CN116921908A - Welding method and welding equipment for rotating member - Google Patents
Welding method and welding equipment for rotating member Download PDFInfo
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- CN116921908A CN116921908A CN202311146146.2A CN202311146146A CN116921908A CN 116921908 A CN116921908 A CN 116921908A CN 202311146146 A CN202311146146 A CN 202311146146A CN 116921908 A CN116921908 A CN 116921908A
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- 238000003466 welding Methods 0.000 title claims abstract description 431
- 238000000034 method Methods 0.000 title claims abstract description 68
- 230000008569 process Effects 0.000 claims description 23
- 230000037452 priming Effects 0.000 claims description 8
- 230000007704 transition Effects 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 4
- 230000004927 fusion Effects 0.000 description 3
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Classifications
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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
- B23K31/00—Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups
- B23K31/02—Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups relating to soldering or welding
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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
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Abstract
The application discloses a welding method and welding equipment for a rotating member, comprising the following steps of: setting a rotary member to be in a horizontal position, acquiring a first position deviation of the rotary member, and acquiring a second position deviation based on the first position deviation and a preset angle; the rotary member rotates around the first rotary shaft by a preset angle to a second position state; setting the relative positions of welding guns and welding seams of a rotating member, wherein two welding guns are arranged, and welding wire tips of the two welding guns are centrally symmetrical relative to the circle center of the rotating member; and rotating the rotary member around the second rotary shaft, controlling the two welding guns to weld the welding seam of the rotary member, and adjusting the position of the welding gun in real time according to the relative position between the rotary member and the welding seam and the second position deviation. Compared with the prior art, the welding method and the welding equipment for the rotating member can improve the welding quality of the rotating member and have higher welding efficiency.
Description
Technical Field
The application relates to the technical field of welding processing, in particular to a double-robot welding method and welding equipment for a rotating member.
Background
At present, most engineering machinery is divided into two modes of loading and unloading, such as an overhead working truck, an excavator, a tower crane, an automobile crane, a pump truck and the like, wherein the middle is connected through a slewing mechanism and is the only connection part, and the quality of the welding seam of the connection flange is very important.
At present, when welding a connecting flange mainly through single robot ship-shaped welding of a large circular welding seam, and automatic welding of the circular welding seam, if flat fillet welding is performed, a clamp is fixed, and the robot can weld the circular arc track according to a set track, but for large-size workpieces, the welding leg size is large, the fusion property of flat fillet welding is poor, and the circular welding seam track of the large-size workpieces often exceeds the reachable range of the robot, so that the welding is easily forced to be changed into robot welding-workpiece moving-robot welding, the welding efficiency is reduced, the number of welding joints is increased, and the welding quality is reduced.
Therefore, there is a need for a dual robot welding method for rotating members, which can improve welding quality of the rotating members and has higher welding efficiency.
Disclosure of Invention
In order to solve the technical problems, the application provides the double-robot welding method for the rotating member, which can improve the welding quality of the rotating member and has higher welding efficiency.
The technical scheme provided by the application is as follows:
a welding method for a rotating member, comprising the steps of:
setting a rotary member to be in a horizontal position, acquiring a first position deviation of the rotary member, and acquiring a second position deviation based on the first position deviation and a preset angle;
the rotary member rotates around the first rotary shaft by a preset angle to a second position state;
setting the relative positions of welding guns and welding seams of a rotating member, wherein two welding guns are arranged, and welding wire tips of the two welding guns are centrally symmetrical relative to the circle center of the rotating member;
and rotating the rotary member around the second rotary shaft, controlling the two welding guns to weld the welding seam of the rotary member, and adjusting the position of the welding gun in real time according to the relative position between the rotary member and the welding seam and the second position deviation.
Preferably, the first positional deviation includes a first directional deviation and a second directional deviation;
the method for acquiring the first position deviation of the rotating member specifically comprises the following steps:
setting a test point and a preset position, and obtaining theoretical coordinates of the test point rotated to the preset position;
rotating the rotating member around a second rotating shaft, and stopping rotating when the test point rotates to the preset position;
moving the welding gun to a middle position, wherein the welding gun moves along the extending direction of the first rotary shaft by taking the middle position as a starting point, stops after touching the rotary member, and returns to the middle position to obtain the first direction deviation;
and the welding gun moves along the extending direction of the second rotary shaft by taking the middle position as a starting point, stops after touching the rotary member and returns to the middle position, so that the second direction deviation is obtained.
Preferably, the first rotation axis is specifically a direction of the horizontal position along the X axis, and the second rotation axis is specifically a Z axis direction perpendicular to the horizontal position.
Preferably, the preset angle is specifically 45 °, the first positional deviation is specifically [ M,0, n, 0], and the second positional deviation is specifically [0.707M,0,0.707n, 0].
Preferably, the relative position between the welding gun and the welding seam of the rotating member is set, and the method specifically comprises the following steps:
selecting a welding position;
and moving the welding gun to a welding position, adjusting the welding gun to enable the welding wire tip of the welding gun to be perpendicular to the welding seam, wherein the working angles of the welding gun are 0 degrees, the running angle of the first welding gun is 20 degrees, and the running angle of the second welding gun is-20 degrees.
Preferably, the position of the welding gun is adjusted according to the relative position between the rotating member and the welding seam and the second position deviation, and the method specifically comprises the following steps:
selecting a welding point and acquiring theoretical position coordinates of the welding point;
rotating the rotating member around the second rotating shaft in a clockwise or anticlockwise direction, and obtaining an actual welding coordinate according to the theoretical position coordinate and the second position deviation when the welding point rotates to a welding position;
and controlling the welding gun to adjust to the actual welding coordinate for welding.
Preferably, the welding operation comprises a priming welding operation and a plurality of filling welding operations which are sequentially performed, wherein the rotation directions of the rotary members are opposite when adjacent welding operations are performed.
Preferably, the welding process of the priming welding operation specifically comprises the following steps:
marking a first arc starting point, and when the first arc starting point rotates to a welding position, the welding gun works to weld, the welding current is 220A, the welding speed is 27cm/min, the welding voltage is 24V, the swing amplitude is 2mm, the frequency is 1.5Hz, and the dry extension is 18mm;
when the first arc starting point rotates to the welding position again, the rotating member continues to rotate for a first preset radian and then receives an arc, the current is 180A, the voltage is 20V, and the preset time is waited.
Preferably, the multi-pass filling welding operation specifically comprises the following steps:
lifting the welding gun to a transition position;
marking a second arc starting point, and setting the rotating member to rotate to the welding position after the second arc starting point rotates;
moving the welding gun to a welding position, and welding a welding line by the welding gun while reversely rotating the rotary member;
the welding current is 270A, the welding speed is 27cm/min, the welding voltage is 30V, the swing amplitude is 4mm, the frequency is 1.5Hz, and the dry extension is 18mm.
A welding apparatus for use in the welding method for rotating members as claimed in any one of the preceding claims, comprising:
the positioner is used for assembling the rotary member and is provided with a degree of freedom for driving the rotary member to rotate around the X axis and the Y axis;
the welding robot is provided with a welding gun, the welding gun is driven by the welding robot to have a movement degree of freedom in X, Y, Z directions and a rotation degree of freedom in X, Y, Z directions, and two welding robots are arranged;
the mobile base is connected with the welding robot and drives the welding robot to move along the X, Y, Z directions;
and the controller is connected with the position changing machine, the welding robot and the movable base.
The welding method for the rotating member provided by the application comprises the following steps of: setting the rotary member to be in a horizontal position, acquiring a first position deviation of the rotary member, acquiring a second position deviation based on the first position deviation and a preset angle, and driving the rotary member to rotate around a first rotary shaft by the preset angle, wherein the rotary member is in a second position state; setting the relative positions between welding guns and welding seams of the rotating member, wherein the welding wire tips of the two welding guns are centrally symmetrical with respect to the circle center of the rotating member; rotating the rotating member around the second rotating shaft, and adjusting the position of the welding gun according to the relative position between the rotating member and the welding seam and the second position deviation; and controlling the two welding guns to simultaneously weld the welding seams of the rotating members. Firstly, the welding guns are two, and the two welding guns are adopted to weld the rotating member at the same time, so that the welding efficiency is higher. Secondly, in the welding process, through the rotation of the rotating member around the second rotating shaft, two welding guns are controlled to simultaneously weld the welding lines of the rotating member, the welding wire tips of the two welding guns are centrosymmetric with respect to the circle center of the rotating member, and the two welding guns weld the circular welding lines in a welding line mode, so that the welding quality is better. Furthermore, in order to avoid the non-ideal roundness of the rotation member in the welding process and influence the welding precision, the position of the welding gun is adjusted to correct according to the relative position between the rotation member and the welding seam and the second position deviation in the welding process so as to ensure the normal welding posture. Therefore, compared with the prior art, the welding method for the rotating member can improve the welding quality of the rotating member and has higher welding efficiency.
The application also provides welding equipment, and the ship-shaped welding can also achieve the technical effects by applying the welding method for the rotating member, and the description is omitted here.
Drawings
In order to more clearly illustrate the embodiments of the application or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of a method for welding a rotating member provided in an embodiment of the present application;
fig. 2 is a schematic structural diagram of a rotating member and a welding gun placement position when a first position deviation is obtained according to an embodiment of the present application;
FIG. 3 is a schematic view of a structure of a rotary member according to an embodiment of the present application in a second position;
FIG. 4 is a schematic diagram of a structure of a rotary member for performing a priming welding operation according to an embodiment of the present application;
fig. 5 is a schematic structural diagram of a rotary member according to an embodiment of the present application in performing multiple filling welding operations.
Detailed Description
In order to enable those skilled in the art to better understand the technical solutions of the present application, the technical solutions of the embodiments of the present application will be clearly and completely described below, and it is obvious that the described embodiments are only some embodiments of the present application, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
It will be understood that when an element is referred to as being "fixed" or "disposed" on another element, it can be directly on the other element or be indirectly on the other element; when an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element.
It is to be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are merely for convenience in describing and simplifying the description based on the orientation or positional relationship shown in the drawings, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus are not to be construed as limiting the application.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present application, the meaning of "a plurality" or "a number" means two or more, unless specifically defined otherwise.
It should be understood that the structures, proportions, sizes, etc. shown in the drawings are for illustration purposes only and should not be construed as limiting the application to the extent that it can be practiced, since modifications, changes in the proportions, or adjustments of the sizes, which are otherwise, used in the practice of the application, are included in the spirit and scope of the application which is otherwise, without departing from the spirit or scope thereof.
The embodiment of the application is written in a progressive manner.
As shown in fig. 1 to 5, an embodiment of the present application provides a welding method for a rotating member, where the rotating member is set at a horizontal position, a first position deviation of the rotating member is obtained, and a second position deviation is obtained based on the first position deviation and a preset angle; the rotary member rotates around the first rotary shaft by a preset angle to a second position state; setting the relative positions of welding guns and welding seams of a rotating member, wherein two welding guns are arranged, and welding wire tips of the two welding guns are centrally symmetrical relative to the circle center of the rotating member; and rotating the rotary member around the second rotary shaft, controlling the two welding guns to weld the welding seam of the rotary member, and adjusting the position of the welding gun in real time according to the relative position between the rotary member and the welding seam and the second position deviation.
At present, when welding a connecting flange mainly through single robot ship-shaped welding of a large circular welding seam, and automatic welding of the circular welding seam, if flat fillet welding is performed, a clamp is fixed, and the robot can weld the circular arc track according to a set track, but for large-size workpieces, the welding leg size is large, the fusion property of flat fillet welding is poor, and the circular welding seam track of the large-size workpieces often exceeds the reachable range of the robot, so that the welding is easily forced to be changed into robot welding-workpiece moving-robot welding, the welding efficiency is reduced, the number of welding joints is increased, and the welding quality is reduced.
In order to ensure the uniform size of welding legs, avoid the collapse of welding meat due to flat fillet welding and improve the production efficiency, the application provides a welding method for a rotary member, which is mainly used for welding the ship shape of the rotary member, and the rotary member is turned from a horizontal state to an angle required by welding, such as 45 degrees, to be changed into an inclined state for welding in the welding process. The rotary member is welded in a ship-shaped welding mode, the welded seam is formed smoothly and attractive, the size range of the welding leg welded at one time is wider, and the requirements on the operation skills of welders are lower.
In the embodiment of the present application, the "HOME" point is the position of the welding gun at the most initial position, and the distance between the welding gun and the rotating member is long, so that the phenomenon of interference between the rotating member and the welding gun does not occur when the rotating member rotates.
The welding method for the rotating member provided by the application comprises the following steps of: setting the rotary member at a horizontal position, acquiring a first position deviation of the rotary member, and acquiring a second position deviation based on the first position deviation and a preset angle.
Specifically, the rotating member is mounted on the position changing machine, wherein the position changing machine has two degrees of freedom of rotating around a first rotating shaft and rotating around a second rotating shaft, the roundness of the rotating member is not ideal in the process that the position changing machine drives the rotating member to rotate, if a traditional ship welding mode is mounted, a welding gun is not moved, and the phenomenon that the rotating member is in partial welding and dry stretching unstable is easily caused by the rotation of the rotating member, or even the rotating member collides with the welding gun to stop the machine is caused, so that the position of the rotating member needs to be finely adjusted in the welding process along with the rotation of the rotating member in the welding process, and in order to solve the problem, the rotating member is mounted on the position changing machine, when the rotating member is in a horizontal position state, the first position deviation of the rotating member is acquired, and in the process that the ship welding process, the rotating member needs to be overturned from the horizontal state to the angle required by welding, and the second position deviation is acquired according to the first position deviation and the preset angle, namely the position deviation when the rotating member rotates to the inclined state to perform welding.
The rotating member is driven to rotate around the first rotating shaft by a preset angle, specifically, the position changing machine drives the rotating member to rotate around the first rotating shaft by a preset angle to a second position state, and ship-shaped welding is carried out under the second position state.
The welding gun is arranged at the position, corresponding to the welding seam, of the rotating member, of the welding gun, two welding guns are arranged on a six-axis robot, the six-axis robot has three degrees of freedom for driving the welding gun to move along the X, Y, Z axis direction and three degrees of freedom for rotating around the X, Y, Z axis direction, a movable base is arranged on the six-axis robot, and the movable base has three degrees of freedom for driving the six-axis robot to move along the X, Y, Z axis direction. The ship-shaped welding is carried out on the rotating member through the two welding guns at the same time, the welding efficiency is higher, the welding wire tips of the two welding guns are in central symmetry with respect to the circle center of the rotating member, namely, the connecting line between the welding wire tips of the two welding guns and the circle center of the rotating member are positioned on the same straight line, and when the rotating member rotates, the welding seam welded by the two welding guns is the same welding seam.
In order to avoid the phenomenon that the welding gun is in deviated welding, unstable in dry extension and even in collision and robbery shutdown caused by the non-ideal roundness of the rotary member. When the position changing machine drives the rotating member to rotate around the second rotating shaft, the two welding guns are controlled to finely adjust the welding positions according to the relative position between the rotating member and the welding lines and the second position deviation, so that the normal welding posture is ensured, the welding operation is carried out on the welding lines of the rotating member, and the phenomena of uneven welding, unstable dry extension and even collision and robbery shutdown of the welding guns are avoided.
As shown in fig. 2, the roundness of the rotating member in theory is a circle shape indicated by a dashed line in the drawing, but in actual process, the roundness of the rotating member is a contour indicated by a solid line in the drawing, if the welding gun positions are different in the welding process, only the rotating member is rotated, and the phenomena of partial welding, unstable dry extension and even collision and robbery shutdown of the welding gun easily occur in the welding process.
Further, in the above method, the first position deviation in the embodiment of the present application includes a first direction deviation and a second direction deviation, where the obtaining the first position deviation of the rotating member includes the following steps: setting a test point and a preset position, and obtaining theoretical coordinates of the test point rotating to the preset position, wherein the test point is specifically a fixed point arranged on the rotating member and rotates along with the rotating member. The theoretical coordinate value refers to a position coordinate of a test point rotated to a preset position, if the rotary member rotates to be circular, the theoretical coordinate is a fixed value, and deviation occurs between the theoretical coordinate and the actual coordinate due to non-ideal roundness of the rotary member, so that the deviation can be quantified and corrected; moving the welding gun to the middle position, wherein the welding gun moves along the extending direction of the first rotating shaft by taking the middle position as a starting point, and stops and returns to the middle position after touching the rotating member, so as to obtain a first actual coordinate of the position where the welding gun touches the rotating point, and obtain a first direction deviation based on the theoretical coordinate and the first actual position coordinate; and the welding gun moves along the extending direction of the second rotary shaft by taking the middle position as a starting point, stops after touching the rotary member and returns to the middle position to obtain a second actual position, and is based on theoretical coordinates and second actual position coordinates.
Further, in the above method, the intermediate position in the embodiment of the present application is specifically: the welding wire tip of the welding gun moves to the outer side of the rotating member, the distance between the welding wire tip and the rotating member is 20mm, and the height of the welding wire tip is 5mm of the horizontal surface where the rotating member is located, so that the welding gun cannot influence the rotation of the rotating member in the middle position.
In the method, at least three points are arranged on the test points, the test points are uniformly arranged at intervals around the circumference of the rotation center of the rotating member, each test point stops rotating after rotating to a preset position, and the welding gun returns to the middle position after moving to touch the rotating member by taking the middle position as a starting point until the first direction deviation and the second direction deviation of each test point are obtained. Finally, the gun returns to the HOME point.
Furthermore, in the embodiment of the application, the number of the selected measuring points is 8, the 8 measuring points are uniformly arranged at intervals around the circumference of the rotating member, two preset positions are arranged at two, two welding guns are respectively arranged at the outer sides of the two preset positions, the connecting line of the two preset positions passes through the rotating center of the rotating member, the connecting line of the welding wire tips of the two welding guns passes through the rotating center of the rotating member, the two welding guns work simultaneously, and the first position deviation of all the measuring points can be obtained only by rotating the rotating member for 180 degrees around the second rotating shaft.
Further, in the above method, as one of the modes, the first rotation axis is specifically a direction along the X axis in the horizontal position state, the second rotation axis is specifically a direction perpendicular to the Z axis in the horizontal position state, and the rotation member is mounted to the positioner through the jig, and the positioner has a first degree of freedom for rotation about the X axis and a second degree of freedom for rotation about the Z axis.
In the above method, the first positional deviation refers to a positional deviation when the plane in which the rotary member is located is in the horizontal position state, but in the ship welding, it is necessary to rotate the rotary member in the direction of the X axis to the second position state, and it is necessary to calibrate the first positional deviation. In the embodiment of the present application, the preset angle is specifically 45 °, and the schematic diagram when the rotating member rotates around the X axis to the second position state is shown in fig. 3, where the first position deviation is specifically [ M,0, N, 0], where M is the first direction deviation, N is the second direction deviation, when the rotating member rotates by 45 °, according to the trigonometric function relationship, the first direction deviation in the second position state is 0.707M, and the second direction deviation in the second position state is 0.707N.
In the above method, as one implementation manner, in the embodiment of the present application, the setting of the relative position between the welding gun and the welding seam of the rotating member specifically includes the following steps: selecting a welding position; and moving the welding gun to a welding position, adjusting the welding gun to enable the welding wire tip of the welding gun to be perpendicular to the welding seam, wherein the working angles of the welding gun are 0 degrees, the running angle of the first welding gun is 20 degrees, and the running angle of the second welding gun is-20 degrees.
In the method, as one of the implementation manners, the setting of the relative position between the welding gun and the welding seam of the rotating member in the embodiment of the application specifically includes the steps of selecting the welding point, obtaining the theoretical position coordinate of the welding point, where the welding point refers to the position of the welding gun during welding operation, and the theoretical position coordinate of the welding point refers to the position coordinate of the welding point when the roundness of the rotating member is ideal, but in actual welding operation, the roundness of the rotating member tends to be non-ideal, so that the position of the welding point needs to be calibrated, rotating the rotating member around the second rotating shaft in the clockwise or anticlockwise direction, and when the welding point rotates to the welding position, obtaining the actual welding coordinate by summing the theoretical position coordinate and the second position deviation according to the theoretical position coordinate and the second position deviation; and controlling the welding gun to be adjusted to the actual welding coordinate for welding, wherein the positioner drives the rotary member to rotate to be dominant in the ship welding process, and the welding gun moves along with the rotation small range of the positioner so as to ensure the normal welding posture.
In the above method, as one of the implementation manners, the welding operation in the embodiment of the present application includes a priming welding operation and a multi-pass filling welding operation performed sequentially, where the rotation directions of the rotating members are opposite during the adjacent welding operations. Specifically, in the priming welding operation, the positioner drives the rotary member to rotate around the Z axis in the clockwise or anticlockwise direction, and in the multi-pass filling welding operation, the positioner firstly drives the rotary member to rotate around the Z axis in the anticlockwise or clockwise direction, and then drives the rotary member to rotate around the Z axis in the clockwise or anticlockwise direction, the rotation methods of the rotary members in the adjacent welding procedures are opposite, and therefore the welding precision is higher.
In the above method, as one implementation manner, the welding process of the priming welding operation in the embodiment of the present application specifically includes: marking a first arc starting point, and when the first arc starting point rotates to a welding position, working the welding gun to weld, wherein at the moment, as shown in fig. 4, the working angles of the welding gun are all 0 degrees, the running angle of the first welding gun is 20 degrees, the running angle of the second welding gun is-20 degrees, the welding robot sequentially starts to weld, swing to start and track an instruction to start, the welding current is 220A, the welding speed is 27cm/min, the welding voltage is 24V, the swing amplitude is 2mm, the frequency is 1.5Hz, and the dry extension is 18mm; the tracking mode is specifically real-time tracking, the welding point is welded by adopting an arc movement point, in the welding process, mainly the positioner drives the rotary member to rotate around the Z direction, the welding robot drives the welding gun to realize swinging motion and small-range movement to adjust the position of the welding point of the welding gun, so that the welding precision is higher, and as the two welding guns simultaneously weld, the connecting line of the welding wire tips of the two welding guns and the rotation center of the rotary member are positioned on the same straight line, and the positions of the arc collecting point and the arc starting point are overlapped, so that good fusion is realized. When the first arc starting point rotates to the welding position again, the rotating member rotates for one circle, the rotating member continues to rotate for a first preset radian and then receives an arc, the current is 180A, the voltage is 20V during the arc receiving, and the preset time is waited for, so that the arc receiving pit is filled with liquid metal. More specifically, the first preset radian in the embodiment of the application is specifically 10mm, and the rotating angle of the rotating member exceeds 360 degrees in the process of backing welding operation. As a more specific embodiment, the waiting preset time is 0.5s, so that the liquid metal fills the pit.
In the above method, as one implementation manner, the multi-pass filling welding operation in the embodiment of the present application further includes the following steps: lifting the welding gun to a transition position, facilitating rotation of the rotary member, preventing interference with the welding gun in the rotation process of the rotary member, marking a second arc starting point, wherein the rotary member is in a second position state at the moment, and the positioner drives the rotary member to rotate until the second arc starting point rotates to a welding position; moving the welding guns to a welding position, wherein the working angles of the welding guns are all 0 degrees, the operation angle of the first welding gun is-20 degrees, the operation angle of the second welding gun is 20 degrees, and the welding gun is controlled to weld the welding seam while the rotating member reversely rotates as shown in fig. 5; the welding current is 270A, the welding speed is 27cm/min, the welding voltage is 30V, the swing amplitude is 4mm, the frequency is 1.5Hz, and the dry extension is 18mm. In the welding process, the positioner drives the rotary member to rotate to be dominant, and the welding gun moves along with the rotation small range of the positioner to ensure the normal welding posture, so that the whole welding time can be saved, the welding efficiency is improved, and in the adjacent welding process, the rotating direction of the rotary member is opposite until the welding is completed. After the welding is finished, the welding gun is moved to the HOME point, and the rotary member rotates to a horizontal state.
The application also provides welding equipment applied to the welding method for the rotating member, which comprises the following steps: the positioner is used for assembling the rotary member and is provided with a degree of freedom for driving the rotary member to rotate around the X axis and the Y axis; the welding robot is provided with a welding gun, the welding gun is driven by the welding robot to have the moving freedom degree in the three directions of X, Y, Z and the rotating freedom degree in the three directions of X, Y, Z, and the two welding robots are arranged; the mobile base is connected with the welding robot and drives the welding robot to move along the X, Y, Z directions; and the controller is connected with the positioner, the welding robot and the movable base. The welding equipment is 20 degrees of freedom in total, and welding robot, remove base, the ware that shifts all carry out data processing through the controller, and 20 axles of a controller control, and use the machine that shifts as the center when welding, the position data of two welding robots use the machine that shifts as the center to finely tune, and its inside data can cooperate each other, can realize 20 synchronous coordination welding of axles, is favorable to improving the welding quality and the welding efficiency of rotating member.
The welding process of the welding equipment provided by the application is specifically as follows:
1. the controller sends a welding instruction; 2. a welding robot action instruction; 3. swing instruction and swing welding; 4. arc tracking, namely adjusting the position of a welding gun in real time according to current parameters of the tip of a welding wire in the swinging process; 5. coordination, namely, coordination takes a positioner as a center, and in order to ensure the roundness of the rotation of the rotating member, the data parameters of the welding robot are adjusted according to the rotation condition of the disk of the positioner; 6. and locating, namely calculating actual welding coordinates by the controller according to the second position deviation and the theoretical position coordinates of the welding point, and moving two welding guns to the actual welding coordinates when the rotating member rotates to the welding point to weld the rotating member.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. A method of welding a rotating member, comprising the steps of:
setting a rotary member to be in a horizontal position, acquiring a first position deviation of the rotary member, and acquiring a second position deviation based on the first position deviation and a preset angle;
the rotary member rotates around the first rotary shaft by a preset angle to a second position state;
setting the relative positions of welding guns and welding seams of a rotating member, wherein two welding guns are arranged, and welding wire tips of the two welding guns are centrally symmetrical relative to the circle center of the rotating member;
and rotating the rotary member around the second rotary shaft, controlling the two welding guns to weld the welding seam of the rotary member, and adjusting the position of the welding gun in real time according to the relative position between the rotary member and the welding seam and the second position deviation.
2. The method for welding a rotating member according to claim 1, wherein,
the first position deviation comprises a first direction deviation and a second direction deviation;
the method for acquiring the first position deviation of the rotating member specifically comprises the following steps:
setting a test point and a preset position, and obtaining theoretical coordinates of the test point rotated to the preset position;
rotating the rotating member around a second rotating shaft, and stopping rotating when the test point rotates to the preset position;
moving the welding gun to an intermediate position, taking the intermediate position as a starting point, moving along the extending direction of the first rotary shaft, stopping after touching the rotary member, and returning to the intermediate position to obtain the first direction deviation;
and moving along the extending direction of the second rotary shaft by taking the middle position as a starting point, stopping after touching the rotary member, and returning to the middle position to obtain the second direction deviation.
3. The welding method for rotating members according to claim 2, wherein,
the first rotating shaft is specifically in the direction of the horizontal position along the X axis, and the second rotating shaft is specifically in the direction of the Z axis perpendicular to the horizontal position.
4. A welding method for rotating members according to claim 3, wherein,
the preset angle is specifically 45 degrees, the first position deviation is specifically [ M,0, N, 0], and the second position deviation is specifically [0.707M,0,0.707N, 0].
5. The method for welding a rotating member according to claim 4, wherein,
the method for setting the relative position between the welding gun and the welding seam of the rotating member specifically comprises the following steps:
selecting a welding position;
and moving the welding gun to a welding position, adjusting the welding gun to enable the welding wire tip of the welding gun to be perpendicular to the welding seam, wherein the working angles of the welding gun are 0 degrees, the running angle of the first welding gun is 20 degrees, and the running angle of the second welding gun is-20 degrees.
6. The welding method for rotating members according to claim 5, wherein,
according to the relative position between the rotating member and the welding line and the second position deviation, the position of the welding gun is adjusted, and the method specifically comprises the following steps:
selecting a welding point and acquiring theoretical position coordinates of the welding point;
rotating the rotating member around the second rotating shaft in a clockwise or anticlockwise direction, and obtaining an actual welding coordinate according to the theoretical position coordinate and the second position deviation when the welding point rotates to a welding position;
and controlling the welding gun to adjust to the actual welding coordinate for welding.
7. The welding method for rotating members according to any one of claims 1 to 6, wherein,
the welding operation comprises a priming welding operation and a plurality of filling welding operations which are sequentially performed, wherein the rotation directions of the rotary members are opposite when adjacent welding operations are performed.
8. The method for welding a rotating member according to claim 7, wherein,
the welding process of the priming welding operation specifically comprises the following steps:
marking a first arc starting point, and when the first arc starting point rotates to a welding position, the welding gun works to weld, the welding current is 220A, the welding speed is 27cm/min, the welding voltage is 24V, the swing amplitude is 2mm, the frequency is 1.5Hz, and the dry extension is 18mm;
when the first arc starting point rotates to the welding position again, the rotating member continues to rotate for a first preset radian and then receives an arc, the current is 180A, the voltage is 20V, and the preset time is waited.
9. The method of welding a rotating member according to claim 8,
the multi-pass filling welding operation specifically comprises the following steps:
lifting the welding gun to a transition position;
marking a second arc starting point, and setting the rotating member to rotate to the welding position after the second arc starting point rotates;
moving the welding gun to a welding position, and welding a welding line by the welding gun while reversely rotating the rotary member;
the welding current is 270A, the welding speed is 27cm/min, the welding voltage is 30V, the swing amplitude is 4mm, the frequency is 1.5Hz, and the dry extension is 18mm.
10. Welding apparatus for application to the welding method for rotating members according to any one of claims 1 to 9, characterized by comprising:
the positioner is used for assembling the rotary member and is provided with a degree of freedom for driving the rotary member to rotate around the X axis and the Y axis;
the welding robot is provided with a welding gun, the welding gun is driven by the welding robot to have a movement degree of freedom in X, Y, Z directions and a rotation degree of freedom in X, Y, Z directions, and two welding robots are arranged;
the mobile base is connected with the welding robot and drives the welding robot to move along the X, Y, Z directions;
and the controller is connected with the position changing machine, the welding robot and the movable base.
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