CN112872557A - Method for welding shield machine screw shaft by robot - Google Patents
Method for welding shield machine screw shaft by robot Download PDFInfo
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- CN112872557A CN112872557A CN202110162195.XA CN202110162195A CN112872557A CN 112872557 A CN112872557 A CN 112872557A CN 202110162195 A CN202110162195 A CN 202110162195A CN 112872557 A CN112872557 A CN 112872557A
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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
- B23K9/173—Arc welding or cutting making use of shielding gas and of a consumable electrode
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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
- B23K9/32—Accessories
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- Plasma & Fusion (AREA)
- Optics & Photonics (AREA)
- Butt Welding And Welding Of Specific Article (AREA)
Abstract
The invention provides a method for welding a shield machine screw shaft by a robot, which comprises the following steps: s1, fitting a spiral curve; s2, interpolation operation; s3, selecting the model by a position changing machine; s4, designing and arranging a robot workstation; s5, off-line programming and simulation of the welding path; s6, verifying and adjusting a welding path on site; s7, welding a butt weld of the helical blade by a robot; s8, welding the helical blade and the rotary spindle fillet weld by a robot; s9, welding the spiral spindle wear-resistant grid by the robot; s10, manufacturing the spiral shaft. According to the invention, the screw shaft is welded by the robot, so that on one hand, remote operation can be realized, on the other hand, unmanned manufacturing is facilitated, the screw shaft manufactured by the robot has higher precision, and the assembly precision of the screw shaft and the barrel is improved.
Description
Technical Field
The invention relates to the technical field of shield machine screw shafts, in particular to a method for welding a shield machine screw shaft by a robot.
Background
The shield constructs quick-witted screw axis and comprises helical blade and spiral main shaft, and the material of spiral main shaft is 27SiMn, and the material of helical blade is Q345B + SA1750CR composite steel, and the manufacturing process is: and fixing the helical blades and the helical main shaft in a spot welding manner, firstly welding butt-joint welding seams among the helical blades, then welding fillet welding seams of the helical blades and the helical main shaft, and finally carrying out hardfacing on the surface of the helical main shaft.
At present, the shield machine screw shaft is mostly welded by semi-automatic carbon dioxide gas shielded welding, hardfacing on the surface of the screw main shaft is carried out by shielded metal arc welding, and the shield machine screw shaft has the following defects: the welding efficiency is low; the welding quality is unstable; welding spatter is large; welding smoke is serious, and is harmful to human bodies because independent smoke exhaust cannot be performed in a factory; manual welding is adopted completely, and the welding work intensity is high; the length of the welding rod head cannot be controlled, so that the waste of welding materials is serious; welding areas are scattered, and accessories are difficult to carry; different auxiliary tools are needed during welding, and the manufacturing cost is increased.
The welding robot has the characteristics of high welding efficiency, stable welding quality, easiness in realizing flexible welding, controllability in a welding process and the like, is widely applied to multiple industries, generates considerable economic benefits, and particularly promotes the development of the welding robot during epidemic situations.
Disclosure of Invention
Aiming at the technical problems in the prior art, the invention provides the welding method which has high efficiency, high quality, economy and environmental protection and can be widely applied to the shield machine screw shaft.
The invention provides a method for welding a shield machine screw shaft by a robot, which comprises the following steps:
s1, fitting a spiral curve: drawing an actual welding spiral line graph of the helical blade according to the manufacturing parameters and the entity measurement data of the helical blade, and fitting the actual welding spiral line graph according to a mathematical model of the spiral line to obtain an approximate mathematical model of the actual welding spiral line;
s2, interpolation: comprehensively considering the welding precision and errors, and dispersing the approximate curve of the actual welding spiral line into a series of tiny straight line segments by adopting an interpolation operation method;
s3, model selection by a position changing machine: selecting the model of the positioner according to the precision requirement of the micro straight line segment to ensure that the positioner can meet the welding requirement;
s4, designing and arranging a robot workstation: selecting proper welding robots and tools according to the welding requirements of the spiral shaft, and carrying out site design and arrangement;
s5, off-line programming and simulation of the welding path: generating a spiral welding seam welding track graph by adopting the welding robot offline programming software and the simulation software;
s6, verifying and adjusting the welding path on site: inputting the welding track of the spiral weld joint into a welding robot, carrying out a field welding path test, adjusting according to the field condition, and finally determining the actual welding path of the robot after the adjustment is finished;
s7, welding a helical blade butt weld by a robot: multilayer and multi-pass welding is carried out on the butt welding seam of the helical blade, and the thickness of each layer is determined through welding process parameters, so that the time for the robot to automatically change the welding wire is determined, and the robot welding of the helical blade is realized;
s8, welding the fillet weld of the helical blade and the rotating main shaft by the robot: calling a welding track of a spiral welding seam for welding, and simultaneously adopting welding seam tracking to adjust path deviation caused by welding deformation;
s9, welding the spiral spindle wear-resistant grid by the robot: after the spiral weld joint is welded, planning a welding path of the wear-resistant grid, and completing welding of the wear-resistant grid;
s10, completing the manufacturing of the spiral shaft: and checking the welding quality of all welding positions, and finishing the related work of cleaning after welding.
Preferably, in S1, the mathematical model is a cylindrical helix model.
Preferably, in S2, the interpolation operation method is an interpolation operation method at equal time intervals.
Preferably, in S3, the type of the positioner is selected from the positioners of the stepping motor.
Preferably, in S4, the welding robot is provided with a movable base for covering a welding range of the screw shaft.
Preferably, in S5, the generating step of the welding track of the spiral weld seam is specifically:
a) establishing a base coordinate system based on the workpiece and a working coordinate system of the robot to finish the calibration of the welding position; b) decomposing the tiny linear segments obtained by the interpolation operation method into linear motion of the robot and rotary motion of the positioner according to a coordinate system to obtain a linear motion equation of the robot and a rotary motion equation of the positioner; c) and leading the linear motion equation and the rotational motion equation into a simulation module to generate a spiral weld joint welding track diagram.
Preferably, in S7, the welding process is MAG welding under a dc reverse connection condition, and the specific process parameters are as follows: the diameter of the welding wire is 1.2mm and 1.6mm, the welding current is 150-220A, the welding voltage is 20-28V, the welding speed is 15-30cm/min, and the protective gas is 80% Ar +20% CO2The gas flow is 15-20L/min.
Preferably, in S8, the weld seam tracking is laser weld seam tracking.
Preferably, in S9, the wear-resistant grid is diamond-shaped and has a size of 60x60 mm.
Preferably, in S10, the weld surface is ensured to be free of defects, and weld spatter cleaning is performed.
Compared with the prior art, the invention has the following beneficial effects:
1. the method provided by the invention can realize the robot welding of the shield machine screw shaft, is quick and efficient, can greatly improve the manufacturing quality, shortens the manufacturing period, greatly reduces the labor cost and the labor intensity, does not need to replace welding rods in the manufacturing process, saves a large amount of welding materials, reduces the harm to the environment, embodies the concept of green manufacturing, and is beneficial to the market popularization of the method.
2. According to the invention, the screw shaft is welded by adopting the robot workstation in the fixed area, so that on one hand, the working environment can be improved by adding smoke exhausting equipment, and on the other hand, the screw shaft is convenient to manufacture in batch.
3. According to the invention, the screw shaft is welded by the robot, so that on one hand, remote operation can be realized, on the other hand, unmanned manufacturing is facilitated, the screw shaft manufactured by the robot has higher precision, and the assembly precision of the screw shaft and the barrel is improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is a schematic flow chart of example 1 of the present invention.
Fig. 2 is a schematic structural diagram of a shield machine screw shaft in embodiment 1 of the present invention.
Detailed Description
The following examples are provided to further understand the present invention, not to limit the scope of the present invention, but to provide the best mode, not to limit the content and the protection scope of the present invention, and any product similar or similar to the present invention, which is obtained by combining the present invention with other prior art features, falls within the protection scope of the present invention.
Example 1
Referring to fig. 1-2, a method for robot welding of a shield machine screw shaft includes the steps of:
s1, fitting a spiral curve: drawing an actual welding spiral line graph of the spiral blade according to manufacturing parameters and entity measurement data of the spiral blade, fitting the actual welding spiral line graph according to a cylindrical spiral line model of a spiral line, and determining parameters such as the diameter D, the lead S and the spiral angle beta of the actual spiral line so as to obtain an approximate mathematical model of the actual welding spiral line;
s2, interpolation: comprehensively considering the welding precision and errors, and dispersing the approximate curve of the actual welding spiral line into a series of tiny straight line segments by adopting an interpolation operation method with equal time intervals;
s3, model selection by a position changing machine: selecting the model of the position changing machine in the position changing machine of the stepping motor according to the precision requirement of the micro straight line segment, and ensuring that the position changing machine can meet the welding requirement;
s4, designing and arranging a robot workstation: selecting a proper welding robot and a proper tool according to the welding requirement of the spiral shaft, and meanwhile, additionally arranging a movable base on the welding robot for covering the welding range of the spiral shaft and carrying out site design and arrangement;
s5, off-line programming and simulation of the welding path: generating a spiral welding seam welding track graph by adopting the welding robot offline programming software and the simulation software; the generation steps of the welding track of the spiral welding seam are as follows: a) establishing a base coordinate system based on the workpiece and a working coordinate system of the robot to finish the calibration of the welding position; b) decomposing the tiny linear segments obtained by the interpolation operation method into linear motion of the robot and rotary motion of the positioner according to a coordinate system to obtain a linear motion equation of the robot and a rotary motion equation of the positioner; c) leading the linear motion equation and the rotational motion equation into a simulation module to generate a spiral weld joint welding track graph;
s6, verifying and adjusting the welding path on site: inputting the welding track of the spiral weld joint into a welding robot, carrying out a field welding path test, adjusting according to the field condition, mainly adjusting the angle of a welding gun of the robot, ensuring the accessibility of a root weld bead, avoiding collision with a workpiece, and finally determining the actual welding path of the robot after the adjustment is finished;
s7, welding a helical blade butt weld by a robot: multilayer and multi-pass welding is carried out on the butt welding seam of the helical blade, and the thickness of each layer is determined through welding process parameters, so that the time for the robot to automatically change the welding wire is determined, and the robot welding of the helical blade is realized; the welding process is MAG welding under the condition of direct current reverse connection, and the specific process parameters are as follows: the diameter of the welding wire is 1.2mm and 1.6mm, the welding current is 180A, the welding voltage is 25V, the welding speed is 20cm/min, and the protective gas is 80% Ar +20% CO2The gas flow is 17L/min;
s8, welding the fillet weld of the helical blade and the rotating main shaft by the robot: calling a welding track of a spiral welding seam for welding, and simultaneously adopting laser welding seam tracking to adjust path deviation caused by welding deformation;
s9, welding the spiral spindle wear-resistant grid by the robot: after the spiral weld joint is welded, planning a welding path of a diamond-shaped wear-resistant grid of 60x60mm, and welding the wear-resistant grid;
s10, completing the manufacturing of the spiral shaft: and checking the welding quality of all welding positions, ensuring that the surfaces of the welding seams are free of defects, and cleaning welding spatters.
The robot welding of the shield machine screw shaft can be realized, the method is rapid and efficient, the manufacturing quality can be greatly improved, the manufacturing period is shortened, the labor cost and the labor intensity are greatly reduced, welding rods do not need to be replaced in the manufacturing process, a large amount of welding materials are saved, the harm to the environment is reduced, the green manufacturing concept is reflected, and the method is beneficial to market popularization.
Example 2
A method for welding a spiral shaft of a shield tunneling machine by a robot is different from the method in embodiment 1 in the following steps: the welding process is MAG welding under the condition of direct current reverse connection, and the specific process parameters are as follows: the diameter of the welding wire is 1.2mm and 1.6mm, the welding current is 150A, the welding voltage is 20V, the welding speed is 15cm/min, and the protective gas is 80% Ar +20% CO2The gas flow rate was 15L/min.
Example 3
A method for welding a spiral shaft of a shield tunneling machine by a robot is different from the method in embodiment 1 in the following steps: the welding process is MAG welding under the condition of direct current reverse connection, and the specific process parameters are as follows: the diameter of the welding wire is 1.2mm and 1.6mm, the welding current is 220A, the welding voltage is 28V, the welding speed is 30cm/min, and the protective gas is 80% Ar +20% CO2The gas flow rate was 20L/min.
It should be understood that the above examples are only for clarity of illustration and are not intended to limit the embodiments. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. And obvious variations or modifications therefrom are within the scope of the invention.
Claims (10)
1. A method for welding a spiral shaft of a shield tunneling machine by a robot is characterized by comprising the following steps:
s1, fitting a spiral curve: drawing an actual welding spiral line graph of the helical blade according to the manufacturing parameters and the entity measurement data of the helical blade, and fitting the actual welding spiral line graph according to a mathematical model of the spiral line to obtain an approximate mathematical model of the actual welding spiral line;
s2, interpolation: comprehensively considering the welding precision and errors, and dispersing the approximate curve of the actual welding spiral line into a series of tiny straight line segments by adopting an interpolation operation method;
s3, model selection by a position changing machine: selecting the model of the positioner according to the precision requirement of the micro straight line segment to ensure that the positioner can meet the welding requirement;
s4, designing and arranging a robot workstation: selecting proper welding robots and tools according to the welding requirements of the spiral shaft, and carrying out site design and arrangement;
s5, off-line programming and simulation of the welding path: generating a spiral welding seam welding track graph by adopting the welding robot offline programming software and the simulation software;
s6, verifying and adjusting the welding path on site: inputting the welding track of the spiral weld joint into a welding robot, carrying out a field welding path test, adjusting according to the field condition, and finally determining the actual welding path of the robot after the adjustment is finished;
s7, welding a helical blade butt weld by a robot: multilayer and multi-pass welding is carried out on the butt welding seam of the helical blade, and the thickness of each layer is determined through welding process parameters, so that the time for the robot to automatically change the welding wire is determined, and the robot welding of the helical blade is realized;
s8, welding the fillet weld of the helical blade and the rotating main shaft by the robot: calling a welding track of a spiral welding seam for welding, and simultaneously adopting welding seam tracking to adjust path deviation caused by welding deformation;
s9, welding the spiral spindle wear-resistant grid by the robot: after the spiral weld joint is welded, planning a welding path of the wear-resistant grid, and completing welding of the wear-resistant grid;
s10, completing the manufacturing of the spiral shaft: and checking the welding quality of all welding positions, and finishing the related work of cleaning after welding.
2. The method of claim 1, wherein in S1, the mathematical model is a cylindrical spiral model.
3. The method of claim 1, wherein in S2, the interpolation operation method is an interpolation operation method with equal time intervals.
4. The method of claim 1, wherein the positioner selection is selected in a stepper motor positioner at S3.
5. The method according to claim 1, wherein the welding robot is provided with a movable base for covering a welding range of the screw axis at S4.
6. The method of claim 1, wherein in S5, the step of generating the weld trajectory of the spiral weld is specifically:
a) establishing a base coordinate system based on the workpiece and a working coordinate system of the robot to finish the calibration of the welding position; b) decomposing the tiny linear segments obtained by the interpolation operation method into linear motion of the robot and rotary motion of the positioner according to a coordinate system to obtain a linear motion equation of the robot and a rotary motion equation of the positioner; c) and leading the linear motion equation and the rotational motion equation into a simulation module to generate a spiral weld joint welding track diagram.
7. The method of claim 1, wherein in S7, the welding process is MAG welding under dc reverse condition, and the specific process parameters are as follows: the diameter of the welding wire is 1.2mm and 1.6mm, the welding current is 150-220A, the welding voltage is 20-28V, the welding speed is 15-30cm/min, and the protective gas is 80% Ar +20% CO2The gas flow is 15-20L/min.
8. The method of claim 1, wherein in S8, the weld trace is a laser weld trace.
9. The method of claim 1, wherein in S9, the abrasion resistant mesh is diamond shaped and has a size of 60x60 mm.
10. The method of claim 1, wherein in S10, it is ensured that the weld surface is free of defects, and weld spatter cleaning is performed.
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| CN202110162195.XA CN112872557B (en) | 2021-02-05 | 2021-02-05 | Method for welding shield machine screw shaft by robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114952089A (en) * | 2022-05-13 | 2022-08-30 | 中联重科股份有限公司 | Conical barrel blade mounting method and conical barrel blade mounting device |
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| CN114952089B (en) * | 2022-05-13 | 2023-10-13 | 中联重科股份有限公司 | Cone barrel blade mounting method and cone barrel blade mounting device |
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