CN116586811A

CN116586811A - Welding method for welding electrode gas shielded welding wire cladding test

Info

Publication number: CN116586811A
Application number: CN202310642080.XA
Authority: CN
Inventors: 林登强; 罗轩; 马金军
Original assignee: Guangzhou Shipyard International Co Ltd
Current assignee: Guangzhou Shipyard International Co Ltd
Priority date: 2023-05-31
Filing date: 2023-05-31
Publication date: 2023-08-15

Abstract

The invention relates to the technical field of welding, in particular to a welding method for a welding electrode gas shielded welding wire cladding test, which comprises the following steps of S1, carrying out a plurality of welding teaching tests on a workpiece by utilizing a welding mechanical arm, summarizing actual offset of each path, and establishing an offset database; s2, positioning and mounting a workpiece to be welded on a workbench, and setting workpiece coordinates on the workpiece; s3, performing welding programming on a welding track of the welding mechanical arm according to the workpiece coordinates and the offset database; and S4, starting the welding mechanical arm to weld the workpiece groove to be welded according to the welding track set by the welding programming until the welding is completed. The invention can realize automatic welding and ensure that the welding quality meets the requirements.

Description

Welding method for welding electrode gas shielded welding wire cladding test

Technical Field

The invention relates to the technical field of welding, in particular to a welding method for a consumable electrode gas shielded welding wire cladding test.

Background

The performance of the consumable electrode gas shielded welding wire is tested through a deposited metal test, and the consumable electrode gas shielded welding wire is an important measure for measuring the quality of the welding wire. In the test process, a manual handheld welding gun is generally used for welding, the first and second channels of the first layer are prime welding seams, and the groove welding is used for completing 5 layers of 10 welding seams. Because deformation can occur at the position of the welding seam in the welding process, the groove of the deposited metal workpiece is set to be 5-degree reverse deformation in the welding process. However, the groove of the deposited metal workpiece is set to be in 5-degree reverse deformation, and the welding position needs to be corrected in real time according to the change condition of the groove, so that the groove can be fully welded. In this process, the whole process is manually operated. The long-time welding is easy to cause the fatigue of welders, the operation errors occur, the defects occur due to the operation problems, the unqualified products need to be re-checked again, and the material and time cost are wasted. The conventional mechanical welding equipment cannot adjust the welding position in real time, and the problems of unfused welding, grooves between welding beads, unsatisfactory groove welding and the like easily occur in the process.

Therefore, there is a need for a consumable electrode gas shielded welding wire fusion test welding method that addresses the above-described problems.

Disclosure of Invention

The invention aims to provide a welding method for a consumable electrode gas shielded welding wire deposition test, which can realize automatic welding and ensure that the welding quality meets the requirements.

To achieve the purpose, the invention adopts the following technical scheme:

the welding method for the melt electrode gas shielded welding wire cladding test comprises the following steps:

s1, carrying out a plurality of welding teaching experiments on a workpiece by using a welding mechanical arm, summarizing the actual offset of each channel, and establishing an offset database;

s2, positioning and mounting a workpiece to be welded on a workbench, and setting workpiece coordinates on the workpiece;

s3, performing welding programming on a welding track of the welding mechanical arm according to the workpiece coordinates and the offset database;

and S4, starting the welding mechanical arm to weld the workpiece groove to be welded according to the welding track set by the welding programming until the welding is completed.

Further, in the step S3, the track of the first welding seam and the track of the second welding seam are set as the track of the backing welding seam, and the tracks of the welding seams of the subsequent filling and covering are offset by the position information of the first welding seam and the second welding seam.

Further, the third weld, the fifth weld, the seventh weld and the ninth weld are offset with respect to the first weld.

Further, the welding swing amplitude of the third welding line, the fifth welding line and the seventh welding line is larger than that of the first welding line and the ninth welding line.

Further, the fourth weld, the sixth weld, the eighth weld, and the tenth weld are each offset with respect to the second weld.

Further, the welding swing amplitude of the fourth welding line, the sixth welding line and the eighth welding line is larger than the welding swing amplitude of the second welding line and the tenth welding line.

Further, the welding speed of the first welding line and the second welding line is higher than that of the other welding lines.

Further, a contact sensing system is disposed on the welding robot arm, in the step S4, after a new workpiece is replaced, the welding robot arm collides with the workpiece at a set speed and direction, a position where the workpiece collides with the contact is taken as a starting position, and the welding track is updated according to the starting position.

Further, in the step S3, a safe approach point is set on the welding track, and each time the welding is started, the welding robot arm moves to the safe approach point first and then moves to the welding start point to perform the welding operation.

Further, an arc sensing system is arranged on the welding mechanical arm, and in the step S4, the arc sensing system judges whether a welding gun is arranged at the center of the current groove according to whether the arc lengths of the arc in the swing process of the welding mechanical arm are consistent.

The invention has the beneficial effects that:

according to the welding method for the consumable electrode gas shielded welding wire deposition test, firstly, a plurality of welding teaching tests are conducted on a workpiece by using a welding mechanical arm, the actual offset of each path is summarized, an offset database is built, then the workpiece to be welded is positioned and installed on a workbench, the coordinates of the workpiece are calibrated, the welding track of the welding mechanical arm is subjected to welding programming according to the coordinates of the workpiece and the offset database, the welding mechanical arm is started, and the workpiece groove to be welded is welded according to the welding track set by the welding programming. Through the mode, the path program of welding is guided by utilizing the offset database obtained by the welding test, so that the offset can be carried out according to the actual welding deformation in the welding process by utilizing the welding mechanical arm, and the welding quality is ensured to meet the requirement while the automatic welding is realized.

Drawings

FIG. 1 is a flow chart of a consumable electrode gas shielded welding wire deposition test welding method of the present invention;

FIG. 2 is a schematic illustration of workpiece positioning in a consumable electrode gas shielded welding wire deposition test welding method of the present invention;

FIG. 3 is a layout of a weld in a consumable electrode gas shielded welding wire deposition test welding method of the present invention.

In the figure:

100. welding a mechanical arm; 200. a work table; 300. a workpiece; 1. a first weld; 2. a second weld; 3. a third weld; 4. a fourth weld; 5. a fifth weld; 6. a sixth weld; 7. a seventh weld; 8. eighth weld; 9. a ninth weld; 10. tenth weld joint.

Detailed Description

The technical scheme of the invention is further described below with reference to the attached drawings and the embodiments. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting thereof. It should be further noted that, for convenience of description, only some, but not all of the drawings related to the present invention are shown.

In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixed or removable, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.

In the present invention, unless expressly stated or limited otherwise, a first feature "above" or "below" a second feature may include both the first and second features being in direct contact, as well as the first and second features not being in direct contact but being in contact with each other through additional features therebetween. Moreover, a first feature being "above," "over" and "on" a second feature includes the first feature being directly above and obliquely above the second feature, or simply indicating that the first feature is higher in level than the second feature. The first feature being "under", "below" and "beneath" the second feature includes the first feature being directly under and obliquely below the second feature, or simply means that the first feature is less level than the second feature.

In order to realize automatic welding and ensure that the welding quality meets the requirements, the invention provides a welding method for a consumable electrode gas shielded welding wire deposition test, as shown in figures 1-3. The welding method for the consumable electrode gas shielded welding wire deposition test comprises the following steps:

s1, performing a plurality of welding teaching experiments on a workpiece 300 by using a welding mechanical arm 100, summarizing actual offset of each channel, and establishing an offset database;

s2, positioning and mounting a workpiece 300 to be welded on the workbench 200, and setting workpiece coordinates on the workpiece 300; specifically, the work 300 is mounted to the table 200 in a three-point positioning manner.

S3, performing welding programming on a welding track of the welding mechanical arm 100 according to the workpiece coordinates and the offset database;

and S4, starting the welding mechanical arm 100 to weld the workpiece groove to be welded according to the welding track set by the welding programming until the welding is completed.

Through the mode, the path program of welding is guided by utilizing the offset database obtained by the welding test, so that the offset can be carried out according to the actual welding deformation in the welding process by utilizing the welding mechanical arm 100, and the welding quality is ensured to meet the requirement while the automatic welding is realized.

Further, in step S3, the track of the first welding seam 1 and the track of the second welding seam 2 are set as the backing welding seam track, and the welding seam tracks of the subsequent filling and covering are offset by the position information of the first welding seam 1 and the second welding seam 2. As shown in fig. 3, in the welding process, the first welding seam 1 and the second welding seam 2 are located at the bottommost layer, and the subsequent welding seams are covered on the first welding seam 1 and the second welding seam 2, so that the welding seam tracks of the subsequent filling and covering surfaces are offset by the position information of the first welding seam 1 and the second welding seam 2, the reference standard is unchanged in the welding process, the offset of the subsequent filling and covering surfaces is convenient to determine, and the welding test can be smoothly performed.

Further, the third weld 3, the fifth weld 5, the seventh weld 7, and the ninth weld 9 are offset with respect to the first weld 1. As shown in fig. 3, the third weld 3, the fifth weld 5, the seventh weld 7 and the ninth weld 9 are sequentially covered above the first weld 1, so that the offset of the third weld 3, the fifth weld 5, the seventh weld 7 and the ninth weld 9 is determined based on the first weld 1, and the reference standard is unchanged in the welding process, thereby ensuring the accuracy of the determined offset. In the present embodiment, the third weld 3 is offset by 3mm in the Z direction (vertically upward) in accordance with the first weld 1; the fifth weld 5 is offset by 7mm in the Z direction according to the first weld 1; the seventh weld 7 is offset by 11mm in the Z direction and 3mm in the Y direction (the direction perpendicular to the first weld 1) away from the center of the groove according to the first weld 1; the ninth weld 9 is offset 20mm in the Z direction and 3mm in the y direction away from the centre of the groove, depending on the first weld 1.

Further, the welding oscillation amplitude of the third welding line 3, the fifth welding line 5 and the seventh welding line 7 is larger than that of the first welding line 1 and the ninth welding line 9. As shown in fig. 2 and 3, as the opening of the groove is larger and larger, the coverage area required to be welded is also increased, and the groove can be effectively covered by increasing the swing amplitude, so that full welding of the groove is ensured. Further, since the ninth weld 9 has been partially filled after the seventh weld is performed, in the present embodiment, the welding swing amplitude of the ninth weld 9 is larger than that of the first weld 1, and smaller than that of the third weld 3, the fifth weld 5, and the seventh weld 7.

Further, the fourth weld 4, the sixth weld 6, the eighth weld 8, and the tenth weld 10 are offset with respect to the second weld 2. As shown in fig. 3, the fourth weld 4, the sixth weld 6, the eighth weld 8 and the tenth weld 10 are sequentially covered above the second weld 2, so that the offset of the fourth weld 4, the sixth weld 6, the eighth weld 8 and the tenth weld 10 is determined based on the second weld 2, and the reference standard is unchanged during the welding process, thereby ensuring the accuracy of the determined offset. In the present embodiment, the fourth weld 4 is offset by 3mm in the Z direction (vertically upward) in accordance with the second weld 2; the sixth weld 6 is offset by 7mm in the Z direction according to the second weld 2; the eighth weld 8 is offset by 11mm in the Z direction and 3mm in the Y direction (the direction perpendicular to the second weld 2) away from the center of the groove according to the second weld 2; the tenth weld 10 was offset 20mm in the Z direction and 3mm away from the centre of the groove in the y direction, depending on the second weld 2.

Further, the welding oscillation amplitude of the fourth weld 4, the sixth weld 6, and the eighth weld 8 is larger than that of the second weld 2 and the tenth weld 10. As shown in fig. 2 and 3, as the opening of the groove is larger and larger, the coverage area required to be welded is also increased, and the groove can be effectively covered by increasing the swing amplitude, so that full welding of the groove is ensured. Further, the tenth weld 10 has been partially filled due to accumulation of welding material after the eighth weld has been made. Thus, in the present embodiment, the welding oscillation amplitude of the tenth weld bead 10 is larger than that of the second weld bead 2, and is smaller than that of the fourth weld bead 4, the sixth weld bead 6, and the eighth weld bead 8.

Further, the welding speed of the first weld 1 and the second weld 2 is greater than that of the remaining welds. The opening of the groove is bigger and bigger, so under the condition of the same welding current, welding voltage and wire feeding speed, the slower the moving speed is, the more the welding material is filled, and the problems of unfused welding, groove between welding beads, insufficient groove welding and the like can be avoided through the mode. In this embodiment, the welding current is 290A, the welding voltage is 28V, and the wire feed speed is 11500mm/min; the welding speed of the first weld 1 and the second weld 2 was 4.2mm/s, and the subsequent speeds were set to 3.4mm/s. In order to ensure that the gun sleeve does not collide with the workpiece 300, the swing amplitude of the first and second welds 1 and 2 is 5mm, the swing amplitude of the third and fourth welds 3 and 4 is 7mm, the swing amplitude of the fifth, sixth, seventh and eighth welds 5, 6, 7 and 8 is 8mm, and the swing amplitude of the ninth and tenth welds 9 and 10 is 6mm.

Further, a contact sensing system is provided on the welding robot 100, and in step S4, after a new workpiece 300 is replaced, the welding robot 100 collides with the workpiece 300 at a set speed and direction, takes the position of collision contact as a starting position, and updates the welding track according to the starting position. Specifically, the contact sensing system is to apply a high voltage to the end of the welding wire, the welding gun collides with the workpiece 300 at a set speed and direction, form a feedback signal by the contacted high-voltage electric signal, record the actual position of the workpiece 300 by a locating instruction, calculate the deviation between the actual position and the original position of the program, take the collision contact position as the initial position, and update the welding track according to the initial position. Because of the small deviation of the size and the positioning position of the workpiece 300, the welding track is updated by adopting the method, so that the welding track is prevented from being replaced after the workpiece 300 is replaced, and the repeated programming is avoided.

Further, in step S3, a safe approach point is set on the welding track, and each time the welding is started, the welding robot 100 moves to the safe approach point first and then moves to the welding start point to perform the welding operation. Through setting up safe point of approaching, at welded in-process, play the effect of buffering, can in time intervene when the unexpected circumstances appears, avoid appearing the incident.

Further, an arc sensing system is disposed on the welding robot arm 100, and in step S4, the arc sensing system determines whether the welding gun is disposed at the center of the current groove according to whether the arc lengths of the arcs are consistent during the swinging process of the welding robot arm 100. When inconsistent conditions occur, the positions of the welding guns are adjusted to ensure that the pad arc protection lengths are kept consistent in the swinging process, and the welding quality is ensured to realize full-automatic welding through fine adjustment of the welding positions in the welding process.

The method solves the problem that the automatic welding cannot be applied in the consumable electrode gas shielded welding wire deposited metal test, ensures the accuracy of the welding position by the arc sensing system and the contact sensing system which are arranged on the six-axis welding mechanical arm 100, realizes fine real-time adjustment, realizes the automatic welding of the consumable electrode gas shielded welding wire deposited metal test, and ensures the welding quality; the investment of human resources is reduced, and the material cost and time cost loss caused by subjective factors of operators are reduced; the problems of unfused welding, insufficient groove welding and the like of automatic welding of deposited metal are solved, and the automation of the repeated inspection of the welding material is realized.

It is to be understood that the above examples of the present invention are provided for clarity of illustration only and are not limiting of the embodiments of the present invention. Other variations or modifications of the above teachings will be apparent to those of ordinary skill in the art. It is not necessary here nor is it exhaustive of all embodiments. Any modification, equivalent replacement, improvement, etc. which come within the spirit and principles of the invention are desired to be protected by the following claims.

Claims

1. The welding method for the melt electrode gas shielded welding wire cladding test is characterized by comprising the following steps of:

s1, performing a plurality of welding teaching experiments on a workpiece (300) by using a welding mechanical arm (100), summarizing actual offset of each channel, and establishing an offset database;

s2, positioning and mounting a workpiece (300) to be welded on a workbench (200), and setting workpiece coordinates on the workpiece (300);

s3, performing welding programming on a welding track of the welding mechanical arm (100) according to the workpiece coordinates and the offset database;

and S4, starting the welding mechanical arm (100) to weld the workpiece groove to be welded according to the welding track set by the welding programming until the welding is completed.

2. The welding method according to claim 1, wherein in the step S3, the track of the first welding seam (1) and the track of the second welding seam (2) are set as the backing welding seam track, and the subsequent filling and covering welding seam tracks are offset by the position information of the first welding seam (1) and the second welding seam (2).

3. The consumable electrode gas shielded welding wire deposition test welding method according to claim 2, characterized in that the third weld (3), the fifth weld (5), the seventh weld (7) and the ninth weld (9) are all offset with respect to the first weld (1).

4. The consumable electrode gas shielded welding wire deposition test welding method according to claim 3, characterized in that the welding oscillation amplitude of the third weld bead (3), the fifth weld bead (5) and the seventh weld bead (7) is larger than the welding oscillation amplitude of the first weld bead (1) and the ninth weld bead (9).

5. The consumable electrode gas shielded welding wire deposition test welding method according to claim 2, characterized in that a fourth weld (4), a sixth weld (6), an eighth weld (8) and a tenth weld (10) are each offset with respect to the second weld (2).

6. The consumable electrode gas shielded welding wire deposition test welding method of claim 5, wherein a welding swing amplitude of the fourth weld bead (4), the sixth weld bead (6), and the eighth weld bead (8) is greater than a welding swing amplitude of the second weld bead (2) and the tenth weld bead (10).

7. The consumable electrode gas shielded welding wire deposition test welding method according to claim 2, characterized in that the welding speed of the first welding seam (1) and the second welding seam (2) is greater than the speed of the remaining welding seams.

8. The welding method according to claim 1, wherein a contact sensing system is provided on the welding robot (100), and in the step S4, after a new workpiece (300) is replaced, the welding robot (100) collides with the workpiece (300) at a set speed and direction, takes a position of collision contact as a start position, and updates the welding track according to the start position.

9. The welding method according to claim 1, wherein in the step S3, a safety approach point is set on the welding track, and each time the welding is started, the welding robot arm (100) moves to the safety approach point first and then to the welding start point to perform the welding operation.

10. The welding method according to claim 1, wherein an arc sensing system is disposed on the welding robot arm (100), and in the step S4, the arc sensing system determines whether the welding gun is disposed at the center of the current groove according to whether the arc lengths of the arcs are consistent during the swinging process of the welding robot arm (100).