CN103862142A - Flat position single-seam symmetrical welding method for orthotropic plate U-shaped rib corner welding seam robot - Google Patents
Flat position single-seam symmetrical welding method for orthotropic plate U-shaped rib corner welding seam robot Download PDFInfo
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- CN103862142A CN103862142A CN201410103803.XA CN201410103803A CN103862142A CN 103862142 A CN103862142 A CN 103862142A CN 201410103803 A CN201410103803 A CN 201410103803A CN 103862142 A CN103862142 A CN 103862142A
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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
- B23K9/00—Arc welding or cutting
- B23K9/16—Arc welding or cutting making use of shielding gas
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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
- B23K31/003—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 controlling of welding distortion
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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
- B23K33/00—Specially-profiled edge portions of workpieces for making soldering or welding connections; Filling the seams formed thereby
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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
- B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
- B23K37/047—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work moving work to adjust its position between soldering, welding or cutting steps
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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
- B23K9/00—Arc welding or cutting
- B23K9/02—Seam welding; Backing means; Inserts
- B23K9/022—Welding by making use of electrode vibrations
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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
- B23K9/00—Arc welding or cutting
- B23K9/235—Preliminary treatment
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P15/00—Making specific metal objects by operations not covered by a single other subclass or a group in this subclass
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Abstract
The invention relates to a flat position single-seam symmetrical welding method for an orthotropic plate U-shaped rib corner welding seam robot. The method comprises the following steps that A, U-shaped rib groove processing, compression and bridge deck plate blanking are carried out for obtaining a U-shaped rib plate unit through assembly; B, the U-shaped rib plate unit is horizontally placed on a reverse deformation turning moulding bed, and the position of the U-shaped rib plate unit is regulated so that the center line of the U-shaped rib plate unit is coincident with the center line of the turning moulding bed; C, the U-shaped rib plate unit is clamped and fixed, in addition, reverse deformation is carried out, the turning angle of the reverse deformation turning moulding bed is regulated so that a U-shaped rib to be welded is positioned in the horizontal position, and in addition, an angle scale is used for detection; D, the welding program and the welding specification parameters are input into a robot automatic welding system so that two welding hands arranged on a robot cantilever respectively and simultaneously carry out flat position single-seam welding on the angle welding seams of the two sides of the U-shaped rib. The method provided by the invention has the advantages that the U-shaped rib is assembled on the platform, the assembling precision is high, and a gap between the U-shaped rib and a bridge deck plate can be enabled to be within 0.5mm. The robot automatic welding hand has the electric arc tracking function, the change of the welding current and the electric arc voltage is sensed through swinging in the welding process, and the small deviation of a weld pass is corrected.
Description
Technical field
The present invention relates to a kind of welding method that adopts robot welding orthotropic plate U-shaped angle of rib weld seam, in especially a kind of steel bridge's manufacture, floorings U-shaped angle of rib weld seam robot prosposition single track balanced welding method, belongs to large-scale steel parts welding technology field.
Background technology
Because the pontic weight of orthotropic rectangular plates structure steel bridge is relatively light, therefore in LARGE SPAN STEEL BRIDGE, be widely used.The longitudinal stiffener manufacture of orthotropic plate adopts rib of slab, T shape rib or U-shaped rib conventionally, and U-shaped rib especially few with weld seam, be out of shape the advantages such as little, lightweight and higher counter-bending and distortion performance and become the first-selection of numerous designs.But U-shaped angle of rib weld seam is very responsive to fatigue behaviour, easily produce during one's term of military service fatigue crack at steel bridge, therefore produce stay-in-grade U-shaped angle of rib weld seam and seem particularly important.U-shaped angle of rib weld seam generally adopts gas shielded arc welding manual method or the welding of supporting role's Weld joint tracker method accommodation twice at present; it is first backing welding; second capping; production efficiency is lower; and be affected by human factors; U-shaped angle of rib weldquality has certain fluctuation, and weld seam depth of penetration is unstable, and outward appearance moulding is also difficult to keep consistency.
Summary of the invention
In order effectively to guarantee the stability of the welding quality of U-shaped angle of rib weld seam, enhance productivity, the present invention discloses a kind of orthotropic plate U-shaped angle of rib weld seam robot prosposition single track balanced welding method, and prior art is supplemented and improved.
The present invention addresses the above problem adopted technical scheme: orthotropic plate U-shaped angle of rib weld seam robot prosposition single track balanced welding method, comprises the steps:
A, the processing of U-shaped rib groove, die mould, floorings blanking, be assembled into U-shaped floor unit;
B, U-shaped floor unit horizontal is placed on reversible deformation upset moulding bed, adjusts U-shaped floor cell position, its center line is overlapped with the moulding bed center line that overturns;
C, fix U-shaped floor unit and also carry out reversible deformation, adjust reversely deformed jig frame flip angle, U-shaped rib to be welded is horizontal, and detect with bevel protractor;
D, by welding procedure and welding variables input robot automatic welding system, make two welding hands on robot cantilever carry out the welding of prosposition single track to U-shaped rib both sides angle welding respectively simultaneously.
Described orthotropic plate U-shaped angle of rib weld seam robot prosposition single track balanced welding method, described in steps A, the processing of U-shaped rib groove, die mould, floorings blanking comprise U-shaped rib steel plate are rolled after flat and carried out blanking according to the size of U-shaped rib spreading width and length reserved certain processing capacity, steel plate two side milling limits also process angle welding groove, then steel plate are carried out on forming press to die mould and become U-shaped rib; Floorings are rolled to flat rear blanking with steel plate.
Described orthotropic plate U-shaped angle of rib weld seam robot prosposition single track balanced welding method, described in steps A, assemble U-shaped floor unit and comprise before the assembling of U-shaped rib, the oxide skin in to-be-welded region and both sides scope to be welded, iron rust, greasy dirt, moisture etc. are welded with to pest and remove clean; On floorings, draw U-shaped rib assembling position line, carry out the assembling of U-shaped rib, and carry out robot tack welding, composition U-shaped floor unit; Tack weld is polished.
Described orthotropic plate U-shaped angle of rib weld seam robot prosposition single track balanced welding method, the processing of U-shaped rib groove and the packaging technology parameter of steps A are: U-shaped rib root face P=2.7mm, bevel angle α=54 °.
Described orthotropic plate U-shaped angle of rib weld seam robot prosposition single track balanced welding method, after the U-shaped rib of steps A is assembled on platform, utilize robot welding hand to position weldering in U-shaped rib both sides simultaneously, tack weld length 80mm, tack welding spacing 400mm, guarantees that assembly clearance control between two tack weldings is equally in 0.5mm.
Described orthotropic plate U-shaped angle of rib weld seam robot prosposition single track balanced welding method; described U-shaped rib assembling tack welding standard parameter is: welding current 260-280A, arc voltage 29-31V, weld fast 55cm/min, 52 ° of welding-torch horizontal angles, 10 ° of top rakes, amplitude of fluctuation 2mm, 180 times/min of hunting frequency, shield gas flow rate 18-25L/min; tack weld size 6mm; polish to 5-5.5mm, and tack weld two ends polish transitional slope.
Described orthotropic plate U-shaped angle of rib weld seam robot prosposition single track balanced welding method, reversible deformation upset moulding bed frame described in step B is held on pier base, compressing hydraulic cylinder is pressed on U-shaped floor unit on upset moulding bed by compressing pawl, realize reversible deformation, the upset of upset moulding bed is by the hydraulic cylinder control of overturning.
Described orthotropic plate U-shaped angle of rib weld seam robot prosposition single track balanced welding method, the robot welding hand of step D is walked along welding direction by mobile device and the cantilever walking mechanism drive being arranged on mobile device in welding process, in welding process, pass through the swing of welding hand, the variation of perception welding current and arc voltage, realizes electric arc following function.
Described orthotropic plate U-shaped angle of rib weld seam robot prosposition single track balanced welding method, U-shaped angle of rib weld seam prosposition single track is symmetrically welded standard parameter and is described in step D: welding current 300-320A, arc voltage 31-33V, weld fast 32cm/min, 53 ° of welding-torch horizontal angles, 9 ° of top rakes, amplitude of fluctuation 2mm, 180 times/min of hunting frequency, shield gas flow rate 18-25L/min.
The invention has the beneficial effects as follows:
1, U-shaped rib is assembled on platform, and assembly precision is high, can guarantee that U-shaped rib and floorings gap are in 0.5mm.Reversible deformation upset moulding bed, by hydraulic control, can not only be realized the reversible deformation of plate unit, can also flip an angle U-shaped rib to be welded is horizontal, and drives accurately, easy to operate.
2, robot automation's welding system has electric arc following function, in welding process, by swinging the variation of perception welding current and arc voltage, the less offset of welding bead is corrected.
3, the present invention adopts single track prosposition balanced welding technology, and outward appearance moulding is good; Reduce wlding consumption, reduce welding deformation, enhance productivity.
Accompanying drawing explanation
Fig. 1 is processing step block diagram of the present invention.
Fig. 2 is the structural representation of U-shaped floor unit.
Fig. 3 is groove type and the deposited sketch of U-shaped angle of rib weld seam.
In figure: bevel angle α=54 °, root face P=2.7mm, root gap is controlled in 0.5mm,
Fig. 4 is reversible deformation upset moulding bed and welding system sketch.
In figure:
1, floorings; 2, U-shaped rib; 3, U-shaped floor unit; 4, upset moulding bed;
5, compress pawl; 6, compress hydraulic cylinder; 7, upset hydraulic cylinder; 8, pier base;
9, mobile device; 10, cantilever walking mechanism; 11, robot welding hand.
The specific embodiment
Below in conjunction with accompanying drawing, the specific embodiment of the invention is further illustrated, basic welding step is as follows:
A, the processing of U-shaped rib groove, die mould, floorings blanking, be assembled into U-shaped floor unit.
A-1, the processing of U-shaped rib groove, die mould, floorings blanking: U-shaped rib is rolled after flat and carried out blanking according to the size of U-shaped rib spreading width and length reserved certain processing capacity with steel plate, steel plate two side milling limits also process angle welding groove, then steel plate are carried out on forming press to die mould and become U-shaped rib; Floorings are rolled to flat rear blanking with steel plate.
A-2, by to-be-welded region cleaning, the assembling of U-shaped rib: before the assembling of U-shaped rib, the oxide skin in to-be-welded region and both sides scope to be welded, iron rust, greasy dirt, moisture etc. are welded with to pest and remove clean; On floorings, draw U-shaped rib assembling position line, carry out the assembling of U-shaped rib, and carry out robot tack welding, form U-shaped floor unit (referring to applicant's formerly right 201210550460.2 " U-shaped floor unit automatic Composition positioning welding system "); Tack weld is polished.
The processing of U-shaped rib groove and assembling require: U-shaped rib root face P=2.7mm, bevel angle α=54 °; U-shaped rib adopts special U-shaped rib mounting equipment to assemble on platform, automatic impaction system compresses U-shaped rib by chuck, guarantee that the gap of tack welding position is in 0.5mm, then utilize robot welding hand to position weldering in U-shaped rib both sides simultaneously, tack weld length 80mm, tack welding spacing 400mm, guarantees that assembly clearance control between two tack weldings is equally in 0.5mm.
U-shaped rib assembling adopts robot to position weldering, and tack welding standard parameter is: welding current 260-280A, arc voltage 29-31V, weld fast 55cm/min, 52 ° of welding-torch horizontal angles, 10 ° of top rakes, amplitude of fluctuation 2mm, 180 times/min of hunting frequency, shield gas flow rate 18-25L/min.Tack weld size 6mm, polishes to 5-5.5mm, and tack weld two ends polish transitional slope.
B, U-shaped floor unit horizontal is placed on reversible deformation upset moulding bed, adjusts U-shaped floor cell position, U-shaped floor unit center line is overlapped with rollover stand center line.
C, fix U-shaped floor unit and also carry out reversible deformation, before welding by floorings to welding after will produce distortion rightabout carry out pre-bending, form reciprocal distortion, to offset the welding deformation being produced after floorings welding.Adjust reversely deformed jig frame flip angle, U-shaped rib to be welded is horizontal, and detect with bevel protractor.
D, by welding procedure and welding variables input robot automatic welding system, make two welding hands on robot cantilever carry out the welding of prosposition single track to U-shaped rib both sides angle welding respectively simultaneously.
U-shaped angle of rib weld seam prosposition single track is symmetrically welded the standard parameter adopting in technique: welding current 300-320A, arc voltage 31-33V, weld fast 32cm/min, 53 ° of welding-torch horizontal angles, 9 ° of top rakes, amplitude of fluctuation 2mm, 180 times/min of hunting frequency, shield gas flow rate 18-25L/min.
In positioning welding technique and formal welding procedure, adopt preferred gas protecting welding wire, require the MX-200H medicine core CO2 gas protecting welding wire of the diameter 1.4mm that splashes little, wire feed is stable.
The criterion of acceptability of U-shaped angle of rib weld seam: weld seam depth of penetration be not less than U-shaped floor thick 80%, must not weld leakage, outward appearance moulding is good.
Shown in Fig. 4:
Robot automation welds hand 11 and controls by mobile device 9 and the cantilever walking mechanism 10 being arranged on mobile device, two robot welding hands 11 in welding process in walking mechanism are walked along welding direction, in welding process, pass through the swing of welding hand, the variation of perception welding current and arc voltage, realizes electric arc following function.
4 of moulding beds of reversible deformation upset are held on pier base 8, compress hydraulic cylinder 6 and by compressing pawl 5, U-shaped floor unit 3 are pressed on rollover stand 4, realize reversible deformation, and the upset of upset moulding bed 4 is controlled by upset hydraulic cylinder 7.
Claims (9)
1. orthotropic plate U-shaped angle of rib weld seam robot prosposition single track balanced welding method, its feature comprises the steps:
A, U-shaped rib (2) groove processing, die mould, floorings (1) blanking, be assembled into U-shaped floor unit (3);
B, U-shaped floor unit (3) level is placed on reversible deformation upset moulding bed, adjusts position, U-shaped floor unit (3), its center line is overlapped with moulding bed (4) center line that overturns;
C, fix U-shaped floor unit and also carry out reversible deformation, adjust reversely deformed jig frame flip angle, U-shaped rib to be welded is horizontal, and detect with bevel protractor;
D, by welding procedure and welding variables input robot automatic welding system, make two the welding hands (11) on robot cantilever carry out the welding of prosposition single track to U-shaped rib both sides angle welding respectively simultaneously.
2. orthotropic plate U-shaped angle of rib weld seam robot prosposition single track balanced welding method according to claim 1, it is characterized in that: U-shaped rib (2) groove processing described in steps A, die mould, floorings (1) blanking comprise rolls U-shaped rib steel plate after flat and carry out blanking according to the size of U-shaped rib spreading width and length reserved certain processing capacity, steel plate two side milling limits also process angle welding groove, then steel plate are carried out on forming press to die mould and become U-shaped rib; Floorings are rolled to flat rear blanking with steel plate.
3. orthotropic plate U-shaped angle of rib weld seam robot prosposition single track balanced welding method according to claim 1, it is characterized in that: described in steps A, assemble U-shaped floor unit (3) and comprise before the assembling of U-shaped rib, the oxide skin in to-be-welded region and both sides scope to be welded, iron rust, greasy dirt, moisture etc. are welded with to pest and remove clean; On floorings, draw U-shaped rib assembling position line, carry out the assembling of U-shaped rib, and carry out robot tack welding, composition U-shaped floor unit; Tack weld is polished.
4. orthotropic plate U-shaped angle of rib weld seam robot prosposition single track balanced welding method according to claim 1, is characterized in that: the processing of U-shaped rib groove and the packaging technology parameter of steps A are: U-shaped rib root face P=2.7mm, bevel angle α=54 °.
5. orthotropic plate U-shaped angle of rib weld seam robot prosposition single track balanced welding method according to claim 1, it is characterized in that: after the U-shaped rib of steps A is assembled on platform, utilize robot welding hand to position weldering in U-shaped rib both sides simultaneously, tack weld length 80mm, tack welding spacing 400mm, guarantees that assembly clearance control between two tack weldings is equally in 0.5mm.
6. orthotropic plate U-shaped angle of rib weld seam robot prosposition single track balanced welding method according to claim 5; it is characterized in that: described U-shaped rib assembling tack welding standard parameter is: welding current 260-280A, arc voltage 29-31V, weld fast 55cm/min, 52 ° of welding-torch horizontal angles, 10 ° of top rakes, amplitude of fluctuation 2mm, 180 times/min of hunting frequency, shield gas flow rate 18-25L/min; tack weld size 6mm; polish to 5-5.5mm, and tack weld two ends polish transitional slope.
7. orthotropic plate U-shaped angle of rib weld seam robot prosposition single track balanced welding method according to claim 1, it is characterized in that: reversible deformation upset moulding bed (4) frame described in step B is held on pier base (8), compressing hydraulic cylinder (6) is pressed on U-shaped floor unit (3) on upset moulding bed (4) by compressing pawl (5), realize reversible deformation, the upset of upset moulding bed (4) is controlled by the hydraulic cylinder that overturns (7).
8. orthotropic plate U-shaped angle of rib weld seam robot prosposition single track balanced welding method according to claim 1, it is characterized in that: the robot welding hand (11) of step D in welding process by mobile device (9) be arranged on cantilever walking mechanism (10) on mobile device and drive and walk along welding direction, in welding process, pass through the swing of welding hand, the variation of perception welding current and arc voltage, realizes electric arc following function.
9. orthotropic plate U-shaped angle of rib weld seam robot prosposition single track balanced welding method according to claim 1, is characterized in that: described in step D, U-shaped angle of rib weld seam prosposition single track is symmetrically welded standard parameter and is: welding current 300-320A, arc voltage 31-33V, weld fast 32cm/min, 53 ° of welding-torch horizontal angles, 9 ° of top rakes, amplitude of fluctuation 2mm, 180 times/min of hunting frequency, shield gas flow rate 18-25L/min.
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| CN104439737A (en) * | 2014-10-31 | 2015-03-25 | 武船重型工程股份有限公司 | U rib plate unit welding method |
| CN104475994A (en) * | 2014-10-31 | 2015-04-01 | 武船重型工程股份有限公司 | Method for manufacturing slab rib units |
| CN104759815A (en) * | 2015-04-13 | 2015-07-08 | 上海振华重工(集团)股份有限公司 | Ship-type tire welding positioner and welding method for U-rib plate unit of steel bridge |
| CN105436674A (en) * | 2016-01-13 | 2016-03-30 | 上海振华重工(集团)股份有限公司 | Full penetration welding process |
| CN106002027A (en) * | 2016-07-18 | 2016-10-12 | 无锡华联科技集团有限公司 | Cantilever U rib double-robot welding machine |
| CN106043593A (en) * | 2016-08-09 | 2016-10-26 | 中交第二公路勘察设计研究院有限公司 | Stiffening-U-rib both-side welding structure of orthotropic stiffening plate |
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| CN106624417A (en) * | 2016-10-19 | 2017-05-10 | 武船重型工程股份有限公司 | Detecting method for appearance quality of welding seam inside U-shaped rib |
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| CN112191989A (en) * | 2020-09-29 | 2021-01-08 | 郑州煤矿机械集团股份有限公司 | Method for welding fillet weld of hydraulic support through large penetration depth of robot |
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| CN114789310A (en) * | 2022-04-20 | 2022-07-26 | 海波重型工程科技股份有限公司 | U rib plate unit single-side welding and double-side forming device and forming method thereof |
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| CN102601498A (en) * | 2012-03-13 | 2012-07-25 | 中铁宝桥集团有限公司 | Welding method for U-shaped ribs of orthotropic plate of bridge girder |
| CN102861970A (en) * | 2012-09-27 | 2013-01-09 | 中铁山桥集团有限公司 | Welding method of orthotropic plate U-shaped rib fillet welding robot and special equipment thereof |
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