CN118180784A

CN118180784A - Air duct welding system and welding method of centrifugal compressor

Info

Publication number: CN118180784A
Application number: CN202410304155.8A
Authority: CN
Inventors: 甄必德; 郝建国; 邹鹏; 贾铭浩; 郭鹏; 王思倩; 李萌; 牛丹; 牛权; 王宸睿
Original assignee: Shenyang Turbo Machinery Co Ltd
Current assignee: Shenyang Turbo Machinery Co Ltd
Priority date: 2024-03-18
Filing date: 2024-03-18
Publication date: 2024-06-14

Abstract

The embodiment of the application discloses an air duct welding system and a welding method of a centrifugal compressor, wherein the air duct welding system of the centrifugal compressor comprises a deflection unit, a mechanical arm, a welding assembly, a laser sensor and a controller, in the welding process of the centrifugal compressor, especially in the welding process of an upper air duct or a lower air duct, a part to be welded can be arranged on the deflection unit, in the welding process, the laser sensor can be used for identifying two parts to be welded, such as an assembly gap and a groove shape between an end flange and a lower plate of a bent plate or between the lower plate of the bent plate and an upper plate of the bent plate, the controller further determines the swinging width of the mechanical arm based on the assembly gap and the groove shape, and based on the swinging width, the two parts to be welded can be subjected to backing welding and then the mechanical ratio movement is controlled to perform multi-layer welding, so that the welding can be completed, and based on the welding assembly can be driven by the mechanical arm to move to complete the welding, the manual participation can be greatly reduced, the welding efficiency can be improved, and the welding efficiency can be ensured.

Description

Air duct welding system and welding method of centrifugal compressor

Technical Field

The embodiment of the application relates to the technical field of centrifugal compressors, in particular to a welding system and a welding method for an air duct of a centrifugal compressor.

Background

At present, the welding of welding seams of a centrifugal compressor, particularly an MCL centrifugal compressor welding shell is mainly performed manually in a production field, the welding method is a GTAW welding method, the quality of the welding seams is greatly restricted by the skill level of welding workers, the internal flaw detection quality and the appearance quality of the welding seams are greatly different due to different skill levels of the welding workers, particularly the welding quality of butt-joint pressure-bearing welding seams of an air inlet and outlet cylinder cannot meet the requirement of one-time inspection qualification of ultrasonic or X-ray flaw detection, the phenomenon of twice repair of the pressure-bearing welding seams often exists, the repair proportion of the welding seams is more than 10%, the production period is influenced, and the manufacturing cost is increased.

Disclosure of Invention

The present invention aims to solve at least one of the technical problems existing in the prior art or related art.

To this end, a first aspect of the present invention provides a duct welding system for a centrifugal compressor.

A second aspect of the invention provides a method of welding.

In view of this, a first aspect of an embodiment according to the present application proposes a duct welding system for a centrifugal compressor, comprising:

the displacement unit is used for placing a device to be welded and driving the device to be welded to displace;

the welding device comprises a mechanical arm and a welding assembly, wherein the welding assembly is connected to the mechanical arm, and the mechanical arm is used for driving the welding assembly to move;

the laser sensor is arranged on the mechanical arm and is close to the welding assembly;

And the controller is connected with the mechanical arm and the laser sensor.

In a possible implementation manner, the displacement unit comprises at least two driving pieces, wherein one driving piece is used for driving the device to be welded to rotate, and the other driving piece is used for driving the device to be welded to swing;

the mechanical arm is a six-axis mechanical arm.

In a possible embodiment, the controller includes:

and the demonstrator is used for controlling the advancing track of the mechanical arm.

In one possible embodiment, the centrifugal compressor welding system further comprises:

the collision sensor is arranged on the mechanical arm;

the grating unit is arranged on the circumference side of the changing unit and the mechanical arm in a surrounding mode;

the base is used for being fixed on the ground, and the mechanical arm is connected with the base.

According to a second aspect of the embodiment of the present application, a welding method is provided, which is applied to the welding system of the centrifugal compressor according to any one of the above technical solutions, and the welding method includes:

The opposite end flange, the lower plate or the upper plate of the bending plate are fixed through the deflection unit

Acquiring the pairing gap and the groove morphology of two devices to be welded through the laser sensor;

determining the swing width of the mechanical arm based on the pairing gap and the groove shape;

based on the swing width of the mechanical arm, performing backing welding on two devices to be welded;

and controlling the mechanical arm to swing, and performing multi-pass welding on the basis of backing welding through the welding assembly.

In a possible implementation manner, the step of performing backing welding on two devices to be welded based on the swinging width of the mechanical arm includes:

modeling an end flange, a lower plate of the bent plate or an upper plate of the bent plate;

determining a walking path of the mechanical arm based on the modeling in the welding process;

And based on the walking path and the swinging width of the mechanical arm, performing backing welding on the two devices to be welded.

In a possible implementation manner, the step of performing backing welding on the two devices to be welded based on the swinging width of the mechanical arm further includes:

And driving the device to be welded to displace through the displacement unit so that the position to be welded is positioned at the top, and welding the top of the device to be welded by the mechanical arm.

In a possible embodiment, the step of controlling the swing of the mechanical arm to perform multiple welding on the basis of the priming welding through the welding assembly includes:

Determining a travel path for the multi-pass weld based on the following formula:

△H＝1/2T；

△L＝1/2B。

wherein, deltaH is the height offset based on the previous welding, T is the thickness of the welding seam based on the previous welding, deltaL is the transverse offset, and B is the width of the welding seam.

In one possible embodiment, the welding method further comprises:

constructing a welding track basic model database based on the shapes of the end flange, the lower plate of the bent plate and the upper plate of the bent plate;

And retrieving a model in the track basic model database based on the shape of the actual part to be welded, and correcting the retrieved model based on the actual size of the part to be welded so as to determine the welding track of the mechanical arm.

In a possible embodiment, the step of obtaining, by the laser sensor, the pairing gap and groove morphology of two devices to be welded includes:

And determining the bevel angle between two devices to be welded and the width of the narrowest part of the bevel based on the laser sensor.

Compared with the prior art, the invention at least comprises the following beneficial effects:

The air duct welding system of the centrifugal compressor comprises a deflection unit, a mechanical arm, a welding assembly, a laser sensor and a controller, in the welding process of the centrifugal compressor, particularly in the welding process of an upper air duct or a lower air duct, to-be-welded parts such as an end flange, a bent plate lower plate or a bent plate upper plate can be arranged on the deflection unit, then the deflection unit is utilized to position the end flange, the bent plate lower plate or the bent plate upper plate, when the mechanical arm is utilized to drive the welding assembly to move, the travelling path of the mechanical arm can be determined based on the specification, the size and the shape of the end flange, the bent plate lower plate or the bent plate upper plate, then the travelling path is utilized to drive the welding assembly to move, in the welding process, the laser sensor can be utilized to identify the gap and the groove shape between two to-be-welded parts such as the end flange and the bent plate lower plate, or the gap and the groove shape between the bent plate lower plate and the bent plate upper plate can be further determined based on the gap and the groove shape between the end flange, the welding assembly can be performed to-be welded between the two to-be-welded parts based on the deflection unit, then the mechanical arm can be controlled to move to ensure the welding strength, and the welding efficiency can be greatly improved, and the welding efficiency can be achieved based on the manual welding assembly to be welded by the welding assembly to move the lower plate.

Drawings

Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the application. Also, like reference numerals are used to designate like parts throughout the figures. In the drawings:

FIG. 1 is a schematic block diagram of a barrel welding system for a centrifugal compressor in accordance with one embodiment of the present application;

FIG. 2 is a schematic step flow diagram of a welding method according to one embodiment of the present application;

fig. 3 is a schematic diagram of multi-pass welding construction of a welding method according to an embodiment of the present application.

The correspondence between the reference numerals and the component names in fig. 1 is:

110 deflection units, 120 mechanical arms, 130 welding assemblies, 140 laser sensors and 150 bases;

210 end flange, 220 lower plate, 230 upper plate.

Detailed Description

In order to better understand the above technical solutions, the following detailed description of the technical solutions of the embodiments of the present application is made by using the accompanying drawings and the specific embodiments, and it should be understood that the specific features of the embodiments of the present application are detailed descriptions of the technical solutions of the embodiments of the present application, and not limit the technical solutions of the present application, and the technical features of the embodiments of the present application may be combined with each other without conflict.

As shown in fig. 1, a first aspect of an embodiment of the present application provides a duct welding system of a centrifugal compressor, including: the displacement unit 110 is used for placing the device to be welded and driving the device to be welded to displace; the welding device comprises a mechanical arm 120 and a welding assembly 130, wherein the welding assembly 130 is connected to the mechanical arm 120, and the mechanical arm 120 is used for driving the welding assembly 130 to move; a laser sensor 140, the laser sensor 140 being disposed on the robotic arm 120, proximate to the welding assembly 130; and a controller connected to the robot arm 120 and the laser sensor 140.

The air duct welding system of the centrifugal compressor provided by the embodiment of the application comprises the deflection unit 110, the mechanical arm 120, the welding assembly 130, the laser sensor 140 and the controller, in the welding process of the centrifugal compressor, particularly in the welding process of the upper air duct or the lower air duct, two pieces to be welded, such as an end flange 210, a lower bent plate 220 or an upper bent plate 230, can be arranged on the deflection unit 110, then the opposite end flange 210, the lower bent plate 220 or the upper bent plate 230 are positioned by the deflection unit 110, when the mechanical arm 120 is utilized to drive the welding assembly 130 to move, the advancing path of the mechanical arm 120 can be determined based on the specifications, the sizes and the forms of the end flange 210, the lower bent plate 220 or the upper bent plate 230, then the welding assembly 130 is driven to move based on the advancing path, in the welding process, two pieces to be welded, such as between the end flange 210 and the lower bent plate 220, or the assembly gap and the form of the upper bent plate 230 are arranged, the controller further determines the gap and the form of the gap between the end flange 210 and the upper bent plate 220 based on the gap and the form of the deflection unit, and then the welding assembly is further based on the gap and the gap between the two bent plate 220 is ensured, the two pieces to be welded, and the welding efficiency between the two bent plates can be welded can be greatly improved, and the welding efficiency can be completed based on the welding efficiency is achieved, and the welding efficiency can be achieved by the welding performance of the welding between the lower plate and the strength.

In one possible embodiment, as shown in fig. 1, the displacement unit 110 includes at least two driving members, where one driving member is used to drive the device to be soldered to rotate, and the other driving member is used to drive the device to be soldered to swing.

In this technical scheme, the structural composition of the unit 110 that shifts has further been improved, the unit 110 that shifts can include two at least driving pieces, and one of them driving piece is used for driving the device that waits to weld and rotates, and another driving piece is used for driving the device that waits to weld and swings, so set up can adjust two positions of waiting to weld for the welding seam is in the top of system all the time, can weld at the high point all the time based on this arm 120 and welding assembly 130, can further ensure welding quality.

In one possible embodiment, the robotic arm 120 is a six-axis robotic arm 120. This arrangement allows more degrees of freedom and allows automated welding.

In one possible embodiment, the controller includes: and a demonstrator for controlling the travel track of the robot arm 120.

In this technical scheme, the controller can include the demonstrator, can program centrifugal compressor's dryer welding system through the setting of demonstrator, if can utilize demonstrator input to wait to weld specification and size of device, further can confirm the orbit of marcing of arm 120 based on waiting to weld specification and size of device, can improve programming efficiency, and then improves welding machine efficiency.

In one possible embodiment, the centrifugal compressor welding system further comprises: a collision sensor provided on the robot arm 120; a grating unit, which is provided around the circumference of the changing unit and the robot arm 120; the base 150, the base 150 is used for fixing on the ground, and the mechanical arm 120 is connected to the base 150.

In this technical scheme, centrifugal compressor welding system can also include collision sensor, so set up can reduce the probability that arm 120 and welding set 130 and other devices bump, can improve centrifugal compressor's dryer welding system's life.

In the technical scheme, the welding system of the centrifugal compressor can further comprise a grating unit, and based on the grating unit, when a person or an object invades into a working area in the working process of the welding system of the centrifugal compressor, the grating unit can give an alarm, so that the welding system of the centrifugal compressor can be used more safely.

In this technical scheme, centrifugal compressor welding system can also include base 150, and arm 120 is fixed through base 150, can make arm 120's fixed more firm.

The centrifugal compressor welding system provided by the embodiment of the application aims at the problem of welding pressure-bearing welding seams of an MCL welding shell on a production site, through the technical communication of deep automatic welding, the field automatic welding verification test of an air duct test piece and a welding test plate is carried out, the fact that the automatic welding of an air duct is realized by the MCL welding shell is ensured to have certain basic conditions and technical guarantees, the equipment for realizing the automatic welding of each pressure-bearing welding seam of the air duct and the air duct of the MCL welding shell mainly comprises a welding assembly 130, a mechanical arm 120 and a matched position changing machine, namely, the track verification test of the test teaching programming of each pressure-bearing welding seam of the components is comprehensively realized by adopting a multi-axis welding robot mode and matching with a positioning tool (position changing machine), and then the welding process of the automatic welding of each pressure-bearing welding seam is comprehensively completed by utilizing a welding robot, so that the automatic welding of the robot can meet the welding manufacture of the pressure-bearing welding seam of the MCL welding shell.

In some examples, the welding assembly 130 may include a welding power source, a welding gun, and a gun cutter.

As shown in fig. 2. According to a second aspect of the embodiments of the present application, a welding method is provided, which is applied to the welding system of a centrifugal compressor according to any one of the above-mentioned technical solutions, and the welding method includes:

Step 201: fixing the opposite end flange, the lower plate of the bending plate or the upper plate of the bending plate through the deflection unit;

step 202: the method comprises the steps of obtaining a pairing gap and a groove morphology of two devices to be welded through a laser sensor;

Step 203: determining the swinging width of the mechanical arm based on the pairing gap and the groove shape;

Step 204: based on the swinging width of the mechanical arm, backing welding is carried out on the two devices to be welded;

step 205: and controlling the mechanical arm to swing, and performing multi-pass welding on the basis of backing welding through the welding assembly.

The welding method provided by the embodiment of the application is applied to the welding system of the centrifugal compressor in any technical scheme, so that the welding method has all the beneficial effects of the welding system of the centrifugal compressor in the technical scheme.

As shown in fig. 1 and 2, in the welding process of the centrifugal compressor, particularly in the welding process of the upper duct or the lower duct, the welding method provided by the embodiment of the application can set the to-be-welded parts, such as the end flange 210, the lower plate 220 or the upper plate 230 of the bent plate, on the shifting unit 110, then position the end flange 210, the lower plate 220 or the upper plate 230 of the bent plate by using the shifting unit 110, when the welding assembly 130 is moved by using the mechanical arm 120, the travel path of the mechanical arm 120 can be determined based on the specification, the size and the shape of the end flange 210, the lower plate 220 or the upper plate 230 of the bent plate, then the welding assembly 130 is moved by using the travel path, and two to-be-welded parts can be identified by using the laser sensor 140 in the welding process, if the gap and the groove between the end flange 210 and the lower plate 220 or between the lower plate 220 and the upper plate 230 are set, the controller further determines the swing width of the mechanical arm 120 based on the gap and the groove, based on which, the two pieces to be welded can be subjected to backing welding, the welding strength can be ensured, then the mechanical ratio is controlled to move for multi-layer welding, and the welding between the end flange 210 and the lower plate 220 or between the lower plate 220 and the upper plate 230 can be completed, based on which, the mechanical arm 120 can be utilized to drive the welding assembly 130 to move for completing the welding, so that the manual participation is greatly reduced, the welding efficiency can be improved, and the welding effect can be ensured.

The application utilizes the detection result of the laser sensor 140 to determine the swing width of the mechanical arm 120, can enhance the welding effect of backing welding, and can increase the effect of subsequent multi-layer welding, thereby improving the welding strength among the end flange 210, the lower plate 220 of the bent plate and the upper plate 230 of the bent plate, and improving the welding strength and the welding precision of the inlet and outlet air cylinders of the centrifugal compressor.

In one possible embodiment, the step of priming two devices to be soldered based on the swing width of the robotic arm 120 includes: modeling the end flange 210, the lower plate 220, or the upper plate 230; during the welding process, determining a path of travel of the robotic arm 120 based on the modeling; based on the walking path and the swinging width of the mechanical arm 120, the two devices to be welded are subjected to backing welding. By the arrangement, the welding assembly 130 can be driven to move by the mechanical arm 120 according to the size and specification of the device to be welded, and welding precision can be guaranteed.

In one possible embodiment, the step of priming two devices to be soldered based on the swing width of the robotic arm 120 further comprises: the displacement unit 110 drives the device to be welded to displace so that the position to be welded is at the top, and the mechanical arm 120 welds at the top of the device to be welded. So set up for arm 120 is working at the top of waiting to weld the device all the time, can reduce the removal of arm 120, possesses higher visibility simultaneously, can further improve the welding effect.

In one possible embodiment, the step of controlling the swing of the robot arm 120 to perform a plurality of welds on the basis of the priming weld by the welding assembly 130 includes:

△H＝1/2T；

△L＝1/2B。

In the technical scheme, the confirmation mode of the advancing tracks of the multi-path welded mechanical arm 120 is further clarified, based on the confirmation mode, the advancing track of the next welded mechanical arm 120 can be determined based on the bottoming welding, then the next moving track of the mechanical arm 120 is determined based on the new welding, all the welding tracks of the mechanical arm 120 can be clarified, and the welding quality can be improved.

It will be appreciated that the multi-layer multi-pass welding (Multilayer welding) function can greatly simplify the programming process of multi-layer multi-pass welding procedures such as butt welds, fillet welds, weld overlays, etc. The method is characterized in that the first layer (the bottom layer) is only subjected to teaching programming for multi-layer multi-pass welding, the welding path procedures of other multi-layer multi-pass welding are only required to be changed according to welding technological parameters by referring to the welding gun posture of the bottoming welding seam, then the welding level of the multi-layer multi-pass welding is calculated according to the plate thickness of the air duct bent plate, and finally the setting and implementation of the welding procedure of the multi-layer multi-pass welding of the whole welding seam are realized.

Table 1 welding parameter correspondence table

Sequence number	Welding current A	Welding voltage V	Width of weld B	Thickness T of weld	Remarks
						1	200-240	30-34	8	4
2	240-280	30-34	10	5
						3	280-320	30-34	12	6

The height offset Δh=1/2T and the left-right offset Δl=1/2B, so that the welding track of the multi-layer multi-track welding is the displacement amount of Δh and Δl outwards or leftwards and rightwards along the welding track based on the original welding track.

As shown in fig. 3, for example, at the welding current: under the welding specification of 200-240A and welding voltage of 30-34V, the average height of each layer of welding seam is about 4mm, the width of the welding seam is about 8mm, and according to the welding seam morphology requirement, the height of a superimposed welding layer is 2mm on a first layer of program path only for multi-layer multi-pass welding, and the left or right offset is 4mm. Therefore, the priming welding and the multi-pass welding can be completed, and the welding quality is ensured.

In one possible embodiment, the welding method further comprises: constructing a welding track basic model database based on the shapes of the end flange 210, the bent plate lower plate 220 and the bent plate upper plate 230; the model is retrieved in a trajectory base model database based on the actual shape of the part to be welded, and the retrieved model is corrected based on the actual size of the part to be welded to determine the welding trajectory of the mechanical arm 120. By means of the arrangement, the welding track basic model database is built in advance, data in the welding track basic model database are called and corrected in the actual welding process, and then the welding track of the mechanical arm 120 can be directly determined, programming efficiency can be improved, and welding efficiency is further improved.

In one possible embodiment, the step of obtaining, by the laser sensor 140, the pairing gap and groove morphology of the two devices to be welded includes: the bevel angle between the two devices to be welded, and the width of the narrowest bevel, are determined based on the laser sensor 140. The setting can ensure the quality of backing welding, and the subsequent multi-layer multi-channel welding can ensure the welding effect of the air inlet cylinder and the air outlet cylinder.

Examples

The technical scheme of robot automatic welding is adopted for the inlet and outlet air cylinders of the MCL welding machine shell, feasibility analysis of automatic welding application of all parts of the MCL welding machine shell is fully carried out, welding tests of test pieces and welding test plates are carried out, a multi-shaft mechanical arm 120 and a positioner are adopted for an air cylinder welding system of the centrifugal compressor to comprehensively realize pilot programming of all pressure-bearing welding seams of the inlet and outlet air cylinders, priming overcurrent and key technical verification of multiple layers, and then the welding robot is utilized to comprehensively complete the welding process of automatic welding of all the pressure-bearing welding seams so as to ensure that the automatic welding of the robot can meet the welding manufacture of the pressure-bearing welding seams of the MCL welding machine shell.

The air duct welding system of the centrifugal compressor can be applied to an automatic welding process of an inlet air duct and an outlet air duct of an MCL welding shell by adopting robot automatic welding equipment, is mainly used for the inlet air duct and the outlet air duct, is applicable to the specification of a maximum air duct part phi 2100mm H1616mm, and has the functions of horizontally placing and welding and vertically placing and welding two positions; the welding of the wind inlet and outlet cylinder structural members is mainly carried out by medium-thickness high-strength steel, and the steel plate strength level is as follows: Q345R and 09MnNiDR, etc. with the thickness of 10-50mm, selecting welding materials matched with the steel plates to be ER50-6 and HS09MnNiDR welding wires, and the diameter of the welding wires is phi 1.2mm barrel welding wires or coil welding wires. The dryer welding system of the centrifugal compressor has the working capacity of 24-hour continuous welding operation, saves manpower and material resources, and is favorable for improving the welding efficiency and the welding quality.

The welding method of the air duct welding system of the centrifugal compressor in the welding process comprises the following steps:

1) The preparation process comprises the following steps: and blanking the welding workpiece according to the drawing requirements, and performing assembly spot welding according to the process requirements.

2) And (3) installing a workpiece: the operator enters a working area, places the workpiece on a to-be-welded position, automatically finds the position of the workpiece through workpiece correction, and completes the setting of the welding track of the workpiece through trial programming.

3) Robot welding: the operator debugs the mechanical arm 120 back to the safe position, presses the start button, and the mechanical arm 120 starts from the set position and cooperates with the laser sensor 140 to realize bottoming and multi-layer and multi-channel automatic welding.

4) And (5) unloading the workpiece: after the welding is finished, the robot returns to the safe position, the operator enters the robot working area again, and the workpiece is unloaded.

5) The operation is circulated in this way.

The preparation requirement of a workpiece groove in the welding process is as follows:

the parameter requirements of the butt joint groove pair of the welding workpiece are met, oil, rust, dirt and other dirt should be removed within the range of 30mm around the device to be welded, and the requirements of 60+/-5-degree Y-type groove butt joint, 4mm gap and 0-1.5mm blunt edge are met.

When the air duct welding system of the centrifugal compressor performs butt welding, a butt joint gap is a key parameter affecting priming overcurrent welding, a gap requirement needs to be ensured when workpieces are assembled, the tolerance of the gap is 4+/-0.5 mm, and the offset is kept within 1mm, so that the automation level of welding and the internal and external welding quality of the welding seam can be effectively improved.

In addition, the positioning spot welding of the welding machine workpiece is positioned in the groove, root penetration needs to be ensured, air holes, slag inclusion and crack defects cannot be caused, the spot welding length is 22+/-3 m, the welding seam height is less than 3mm, and the spot welding interval is 250-300 mm. The arc starting and ending positions of the positioning welding should be smoothly transited. In order to ensure the consistency of welding, the back of the welding seam of the workpiece is provided with anti-deformation process lacing wires in a spot-bonding mode, the spacing is 300-400mm, and the shape and the position of the lacing wires do not influence the back penetration molding of the welding seam.

On-line teaching programming:

1) Trial programming process flow

The welding procedure for welding the workpiece is a return stroke automatically generated after the measuring point is drawn on site through a demonstrator configured by a wind barrel welding system of the centrifugal compressor. The welding posture can always keep the forward angle of 0+/-2.5 degrees, the side inclination angle of 90+/-2.5 degrees and the flat welding position, and the swinging surface of the welding gun is parallel to the groove plane.

The programming teaching time takes the phi 1050 long-neck flange butt weld as an example:

1. the total length of the welding line is 3297mm

2. Teaching and adjusting the length of the welding line: 5000mm

3. Number of workpiece inclination angle changes: 7

4. Teaching program point location: 28

5. Laser tracking point position: 7

6. Auxiliary signal program point location: 4

7. Number of coordinate switches: 84

8. Tcp position adjustment: 14

Total teaching time is predicted: 2100s

The air duct welding system of the centrifugal compressor can display the running state of the whole system through the demonstrator, and the running state comprises a program running state, a welding process parameter change, a system parameter change, a current position of a robot, an execution history record, a safety signal, an alarm record and the like, so that the state of the robot system is known in time, and the problem of the robot system is prevented in advance.

Teaching programming process: the demonstrator of the air duct welding system of the centrifugal compressor is provided with a special arc welding function key. Comprising the following steps: welding enabling key, inching wire feeding key, inching wire withdrawing key and inching wire feeding key.

And (3) welding program call: the centrifugal compressor welding system can directly carry out edited program call through operating the main interface key of the screen, and an automatic welding process of welding workpieces is carried out, so that the subsequent operation is greatly facilitated.

Laser locating and tracking functions: in the equipment development process of the automatic welding equipment for the inlet and outlet air cylinders of the MCL welding machine shell, the centrifugal compressor welding system is provided with a double-set laser sensor 140 for laser locating correction and process tracking of the inlet and outlet air cylinder workpiece, so as to better achieve the aim of improving the quality of the workpiece welding seam, and the main functions and the working principle are as follows:

the laser sensor 140 is mainly composed of a laser camera, a laser protection lens, an anti-splash baffle and an air cooling device, and is shown in the following structure.

A) Laser correction: after the workpiece and the deflection are installed, the distance measurement is carried out through the double-side point laser at the fixed position, and according to the characteristics of the external dimension of the product, after the current installation position of the workpiece is used as the welding origin workpiece to be installed and clamped, the workpiece is clicked on an operation flat screen to correct, and the deflection machine rotates by +/-30 degrees to automatically align the position of the workpiece.

B) Laser tracking: and (3) obtaining the position information of each point in the laser scanning area by utilizing the optical propagation and imaging principle, and completing the online real-time detection of the common welding seam by a program algorithm. And the data feedback robot is used for adjusting the welding track and the swing amplitude.

In the present invention, the terms "first," "second," "third," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance; the term "plurality" means two or more, unless expressly defined otherwise. The terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; "coupled" may be directly coupled or indirectly coupled through intermediaries. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.

In the description of the present invention, it should be understood that the directions or positional relationships indicated by the terms "upper", "lower", "left", "right", "front", "rear", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the devices or units referred to must have a specific direction, be constructed and operated in a specific direction, and thus should not be construed as limiting the present invention.

In the description of the present specification, the terms "one embodiment," "some embodiments," "particular embodiments," and the like, mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A barrel welding system for a centrifugal compressor, comprising:

And the controller is connected with the mechanical arm and the laser sensor.

2. The welding system of centrifugal compressor of claim 1,

The displacement unit comprises at least two driving parts, wherein one driving part is used for driving the device to be welded to rotate, and the other driving part is used for driving the device to be welded to swing;

the mechanical arm is a six-axis mechanical arm.

3. The centrifugal compressor welding system of claim 1, wherein the controller comprises:

4. The centrifugal compressor welding system of claim 1, further comprising:

the collision sensor is arranged on the mechanical arm;

5. A welding method applied to the centrifugal compressor welding system according to any one of claims 1 to 4, the welding method comprising:

6. The method of soldering according to claim 5, wherein the step of priming two devices to be soldered based on the swing width of the robot arm comprises:

7. The method of soldering according to claim 6, wherein the step of priming two devices to be soldered based on the swing width of the robot arm further comprises:

8. The welding method of claim 5, wherein the step of controlling the swing of the robot arm to perform a plurality of welds on a prime weld basis by the welding assembly comprises:

△H＝1/2T；

△L＝1/2B。

9. The welding method of claim 5, further comprising:

10. The welding method according to claim 5, wherein the step of obtaining the pairing gap and the groove morphology of the two devices to be welded by the laser sensor comprises: