CN114951916A - Method for welding shield beam bent cover plate by robot in downhill mode - Google Patents
Method for welding shield beam bent cover plate by robot in downhill mode Download PDFInfo
- Publication number
- CN114951916A CN114951916A CN202210756203.8A CN202210756203A CN114951916A CN 114951916 A CN114951916 A CN 114951916A CN 202210756203 A CN202210756203 A CN 202210756203A CN 114951916 A CN114951916 A CN 114951916A
- Authority
- CN
- China
- Prior art keywords
- welding
- bead
- robot
- swinging
- beads
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Classifications
-
- 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
Abstract
The invention provides a method for welding a shield beam bent cover plate by a robot in a downhill mode, which comprises the following steps: dividing the welding bead of the single V-shaped groove into a manual backing welding bead, a robot backing welding bead, a multi-layer filling double welding bead and a layer of cover surface multi-welding bead from bottom to top in sequence, wherein the thickness of each welding bead in the horizontal section is approximately equal to that of the bending section; carrying out manual backing welding on the manual backing weld bead; placing the shield beam on a robot welding platform to enable the horizontal section to be in a horizontal position, and continuously welding the backing weld bead of the robot by using a welding robot; filling and welding the multilayer filling double welding beads by adopting a welding robot; and adopting a welding robot to perform facing welding on the facing multi-welding-bead. The method for welding the shield beam bent cover plate by the robot in the downhill mode has the advantages of high welding efficiency, smooth transition of a bent part, high welding quality and good welding forming.
Description
Technical Field
The invention relates to a welding method for a hydraulic support structural part, in particular to a method for welding a shield beam bent cover plate by a robot in a downhill mode.
Background
The shield beam body is an important component of the hydraulic support, and is collectively called as three major parts of the hydraulic support together with the top beam body and the base body. The shield beam is limited by the structural characteristics of the shield beam, the shield beam is a multi-box type medium-thickness plate high-strength steel welding structure, the cover plate at the upper part of a box body is mostly a bent cover plate, the common length of the bent cover plate of the shield beam is within the range of 2-4m, the plate thickness is generally 20mm or 25mm, 18-40-degree grooves or 23-40-degree grooves are designed on the periphery of the bent cover plate, the bent cover plate and surrounding main ribs or other parts form 18-40-degree or 23-40-degree single V-shaped groove welding seams, in order to guarantee the strength, the right-angle side in the single V-shaped groove is higher than the bevel side, and the welding seams are continuously raised and welded with 5mm angle welding seams after the grooves are filled up.
The bent cover plate of the shield beam is divided into a horizontal section and a non-horizontal section, and the included angle between the non-horizontal section and the horizontal section is generally 15-35 degrees. For the welding process of the traditional robot solid welding wire for gas shielded welding, when the gradient of a welding line exceeds 15 degrees, the phenomenon of flowing is easy to occur under the action of the metal gravity of a liquid molten pool of the welding line, so that the forming of the welding line and the improvement of the welding efficiency are seriously restricted. Particularly, for the shield beam composed of medium-thickness plate high-strength steel, the groove size is large, the strength of the base metal is high, the welding seam is complex, the welding quantity is large, and the requirement on welding heat input is strict.
The applicant provided a method for welding a climbing workpiece of a welding robot in a patent with application number 201810441649.5, which adopts crescent swing welding hydraulic support for climbing welding, has low efficiency and overlarge welding heat input, is limited by the number of layers of welding seams of climbing welding, cannot be unified with the number of layers of welding seams at a horizontal position, causes too many welding joints, and seriously affects the quality of the welding seams.
In order to solve the above problems, people are always seeking an ideal technical solution.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, and provides a method for welding a bent cover plate of a shield beam by a robot in a downhill way, which has the advantages of high welding efficiency, smooth transition of a bent part, high welding quality and good welding forming.
In order to achieve the purpose, the invention adopts the technical scheme that: a method for welding a shield beam bent cover plate on a robot downhill comprises a horizontal section and a bent section, wherein an included angle between the bent section and the horizontal section is 145-165 degrees, two sides of the bent cover plate and main ribs of the shield beam form a single V-shaped groove, and the groove angle of the single V-shaped groove is 40 degrees, and the method comprises the following steps:
step S1, dividing the welding bead of the single V-shaped groove into a manual backing welding bead, a robot backing welding bead, a multi-layer filling double welding bead and a layer of cover multi welding bead from bottom to top in sequence, wherein the thickness of each welding bead in the horizontal section is approximately equal to that of each welding bead in the bending section;
step S2, performing manual backing welding on the manual backing weld bead;
s3, placing the shield beam on a robot welding platform to enable the horizontal section to be in a horizontal position, continuously welding the backing weld bead of the robot by adopting a welding robot, and adopting a solid welding wire of 1.6mm and Ar +20% CO during welding 2 The protective gas of (2):
firstly, carrying out downhill welding on a backing weld bead of the robot in the bending section, wherein an included angle between a welding gun and the weld bead is kept at 60-70 degrees, and welding parameters are as follows: welding current 270-290A, voltage 29-31V, wire feeding speed 4-5m/min, welding speed 18-22cm/min, swing form is sine swing, swing amplitude 6mm, swing frequency 1.84Hz, and welding gun stays at two sides of welding bead for 0.2s respectively;
welding the backing weld bead of the robot in the horizontal section, wherein the welding current is 420-440A, the voltage is 31-33V, the wire feeding speed is 7-8m/min, the welding speed is 40-45cm/min, the swinging mode is sine swinging, the swinging amplitude is 6mm, the swinging frequency is 1.84Hz, and the swinging mode is sine swinging;
step S4, filling and welding the multilayer filling double welding beads by adopting a welding robot, wherein during welding, a solid welding wire with the diameter of 1.6mm and Ar +20% CO are adopted 2 The shielding gas is continuously applied for each filling welding pass:
firstly, carrying out downhill welding on the filling welding bead positioned in the bending section, wherein the included angle between a welding gun and the welding bead is kept at 60-70 degrees, and the welding parameters are as follows: the current is 300-320A, the voltage is 26-29V, the wire feeding speed is 4.5-5.5m/min, the welding speed is 20-30cm/min, the swinging mode is a sine pendulum, wherein the swinging amplitude of the first layer of filling double welding beads is 3mm, the swinging frequency is 2.08Hz, the swinging amplitude of the welding beads close to the straight side of the single V-shaped groove in other filling double welding beads is 5mm, the swinging frequency is 2.84Hz, the swinging amplitude of the welding beads close to the oblique side of the single V-shaped groove in other filling double welding beads is 4mm, the swinging frequency is 2.44Hz, and the welding gun stays for 0.2s on the two sides of the welding beads respectively;
welding the filling welding bead in the horizontal section, wherein the welding parameters are as follows: the welding current is 460-500A, the voltage is 33-36V, the wire feeding speed is 10-12m/min, the welding speed is 55-70cm/min, the swing mode is sine swing, and the swing amplitude is 3-5 mm;
step S5, adopting a welding robot to perform facing welding on the facing multi-welding-pass, and adopting a solid welding wire with the diameter of 1.6mm and Ar +20% CO when welding 2 The shielding gas is continuously welded aiming at each cover surface welding bead:
firstly, carrying out downhill welding on the cover surface welding bead positioned on the bending section, wherein the included angle between a welding gun and the welding bead is kept between 110 and 120 degrees, and the welding parameters are as follows: the current is 300-320A, the voltage is 30-33V, the welding speed is 25-35cm/min, the wire feeding speed is 4.5-5.5m/min, the swinging mode is a sine pendulum, wherein the swinging amplitude of the welding bead close to the straight side of the single V-shaped groove is 5mm, the swinging frequency is 2.84Hz, the residence time of 0.2s is respectively increased on two sides, the swinging amplitude of the other welding beads is 4mm, the swinging frequency is 2.44Hz, and the residence time of 0.15s is respectively increased on two sides;
welding the cover surface welding bead in the horizontal section, wherein the welding parameters are as follows: the welding current is 450-480A, the voltage is 33-35V, the wire feeding speed is 9-11m/min, the welding speed is 65-75cm/min, the swing mode is sine swing, the swing amplitude is 4mm, and the swing frequency is 1.08 Hz.
Based on the above, when the depth of the single V-shaped groove is 18mm, two layers of filling double welding beads are arranged, each layer of filling double welding beads is arranged from the straight edge of the single V-shaped groove to the oblique edge, three cover surface welding beads are arranged, and the three cover surface welding beads are arranged from the oblique edge of the single V-shaped groove to the straight edge; when the depth of the single V-shaped groove is 23mm, three layers of filling double welding beads are arranged, each layer of filling double welding beads is arranged from the straight edge of the single V-shaped groove to the bevel edge, four cover surface welding beads are arranged, and the four cover surface welding beads are arranged from the bevel edge of the single V-shaped groove to the straight edge.
Based on the above, in step S2, when performing manual backing welding, a solid wire with a diameter of 1.4mm and Ar +20% CO are used 2 The welding current of the mixed gas is 280-300A, the welding voltage is 28-30V, the welding speed is 32-37cm/min, the welding gun points to the center of the groove to perform crescent swing, and the swing amplitude is 2-4 mm.
Based on the above, in steps S3-S5, the arc tracking function is turned on when the welding robot performs welding.
Based on the above, before step S2, the weld needs to be cleaned, impurities such as rust, oil stain, scum, etc. within a range of 20mm on both sides of the weld are removed, and an angle grinder is used to polish the surface of the weld bead until the metal luster appears.
Compared with the prior art, the invention has outstanding substantive characteristics and remarkable progress, and particularly has the following advantages:
(1) different welding parameters and welding methods are set for the horizontal section and the bending section of each welding bead, so that the welding parameters of the horizontal section and the bending section can be matched with each other, the thickness of each welding bead in the horizontal section and the thickness of each welding bead in the bending section are approximately equal, the welding seams can be smoothly transited at the bending positions and can be continuously welded, and the problems that the quantity of the welding beads of the horizontal section and the bending section cannot be unified and the number of welding joints in the traditional climbing welding is large are effectively solved; meanwhile, in the welding process of the welding robot, each welding bead adopts a solid welding wire of 1.6mm, the welding parameters of the horizontal section and the bending section can be matched with each other, meanwhile, the welding robot is well suitable for the welding of the solid welding wire of 1.6mm, and the problems of overlarge welding heat, serious burning loss of alloy elements of the welding wire, more welding defects, poor welding seam toughness and the like which often occur in the welding process of the solid welding wire of 1.6mm in diameter are effectively solved, so that the requirement of a shield beam structural member on the welding seam can be met, the welding deposition rate can reach 5kg/h, and compared with the deposition rate of 3kg/h of the traditional crescent swing, the welding efficiency can be improved by more than 60%;
(2) the welding robot adopts downhill welding in backing welding, filling welding and cover welding, so that the running directions of the welding robot are the same when welding each welding line, the welding route is not easy to deviate, the quality of the welding line is further ensured, and the staying time of two sides is not required to be increased when the robot backs welding the welding line of the bending section, so that the sensitivity and the accuracy of arc tracking are ensured, and a good foundation is laid for automatic welding;
(3) when the robot backing welding and the filling welding are carried out on the bending section, the included angle between a welding gun and a welding bead is kept between 60 and 70 degrees, the downhill welding of a backward method is formed, the downhill welding has the advantages of being good in molten pool spreadability and good in forming, the backward method has the advantages of being large in fusion depth and small in splashing, double welding beads are adopted in each layer of filling welding, heat input of a single welding bead can be improved, the two welding beads are combined, and proper welding parameters are matched, so that good fusion of roots among the welding beads can be guaranteed, and appearance of the welding bead can also be guaranteed; when the robot cover surface welding is carried out on the bent section, the included angle between a welding gun and a welding bead is kept between 110 degrees and 120 degrees, and the downhill welding by an advancing method is formed, wherein the downhill welding and the advancing method have the characteristics of good spreading property and good forming of a molten pool, and the downhill welding and the advancing method are combined, so that the cover surface welding seam is thinner and better in appearance, meanwhile, the thickness of the backing welding and the filling welding can be thicker, and the good appearance and the overall welding strength are considered;
(4) adopt the crescent pendulum during manual backing welding, welding speed is slow, the shaping is easier, has reduced and has controlled the degree of difficulty, and manual backing welding can compensate defect when single V-arrangement groove is assembled, lays the basis for the continuous welding of follow-up welding robot.
Drawings
Fig. 1 is a side view of a curved cover plate of a shield beam according to the present invention.
Fig. 2 is a cross-sectional view of a box structure of a shield beam before a single V-groove is welded in the present invention.
FIG. 3 is a schematic view of the welding direction of the bend section weld in the present invention.
FIG. 4 is a schematic view of the included angle between the welding gun and the welding bead during the backing welding and the filling welding of the bending section welding seam by the robot.
FIG. 5 is a schematic view of the included angle between the welding gun and the welding bead when the robot is used for capping the weld of the bending section.
FIG. 6 is a schematic view showing the arrangement of the weld beads in the single V-groove of 18mm in depth according to the present invention.
FIG. 7 is a schematic view showing the arrangement of the weld beads in the single V-groove of 23mm in depth in the present invention.
In the figure: 1. bending the cover plate; 2. a main rib; 3. a single V-shaped slope; 4. a horizontal segment; 5. bending the section; 6. and (4) welding the welding gun.
Detailed Description
The technical solution of the present invention is further described in detail by the following embodiments.
As shown in fig. 1-7, a method for welding a curved cover plate of a shield beam by a robot in a downhill mode, wherein the curved cover plate 1 comprises a horizontal section 4 and a bent section 5, an included angle between the bent section 4 and the horizontal section 5 is 145-165 °, two sides of the curved cover plate 1 and a main rib 2 of the shield beam form a single V-shaped groove 3, and a groove angle of the single V-shaped groove 3 is 40 °, comprises the following steps:
(1) dividing the weld bead of the single V-shaped groove 3 into a manual backing weld bead, a robot backing weld bead, a multi-layer filling double weld bead and a layer of capping multi-weld bead from bottom to top in sequence, wherein the thickness of each weld bead in the horizontal section 4 is approximately equal to that of the bending section 5;
as shown in fig. 6, when the depth of the single V groove 3 is 18mm, 9 welding passes are provided in total, wherein welding pass 1 is a manual backing welding pass, welding pass 2 is a robot backing welding pass, welding passes 3 to 6 are filling welding passes, and welding passes 7 to 9 are cover welding passes; each layer of filling double welding passes are arranged from the straight edge to the oblique edge of the single V-shaped groove 3, and three cover surface welding passes are arranged from the oblique edge to the straight edge of the single V-shaped groove 3;
as shown in fig. 7, when the depth of the single V-groove 3 is 23mm, 12 welding passes are provided in total, welding pass 1 is a manual backing welding pass, welding pass 2 is a robot backing welding pass, welding passes 3-8 are filling welding passes, and welding passes 9-12 are cover welding passes; each layer of filling double welding beads is arranged from the straight edge of the single V-shaped groove 3 to the bevel edge, and four cover surface welding beads are arranged from the bevel edge of the single V-shaped groove 3 to the straight edge.
(2) Cleaning the welding seam, removing impurities such as rust, oil stain, scum and the like within the range of 20mm at the two sides of the welding seam, and polishing the surface of the welding seam by adopting an angle grinder until the surface of the welding seam appears metallic luster.
(3) Performing manual backing welding on the manual backing weld bead by adopting a solid welding wire with the diameter of 1.4mm and Ar +20% CO 2 The welding current of the mixed gas is 280-300A, the welding voltage is 28-30V, the welding speed is 32-37cm/min, the welding gun points to the center of the groove to perform crescent swing, and the swing amplitude is 2-4 mm;
the mode of crescent pendulum, concrete welding speed is slow, the easier advantage of shaping, has reduced the manual work and has controlled the degree of difficulty, can rely on the manual work to control to remedy defect when single V-arrangement groove 3 assembles, for the continuous welding of follow-up welding robot lay the basis.
(4) Placing the shield beam on a robot welding platform to enable the horizontal section 4 to be in a horizontal position, continuously welding the backing weld bead of the robot by using a welding robot, starting an electric arc tracking function during welding, and adopting a solid welding wire of 1.6mm and Ar +20% CO 2 The protective gas of (2):
firstly, carrying out downhill welding on a backing weld bead of the robot in the bending section 5, wherein an included angle between a welding gun 6 and the weld bead is kept at 60-70 degrees, and welding parameters are as follows: welding current 270-290A, voltage 29-31V, wire feeding speed 4-5m/min, welding speed 18-22cm/min, swing form is sine swing, swing amplitude 6mm, swing frequency 1.84Hz, and welding gun stays at two sides of welding bead for 0.2s respectively;
welding the backing weld bead of the robot in the horizontal section 4, wherein the welding current is 420-440A, the voltage is 31-33V, the wire feeding speed is 7-8m/min, the welding speed is 40-45cm/min, the swinging mode is sine swinging, the swinging amplitude is 6mm, the swinging frequency is 1.84Hz, and the swinging mode is sine swinging;
(5) filling and welding the multilayer filling double welding beads by adopting a welding robot, starting an electric arc tracking function during welding, and adopting a solid welding wire of 1.6mm and Ar +20% CO 2 The shielding gas is continuously applied for each filling welding pass:
firstly, carrying out downhill welding on the filling welding bead positioned in the bending section 5, wherein the included angle between a welding gun 6 and the welding bead is kept at 60-70 degrees, and the welding parameters are as follows: the current is 300-320A, the voltage is 26-29V, the wire feeding speed is 4.5-5.5m/min, the welding speed is 20-30cm/min, the swinging mode is a sine pendulum, wherein the swinging amplitude of the first layer of filling double welding beads is 3mm, the swinging frequency is 2.08Hz, the swinging amplitude of the welding bead close to the straight side of the single V-shaped groove 3 in other filling double welding beads is 5mm, the swinging frequency is 2.84Hz, the swinging amplitude of the welding bead close to the oblique side of the single V-shaped groove 3 in other filling double welding beads is 4mm, the swinging frequency is 2.44Hz, and the welding gun stays for 0.2s on both sides of the welding bead respectively;
and welding the filling welding bead in the horizontal section 4, wherein the welding parameters are as follows: the welding current is 460-500A, the voltage is 33-36V, the wire feeding speed is 10-12m/min, the welding speed is 55-70cm/min, the swing mode is sine swing, and the swing amplitude is 3-5 mm;
(6) adopting a welding robot to carry out cover welding on the cover multi-welding-bead, starting an electric arc tracking function during welding, and adopting a solid welding wire of 1.6mm and Ar +20% CO 2 The shielding gas is continuously welded aiming at each cover surface welding bead:
firstly, carrying out downhill welding on the cover surface welding bead positioned on the bending section 5, wherein the included angle between a welding gun 6 and the welding bead is kept at 110-120 degrees, and the welding parameters are as follows: the current is 300-320A, the voltage is 30-33V, the welding speed is 25-35cm/min, the swinging mode is a sine pendulum, wherein the swinging amplitude of the welding bead close to the straight side of the single V-shaped groove 3 is 5mm, the swinging frequency is 2.84Hz, the residence time of 0.2s is respectively increased on two sides, the swinging amplitude of the other welding beads is 4mm, the swinging frequency is 2.44Hz, and the residence time of 0.15s is respectively increased on two sides;
welding the cover surface welding bead in the horizontal section 4, wherein the welding parameters are as follows: the welding current is 450-480A, the voltage is 33-35V, the wire feeding speed is 9-11m/min, the welding speed is 65-75cm/min, the swing mode is sine swing, the swing amplitude is 4mm, and the swing frequency is 1.08 Hz.
Finally, it should be noted that the above examples are only used to illustrate the technical solutions of the present invention and not to limit the same; although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that: modifications to the specific embodiments of the invention or equivalent substitutions for parts of the technical features may be made; without departing from the spirit of the present invention, it is intended to cover all aspects of the invention as defined by the appended claims.
Claims (5)
1. A method for welding a shield beam bent cover plate on a robot downhill comprises a horizontal section and a bent section, wherein an included angle between the bent section and the horizontal section is 145-165 degrees, two sides of the bent cover plate and main ribs of the shield beam form a single V-shaped groove, and the groove angle of the single V-shaped groove is 40 degrees, and the method is characterized by comprising the following steps:
step S1, dividing the welding bead of the single V-shaped groove into a manual backing welding bead, a robot backing welding bead, a multi-layer filling double welding bead and a layer of cover multi welding bead from bottom to top in sequence, wherein the thickness of each welding bead in the horizontal section is approximately equal to that of each welding bead in the bending section;
step S2, performing manual backing welding on the manual backing weld bead;
s3, placing the shield beam on a robot welding platform to enable the horizontal section to be in a horizontal position, continuously welding the backing weld bead of the robot by adopting a welding robot, and adopting a solid welding wire of 1.6mm and Ar +20% CO during welding 2 The protective gas of (2):
firstly, carrying out downhill welding on a backing weld bead of the robot in the bending section, wherein an included angle between a welding gun and the weld bead is kept at 60-70 degrees, and welding parameters are as follows: welding current 270-290A, voltage 29-31V, wire feeding speed 4-5m/min, welding speed 18-22cm/min, swing form is sine swing, swing amplitude 6mm, swing frequency 1.84Hz, and welding gun stays at two sides of welding bead for 0.2s respectively;
welding the backing weld bead of the robot in the horizontal section, wherein the welding current is 420-440A, the voltage is 31-33V, the wire feeding speed is 7-8m/min, the welding speed is 40-45cm/min, the swinging mode is sine swinging, the swinging amplitude is 6mm, the swinging frequency is 1.84Hz, and the swinging mode is sine swinging;
step S4, filling and welding the multilayer filling double welding beads by adopting a welding robot, wherein during welding, a solid welding wire with the diameter of 1.6mm and Ar +20% CO are adopted 2 The shielding gas of (2) is continuously applied for each filling welding pass:
firstly, carrying out downhill welding on the filling welding bead positioned in the bending section, wherein the included angle between a welding gun and the welding bead is kept at 60-70 degrees, and the welding parameters are as follows: the current is 300-320A, the voltage is 26-29V, the wire feeding speed is 4.5-5.5m/min, the welding speed is 20-30cm/min, the swinging mode is a sine pendulum, wherein the swinging amplitude of the first layer of filling double welding beads is 3mm, the swinging frequency is 2.08Hz, the swinging amplitude of the welding beads close to the straight side of the single V-shaped groove in other filling double welding beads is 5mm, the swinging frequency is 2.84Hz, the swinging amplitude of the welding beads close to the oblique side of the single V-shaped groove in other filling double welding beads is 4mm, the swinging frequency is 2.44Hz, and the welding gun stays for 0.2s on the two sides of the welding beads respectively;
welding the filling welding bead in the horizontal section, wherein the welding parameters are as follows: the welding current is 460-500A, the voltage is 33-36V, the wire feeding speed is 10-12m/min, the welding speed is 55-70cm/min, the swing mode is sine swing, and the swing amplitude is 3-5 mm;
step S5, adopting a welding robot to perform facing welding on the facing multi-welding-pass, and adopting a solid welding wire with the diameter of 1.6mm and Ar +20% CO when welding 2 The shielding gas is continuously welded aiming at each cover surface welding bead:
firstly, carrying out downhill welding on the cover surface welding bead positioned on the bending section, wherein the included angle between a welding gun and the welding bead is kept between 110 and 120 degrees, and the welding parameters are as follows: the current is 300-320A, the voltage is 30-33V, the welding speed is 25-35cm/min, the wire feeding speed is 4.5-5.5m/min, the swinging mode is a sine pendulum, wherein the swinging amplitude of the welding bead close to the straight side of the single V-shaped groove is 5mm, the swinging frequency is 2.84Hz, the residence time of 0.2s is respectively increased on two sides, the swinging amplitude of the other welding beads is 4mm, the swinging frequency is 2.44Hz, and the residence time of 0.15s is respectively increased on two sides;
welding the cover surface welding bead in the horizontal section, wherein the welding parameters are as follows: the welding current is 450-480A, the voltage is 33-35V, the wire feeding speed is 9-11m/min, the welding speed is 65-75cm/min, the swing mode is sine swing, the swing amplitude is 4mm, and the swing frequency is 1.08 Hz.
2. The method of robotic downhill welding a shield beam knee cap according to claim 1, wherein: when the depth of the single V-shaped groove is 18mm, two layers of filling double welding beads are arranged, each layer of filling double welding beads is arranged from the straight edge of the single V-shaped groove to the oblique edge, three cover surface welding beads are arranged, and the three cover surface welding beads are arranged from the oblique edge of the single V-shaped groove to the straight edge; when the depth of the single V-shaped groove is 23mm, three layers of filling double welding beads are arranged, each layer of filling double welding beads is arranged from the straight edge of the single V-shaped groove to the bevel edge, four cover surface welding beads are arranged, and the four cover surface welding beads are arranged from the bevel edge of the single V-shaped groove to the straight edge.
3. The method for robot downhill welding of a shield beam curved cover plate according to claim 1 or 2, characterized in that: in step S2, during manual backing welding, a solid welding wire with the diameter of 1.4mm and Ar +20% CO are adopted 2 The welding current of the mixed gas is 280-300A, the welding voltage is 28-30V, the welding speed is 32-37cm/min, the welding gun points to the center of the groove to perform crescent swing, and the swing amplitude is 2-4 mm.
4. The method for robot downhill welding a shield beam curved cover plate according to claim 3, wherein: in steps S3-S5, the arc tracking function is turned on when the welding robot performs welding.
5. The method for robot downhill welding a shield beam knee plate according to claim 4, wherein: before the step S2, the welding seam needs to be cleaned, impurities such as rust, oil stain and scum within the range of 20mm on the two sides of the welding seam are removed, and an angle grinder is adopted to grind the surface of the welding seam until the metal luster appears.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210756203.8A CN114951916B (en) | 2022-06-30 | 2022-06-30 | Method for welding shield beam bent cover plate on downhill of robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210756203.8A CN114951916B (en) | 2022-06-30 | 2022-06-30 | Method for welding shield beam bent cover plate on downhill of robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114951916A true CN114951916A (en) | 2022-08-30 |
| CN114951916B CN114951916B (en) | 2023-07-25 |
Family
ID=82966791
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210756203.8A Active CN114951916B (en) | 2022-06-30 | 2022-06-30 | Method for welding shield beam bent cover plate on downhill of robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114951916B (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2003290921A (en) * | 2002-03-27 | 2003-10-14 | Hitachi Ltd | Multi-layer welding method, and multi-layer automatic welding equipment |
| JP2005230906A (en) * | 2004-02-23 | 2005-09-02 | Jfe Steel Kk | Gas shielded arc welding method |
| CN106493459A (en) * | 2016-12-27 | 2017-03-15 | 湖北鑫索建设有限公司 | A kind of semi-automatic linerless penetration welding procedure of steel box column |
| CN106914686A (en) * | 2017-03-08 | 2017-07-04 | 郑州煤矿机械集团股份有限公司 | The method for carrying out hydraulic support structural member automatic welding using diameter 1.6mm welding wires |
| CN110091039A (en) * | 2019-05-31 | 2019-08-06 | 山东大学 | Unilateral double V-groove multi-layer multi-pass welding paths planning method and system |
| CN112059366A (en) * | 2020-08-26 | 2020-12-11 | 郑州煤矿机械集团股份有限公司 | Method for automatically welding flux-cored wire in vertical direction of hydraulic support structural part |
| CN113275711A (en) * | 2021-05-31 | 2021-08-20 | 郑州煤矿机械集团股份有限公司 | Method for welding hydraulic support structural part by using welding wire with diameter of 1.4mm |
-
2022
- 2022-06-30 CN CN202210756203.8A patent/CN114951916B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2003290921A (en) * | 2002-03-27 | 2003-10-14 | Hitachi Ltd | Multi-layer welding method, and multi-layer automatic welding equipment |
| JP2005230906A (en) * | 2004-02-23 | 2005-09-02 | Jfe Steel Kk | Gas shielded arc welding method |
| CN106493459A (en) * | 2016-12-27 | 2017-03-15 | 湖北鑫索建设有限公司 | A kind of semi-automatic linerless penetration welding procedure of steel box column |
| CN106914686A (en) * | 2017-03-08 | 2017-07-04 | 郑州煤矿机械集团股份有限公司 | The method for carrying out hydraulic support structural member automatic welding using diameter 1.6mm welding wires |
| CN110091039A (en) * | 2019-05-31 | 2019-08-06 | 山东大学 | Unilateral double V-groove multi-layer multi-pass welding paths planning method and system |
| CN112059366A (en) * | 2020-08-26 | 2020-12-11 | 郑州煤矿机械集团股份有限公司 | Method for automatically welding flux-cored wire in vertical direction of hydraulic support structural part |
| CN113275711A (en) * | 2021-05-31 | 2021-08-20 | 郑州煤矿机械集团股份有限公司 | Method for welding hydraulic support structural part by using welding wire with diameter of 1.4mm |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114951916B (en) | 2023-07-25 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103801808B (en) | Narrow clearance melting electrode metal active gas arc welding technique | |
| CN103317218B (en) | Double-sided dual-narrow-gap non-back-gouging welding method for large thick plates | |
| CN106112263B (en) | Titanium steel composite board laser silk filling butt welding method using T2 red coppers as transition zone | |
| CN106903399B (en) | The high strength pipe semiautomatic welding method of X80 or more grade of steel | |
| CN104858557A (en) | Method for combined welding of austenitic stainless steel moderate thickness plate | |
| CN107322148B (en) | Welding method based on tungsten electrode argon arc welding and cold metal transition welding composite heat source and application | |
| CN106862730A (en) | A kind of vertical butt welding method of slab | |
| CN111069745B (en) | Welding method suitable for thick plate aluminum alloy | |
| CN103862183B (en) | A kind of stainless steel clad plate high-efficiency welding method | |
| CN106425104A (en) | One-sided welding double-sided molding welding method for titanium steel composite pipe | |
| CN107598330B (en) | Full penetration welding method for U-shaped rib | |
| CN103639573A (en) | Welding device and welding technology applying multifunctional fillet welding trolley to horizontal position welding | |
| CN103231156B (en) | A kind of quick submerged-arc welding method that X90 pipe line steel manufactures | |
| CN109570707A (en) | A kind of Steel Bridge U rib plate block complete penetration welding method | |
| CN104339123A (en) | Bimetal composite pipe welding method | |
| CN103612001A (en) | Bimetal composite pipe end sealing weld technology based on R-shaped groove | |
| WO2024001438A1 (en) | Welding method suitable for groove weld of hydraulic support shield beam bent cover plate | |
| EP1728583B1 (en) | Improving slag detachability | |
| CN107030359B (en) | Bimetal mechanical composite pipe welding process | |
| CN115635161A (en) | Three-layer middle transition layer for welding titanium/steel composite plate and welding method | |
| CN102303177A (en) | Construction method for butt-welding of copper-nickel composite tubes | |
| CN107598379A (en) | A kind of slab double-sided laser MIG composite weldings and MIG cover welding new methods | |
| CN110091066A (en) | A kind of laser-arc hybrid welding in industry method of titanium alloy | |
| CN114951916A (en) | Method for welding shield beam bent cover plate by robot in downhill mode | |
| JP2002011575A (en) | Welding method for steel pipe |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |