CN114619172A - Automatic welding special machine for circumferential multilayer multi-pass welding seam - Google Patents
Automatic welding special machine for circumferential multilayer multi-pass welding seam Download PDFInfo
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- CN114619172A CN114619172A CN202011454182.1A CN202011454182A CN114619172A CN 114619172 A CN114619172 A CN 114619172A CN 202011454182 A CN202011454182 A CN 202011454182A CN 114619172 A CN114619172 A CN 114619172A
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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
-
- 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
- B23K37/006—Safety devices
-
- 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
- B23K37/02—Carriages for supporting the welding or cutting element
-
- 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
Abstract
The special automatic welding machine for multilayer and multi-pass welding seams on the circumference is a welding corollary device for completing mechanical and automatic welding by changing the angle and the position of a weldment; the workpiece is subjected to pre-treatment of assembling spot welding in advance, and then the workpiece is fixed on a positioner in a manual mode. After the operator presses the start button, the workstation operates according to a preset program. The method comprises the steps of scanning point laser and determining the position angle of a workpiece, clamping a welding gun by a robot to reach the position of a welding seam, determining the starting point of the welding seam under the coordination of a contact sensing function, calculating the track deviation by the robot and then starting welding, adopting swing welding in the welding process, enabling an arc tracking system to track the change of an arc and automatically correct the track, eliminating the influence caused by the error of the workpiece and the welding deformation in the welding process, ensuring the optimal welding quality, reducing the labor intensity of a welder and improving the production efficiency.
Description
Technical Field
The invention belongs to the field of machine manufacturing, and particularly relates to an automatic special welding machine for a plurality of layers and a plurality of welding seams on the circumference.
Background
The prior circumferential multilayer multi-pass welding line product has the following problems in the process of welding parts
a. The welding position needs to be adjusted by turning over for many times, the welding operation difficulty is high, and the technical requirement on workers is high;
b. the welding quality is manually controlled, the welding seam has defects of pores, incomplete penetration, cracks and the like, and the welding quality is often difficult to ensure;
c. the appearance width of the welding seam is not uniform, the height size of the welding corner cannot be controlled, the strict requirement of project products on the total weight is difficult to meet, and the polishing workload is greatly improved;
d. the welding deformation of the single-side welding is large, the technical requirements specified by the ISO 13920/BF standard cannot be met, the welding needs to be corrected by fire work after welding, and the process is complex.
The difficulty of products with multilayer and multi-pass welding seams on the circumference is that the welding operation is difficult, the welding efficiency is low, the welding quality is completely controlled manually, and the requirements of technical requirements specified by project products cannot be met.
Disclosure of Invention
The invention aims to: the problem that the quality is difficult to control due to manual welding is solved, and the production efficiency can be greatly improved.
The special automatic welding machine for the circumferential multi-layer multi-pass welding line has certain advantages in welding annular welding lines of structural members, and has the advantages of high welding efficiency, small deformation of workpieces after welding, high stability of product quality, improvement of labor conditions of workers, simplicity and convenience in equipment operation and the like.
In order to achieve the purpose, the special automatic welding machine for multilayer and multi-channel welding seams on the circumference is provided and mainly comprises a gantry walking mechanism, a welding robot system, a welding positioner and other main parts;
the gantry type travelling mechanism is driven to rotate by an external shaft servo motor, can be freely programmed, and can be combined with a welding robot system to perform track interpolation; the welding robot can be in coordinated communication with the welding robot, the walking speed and the acceleration can be adjusted, and the mechanism is stable and does not shake when walking is guaranteed; the walking precision and the effective stroke are ensured to meet the welding requirement of the workpiece;
each shaft of the robot in the welding robot system is provided with the intelligent anti-collision sensing device, so that the robot system can play a role in protection when colliding with a gun, any object is abnormally contacted with the robot or a welding gun cable and the like and is wound on the robot, the robot can start the function, the personal safety of an operator is greatly ensured, and the robot system can play a good role in protecting the welding gun and the like; the welding positioner has an arc tracking function system to sample current and voltage signals in swing welding in real time, obtains data modification robot paths through analysis of deformation caused by irregular grooves in blanking and generated in the welding process, and can adapt to workpiece deformation in the welding process.
The turnover of the welding positioner is driven by an external shaft motor to turn over, and can be freely programmed; performing track interpolation by combining the robot system; after the maximum workpiece is arranged on the positioner, the positioner is turned to the position with the maximum eccentricity, the maximum eccentricity is enough redundant, the phenomena of self turning, abnormal sound and vibration of turning and the like after locking cannot occur, and the safety factor is more than 1.5 times; the surface of the positioner for clamping the workpiece is low in plane height in a horizontal state, so that the workpiece can be conveniently clamped, disassembled and observed in the welding process.
The automatic welding method of the circumferential multilayer multi-pass welding line can automatically set each welding condition by utilizing database resources according to welding requirements, generate a multilayer welding program when a robot automatically welds, and automatically execute multilayer welding. The welding robot system has the function of adjusting the angle between layers and the function of positioning an automatic welding gun; in the process of multi-layer and multi-pass welding, unexpected (such as collision) interruption occurs in the process of welding the first or other welding seams, the program does not need to be edited or modified again, and the function of continuously completing the welding of other welding seams is achieved.
An absolute position encoder of the robot system is used for memorizing the position (x/y/z) and the angle (A/B/C) of the welding gun in space in real time.
When the robot contacts the charged welding wire with the workpiece according to a set program, a loop is formed between the welding wire and the workpiece, and the control system compares the current actual position with the position parameter during teaching.
And (4) combining the current data with the teaching track to correct the data and the welding track.
The position and the shape deviation of the workpiece enable the originally taught welding track of the robot to be corrected, the team Arc Tracking function package can correct the deviation in the welding process, the actual welding track of the robot is corrected, and the actual welding Seam is tracked; if the Touch Sensor function package is combined for use, the best effect can be achieved.
When a thick plate or a fillet weld is welded, a welding gun swings, the rod elongation of a welding wire at the middle position of the weld is different from that at two sides of the weld, the actual welding current is different from the set current due to the difference of the rod elongation, the shorter the rod elongation is, the larger the actual current is, the longer the rod elongation is, and the smaller the actual current is.
By utilizing the principle, corresponding software processes the detected current change and the position of a welding gun in real time so as to correct the actual track of the robot and ensure that the central line of the track is always in the middle of a groove or on a 45-degree position line of a fillet weld; and meanwhile, the consistency of the welding guns in the height direction is ensured.
When the function is started, the feedback and processing frequency of related data can reach once every 12 microseconds, and the tracking precision is 0.1 mm.
After the operator presses the start button, the workstation operates according to a preset program.
The method comprises the steps of scanning point laser and determining the position angle of a workpiece, clamping a welding gun by a robot to reach the position of a welding seam, determining the starting point of the welding seam under the coordination of a contact sensing function, calculating the track deviation by the robot and then starting welding, adopting swing welding in the welding process, enabling an arc tracking system to track the change of an arc and automatically correct the track, eliminating the influence caused by the error of the workpiece and the welding deformation in the welding process, and ensuring the optimal welding quality.
Comprises a set of gantry travelling mechanism, a set of welding positioner and a set of welding robot system.
The preferred scheme of the invention is as follows: one set of gantry travelling mechanism, one set of positioner, one set of welding robot system design into the mode of quick assembly and disassembly under the prerequisite of assurance intensity, and reduce the sheltering from to the welding position.
Preferably, the gantry walking mechanism can be freely programmed and can be combined with a robot system to perform track interpolation; the walking precision of the mechanism is ensured.
Preferably, the welding robot system has the functions of arc tracking, positioning precision, interference prevention, collision prevention and the like, the whole system can realize off-line programming to improve the production efficiency, and in consideration of the fact that once a welded workpiece has a welding quality problem, the system can effectively trace back the problem, and the system also needs to have an arc monitoring function and can record the fluctuation of all welding process parameters (parameters such as current, voltage, welding speed and the like) of the workpiece from the initial point to the end of welding in the welding process.
Preferably, the welding jig of positioner's welding jig's design strives for modularization and standardization, adopts the integral type base, ensures the stability of each unit relative position. The clamping time is less than or equal to 10 min. The welding tool clamp has a self-locking and error-proofing function; the welding tool clamp has good rigidity, enough clamping force and automatic clamping, workpieces of different sizes can share one set of tool, and workpieces with larger changes can be quickly remodeled only by adjusting tool parts. The positioning and clamping part of the clamp considers the heat dissipation and the stability and reliability of clamping when the workpiece is welded so as to ensure good welding quality.
Drawings
The invention will be further described with reference to the accompanying drawings.
Fig. 1 is a general design schematic of the present invention.
FIG. 2 is a schematic view of a weld positioner of the present invention.
FIG. 3 is an assembly schematic view of the welding positioner.
Fig. 4 is a schematic view of a welding robot body.
Fig. 5 is an electrical control schematic.
FIG. 6 is a schematic view of multi-layer multi-pass weld welding.
Detailed Description
Example one
Referring to fig. 1, the embodiment provides a special automatic welding machine for circumferential multi-layer and multi-pass welding seams, which includes a set of gantry traveling mechanism, a set of welding positioner, and a set of welding robot system.
The multilayer multi-pass welding method comprises the following steps: an absolute position encoder of the robot system is used for memorizing the position (x/y/z) and the angle (A/B/C) of the welding gun in space in real time.
When the robot contacts the electrified welding wire with the workpiece according to a set program, a loop is formed between the welding wire and the workpiece, and the control system compares the current actual position with the position parameter during teaching.
And (4) combining the current data with the teaching track to correct the data and the welding track.
The position and the shape deviation of the workpiece enable the originally taught welding track of the robot to be corrected, the team Arc Tracking function package can correct the deviation in the welding process, the actual welding track of the robot is corrected, and the actual welding Seam is tracked; if the Touch Sensor function package is combined for use, the best effect can be achieved.
When a thick plate or a fillet weld is welded, a welding gun swings, the rod elongation of a welding wire at the middle position of the weld is different from that at two sides of the weld, the actual welding current is different from the set current due to the difference of the rod elongation, the shorter the rod elongation is, the larger the actual current is, the longer the rod elongation is, and the smaller the actual current is.
By utilizing the principle, corresponding software processes the detected current change and the position of a welding gun in real time so as to correct the actual track of the robot and ensure that the central line of the track is always in the middle of a groove or on a 45-degree position line of a fillet weld; and meanwhile, the consistency of the welding guns in the height direction is ensured.
When the function is started, the feedback and processing frequency of related data can reach once every 12 microseconds, and the tracking precision is 0.1 mm.
After the operator presses the start button, the workstation operates according to a preset program.
The method comprises the steps of scanning point laser and determining the position angle of a workpiece, clamping a welding gun by a robot to reach the position of a welding seam, determining the starting point of the welding seam under the coordination of a contact sensing function, calculating the track deviation by the robot and then starting welding, adopting swing welding in the welding process, enabling an arc tracking system to track the change of an arc and automatically correct the track, eliminating the influence caused by the error of the workpiece and the welding deformation in the welding process, and ensuring the optimal welding quality.
In addition to the above embodiments, the present invention may have other embodiments. All technical solutions formed by adopting equivalent substitutions or equivalent transformations fall within the protection scope of the claims of the present invention.
Claims (9)
1. The special automatic welding machine for multilayer and multi-path welding seams on the circumference mainly comprises a gantry walking mechanism, a welding robot system, a welding positioner and other main parts;
the gantry type travelling mechanism is driven to rotate by an external shaft servo motor, can be freely programmed, and can be combined with a welding robot system to perform track interpolation; the robot can be in coordinated communication with the welding robot, and the walking speed and the acceleration can be adjusted;
each shaft of the robot in the welding robot system is provided with an intelligent anti-collision sensing device; the welding positioner has an arc tracking function system to sample current and voltage signals in swing welding in real time, and analyzes deformation caused by irregular grooves in blanking and in the welding process to obtain data modification robot paths;
the welding positioner is driven by an external shaft motor to turn over, and a programmer is arranged in the welding positioner.
2. The special automatic welding machine for the circumferential multilayer multi-pass welding seam according to claim 1, characterized in that: the welding robot system is provided with an absolute position encoder, and the position x/y/z and the angle A/B/C of the welding gun in space are memorized in real time.
3. The automatic welding method of the circumferential multilayer multi-channel welding line is characterized in that: according to the welding requirements, automatically setting each welding condition by using database resources, generating a multilayer welding program when the robot automatically welds, and automatically executing multilayer welding;
the welding robot system has the function of adjusting the angle between layers and the function of positioning an automatic welding gun; in the multi-layer and multi-pass welding process, unexpected interruption occurs in the welding process of the first or other welding lines, the program does not need to be edited or modified again, and the function of continuously completing the welding of other welding lines is achieved.
4. The method of automatically welding a circumferential multi-layer multi-pass weld of claim 3, wherein: when the robot contacts the charged welding wire with the workpiece according to a set program, a loop is formed between the welding wire and the workpiece, and the control system compares the current actual position with the position parameter during teaching; the new welding track is corrected by combining the current data with the teaching track, and the welding track is corrected; the position and the shape deviation of the workpiece enable the originally taught welding track of the robot to be corrected, the team Arc Tracking function package can correct the deviation in the welding process, the actual welding track of the robot is corrected, and the actual welding Seam is tracked; if the Touch Sensor function package is combined for use, the best effect can be achieved.
5. The method of automatically welding a circumferential multi-layer multi-pass weld of claim 3, wherein: when a thick plate or a fillet weld is welded, a welding gun swings, the rod elongation of a welding wire at the middle position of the weld is different from that at two sides of the weld, the actual welding current is different from the set current due to the difference of the rod elongation, the shorter the rod elongation is, the larger the actual current is, the longer the rod elongation is, and the smaller the actual current is.
6. The method of automatically welding a circumferential multi-layer multi-pass weld according to claim 3, wherein: corresponding software processes the detected current change and the position of a welding gun in real time so as to correct the actual track of the robot and ensure that the central line of the track is always in the middle of a groove or on a 45-degree position line of a fillet weld; and meanwhile, the consistency of the welding guns in the height direction is ensured.
7. The method of automatically welding a circumferential multi-layer multi-pass weld of claim 3, wherein: when the function is started, the feedback and processing frequency of related data can reach once every 12 microseconds, and the tracking precision is 0.1 mm.
8. The method of automatically welding a circumferential multi-layer multi-pass weld of claim 3, wherein: after the operator presses the start button, the workstation operates according to a preset program.
9. The method of automatically welding a circumferential multi-layer multi-pass weld of claim 3, wherein: the method comprises the following steps of scanning point laser and determining the position angle of a workpiece, clamping a welding gun by a robot to reach the position of a welding seam, determining the initial point of the welding seam under the coordination of a contact sensing function, calculating the track deviation by the robot and then starting welding, adopting swing welding in the welding process, enabling an arc tracking system to track the change of an arc and automatically correct the track, eliminating the influence caused by the error of the workpiece and the welding deformation generated in the welding process, and ensuring the optimal welding quality.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011454182.1A CN114619172A (en) | 2020-12-10 | 2020-12-10 | Automatic welding special machine for circumferential multilayer multi-pass welding seam |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011454182.1A CN114619172A (en) | 2020-12-10 | 2020-12-10 | Automatic welding special machine for circumferential multilayer multi-pass welding seam |
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| CN114619172A true CN114619172A (en) | 2022-06-14 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117798537A (en) * | 2024-02-28 | 2024-04-02 | 江苏海德曼新材料股份有限公司 | Manufacturing and welding control system for steel structure skeleton of building curtain wall |
| CN117798537B (en) * | 2024-02-28 | 2024-05-14 | 江苏海德曼新材料股份有限公司 | Manufacturing and welding control system for steel structure skeleton of building curtain wall |
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