WO2013056414A1 - Procédé de soudage automatique destiné à la ligne de soudure circonférentielle d'un tuyau rond - Google Patents

Procédé de soudage automatique destiné à la ligne de soudure circonférentielle d'un tuyau rond Download PDF

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Publication number
WO2013056414A1
WO2013056414A1 PCT/CN2011/080906 CN2011080906W WO2013056414A1 WO 2013056414 A1 WO2013056414 A1 WO 2013056414A1 CN 2011080906 W CN2011080906 W CN 2011080906W WO 2013056414 A1 WO2013056414 A1 WO 2013056414A1
Authority
WO
WIPO (PCT)
Prior art keywords
welding
round pipe
pipe member
weld
automatically
Prior art date
Application number
PCT/CN2011/080906
Other languages
English (en)
Chinese (zh)
Inventor
詹纯新
刘权
王莲芳
易伟平
Original Assignee
中联重科股份有限公司
湖南中联重科专用车有限责任公司
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by 中联重科股份有限公司, 湖南中联重科专用车有限责任公司 filed Critical 中联重科股份有限公司
Priority to PCT/CN2011/080906 priority Critical patent/WO2013056414A1/fr
Publication of WO2013056414A1 publication Critical patent/WO2013056414A1/fr

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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
    • B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
    • B23K37/02—Carriages for supporting the welding or cutting element
    • B23K37/0276—Carriages for supporting the welding or cutting element for working on or in tubes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
    • B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
    • B23K37/053—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work aligning cylindrical work; Clamping devices therefor
    • B23K37/0538—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work aligning cylindrical work; Clamping devices therefor for rotating tubes, e.g. rollers
    • 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
    • B23K2101/00—Articles made by soldering, welding or cutting
    • B23K2101/04—Tubular or hollow articles
    • B23K2101/06—Tubes

Definitions

  • the invention belongs to the field of pipe welding technology, and in particular relates to an automatic welding method for a circumferential weld of a round pipe. Background technique
  • Truss structures are common in large-scale buildings, exhibition halls, stadiums, and bridges. Among them, some of the truss arms are formed by welding a round tubular chord at both ends with an ear hinge or a support, and the weld formed by the truss arm after the completion of the welding is a circumferential weld. Due to the force characteristics of the truss structure, the circumferential weld formed on the truss arm is required to have high mechanical properties such as joint strength. Therefore, the circumferential weld is required to be sufficiently strong and has a certain section size, and considering the circle to be welded. The wall thickness and roundness of the pipe, the circumferential weld formed should also have a greater width and thickness.
  • the multi-layer welding is required in the wall thickness direction of the welded round pipe member, and multiple welding is required on some layers in the axial direction of the circular pipe member, thereby forming a multi-layer multi-pass circumferential weld. .
  • the welding tool is required to have all-position welding skills, the welder has a very high requirement, the welding time is long, and the labor intensity is high.
  • the above welding method is difficult to operate for round pipe members (such as chords) having a large length and diameter and a large weight.
  • An object of the present invention is to provide an automatic welding method for a circumferential weld of a round pipe member in accordance with the above-mentioned deficiencies of the prior art, to automatically and automatically complete the welding of the circumferential weld.
  • an automatic welding method for a circumferential weld of a round pipe member wherein the round pipe member rotates relative to the welding gun, and the welding position and welding angle of the welding torch in a three-dimensional direction It can be adjusted automatically to achieve automatic welding of circumferential welds.
  • the circumferential weld of the circumferential weld is achieved by automatically adjusting the axial position of the welding gun relative to the tubular member during the welding process.
  • the lane dividing welding process comprises:
  • the welding gun automatically moves axially to the welding position of the next weld, adjusts the welding angle, and completes the welding of the next weld;
  • step 4) until each weld of the circumferential weld is completed.
  • the layered welding of the circumferential weld is achieved by automatically adjusting the radial position of the welding gun relative to the tubular member during the welding process.
  • the layered welding process comprises:
  • the welding gun automatically lifts the gun, moves radially to the welding position of the first weld of the next layer of weld, adjusts the welding angle, and welds through the lane Finishing welding of the next layer of welds;
  • the torch tracking mechanism is used to avoid radial runout of the tubular member.
  • the welding torch follows the position of the welding gun tracking mechanism.
  • the temperature of the detection point on the outer peripheral surface of the round pipe member is detected in real time, and the axial distance between the detection point and the midpoint of the circumferential weld bead is 75-100 mm.
  • the welding and the welding of the welding torch are controlled according to the temperature of the above-mentioned detection point, so that the temperature of the detection point is maintained in the range of 100 ° - 200 °.
  • the welded portion of the round pipe member is preheated prior to welding.
  • the round pipe member rotates relative to the welding gun during the welding process, and the welding position and the welding angle of the welding torch in the three-dimensional direction can be automatically adjusted, thereby enabling The welding position and welding angle are more flexibly and precisely adjusted to automatically perform multi-layer multi-pass welding to form a circumferential weld with better mechanical properties.
  • FIG. 1 is a schematic structural view of an automatic welder according to an embodiment of the present invention. detailed description
  • the orientation words used are generally for a circular pipe member, and in the coordinates representing the three-dimensional direction in Fig. 1, "there is no description to the contrary,"
  • the X" axis indicates the axial direction of the round pipe, and the “Y” and “Z” axes indicate the radial direction of the round pipe.
  • the term “welding” The position of the welding gun is the position at which the welding gun tip is welded.
  • the “welding angle” is the inclination angle of the welding gun from the vertical direction (or horizontal direction) at the center of the welding point, that is, the welding gun swing during the swing welding. The angle of inclination between the centerline and the vertical (or horizontal).
  • an automatic welding method for a circumferential weld of a circular pipe member is disclosed.
  • the round pipe member 5 is rotated relative to the welding torch 1, and the welding torch 1 is welded in a three-dimensional direction.
  • the position and welding angle can be adjusted automatically to achieve automatic welding of the circumferential weld.
  • the round pipe member 5 is welded in such a manner that the welding torch 1 is relatively stationary, and the welding method of the present invention is more convenient and practical with respect to the welding manner in which the welding torch 1 rotates around the workpiece.
  • the round pipe member 5 does not have to be erected to facilitate the rotation of the welding gun 1, nor does it require a support rail for the rotation of the welding head 2 and a space for the welding head 2 to rotate, and the welding efficiency is also improved. More importantly, because the welding torch 1 is relatively stationary, it is easier to optimize the welding process of the circumferential weld by controlling the welding position and welding angle of the welding torch 1. In particular, when welding a multi-layered circumferential weld, the round pipe member 5 can be self-rotating, and the welding position and the welding angle of the welding torch 1 can be automatically adjusted, that is, the height of the welding gun and the welding width can be adjusted. The welding of the layered lanes eventually forms a multi-layered circumferential weld, which will be described in detail below.
  • a welding position adjusting mechanism and a welding angle adjusting mechanism are provided in the welding head 2 of the automatic welding machine.
  • the welding position adjusting mechanism can adjust the welding position by a slide rail device respectively disposed in a three-dimensional direction, and the welding angle adjusting mechanism can adjust the welding angle of the welding torch by rotating the rotating shaft for fixing the welding gun 1. And connecting the welding position adjustment mechanism.
  • the structure of the welding position adjusting mechanism and the welding angle adjusting mechanism will not be described in detail herein, and those skilled in the art can realize the above-mentioned welding position adjusting mechanism and welding angle adjusting mechanism by various structures or manners.
  • the automatic welding machine is equipped with a welding control system (not shown) having a control program, such as a PLC control system, capable of respectively Automatically controlling the welding position adjusting mechanism and the welding angle adjusting mechanism in the welding head 2, so that the welding position and the welding angle of the welding torch 1 in the three-dimensional direction can be automatically adjusted, and the circular pipe member 5 is rotated.
  • a welding control system (not shown) having a control program, such as a PLC control system, capable of respectively Automatically controlling the welding position adjusting mechanism and the welding angle adjusting mechanism in the welding head 2, so that the welding position and the welding angle of the welding torch 1 in the three-dimensional direction can be automatically adjusted, and the circular pipe member 5 is rotated.
  • the welding of the circumferential weld is completed on the basis of the rotation.
  • the welding position adjusting mechanism and the welding angle adjusting mechanism can be integrated in the welding head 2, so that the structure is more compact, and motion interference is not easily generated, and each welding position adjusting mechanism is The coordination and linkage between the two can also make the welding head 2 more convenient to connect and cooperate with other mechanisms such as the welding gun tracking mechanism 3 which will be described below.
  • the welding position adjusting mechanism and the welding angle adjusting mechanism are integrated in the welding head 2, and it is more convenient to adjust the position of the welding torch in a certain direction indirectly by adjusting the position of the welding head 2. Automatic control, and the control program of the direct control mode is simple and the precision can be higher.
  • the circumferential position of the circumferential weld can be realized by automatically adjusting the axial position of the welding torch 1 with respect to the round pipe member 5 (the X-axis direction in Fig. 1) during the welding process. welding. That is, while the round pipe member 5 is rotated, the round pipe member 5 is completely rotated by the welding control system. After the welding of one weld bead is completed, the welding control system automatically controls the welding torch 1 to move in the axial direction of the round pipe member 5 to At the next weld, the next weld is welded.
  • the lane welding process may include the following steps:
  • the welding torch 1 is automatically moved axially to the welding position of the next weld, the welding angle is adjusted, and the welding of the next weld is completed; wherein, in the welding control system, the first weld is judged to be completed.
  • the welding gun can be automatically controlled to automatically axially
  • step 4) until each weld of the circumferential weld is completed.
  • the above-mentioned lane welding process can automatically realize the lane welding by controlling the automatic movement of the welding torch in the axial direction of the round pipe member 5 (the X-axis direction in Fig. 1).
  • the layered welding of the circumferential weld is achieved by adjusting the radial position of the welding torch 1 relative to the round pipe member 5 during the welding process.
  • the radial position of the round pipe member 5 is the Y or z-axis direction in Fig. 1. Since the welding gun 1 is generally directly above the axis of the round pipe member, generally the direction of the gun is raised in the Z-axis direction, but the welding torch can also be Radial displacement is performed in the Y or Z axis or any other radial direction to complete the layered welding.
  • the layered welding process may include:
  • the welding gun 1 automatically lifts the gun, moves radially to the welding position of the first weld of the next layer of weld, adjusts the welding angle, and passes the lane Welding to complete the welding of the next layer of welds;
  • step d) Repeat step d) until each weld of the circumferential weld is completed.
  • the welding torch is automatically controlled by the welding control system.
  • the position moves to complete the weld.
  • the automatic welding process can also be suspended, and the welding angle or position of the welding torch can be adjusted by operating the welding control system to achieve manual intervention in the automatic welding process.
  • the round pipe member 5 is a chord having a large size and a large occupied space, and the struts are joined to the ear hinge or the support by welding to form a truss arm.
  • multiple layers of welding are required in the wall thickness direction of the chord. Therefore, preferably, in the welding process of the chord as the round pipe member, layered welding is employed in the wall thickness direction of the circular pipe wall of the round pipe member 5, and the round pipe member 5 of each layer is Split tunnel welding is used in the axial direction.
  • the welding position of the welding torch in the wall thickness direction of the round pipe wall of the round pipe member is adjusted by the welding head to realize the layered welding; the welding torch is adjusted by the welding head The welding position of the round pipe member in the axial direction to achieve the split welding.
  • the torch tracking mechanism 3 can be used to avoid the radial runout of the round pipe member 5.
  • the rolling pin 4 of the welding torch tracking mechanism 3 fixedly coupled to the welding head 2 is pressed against the surface of the circular pipe member 5 by the tensioning force applied by the tensioning mechanism to prevent the round pipe member 5 from jumping and to ensure accurate welding position.
  • the welding gun 1 can follow the position of the welding gun tracking mechanism 3.
  • the welding gun 1 can follow the rolling pin 4 to make corresponding position adjustment, so that the welding is accurately positioned, and the welding quality is better.
  • the welding and stopping welding of the welding torch can be controlled according to the temperature of the above-mentioned detection point, so that the temperature of the detecting point is maintained in the range of 100° - 200°, and a circumferential weld seam with better mechanical properties can be obtained.
  • the welding portion of the round pipe member should be preheated before welding, so that the welding portion The temperature is preferably at the time of soldering.
  • a plurality of welding places for circumferential weld welding can be provided on the round pipe member 5, and an automatic welding machine is disposed for each of the welded portions, and the automatic welding machine adopts the above-mentioned
  • the automatic welding method of the circumferential weld seam enables the automatic welder to synchronously perform the automatic welding of the circumferential weld seam by setting the welding control system of the automatic welder, thereby achieving simultaneous welding of the round pipe member 5.
  • each welding welding control system can be set to be synchronized, that is, the same initial welding position and initial welding angle are set, and the respective welding head 2 is simultaneously driven for automatic In the welding process, the welding of several circumferential welds of the round pipe 5 is finally completed synchronously.
  • the plurality of circumferential welds after welding can have substantially the same mechanical properties and the like.
  • the welding control system of each automatic welding machine is the same control system and can be integrated, for example, when the welding control system is a PLC control system, the PLC control system can be developed to make a plurality of the PLC control systems. Integrated into a total welding control system, multiple automatic welding machines can be controlled simultaneously by a total welding control system to achieve simultaneous welding of several circumferential welds.
  • the automatic welding method of the present invention when the welding position and the welding angle of the welding gun 1 are automatically adjusted, since the welding gun 1 does not rotate, the automatic control of the welding gun 1 is relatively easy and the control procedure is simpler.
  • the welding position control mechanism and the welding angle adjusting mechanism in the welding head 2 are automatically controlled by the welding control system (not shown) of the automatic welding machine, thereby automatically adjusting the welding position of the welding torch 1 in the three-dimensional direction.
  • the welding angle so that the automatic welding of the welding torch 1 can be realized in the automatic welding process, thereby automatically completing the welding of the circumferential weld.
  • This automatic welding method is especially suitable for multi-layer multi-channel circumferential weld welding, which not only increases the welding efficiency, but also improves the welding precision.

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  • Physics & Mathematics (AREA)
  • Optics & Photonics (AREA)
  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Butt Welding And Welding Of Specific Article (AREA)

Abstract

La présente invention a trait à un procédé de soudage automatique destiné à une ligne de soudure circonférentielle d'un tuyau rond. Au cours du processus de soudure, le tuyau rond (5) tourne par rapport à un pistolet de soudage (1), et la position de soudage ainsi que l'angle de soudage du pistolet de soudage dans une direction tridimensionnelle peuvent être automatiquement ajustés de manière à réaliser un soudage automatique de la ligne de soudure circonférentielle. Grâce à ce procédé, la position de soudage et l'angle de soudage peuvent être ajustés de façon flexible et précise de manière à effectuer automatiquement un soudage multicouches et à passes multiples en vue de former une ligne de soudure circonférentielle avec une exécution mécanique relativement bonne.
PCT/CN2011/080906 2011-10-18 2011-10-18 Procédé de soudage automatique destiné à la ligne de soudure circonférentielle d'un tuyau rond WO2013056414A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PCT/CN2011/080906 WO2013056414A1 (fr) 2011-10-18 2011-10-18 Procédé de soudage automatique destiné à la ligne de soudure circonférentielle d'un tuyau rond

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PCT/CN2011/080906 WO2013056414A1 (fr) 2011-10-18 2011-10-18 Procédé de soudage automatique destiné à la ligne de soudure circonférentielle d'un tuyau rond

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Cited By (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103737214A (zh) * 2013-12-29 2014-04-23 龙口矿业集团有限公司 管道焊接辅助装置
CN104227186A (zh) * 2013-06-07 2014-12-24 北新集团建材股份有限公司 一种辊道自动焊接装置
CN104889636A (zh) * 2015-06-16 2015-09-09 上海大松瓦楞辊有限公司 一种瓦楞辊筒体与轴头热配焊接自动环焊缝焊接机
CN105171325A (zh) * 2015-08-10 2015-12-23 石家庄国祥运输设备有限公司 一种弯管对焊时三维空间角度的控制工装
CN105598627A (zh) * 2016-02-19 2016-05-25 江苏华源节水股份有限公司 一种卷盘喷灌机底架自动拼焊工装
CN104353950B (zh) * 2014-11-04 2016-06-08 国家电网公司 一种焊枪焊接位置调节装置
CN106041251A (zh) * 2016-06-29 2016-10-26 陈铭鸿 一种气割机的焊枪自动调节装置
CN110480203A (zh) * 2019-08-29 2019-11-22 武汉逸飞激光设备有限公司 一种电池封口焊接方法
CN111421201A (zh) * 2020-04-01 2020-07-17 中冶宝钢技术服务有限公司 用于卸船机抓斗刃口板更换的切焊装置及其使用方法
CN113070620A (zh) * 2021-04-09 2021-07-06 南京南化建设有限公司 一种箱式焊接设备及其控制方法
CN113977129A (zh) * 2021-12-06 2022-01-28 江苏利柏特股份有限公司 一种化工装备模块化制造管段预制焊接方法
CN115178946A (zh) * 2022-08-25 2022-10-14 江苏精湛基业机车部件有限公司 一种节气门生产用焊接装置

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CN1672848A (zh) * 2005-04-01 2005-09-28 刘宪福 异形罐体环缝自动焊机
CN101837519A (zh) * 2010-02-08 2010-09-22 朱其田 一种散热器自动焊接机
CN102357709A (zh) * 2011-10-18 2012-02-22 中联重科股份有限公司 圆管件的圆周焊缝的自动焊接方法

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Publication number Priority date Publication date Assignee Title
JPS5514188A (en) * 1978-07-18 1980-01-31 Shin Meiwa Ind Co Ltd Automatic tracing welding apparatus
CN1672848A (zh) * 2005-04-01 2005-09-28 刘宪福 异形罐体环缝自动焊机
CN101837519A (zh) * 2010-02-08 2010-09-22 朱其田 一种散热器自动焊接机
CN102357709A (zh) * 2011-10-18 2012-02-22 中联重科股份有限公司 圆管件的圆周焊缝的自动焊接方法

Cited By (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104227186A (zh) * 2013-06-07 2014-12-24 北新集团建材股份有限公司 一种辊道自动焊接装置
CN103737214A (zh) * 2013-12-29 2014-04-23 龙口矿业集团有限公司 管道焊接辅助装置
CN104353950B (zh) * 2014-11-04 2016-06-08 国家电网公司 一种焊枪焊接位置调节装置
CN104889636A (zh) * 2015-06-16 2015-09-09 上海大松瓦楞辊有限公司 一种瓦楞辊筒体与轴头热配焊接自动环焊缝焊接机
CN105171325A (zh) * 2015-08-10 2015-12-23 石家庄国祥运输设备有限公司 一种弯管对焊时三维空间角度的控制工装
CN105598627A (zh) * 2016-02-19 2016-05-25 江苏华源节水股份有限公司 一种卷盘喷灌机底架自动拼焊工装
CN106041251A (zh) * 2016-06-29 2016-10-26 陈铭鸿 一种气割机的焊枪自动调节装置
CN110480203A (zh) * 2019-08-29 2019-11-22 武汉逸飞激光设备有限公司 一种电池封口焊接方法
CN110480203B (zh) * 2019-08-29 2021-07-30 武汉逸飞激光股份有限公司 一种电池封口焊接方法
CN111421201A (zh) * 2020-04-01 2020-07-17 中冶宝钢技术服务有限公司 用于卸船机抓斗刃口板更换的切焊装置及其使用方法
CN113070620A (zh) * 2021-04-09 2021-07-06 南京南化建设有限公司 一种箱式焊接设备及其控制方法
CN113977129A (zh) * 2021-12-06 2022-01-28 江苏利柏特股份有限公司 一种化工装备模块化制造管段预制焊接方法
CN113977129B (zh) * 2021-12-06 2022-11-18 江苏利柏特股份有限公司 一种化工装备模块化制造管段预制焊接方法
CN115178946A (zh) * 2022-08-25 2022-10-14 江苏精湛基业机车部件有限公司 一种节气门生产用焊接装置
CN115178946B (zh) * 2022-08-25 2024-02-09 江苏精湛基业机车部件有限公司 一种节气门生产用焊接装置

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