tie bar length and head thickness in accordance with the present invention;
FIG. 3 is a flow chart of a method for automatically setting welding speed by a positioner provided with a tilting axis servo system according to the invention;
FIG. 4 is a flow chart of a method for automatically setting welding speed without a tilting axis servo system for the positioner according to the invention.
Detailed Description
It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the invention. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
The relative arrangement of the components and steps, the numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective portions shown in the drawings are not drawn in an actual proportional relationship for the convenience of description. Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate. In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.
In the description of the present invention, it is to be understood that the orientation or positional relationship indicated by the directional terms such as "front, rear, upper, lower, left, right", "lateral, vertical, horizontal" and "top, bottom", etc., are generally based on the orientation or positional relationship shown in the drawings, and are used for convenience of description and simplicity of description only, and in the absence of any contrary indication, these directional terms are not intended to indicate and imply that the device or element so referred to must have a particular orientation or be constructed and operated in a particular orientation, and therefore should not be considered as limiting the scope of the present invention: the terms "inner and outer" refer to the inner and outer relative to the profile of the respective component itself.
Spatially relative terms, such as "above … …," "above … …," "above … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial relationship to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is turned over, devices described as "above" or "on" other devices or configurations would then be oriented "below" or "under" the other devices or configurations. Thus, the exemplary term "above … …" can include both an orientation of "above … …" and "below … …". The device may be otherwise variously oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
It should be noted that the terms "first", "second", and the like are used to define the components, and are only used for convenience of distinguishing the corresponding components, and the terms have no special meanings unless otherwise stated, and therefore, the scope of the present invention should not be construed as being limited.
As shown in fig. 1-4, the invention provides a method for automatically setting the welding linear velocity of the inner wall of a spherical head, which comprises the following steps:
11. assembling a spherical end socket: assembling the end socket on a positioner, wherein the rotation central axis of the end socket is superposed with the rotation central axis of a turntable of the positioner;
12. data input: inputting the spherical diameter and the welding linear speed of the spherical end socket into a positioner;
13. establishing a mathematical model: and (3) obtaining a calculation formula through modeling: v 2 pi SR ω sin α; automatically calculating the rotation speed according to the detected tilting angle, the input spherical diameter of the spherical end socket and the input welding speed by a formula v-2 pi SR omega sin alpha;
14. and (6) welding.
As shown in fig. 1 and 2, the formula v ═ 2 pi SR ω sin α:
v-linear velocity of the central point of the welding strip at the welding position, mm/min;
SR is the spherical radius of the inner surface of the end socket, mm;
omega-rotation speed of the end socket, rotation/min;
alpha-the tip angle of the head, degree.
The welding speed in the formula v 2 pi SR ω sin α can be expressed in terms of the linear speed of the center point of the welding strip at the welding position, and is only related to SR, ω and α, and is not related to the distance between the seal head and the turntable (the height of the tie bar during assembly) and the thickness of the seal head.
As shown in fig. 3 and 4, the positioner is divided into two types, namely a positioner with a control system and a positioner without a control system;
when the positioner is provided with a control system, the control system is used for detecting the tilting angle of the turnover shaft, and then the rotation speed calculated according to the formula v ═ 2 pi SR ω sin alpha is used for controlling the rotation of the rotating shaft through inputting the diameter of the spherical end socket in the control system and the set welding speed;
when the positioner does not have a control system, an external controller and an inclination angle sensor need to be arranged; detecting a tipping angle by using an inclination angle sensor, inputting the tipping angle, the spherical diameter of the spherical end socket and a set welding speed into an external controller, calculating by the external controller through a formula v ═ 2 pi SR ω sin alpha to obtain the rotating speed of the rotating shaft, and finally controlling the rotation of the rotating shaft of the positioner;
the detection of the rollover angle of the reverse shaft by the position changer comprises the following two modes:
the positioner is provided with a tilting shaft servo system, and the tilting angle is detected by the tilting shaft servo system;
and secondly, the positioner does not have a tilting axis servo system, needs to be provided with an external tilt angle sensor, and depends on the tilt angle sensor to detect the tilting angle.
The external controller is one of a single chip microcomputer and a PLC, but not limited to the two.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (6)
1. A method for automatically setting the welding linear velocity of the inner wall of a spherical end socket is characterized by comprising the following steps:
the automatic setting method of the welding linear velocity of the inner wall of the spherical end socket comprises the following steps:
11. assembling a spherical end socket: assembling the end socket on a positioner, wherein the rotation central axis of the end socket is superposed with the rotation central axis of a turntable of the positioner;
12. data input: inputting the spherical diameter and the welding linear speed of the spherical end socket into a positioner;
13. establishing a mathematical model: and (3) obtaining a calculation formula through modeling: v 2 pi SR ω sin α; automatically calculating the rotation speed according to the detected tilting angle, the input spherical diameter of the spherical end socket and the input welding speed by a formula v-2 pi SR omega sin alpha;
14. and (6) welding.
2. The automatic setting method of the welding linear velocity of the inner wall of the spherical seal head according to claim 1, which is characterized in that:
in the formula v ═ 2 pi SR ω sin α:
v-linear velocity of the central point of the welding strip at the welding position, mm/min;
SR is the spherical radius of the inner surface of the end socket, mm;
omega-rotation speed of the end socket, rotation/min;
alpha-the tip angle of the head, degree.
3. The automatic setting method of the welding linear velocity of the inner wall of the spherical seal head according to claim 1, which is characterized in that:
the welding speed in the formula v 2 pi SR ω sin α can be expressed by the linear speed of the central point of the welding strip at the welding position, and is only related to SR, ω and α, and is not related to the distance between the seal head and the rotary table (the height of the tie bar during assembly) and the thickness of the seal head.
4. The automatic setting method of the welding linear velocity of the inner wall of the spherical seal head according to claim 1, which is characterized in that:
the positioner is divided into two types, namely a positioner with a control system and a positioner without a control system;
when the positioner is provided with a control system, the control system is used for detecting the tilting angle of the turnover shaft, and then the rotation speed calculated according to the formula v ═ 2 pi SR ω sin alpha is used for controlling the rotation of the rotating shaft through inputting the diameter of the spherical end socket in the control system and the set welding speed;
when the positioner does not have a control system, an external controller and an inclination angle sensor need to be arranged; detecting a tipping angle by using an inclination angle sensor, inputting the tipping angle, the spherical diameter of the spherical end socket and a set welding speed into an external controller, calculating by the external controller through a formula v ═ 2 pi SR ω sin alpha to obtain the rotating speed of the rotating shaft, and finally controlling the rotation of the rotating shaft of the positioner;
5. the automatic setting method of the welding linear velocity of the inner wall of the spherical seal head according to claim 4, which is characterized in that:
the method for detecting the rollover angle of the reversing shaft by the positioner comprises the following two modes:
the positioner is provided with a tilting shaft servo system, and the tilting angle is detected by the tilting shaft servo system;
and secondly, the positioner does not have a tilting axis servo system, needs to be provided with an external tilt angle sensor, and depends on the tilt angle sensor to detect the tilting angle.
6. The automatic setting method of the welding linear velocity of the inner wall of the spherical seal head according to claim 4, which is characterized in that:
the external controller is one of a single chip microcomputer and a PLC, but not limited to the two.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111580544.6A CN114131278A (en) | 2021-12-22 | 2021-12-22 | Method for automatically setting welding linear velocity of inner wall of spherical end socket |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111580544.6A CN114131278A (en) | 2021-12-22 | 2021-12-22 | Method for automatically setting welding linear velocity of inner wall of spherical end socket |
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| JPH0679459A (en) * | 1992-09-03 | 1994-03-22 | Nkk Corp | Method and equipment for welding elliptical pipe |
| CN201140320Y (en) * | 2007-08-23 | 2008-10-29 | 上海电机学院 | Large-scale rotary header weld deposit combined flexible soldering workstation based on track |
| RU2404885C1 (en) * | 2009-11-17 | 2010-11-27 | Александр Владимирович Седов | Method of welding tube face hole |
| CN102275027A (en) * | 2011-07-14 | 2011-12-14 | 中国第一重型机械集团大连加氢反应器制造有限公司 | Resurfacing welding device and resurfacing welding method for inner wall of irregular circular cavity |
| CN105149834A (en) * | 2015-09-29 | 2015-12-16 | 清华大学 | Motion control method for large component plane curve track welding |
| CN107457469A (en) * | 2016-06-06 | 2017-12-12 | 南京理工大学 | A kind of carbon steel structure part is from compression arc increasing material manufacturing method |
| CN109454230A (en) * | 2018-10-30 | 2019-03-12 | 首都航天机械有限公司 | A kind of pressure vessel hemisphere increasing material manufacturing paths planning method |
| CN113649738A (en) * | 2021-09-07 | 2021-11-16 | 二重（德阳）重型装备有限公司 | Irregular rotary cavity wall surfacing track obtaining method and full-automatic surfacing method thereof |
-
2021
- 2021-12-22 CN CN202111580544.6A patent/CN114131278A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0679459A (en) * | 1992-09-03 | 1994-03-22 | Nkk Corp | Method and equipment for welding elliptical pipe |
| CN201140320Y (en) * | 2007-08-23 | 2008-10-29 | 上海电机学院 | Large-scale rotary header weld deposit combined flexible soldering workstation based on track |
| RU2404885C1 (en) * | 2009-11-17 | 2010-11-27 | Александр Владимирович Седов | Method of welding tube face hole |
| CN102275027A (en) * | 2011-07-14 | 2011-12-14 | 中国第一重型机械集团大连加氢反应器制造有限公司 | Resurfacing welding device and resurfacing welding method for inner wall of irregular circular cavity |
| CN105149834A (en) * | 2015-09-29 | 2015-12-16 | 清华大学 | Motion control method for large component plane curve track welding |
| CN107457469A (en) * | 2016-06-06 | 2017-12-12 | 南京理工大学 | A kind of carbon steel structure part is from compression arc increasing material manufacturing method |
| CN109454230A (en) * | 2018-10-30 | 2019-03-12 | 首都航天机械有限公司 | A kind of pressure vessel hemisphere increasing material manufacturing paths planning method |
| CN113649738A (en) * | 2021-09-07 | 2021-11-16 | 二重（德阳）重型装备有限公司 | Irregular rotary cavity wall surfacing track obtaining method and full-automatic surfacing method thereof |
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