CN114211089A - Pipeline flexible assembly and automatic welding composite working method - Google Patents
Pipeline flexible assembly and automatic welding composite working method Download PDFInfo
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- CN114211089A CN114211089A CN202111529795.1A CN202111529795A CN114211089A CN 114211089 A CN114211089 A CN 114211089A CN 202111529795 A CN202111529795 A CN 202111529795A CN 114211089 A CN114211089 A CN 114211089A
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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
- B23K9/02—Seam welding; Backing means; Inserts
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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
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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
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- Mechanical Engineering (AREA)
- Butt Welding And Welding Of Specific Article (AREA)
- Arc Welding In General (AREA)
Abstract
The invention provides a composite working method for flexible assembly and automatic welding of a pipeline. Performing in-situ calibration on the pipeline on a flexible platform, and arranging a flexible platform self-made clamp for fixing the calibrated pipeline to realize semi-automatic mechanical assembly of the pipeline; the R-type positioner and the positioner are used for self-making a centering fixture for fixing a pipeline to be welded and enabling the pipeline to be centered and rotated, so that the pipe fitting is quickly clamped, the pipe fitting is driven to rotate 360 degrees, and the pipe fitting can be linked with a pipe robot welding system; and (4) completing welding by using an automatic welding robot, and compounding flexible assembly and automatic welding. Finally, the welding shrinkage is controllable, so that the requirement for manufacturing high-precision pipelines is met. The residual height of the inner wall of the pipeline is uniform and consistent, can be controlled within 1mm, and can reduce deformation after welding, the error of the integral deformation angle after welding is within 0.5 degrees, and the subsequent integral assembly precision is controllable. The method is suitable for being applied as a composite working method for flexible assembly and automatic welding of pipelines.
Description
Technical Field
The invention relates to a pipeline inner field processing method in the field of welding, in particular to a pipeline flexible assembly and automatic welding composite working method.
Background
The manufacturing of the ship system pipeline has the characteristics of various forms, various material types, various production varieties, small batch, high precision and heavy task, belongs to typical discrete manufacturing, but cannot be manufactured in large scale and batch. The materials involved in the pipeline manufacturing are various, including austenitic stainless steel, iron white copper, ultra-low carbon duplex stainless steel, carbon steel and the like, the difference of the welding seam types is large, and the welding shrinkage is difficult to estimate. Meanwhile, when the system works, the pressure of the pipeline is high, and the requirement on welding quality is very strict.
By combining the characteristics, most of the existing pipeline prefabrication can only adopt the traditional manual correction mode, the assembly mode has low efficiency, low precision and large rework amount, and the phenomenon of out-of-tolerance deformation after pipeline welding often occurs. The traditional pipeline welding mode adopts manual welding, and the manual welding also has partial defects: the labor intensity of welders is high, the welding quality is not easy to guarantee, the welding deformation is large, and the repair rate of welding seams is high. Meanwhile, the manufacturing process adopted by prefabricating the pipeline is 'integral assembly and integral welding of the pipeline'. The pipeline manufactured by the process has large form and size change in the manufacturing process under the influence of assembly precision, welding shrinkage and welding deformation, and the design requirement of the assembly precision is difficult to meet.
At present, a plurality of manufacturers abroad realize the automatic and intelligent welding of the system pipeline, and at present, relevant mature equipment is introduced to the market at home and abroad in the manufacturing direction of plane and space piping. Although the requirement of basic functions can be met functionally, the functions of the intelligent control system only stay in batch manufacturing of single action size, and the automation and intelligence level of the whole intelligent control system is low. Meanwhile, residual stress caused by uneven temperature field generated by welding heating often causes stress corrosion and stress release defects in later-stage pipeline use, and the requirements on assembly precision and quality of welded finished products cannot be basically met.
Disclosure of Invention
The invention provides a pipeline flexible assembly and automatic welding composite working method, aiming at improving the in-situ manufacturing and welding quality of a ship pipeline. The method is characterized in that a flexible platform is used for correcting the size of a pipeline, a centering fixture tool is self-made by a positioner and used for limiting the pipeline on the flexible platform, an R-shaped positioner is used for driving the pipeline to rotate, and a welding robot moves in a reciprocating mode along the axial direction of the pipeline, so that automatic welding is realized; the traditional manual manufacturing process flow is changed, the working efficiency is greatly improved, and the technical problem of prefabrication and manufacturing in the pipeline is solved.
The technical scheme adopted by the invention for solving the technical problem is as follows:
a pipeline flexible assembly and automatic welding composite working method comprises the steps of performing in-situ calibration on a flexible platform, and arranging a flexible platform self-made clamp for fixing a calibrated pipeline to realize semi-automatic mechanical assembly of the pipeline; the R-type positioner and the positioner self-made centering fixture tool are used for fixing and centering the pipeline to be welded, so that the rapid clamping of the pipe fitting is realized, the pipe fitting is driven to rotate for 360 degrees, and the pipe fitting can be linked with a pipe robot welding system; the method is characterized in that an automatic welding robot is used for completing welding, flexible assembly and automatic welding are combined, and the method comprises the following steps:
1. the constructor identifies the pipe manufacturing drawing and segments the pipeline; firstly assembling a flange A and a pipeline A, namely a welding seam 1, then assembling a pipeline B and a flange B, namely a welding seam 2, and finally folding and welding the pipelines at two ends to form a welding seam 3;
2. respectively placing the segmented pipelines on a flexible platform to perform pipeline and flange calibration, determining the assembly information of a flange corner and a bent corner according to a drawing, manufacturing the flange and a pipeline groove according to a double-V-shaped gapless groove, and fixing the flange and the pipeline groove by using a flexible platform self-made clamp; the inclination angles of the double V-shaped gapless groove are respectively 15 degrees and 45 degrees, and the width of the single-side welding seam is 4+1mm；
3. Respectively carrying out spot welding on the finished welding seams 1 and 2;
4. respectively placing the pipeline A and the pipeline B which are assembled with the flanges in an R-type positioner, then self-making a centering fixture tool by the positioner to place a welding seam at the welding position of an automatic welding robot, and filling protective gas into the pipeline; the argon-helium mixed gas with the ratio of argon to helium being 1:1 is adopted, the welding effect is optimal, the welding penetration is enough, and the welding process is stable enough;
5. driving an automatic welding robot and an R-type positioner to complete the welding task of the welding seam 1 and the welding seam 2;
6. the two welded segmented pipelines are assembled and closed by using a flexible platform, the butt joint form of a welding seam 3 refers to a double-V-shaped gapless groove, the inclination angles of the grooves are 15 degrees and 45 degrees respectively, and the width of a single-side welding seam is 4 degrees+1mm; fixing the flexible platform self-made clamp;
7. spot welding the completed weld 3;
8. placing the whole pipeline in an R-type positioner, then self-making a centering fixture tool by the positioner to place a welding seam at the welding position of an automatic welding robot, and filling protective gas into the pipeline; the argon-helium mixed gas with the ratio of argon to helium being 1:1 is adopted, the welding effect is optimal, the welding penetration is enough, and the welding process is stable enough;
9. and driving the automatic welding robot and the R-shaped positioner to complete the welding task of the welding seam 3.
The positive effects are as follows:
1. the novel groove form and the butt joint mode are invented, the butt joint clearance is eliminated, the assembling difficulty is reduced, and the assembling precision is effectively improved;
2. through changing original preparation process flow, carry out work type, process with flexible assembly and automatic welding and compound, when reducing the skill requirement to the workman by a wide margin, can realize welder and the mutual substitution of pipe school worker role, promote personnel's circulation and station beat efficiency, realized automatic, digital, high-efficient high-quality piping assembly welding manufacturing. The turnover links are reduced, and the working efficiency is greatly improved.
3. The traditional processing mode is to segment the whole pipeline, manually measure and correct the pipeline after each welding, and then perform the pipeline welding. The method realizes the rapid clamping and centering of the three-dimensional pipeline by adaptively transforming the R-shaped pipeline positioner, realizes the synchronous rotary welding with a welding robot system by the control of an arc welding system, can effectively estimate the welding shrinkage by the solidification of welding parameters and the accumulation of a database, and can also control the deformation within 0.5 degrees, thereby ensuring the effective control of the welding deformation;
4. the pipe system welding joint forms which can be realized comprise functions of butt joint automatic welding of short pipe-flange, short pipe-elbow, straight pipe-straight pipe, straight pipe-flange, straight pipe-elbow and the like. Thus, semi-automatic assembly of system pipeline prefabrication and automatic welding of pipelines are realized, and the tolerance requirement of-3 mm to +2mm of the size of a welded finished product is met.
5. Compared with a conventional 30-degree V-shaped groove, the novel groove form can eliminate a welding chock and reduce welding filling quantity. The method comprises the steps of observing the arc form and the molten drop transition characteristics under different protective gas conditions by a high-speed photography method, collecting spectral signals of characteristic points during arc combustion, analyzing the difference of the spectral signals under different protective gas conditions, carrying out X-ray detection on a welded joint, further obtaining the response relation of each component of the protective gas to the performance according to an action rule, reversely deducing a welding process parameter solution according to the pipe system characteristics of different wall thicknesses, and realizing the optimization of the microstructure and the mechanical property of the welded joint. After the research, the argon-helium mixed gas with the ratio of argon to helium being 1:1 is adopted, the welding effect is optimal, the welding penetration is enough, and the welding process is stable enough.
6. Through designing positioner self-control centering fixture attachment, the key technological problem of the coaxial centering of heavy load and the variable radial ascending biax linkage has been broken through, realizes the high accuracy assembly of complicated piping and excellent deformation suppression after welding, reduces the manual clamping degree of difficulty and school shape time simultaneously by a wide margin, has ensured the high-efficient high quality production of piping.
Therefore, the method is suitable for being applied as a composite working method for flexible assembly and automatic welding of the pipeline.
Drawings
FIG. 1 is a schematic view of a pipe to be processed;
FIG. 2 is a schematic view of two single pipes assembled with flanges in sections;
FIG. 3 is a schematic view of automatic welding of a weld 1;
FIG. 4 is a schematic view of automatic welding of a weld 2;
FIG. 5 is a schematic view of the overall closure assembly;
FIG. 6 is a schematic view of automatic welding of a weld;
FIG. 7 is a standard diagram of the form of double V-grooves and the butt-joint parameters.
The automatic welding machine comprises an assembly flange A, a pipeline B, a flange B, a flexible platform 5, a flexible platform self-control clamp 6, an R-type positioner 7, an automatic welding robot 8 and a positioner self-control centering clamp tool 9.
Detailed Description
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 some, but not all, embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. 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.
According to the figure, a pipeline flexible assembly and automatic welding composite working method is characterized in that pipeline inner field calibration is performed on a flexible platform 5, and a flexible platform self-made clamp 6 is arranged for fixing a calibrated pipeline to realize semi-automatic mechanical assembly of the pipeline; the R-shaped positioner 7 and the positioner self-made centering fixture tool 9 are used for fixing and centering the pipeline to be welded, so that the rapid clamping of the pipe fitting is realized, the pipe fitting is driven to rotate for 360 degrees, and the pipe fitting can be linked with a pipe robot welding system; an automatic welding robot 8 is applied to complete the welding task of meeting the working scene with higher precision requirement and higher welding quality requirement; by combining the device, the tool and the process, a new set of process flow and a manufacturing method which are effective, improve the precision and improve the efficiency are formed; the main flow of the method of the present invention is further illustrated by taking fig. 1 as an example with reference to the accompanying drawings:
1. as shown in fig. 1, a constructor recognizes a pipe manufacturing drawing to segment a pipe; firstly assembling a flange A1 and a pipeline A2, namely a welding seam 1, then assembling a pipeline B3 and a flange B4, namely a welding seam 2, and finally folding and welding the pipelines at two ends to form a welding seam 3;
2. respectively placing the segmented pipelines on a flexible platform 5 to perform pipeline and flange calibration, determining the assembly information of the corner and the curve angle of the flange according to a drawing, aligning the flange and the pipeline groove according to the drawing 6, and fixing the flange and the pipeline groove by using a flexible platform self-made clamp 6. As shown in figure 2, the inclination angles of the double V-shaped gapless groove are respectively 15 degrees and 45 degrees, and the width of the single-side weld joint is 4+1mm，；
3. Respectively carrying out spot welding on the finished welding seams 1 and 2;
4. and respectively placing the pipeline A2 and the pipeline B3 which are assembled with the flanges in an R-type positioner 7, self-making a centering fixture tool 9 by the positioner to place the welding seam at the welding position of an automatic welding robot 8, and filling protective gas into the pipeline. The argon-helium mixed gas with the ratio of argon to helium being 1:1 is adopted, the welding effect is optimal, the welding penetration is enough, and the welding process is stable enough, as shown in figure 3;
5. driving an automatic welding robot 8 and an R-shaped positioner 7 to complete the welding task of the welding seam 1 and the welding seam 2;
6. assembling and folding two welded segmented pipelines by using a flexible platform 5, referring to assembly parameters of a welding seam 3 in reference to FIG. 1, referring to a butt joint form in reference to FIG. 6, forming a double-V-shaped gapless groove, wherein inclination angles of the groove are respectively 15 degrees and 45 degrees, and the width of a single-side welding seam is 4+ 1mm; then the flexible platform is fixed by a self-made clamp 6, as shown in figure 4;
7. spot welding the completed weld 3;
8. the whole pipeline is placed in an R-shaped positioner 7, then a centering fixture tool 9 is self-made by the positioner to place the welding line at the welding position of an automatic welding robot 8, and protective gas is filled in the pipeline. The argon-helium mixed gas with the ratio of argon to helium being 1:1 is adopted, the welding effect is optimal, the welding penetration is enough, and the welding process is stable enough; as shown in fig. 5;
9. and driving the automatic welding robot 8 and the R-shaped positioner 7 to complete the welding task of the welding seam 3.
The working principle of the invention is as follows:
the flexible platform is used for checking the size of the pipeline, the positioner self-made centering fixture tool is used for limiting the pipeline on the flexible platform, the R-type positioner is used for welding multi-angle rotation, the welding robot performs welding on the butt joint position, and finally the welding shrinkage is controlled, so that the requirement for manufacturing high-precision pipelines is met.
Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments or portions thereof without departing from the spirit and scope of the invention.
Claims (1)
1. A pipeline flexible assembly and automatic welding composite working method is characterized in that: performing pipeline inner field calibration on the flexible platform (5), and arranging a flexible platform self-made clamp (6) for fixing the calibrated pipeline to realize semi-automatic mechanical assembly of the pipeline; an R-shaped positioner (7) and a positioner self-made centering fixture tool (9) are used for fixing a pipeline to be welded and enabling the pipeline to be centered and rotated, so that the pipe fitting is quickly clamped, the pipe fitting is driven to rotate for 360 degrees, and the pipe fitting can be linked with a pipe robot welding system; an automatic welding robot (8) is used for completing welding, flexible assembly and automatic welding are combined, and the method comprises the following steps:
1) the constructor identifies the pipe manufacturing drawing and segments the pipeline; firstly assembling a flange A (1) and a pipeline A (2), namely a welding seam 1, then assembling a pipeline B (3) and a flange B (4), namely a welding seam 2, and finally folding and welding the pipelines at two ends to form a welding seam 3;
2) respectively placing the segmented pipelines on a flexible platform (5) to perform pipeline and flange calibration, determining the assembly information of a flange corner and a bent corner according to a drawing, manufacturing the flange and a pipeline groove according to a double-V-shaped gapless groove, and fixing the flange and the pipeline groove by using a flexible platform self-made clamp (6); the inclination angles of the double V-shaped gapless groove are respectively 15 degrees and 45 degrees, and the width of the single-side welding seam is 4+1mm；
3) Respectively carrying out spot welding on the finished welding seams 1 and 2;
4) respectively placing a pipeline A (2) and a pipeline B (3) which are assembled with flanges in an R-type positioner (7), then placing a welding seam in a welding position of an automatic welding robot (8) through a centering fixture tool (9) self-made by the positioner, and filling protective gas into the pipeline; the argon-helium mixed gas with the ratio of argon to helium being 1:1 is adopted, the welding effect is optimal, the welding penetration is enough, and the welding process is stable enough;
5) driving an automatic welding robot (8) and an R-shaped positioner (7) to complete the welding task of the welding seam 1 and the welding seam 2;
6) the two welded segmented pipelines are assembled and closed by using a flexible platform (5), the butt joint form of a welding seam 3 refers to a double-V-shaped gapless groove, the inclination angles of the groove are 15 degrees and 45 degrees respectively, and the width of a single-side welding seam is 4 degrees+1mm; then the flexible platform self-made clamp (6) is used for fixing the flexible platform self-made clamp;
7) spot welding the completed weld 3;
8) placing the whole pipeline in an R-shaped positioner (7), then self-making a centering fixture tool (9) by the positioner to place a welding line at the welding position of an automatic welding robot (8), and filling protective gas into the pipeline; the argon-helium mixed gas with the ratio of argon to helium being 1:1 is adopted, the welding effect is optimal, the welding penetration is enough, and the welding process is stable enough;
9) and driving an automatic welding robot (8) and an R-shaped positioner (7) to complete the welding task of the welding seam (3).
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