CN114273749A - Method for realizing no-joint welding of welding seam by double-robot cooperative welding of space complex component - Google Patents
Method for realizing no-joint welding of welding seam by double-robot cooperative welding of space complex component Download PDFInfo
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Abstract
The invention discloses a method for realizing the jointless welding seam of a space complex component by the cooperative welding of double robots, which is characterized in that a welding gun 1, a welding gun 2 and a welding system thereof are respectively arranged on the double robots capable of performing the cooperative welding, the system is utilized to weld the closed-loop welding seam of the space complex component, a welding path is divided into three sections of an arc starting transition section, a stable welding section and an arc ending transition section, different sections adopt different welding process specifications, the arc starting transition section and the arc ending transition section adopt small current parameters, the stable welding section is matched with the optimal process parameters, the consistent forming of the welding seams of all the sections is ensured, and the defect that the welding seam is easy to generate due to the influence of gravity on a molten pool of the space complex component at different space positions is solved.
Description
Technical Field
The invention relates to the technical field of robot welding, in particular to a method for realizing joint-free welding seams by double-robot cooperative welding of space complex components.
Background
In recent years, the market demand of robot welding technology is continuously expanding, software and hardware related to the robot welding technology are rapidly developing towards intellectualization, and the welding process is also adaptively adjusted from a traditional mode to the automatic welding direction of a robot.
For the manufacture of spatially complex components, it is often necessary to tailor-weld two or more components into a unitary component, the weld joint typically being a closed loop weld joint. In order to improve the quality of weld joint, full penetration and full welding processes are generally adopted. Compared with an intermittent weld, the intermittent weld is easy to form stress concentration in an unwelded area and generate defects such as cracks because part of the position of the intermittent weld is not welded, so that a closed-loop weld is generally adopted for welding a welding part with high requirements on bearing capacity and quality.
For the welding of closed-loop welding seams of space complex mechanisms, the prior art generally adopts an end-to-end mode for welding, and the arc starting point and the arc ending point are overlapped to form a joint at the end-to-end position. Because the arc-retracting points at the joints are affected differently by the gravity of the molten pool at different spatial positions, the molten pool flows down to cause poor weld formation, and the arc-retracting process has large difference, so that the defects of unfused, air holes, cracks and the like are easily generated at the joints to cause poor weld quality at the joints.
The invention provides a method for realizing the jointless welding of the welding seam by the double-robot cooperative welding of the space complex component.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the method for realizing the joint-free welding seam through the cooperative welding of the double robots of the space complex component is provided, the welding guns 1 and 2 and the welding systems thereof are respectively arranged on the double robots capable of performing cooperative welding, and the system is utilized to weld the closed-loop welding seam of the space complex component.
The technical scheme adopted by the invention for solving the technical problems is as follows: a method for realizing welding seam joint-free through double-robot collaborative welding of a space complex component is characterized in that a welding gun 1, a welding gun 2 and a welding system thereof are respectively arranged on the double robots capable of collaborative welding, and the system is utilized to weld a closed-loop welding seam of the space complex component, and specifically comprises the following steps:
step1: the double-robot welding gun 1 and the welding gun 2 respectively start arcs from a point P1 and a point P1' near an arc starting intersection point P0, and the welding gun moves along a welding path radial direction P0 in a push welding posture after the arcs start (the included angles between the welding gun 1 and the welding gun 2 and the advancing direction are theta respectively1、θ2) After the two molten pools at the arcing molten pool points P2 and P2' which are moved to the point close to the arcing intersection point P0 form a molten pool, the welding guns 1 and 2 are lifted to Z1And respectively moving back to the points P1 and P1 'along the welding seam in a pull welding posture, wherein the sections P1 → P2 → P1, P1' → P2 '→ P1' are arc starting transition sections;
step2: after the postures of the double-robot welding gun 1 and the welding gun 2 are adjusted to be normal postures (welding postures corresponding to the optimal process in process pre-research), the welding guns respectively move from points P1 and P1 'near an arc starting intersection point P0 to points P3 and P3' near an arc extinguishing intersection point P5 along a welding path, and P1 → P3 and P1 '→ P3' are stable welding sections;
and step3: after the welding gun 1 and the welding gun 2 respectively move to P3 and P3', the posture of the welding gun is adjusted to be a push welding posture, and the push welding posture moves to the arc extinction intersection point P5 along the welding line path (the included angles between the welding gun 1 and the welding gun 2 and the advancing direction are theta respectively)5、θ6) After the two molten pools move to the points P4 and P4' close to the arc quenching intersection point to form a common molten pool, the welding guns 1 and 2 raise Z2And respectively moving back along the welding seam in a pull welding posture to a point P3 and a point P3 'for arc quenching, wherein sections P3 → P4 → P3, P3' → P4 '→ P3' are arc-closing transition sections.
Further, the current is I when the welding seam of the arc striking transition section is welded in the step1Get up，IGet upTaking (1/2-2/3) × I0In which I0The wire feeding speed of the welding seam of the arcing transition section is V for stabilizing the current during the welding of the welding sectionGet up，VGet upTaking (1/2-2/3) × V0In which V is0The wire feeding speed is the wire feeding speed during the welding of the stable welding section.
Furthermore, in the whole welding process, included angles between the welding gun 1 and the welding gun 2 and the bottom surface of the workpiece are respectively theta3、θ4，θ3、θ4Is 30-50 degrees.
Further, the welding gun lift amount Z1And (4) taking 1/3-2/3 of the weld layer height of the stable welding section.
Further, in the step1, the included angle between the welding line of the arc striking transition section and the horizontal plane is theta7The weld length L from the arc starting points P1, P1' to the arc starting intersection point P01、L1’Length L of weld from the point of common melting pool for arc starting P2, P2' to the point of intersection for arc starting2、L2’Included angle theta between welding gun 1 and welding gun 2 and advancing direction1、θ2The value of (A) satisfies:
(1) when theta is7L is 0-10 DEG or 350-360 DEG1、L1’1/3-4/3 of the length of the molten pool, L21 to 8mm, L2’＝L2，θ1Is 130 to 160 degrees theta2Is 130 degrees to 160 degrees;
(2) when theta is7L is 10-90 degrees or 270-350 degrees11/3-4/3, L of the length of the molten pool1’＝(1/2～2/3)L1，L21 to 10mm, L2’＝(1/2～2/3)L2，θ1Is 80 to 100 degrees theta2Is 130 degrees to 160 degrees;
(3) when theta is7At 90-270 DEG, L11/3-4/3, L of the length of the molten pool1’＝(2/3～3/4)L1，L21 to 10mm, L2’＝(2/3～3/4)L2，θ1Is 70 to 90 degrees theta2Is 130-160 degrees.
Further, the welding current is I when the stable welding section is welded in the step20The wire feeding speed is V when the stable welding section is welded0，I040 to 350A, V0Is 4 to 18 m/min.
Further, the current is I when the welding seam of the arc-closing transition section is welded in the step3Harvesting machine，IHarvesting machineTaking (1/2-2/3) × I0In which I0The wire feeding speed of the welding seam of the arc-closing transition section is V for stabilizing the current during the welding of the welding sectionHarvesting machine，VHarvesting machineTaking (1/2-2/3) × V0In which V is0The wire feeding speed is the wire feeding speed during the welding of the stable welding section.
Further, the welding gun is lifted in the step3Quantity Z2And (4) taking 1/3-2/3 of the weld layer height of the stable welding section.
Furthermore, in the step3, the included angle between the welding line of the arc-closing transition section and the horizontal plane is theta8The weld length L from the arc-quenching points P3, P3' to the arc-quenching intersection point P53、L3’Weld length L from the arc-quenching eutectic pool points P4, P4' to the arc-quenching intersection point P54、L4’Included angle theta between welding gun 1 and welding gun 2 and advancing direction5、θ6The value of (A) satisfies:
(1) when theta is8L is 0-10 DEG or 350-360 DEG3、L3’1/3-4/3 of the length of the molten pool, L41 to 8mm, L4’＝L4，θ5Is 130 to 160 degrees theta6Is 130 degrees to 160 degrees;
(2) when theta is8L is 10-90 degrees or 270-350 degrees31/3-4/3 of the length of the molten pool, L3’＝(1/2～2/3)L3，L41 to 10mm, L4’＝(1/2～2/3)L4，θ5Is 80 to 100 degrees theta6Is 130 degrees to 160 degrees;
(3) when theta is8At 90-270 DEG, L31/3-4/3 of the length of the molten pool, L3’＝(2/3～3/4)L3，L41 to 10mm, L4’＝(2/3～3/4)L4，θ5Is 70 to 90 degrees theta6Is 130-160 degrees.
The invention has the beneficial effects that:
1. the method for realizing the joint-free welding of the welding line by the double-robot cooperative welding of the space complex component adopts the double-robot cooperative welding, two welding guns arc by using small current and are close to each other, a common melting pool is formed in an arc retracting area to obtain the joint-free welding line, the problem that the arc retracting and starting positions of closed-loop welding lines are easy to generate welding defects is solved, and the welding line quality is improved;
2. the invention provides a method for realizing the joint-free welding of a welding line by the double-robot cooperative welding of a space complex component, which adopts the double-robot and double-gun cooperative welding, adopts different welding gun postures and point position parameters to form a common molten pool at the arc starting and stopping positions of different space positions, and solves the problem that the welding joint is easy to generate due to the influence of gravity on the molten pool of the space complex component at different space positions;
3. the invention provides a method for realizing the jointless welding seams by the double-robot cooperative welding of space complex components, which divides a welding path into an arc starting transition section, a stable welding section and an arc ending transition section, wherein different sections adopt different welding process specifications, the arc starting transition section and the arc ending transition section adopt small current parameters, and the stable welding section is matched with optimal process parameters, thereby ensuring the consistent welding seam formation of each section.
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The invention is further illustrated with reference to the following figures and examples.
FIG. 1 is a schematic view of the torch path for the jointless welding process of the present invention;
FIG. 2 is a view of the arc striking transition section of the jointless welding process projecting into the weld plane along the weld path;
FIG. 3 is a view of the arc-ending transition section of the jointless welding process projecting into the weld plane along the weld path;
FIG. 4 is a schematic view of a large cylindrical saddle weld path;
in the figure: 1. the method comprises the following steps of sealing a welding seam, 2. welding path, P0. arc starting intersection point, P1 arc starting point of a welding gun 1, P1 'arc starting point of a welding gun 2, P2 arc starting co-melting pool point of the welding gun 1, P2' arc starting co-melting pool point of the welding gun 2, P3 arc stopping point of the welding gun 1, P3 'arc stopping point of the welding gun 2, P4 arc stopping co-melting pool point of the welding gun 1, P4' arc stopping co-melting pool point of the welding gun 2 and P5. arc stopping intersection point.
Detailed Description
As shown in fig. 1 to fig. 3, the present invention provides a method for realizing welding seam no-joint by two robots for collaborative welding of a spatial complex component, wherein a welding gun 1 and a welding gun 2 are respectively installed on the two robots capable of collaborative welding and are integrated into a robot welding system, and the system is used for welding a closed-loop welding seam of the spatial complex component, and the present invention is further explained by embodiments below.
As shown in FIG. 4, taking a large cylindrical saddle-shaped weld as an example, the XOY plane is in the horizontal plane, and the weld parent metal is 316LThe stainless steel is welded by adopting a MIG welding process, and the welding wire is a 316L welding wire with the diameter of 1.2 mm. The welding process of the smooth section obtained by pre-grinding comprises the following steps: current I0240A, wire feeding speed of 10m/min, welding speed of 5mm/s and protective gas of 20L/min Ar gas. The specific implementation steps are as follows:
step1, arc striking is carried out on the welding gun 1 and the welding gun 2 of the double-robot respectively from a point P1 and a point P1' near an arc striking intersection point P0, the welding gun moves to a point P0 along a welding path in a push welding posture after arc striking, and an included angle theta between the welding gun 1 and the welding gun 2 and the advancing direction1、θ2After the two welding guns move to the point P2 and the point P2' close to the arc striking intersection point P0 respectively to form a molten pool, the welding gun 1 and the welding gun 2 are lifted to Z1And respectively moving back to the points P1 and P1 'along the weld joint in a pull welding posture, wherein the sections P1 → P2 → P1, P1' → P2 '→ P1' are arc starting transition sections, and the current is I when the weld joint is welded in the arc starting transition sectionsGet up，IGet up120A is taken, and the welding seam wire feeding speed of the arc striking transition section is VGet up，VGet upTaking 5m/min, and making an included angle theta between a welding line of an arcing transition section and a horizontal plane7Is 45 degrees.
Weld length L from arc starting points P1, P1' to arc starting intersection point P01、L1’Respectively taking the lengths L of the welding seams from 10mm and 6mm to the arc striking intersection points of the arc striking molten pool points P2 and P22、L2’Respectively taking 4mm and 2mm, and forming an included angle theta between the welding gun 1 and the welding gun 2 and the advancing direction1、θ2Respectively taking 90 degrees and 145 degrees, and forming included angles theta between the welding gun 1 and the welding gun 2 and the bottom surface of the workpiece3、θ4Take 45 degrees, the welding gun is lifted by Z1The weld height of the smooth welded segment is taken as 1/2.
Step2, after the postures of the double-robot welding gun 1 and the welding gun 2 are adjusted to be normal postures (welding postures corresponding to the optimal process in process pre-research), the welding guns respectively move from P1 and P1 'points near an arc starting intersection point P0 to P3 and P3' points near an arc extinguishing intersection point P5 along a welding path, P1 → P3 and P1 '→ P3' are stable welding sections, and welding current I is obtained when the stable welding sections are welded0Taking 240A, and feeding wire speed V during welding of stable welding section010m/min is taken.
Step3, after the welding gun 1 and the welding gun 2 of the double-robot move to P3 and P3' respectively, the posture of the welding gun is adjusted to push weldingThe posture moves to an arc extinguishing intersection point P5 along the welding seam path, and the included angles between the welding gun 1 and the welding gun 2 and the advancing direction are theta5、θ6After the two molten pools move to the points P4 and P4' close to the arc quenching intersection point to form a common molten pool, the welding guns 1 and 2 raise Z2And respectively moving back along the welding seam in a pull welding posture to a point P3 and a point P3 'for arc extinction, wherein sections P3 → P4 → P3, P3' → P4 '→ P3' are arc-closing transition sections, and the current I is used for welding the welding seam in the arc-closing transition sectionsHarvesting machine120A is taken, and the welding seam wire feeding speed V of the arc-closing transition sectionHarvesting machineTaking an included angle theta between a welding line of a closed arc transition section and a horizontal plane at 5m/min8Is 45 degrees.
Weld length L from arc-extinguishing point P3, P3' to arc-extinguishing point P53、L3’Respectively taking the weld length L from the arc quenching eutectic pool points P4 and P4' to the arc quenching intersection point P5 of 6mm and 10mm4、L4’Respectively taking 2mm and 4mm, and forming an included angle theta between the welding gun 1 and the welding gun 2 and the advancing direction5、θ6Respectively taking 90 degrees and 145 degrees, and the welding gun lifting amount Z2The weld height of the smooth welded segment is taken as 1/2.
In light of the foregoing description of the preferred embodiment of the present invention, many modifications and variations will be apparent to those skilled in the art without departing from the spirit and scope of the invention. The technical scope of the present invention is not limited to the content of the specification, and must be determined according to the scope of the claims.
Claims (9)
1. A method for realizing welding seam joint-free through double-robot cooperative welding of a space complex component is characterized by comprising the following steps: respectively installing a welding gun 1, a welding gun 2 and a welding system thereof on a double robot capable of cooperatively welding, and welding a closed-loop welding seam of a space complex component by using the system, wherein the method specifically comprises the following steps:
step1: the double-robot welding gun 1 and the welding gun 2 respectively start arcs from a point P1 and a point P1' near an arc starting intersection point P0, and the welding gun moves along a welding path radial direction P0 in a push welding posture after the arcs start (the included angles between the welding gun 1 and the welding gun 2 and the advancing direction are theta respectively1、θ2) Moving to the point of the arcing eutectic pool P2, P2' near the arcing intersection point P0After the two molten pools form a common molten pool, the welding gun 1 and the welding gun 2 are lifted to Z1And respectively moving back to the points P1 and P1 'along the welding seam in a pull welding posture, wherein the sections P1 → P2 → P1, P1' → P2 '→ P1' are arc starting transition sections;
step2: after the postures of the double-robot welding gun 1 and the welding gun 2 are adjusted to be normal postures, the welding guns respectively move from a point P1 and a point P1 'near an arc starting intersection point P0 to a point P3 and a point P3' near an arc extinguishing intersection point P5 along a welding path, and the points P1 → P3 and P1 '→ P3' are stable welding sections;
and step3: after the welding gun 1 and the welding gun 2 respectively move to P3 and P3', the posture of the welding gun is adjusted to be a push welding posture, and the push welding posture moves to the arc extinction intersection point P5 along the welding line path (the included angles between the welding gun 1 and the welding gun 2 and the advancing direction are theta respectively)5、θ6) After the two molten pools move to the points P4 and P4' close to the arc quenching intersection point to form a common molten pool, the welding guns 1 and 2 raise Z2And respectively moving back along the welding seam in a pull welding posture to a point P3 and a point P3 'for arc quenching, wherein sections P3 → P4 → P3, P3' → P4 '→ P3' are arc-closing transition sections.
2. The method for realizing the jointless welding of the welding seam by the double-robot cooperative welding of the space complex component as claimed in claim 1, which is characterized in that: the current is I when the welding seam of the arc striking transition section is welded in the step1Get up，IGet upTaking (1/2-2/3) × I0In which I0The wire feeding speed of the welding seam of the arcing transition section is V for stabilizing the current during the welding of the welding sectionGet up，VGet upTaking (1/2-2/3) × V0In which V is0The wire feeding speed is the wire feeding speed during the welding of the stable welding section.
3. The method for realizing the jointless welding of the welding seam by the double-robot cooperative welding of the space complex component as claimed in claim 1, which is characterized in that: in the whole welding process, included angles between the welding gun 1 and the welding gun 2 and the bottom surface of the workpiece are theta respectively3、θ4，θ3、θ4Is 30-50 degrees.
4. The method for realizing the jointless welding of the welding seam by the double-robot collaborative welding of the space complex component according to the claim 1,the method is characterized in that: welding gun lifting amount Z1And (4) taking 1/3-2/3 of the weld layer height of the stable welding section.
5. The method for realizing the jointless welding of the welding seam by the double-robot cooperative welding of the space complex component as claimed in claim 1, which is characterized in that: in the step1, the included angle between the welding line of the arc striking transition section and the horizontal plane is theta7The weld length L from the arc starting points P1, P1' to the arc starting intersection point P01、L1’Length L of weld from the point of common melting pool for arc starting P2, P2' to the point of intersection for arc starting2、L2’Included angle theta between welding gun 1 and welding gun 2 and advancing direction1、θ2The value of (A) satisfies:
(1) when theta is7L is 0-10 DEG or 350-360 DEG1、L1’1/3-4/3 of the length of the molten pool, L21 to 8mm, L2’＝L2，θ1Is 130 to 160 degrees theta2Is 130 degrees to 160 degrees;
(2) when theta is7L is 10-90 degrees or 270-350 degrees11/3-4/3, L of the length of the molten pool1’＝(1/2～2/3)L1，L21 to 10mm, L2’＝(1/2～2/3)L2，θ1Is 80 to 100 degrees theta2Is 130 degrees to 160 degrees;
(3) when theta is7At 90-270 DEG, L11/3-4/3, L of the length of the molten pool1’＝(2/3～3/4)L1，L21 to 10mm, L2’＝(2/3～3/4)L2，θ1Is 70 to 90 degrees theta2Is 130-160 degrees.
6. The method for realizing the jointless welding of the welding seam by the double-robot cooperative welding of the space complex component as claimed in claim 1, which is characterized in that: the welding current is I when the stable welding section is welded in the step20The wire feeding speed is V when the stable welding section is welded0，I040 to 350A, V0Is 4 to 18 m/min.
7. The space complex member pair of claim 1The method for realizing the joint-free welding of the welding line by the robot cooperative welding is characterized in that: the current is I when the welding seam of the arc-closing transition section is welded in the step3Harvesting machine，IHarvesting machineTaking (1/2-2/3) × I0In which I0The wire feeding speed of the welding seam of the arc-closing transition section is V for stabilizing the current during the welding of the welding sectionHarvesting machine，VHarvesting machineTaking (1/2-2/3) × V0In which V is0The wire feeding speed is the wire feeding speed during the welding of the stable welding section.
8. The method for realizing the jointless welding of the welding seam by the double-robot cooperative welding of the space complex component as claimed in claim 1, which is characterized in that: welding gun lifting amount Z in step32And (4) taking 1/3-2/3 of the weld layer height of the stable welding section.
9. The method for realizing the jointless welding of the welding seam by the double-robot cooperative welding of the space complex component as claimed in claim 1, which is characterized in that: in the step3, the included angle between the welding line of the arc-closing transition section and the horizontal plane is theta8The weld length L from the arc-quenching points P3, P3' to the arc-quenching intersection point P53、L3’Weld length L from the arc-quenching eutectic pool points P4, P4' to the arc-quenching intersection point P54、L4’Included angle theta between welding gun 1 and welding gun 2 and advancing direction5、θ6The value of (A) satisfies:
(1) when theta is8L is 0-10 DEG or 350-360 DEG3、L3’1/3-4/3 of the length of the molten pool, L41 to 8mm, L4’＝L4，θ5Is 130 to 160 degrees theta6Is 130 degrees to 160 degrees;
(2) when theta is8L is 10-90 degrees or 270-350 degrees31/3-4/3 of the length of the molten pool, L3’＝(1/2～2/3)L3，L41 to 10mm, L4’＝(1/2～2/3)L4，θ5Is 80 to 100 degrees theta6Is 130 degrees to 160 degrees;
(3) when theta is8At 90-270 DEG, L31/3-4/3 of the length of the molten pool, L3’＝(2/3～3/4)L3，L41 to 10mm, L4’＝(2/3～3/4)L4，θ5Is 70 to 90 degrees theta6Is 130-160 degrees.
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| CN115502536A (en) * | 2022-09-27 | 2022-12-23 | 中国航空制造技术研究院 | Low-stress electron beam welding method for closed curve welding seam |
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| CN208427821U (en) * | 2018-07-17 | 2019-01-25 | 上海科辰光电线缆设备有限公司 | A kind of double welding gun high-speed welding device |
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| CN115430891A (en) * | 2022-09-28 | 2022-12-06 | 伯朗特机器人股份有限公司 | Intersecting line double-pulse MIG welding method |
| CN115430891B (en) * | 2022-09-28 | 2023-06-02 | 伯朗特机器人股份有限公司 | Intersecting line double-pulse MIG welding method |
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