CN113857620B - Robot double-wire welding method - Google Patents
Robot double-wire welding method Download PDFInfo
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- CN113857620B CN113857620B CN202111240297.5A CN202111240297A CN113857620B CN 113857620 B CN113857620 B CN 113857620B CN 202111240297 A CN202111240297 A CN 202111240297A CN 113857620 B CN113857620 B CN 113857620B
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- 238000003466 welding Methods 0.000 title claims abstract description 169
- 238000000034 method Methods 0.000 title claims abstract description 23
- 230000008569 process Effects 0.000 abstract description 7
- XKRFYHLGVUSROY-UHFFFAOYSA-N Argon Chemical compound [Ar] XKRFYHLGVUSROY-UHFFFAOYSA-N 0.000 description 10
- 230000037452 priming Effects 0.000 description 8
- 229910000831 Steel Inorganic materials 0.000 description 5
- 229910052786 argon Inorganic materials 0.000 description 5
- 239000010959 steel Substances 0.000 description 5
- 230000035515 penetration Effects 0.000 description 4
- CBENFWSGALASAD-UHFFFAOYSA-N Ozone Chemical compound [O-][O+]=O CBENFWSGALASAD-UHFFFAOYSA-N 0.000 description 3
- 230000008859 change Effects 0.000 description 3
- 238000005259 measurement Methods 0.000 description 3
- MWUXSHHQAYIFBG-UHFFFAOYSA-N nitrogen oxide Inorganic materials O=[N] MWUXSHHQAYIFBG-UHFFFAOYSA-N 0.000 description 3
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 description 2
- 239000011324 bead Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 229910052799 carbon Inorganic materials 0.000 description 2
- 239000000919 ceramic Substances 0.000 description 2
- 238000007599 discharging Methods 0.000 description 2
- 238000009826 distribution Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000007689 inspection Methods 0.000 description 2
- 239000002893 slag Substances 0.000 description 2
- 230000008033 biological extinction Effects 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 238000001816 cooling Methods 0.000 description 1
- 238000005520 cutting process Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000010891 electric arc Methods 0.000 description 1
- 239000007789 gas Substances 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000000465 moulding Methods 0.000 description 1
- 238000009423 ventilation Methods 0.000 description 1
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Classifications
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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
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Plasma & Fusion (AREA)
- Robotics (AREA)
- Arc Welding In General (AREA)
- Butt Welding And Welding Of Specific Article (AREA)
Abstract
The invention relates to a robot double-wire welding method, which comprises the following steps: measuring the vertical distance between the pole of the first welding wire and the position to be welded by the first welding wire of the double-wire welding gun; obtaining current of a second welding wire servo wire feeder driving wire feeding speed according to the relation between the distance and the welding wire arc current; and controlling the pole wire feeding speed of the second welding wire gun through the second welding wire driving current. The invention can improve the quality of the cover surface in the welding process; the back chipping of the bottoming-free welding seam can be realized, and the economical efficiency is improved.
Description
Technical Field
The invention belongs to the technical field of welding, and particularly relates to a robot double-wire welding method.
Background
And (5) manual priming and automatic welding of double wires of a robot. For welding wires with two different diameters, if a welding power supply system is used, the arc of the front wire is matched with the manual priming, the height of the upper surface of the welding wire is uneven, and the rear wire does not have a proper arc distance due to the mutual structural locking of the positions of the rear wire and the front wire, so that the problem that the arc is uncontrollably extinguished in the welding process is often found. The upper surface of the manual bottoming welding seam is uneven, so that the height of the cover surface is uneven, and slag of the cover surface is difficult to clean.
Disclosure of Invention
The invention aims to solve the problem of manual priming and automatic double-wire welding of a robot. The automatic welding of the robot double wires, the current sensing of the front wire and the manual bottoming of the outline of the welding seam adopt a servo wire feeding mechanism to carry out wire outlet speed compensation, ensure that two welding wires avoid uncontrollable extinction of electric arcs, simultaneously carry out volume compensation, solve the problems that the upper surface of the manual bottoming welding seam is uneven, the height of the cover surface is uneven and slag of the cover surface is difficult to clean.
The technical scheme adopted by the invention for achieving the purpose is as follows: a robot double-wire welding method comprises the following steps:
measuring the vertical distance between the anode point of the first welding wire and the position to be welded by the first welding wire of the double-wire welding gun;
obtaining a first welding wire arc current according to the relation between the vertical distance and the first welding wire arc current;
obtaining a desired second wire gun pole wire feed speed based on the first wire arc current;
and controlling the wire feeding speed of the second welding wire according to the expected wire feeding speed of the pole of the second welding wire gun.
The strip conveying speed of the double-wire welding gun is kept unchanged.
The pole wire feed speed of the second welding wire gun is obtained by the following formula:
y＝K/x+b
wherein K and b are adjustment coefficients, x represents the first wire arc current, and y represents the second wire gun pole wire feed speed.
And obtaining the filling volume S=d×y+c of the welding seam according to the second welding wire feeding speed, wherein d and c are adjustment coefficients, and y represents the second welding wire gun pole feeding speed.
And controlling the second welding wire feeding speed through a servo wire feeder according to the expected second welding wire pole wire feeding speed, so that the surface of the welding seam is a horizontal plane.
The first welding wire anode point is a first welding wire tail end.
The second welding wire gun pole is a second welding wire tail end.
A robotic double wire welding device comprising:
the distance measuring module is used for measuring the vertical distance between the anode point of the first welding wire and the position to be welded through the first welding wire of the double-wire welding gun;
the wire feeding speed control module is used for obtaining the first welding wire arc current according to the relation between the vertical distance and the first welding wire arc current; obtaining a desired second wire gun pole wire feed speed based on the first wire arc current; and controlling the wire feeding speed of the second welding wire according to the expected wire feeding speed of the pole of the second welding wire gun.
The invention has the following beneficial effects and advantages:
compared with the prior art, the invention has the beneficial effects that:
1) The quality of the cover surface is higher in the welding process;
2) The weld joint back chipping free can be realized, and the economy is improved;
if a weld back chipping procedure is added between manual priming and robot automatic filling welding, the final process molding effect of the invention can also be realized.
For a full penetration weld formed by welding with high quality requirements (in the case of qualified post-weld requirements for nondestructive inspection, such as UT and RT inspection), the process of cleaning the finished root of the weld from the reverse side using an appropriate tool before the welding is completed with the reverse side applied is called "back gouging". The welding seam can be generally formed by a carbon arc gouging machine, a pneumatic shovel and an electric grinding wheel. The special weld, the apparatus does not allow the use of carbon arc gouging because it can carburize the weld, thereby producing unpredictable effects.
3) Saving manpower
The filling and cover surface welding amount is larger than the priming welding amount, so that the labor can be effectively saved, the labor intensity is reduced, the continuous welding operation is avoided, and the argon occupational hazard is reduced. The argon arc welding has high temperature of arc column when the argon arc welding is used for the argon arc welding of ozone and nitrogen oxides, which are harmful factors affecting human body. Thus, a large amount of ozone and oxynitride is generated during the welding process; in particular ozone, has a concentration far exceeding the reference hygienic standard. If effective ventilation measures are not adopted, the gases have great influence on human health, and are the most main harmful factors of argon arc welding;
4) The double-wire welding filling efficiency is higher than the single-wire welding filling efficiency;
5) The system only improves the variable-frequency wire feeder to a servo wire feeder in the traditional double-wire welding system, and has simple algorithm;
6) Because the welding gun has constant strip conveying speed, the arc of the welding wire with the measuring current is protected by small air flow, and therefore, the measuring accuracy is high.
Drawings
FIG. 1 is a schematic diagram of a working scenario of the present invention;
FIG. 2 is a schematic vertical section of an artificial bottoming weld of the present invention;
fig. 3 is a schematic view of a welded double wire arc of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples.
As shown in fig. 1 and 2, the intelligent robot filling workstation comprises a welding robot 1, a welding gun 2, a positioner 3, an outer workpiece 4, an inner workpiece 5, a feeding station 6, a groove 7, a manual bottoming station 8, a manual bottoming weld 9, an intelligent robot filling station 10, a discharging station 11, a capping weld 12, a filling track line 13, a welding wire 14, a gun pole 15, a workpiece pole 16, a measurement Yang Jidian, a measurement cathode pole 18, a measurement arc 19 and a compensation arc 20.
One end of the welding robot 1 is fixed on the ground, and the other end of the welding robot 1 is provided with a welding gun 2. The welding robot 1 can provide a welding motion of the welding gun 2 in six degrees of freedom in space. The welding gun 2 is a double-wire welding gun. Double-arc double-wire welding has the problem of double power supplies, and the double power supplies are generally divided into double direct current power supplies, front-to-back alternating current or double alternating current configuration modes and the like; however, in practical application, two direct currents are used, so that electromagnetic interference is easy to generate, a front direct-current and rear-alternating-current mode is mainly adopted, a front wire is electrified with direct current, low voltage and high current, and high penetration is mainly required; the back wire is electrified with alternating current, and the characteristic that the welding seam forming of an alternating current power supply is smoother is utilized to form good welding seam surface forming. Thus, the welding gun 2 contains two welding wires, the left wire passing through a direct current and the right wire welding wire 14 passing through an intersection. The measuring anode point 17 of the left welding wire and the measuring cathode point 18 of the backing weld 9 thus produce a measuring arc 19. For measuring the height value that varies between the measuring anode point 17 of the left welding wire and the measuring cathode point 18 of the backing weld 9 during the right-to-left welding of the welding gun 2.
The positive pole and the negative pole of the electric welding machine are different: the current divider is generally arranged at the positive electrode, takes a voltage of about 75MV and is connected to an ammeter for detecting the current. When using a DC welder, if the welder is connected to the positive electrode, the welding rod is connected to the negative electrode. And vice versa. When the welding rod is connected positively, the workpiece is an anode, the welding rod is a cathode, and the anode is higher than the cathode in temperature, so that the penetration is large and the splashing is large during positive connection; the reverse connection is characterized by stable electric arc and less splashing. The welding is generally performed by a reverse connection method, and the forward connection method can be considered for increasing the penetration only when welding the non-important structure of the medium plate. Note that reverse grafting is generally employed.
One end of the position changing machine 3 is fixed on the ground, the other end of the position changing machine 3 is provided with a feeding station 6, a manual priming station 8, an intelligent robot filling station 10 and a discharging station 11, each station comprises a clamping groove, and the relative positions of the outer side workpiece 4 and the inner side workpiece 5 can be fixed. The position shifter 3 can be used for four stations, and the positions are changed in a counterclockwise sequence when seen from top to bottom.
Both the outer work piece 4 and the inner work piece 5 contain grooves 7. The outer workpiece 4 and the inner workpiece 5 are welded to form a cap weld 12 at a manual station by a skilled welder. In butt welding of thick plate grooves, a backing weld bead is first welded at the root of a joint groove in order to prevent angular deformation or prevent burn-through during automatic welding. In single-sided welding using ceramic liners, the welding of the first pass bead on the ceramic liner is also referred to as backing welding. Angular deformation refers to build-up welding or butt joint of steel sheets, and it can be considered that the temperature distribution in the thickness direction of the steel sheet is uniform: however, in the case of one-sided welding of a thicker steel sheet, the temperature of one side of the weld is high, the temperature of the other side is low, and the heat distribution in the thickness direction of the steel sheet is uneven. Therefore, the side with higher temperature is more expanded by heat, and the other side is less expanded or even not expanded. A large transverse compressive deformation occurs due to the blocked expansion of the welded face. Thus, shrinkage unevenness in the thickness direction of the steel sheet occurs upon cooling. One side of the welding is large in shrinkage and the other side is small in shrinkage. This type of post-weld transverse contraction of the weld causes a change in the relative angle of the two connectors, known as angular deformation.
The welding gun 2 contains welding wire 14, the welding wire 14 contains a gun pole 15, and the plane of the straight line of the welding wire and the gun pole 15 is called a strip conveying plane. The sum of the various actions of the gun pole 15 relative to the weld joint is mainly a combination of actions in three directions of feeding along the axis of the gun pole 15, longitudinal swinging along the axis of the weld joint and transverse swinging. The purpose of transporting the strip is to enable the welding rod to perfectly cover the welding line, thereby achieving the purpose of welding. The cutting line of the strip transport surface and the upper surface of the manual priming weld 9 is called a filling track line 13. The point of the filling trajectory line 13 closest to the gun extremity 15 is called the workpiece extremity 16. Thus, the point gun pole 15 and workpiece pole 16 of the present invention utilize an ac power source to produce a compensating arc 20. The filling amount is changed. The method of varying the fill level is to vary the wire feed speed of the welding wire 14. The height value which changes between the measuring anode point 17 of the welding wire at the left side and the measuring cathode point 18 of the backing weld 9 is compensated in the process of welding from the right side to the left side of the welding gun 2.
An intelligent robotic filling workstation comprises the following workflow:
first step, feeding
The outside workpiece 4 and the inside workpiece 5 are opposite to each other with a groove 7. The outer side workpiece 4 and the inner side workpiece 5 are fed to a feeding station 6 manually, and the stations are fed;
second step, manual backing welding
The position of the position changer is changed in a counterclockwise sequence for one time. The outside workpiece 4 and the inside workpiece 5 are manually ground and welded by a skilled welder at a manual ground station 8. A manual priming weld 9 is formed between the outer workpiece 4 and the inner workpiece 5.
Third step, intelligent robot filling station 10
The position of the position changer is changed in a counterclockwise sequence for one time. The outer workpiece 4 and the inner workpiece 5 are filled in the intelligent robot filling station 10;
the intelligent welding robot detects, measures Yang Jidian and measures the welding current change of the measuring arc 19 between the cathode point 18, and senses the groove height according to the welding current change. The welding wire where the measuring anode point 17 is located is defined as the front wire and the welding wire 14 is defined as the rear wire. The servo wire feed speed of the rear wire 14 is determined by the current variation of the front wire 17. The current feedback value of the front wire 17 is larger than a set value, the wire feeding speed of the rear wire 14 is reduced, and conversely, the current feedback value of the front wire 17 is smaller than the set value, and the servo wire feeding speed of the rear wire 14 is increased. And the control system adjusts the filling quantity to meet the welding requirement through changing the wire feeding speed of the rear wire and compensating and calculating the filling volume. The cover welding line 12 is leveled by the intelligent robot filling station 10 through double-wire welding, and errors and uneven heights caused by manual operation and manual bottoming of the welding line 9 are compensated.
Fourth, manual blanking of the blanking station 11
The position of the position changer is changed in a counterclockwise sequence for one time. The outer workpiece 4 and the inner workpiece 5 are manually blanked at a blanking station 11.
As shown in fig. 3, the differential motion of the workpiece pole 16 of the gun 2 and the gun pole 15 of the welding wire 14 to the left of the measuring cathode pole 18 comprises the following relation:
y＝K/x+b
S＝d*y+c
wherein K and b are adjustment coefficients related to the welding power supply; the wire feeding speed y is related to a servo wire feeder; the welding current is x, and is related to a welding power supply; wherein d and c are related to the servo wire feeder; filling the volume S.
The differential motion of the workpiece pole 16 of the gun pole 15 to the left of the measuring cathode pole 18 results in the following method steps;
1. welding current x, measured arc 19, reduced data curve
2. Further, the yarn feeding speed y becomes high
The filling volume S, the filling amount of the welding wire where the compensating arc 20 is located becomes larger and more welding wire is added per unit time.
Claims (5)
1. The robot double-wire welding method is characterized by comprising the following steps of:
firstly, feeding;
secondly, manual backing welding:
performing manual backing welding on the outer workpiece and the inner workpiece, and forming a manual backing welding seam between the outer workpiece and the inner workpiece;
thirdly, filling the cover surface by the intelligent robot:
the method comprises the steps that double-wire welding is conducted on an outer side workpiece and an inner side workpiece at a filling station of an intelligent robot, a first welding wire passes through direct current, a second welding wire passes through alternating current, and the vertical distance between an anode point of the first welding wire and a position to be welded is measured through the first welding wire of a double-wire welding gun;
obtaining a first welding wire arc current according to the relation between the vertical distance and the first welding wire arc current;
obtaining a desired second wire gun pole wire feed speed based on the first wire arc current;
controlling the wire feed speed of the second welding wire according to the expected wire feed speed of the pole of the second welding wire gun;
fourth, artificial blanking of a blanking station;
the pole wire feed speed of the second welding wire gun is obtained by the following formula:
y=K/x+b
wherein K and b are adjustment coefficients, x represents a first welding wire arc current, and y represents a second welding wire gun pole wire feed speed;
obtaining the filling volume of the welding seam according to the second welding wire feeding speed
Wherein d and c are adjustment coefficients, and y represents the pole wire feed speed of the second wire gun;
and controlling the second welding wire feeding speed through a servo wire feeder according to the expected second welding wire pole wire feeding speed, so that the surface of the welding seam is a horizontal plane.
2. The method of claim 1, wherein the speed of the twin wire welding gun is maintained.
3. The robotic twin wire welding method defined in claim 1, wherein the first wire anode point is a first wire end.
4. The robotic twin wire welding method as defined in claim 1, in which the second wire gun pole is a second wire end.
5. A robotic double wire welding device, comprising:
the distance measuring module is used for measuring the vertical distance between the anode point of the first welding wire and the position to be welded through the first welding wire of the double-wire welding gun;
the wire feeding speed control module is used for obtaining the first welding wire arc current according to the relation between the vertical distance and the first welding wire arc current; obtaining a desired second wire gun pole wire feed speed based on the first wire arc current; controlling the wire feed speed of the second welding wire according to the expected wire feed speed of the pole of the second welding wire gun;
the robot double wire welding device is used for executing the robot double wire welding method according to any one of claims 1-4.
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| CN102248253A (en) * | 2011-06-23 | 2011-11-23 | 山东奥太电气有限公司 | Arc ignition cooperation control method for twin-wire welding device system |
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| CN1040076C (en) * | 1994-09-29 | 1998-10-07 | 机械工业部哈尔滨焊接研究所 | Arc-shape pipe and plate automatic welding method and welding-machine |
| CN100519036C (en) * | 2006-06-20 | 2009-07-29 | 西安西电变压器有限责任公司 | Technique of double wire hidden arc welding |
| CN101733527A (en) * | 2010-01-27 | 2010-06-16 | 天顺风能(苏州)股份有限公司 | Wind tower double-arc double-wire submerged arc welding technology |
| JP6525625B2 (en) * | 2015-02-10 | 2019-06-05 | 株式会社ダイヘン | 2-wire welding control method |
| US10792682B2 (en) * | 2017-10-02 | 2020-10-06 | Illinois Tool Works Inc. | Metal manufacturing systems and methods using mechanical oscillation |
| CN109848519B (en) * | 2018-11-30 | 2021-09-07 | 北京新立机械有限责任公司 | Novel robot double-wire four-pulse welding method |
| CN112894080A (en) * | 2019-11-19 | 2021-06-04 | 中国石油天然气集团有限公司 | Method and device for controlling length of welding arc |
| CN112372117A (en) * | 2020-12-02 | 2021-02-19 | 南京钢铁股份有限公司 | Large heat input submerged arc welding method for refractory steel with yield strength of 460MPa and thickness of 60mm |
| CN113319452B (en) * | 2021-05-28 | 2022-08-16 | 南京理工大学 | Double-arc double-airflow protection high-strength steel fuse wire material adding device and method |
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|---|---|---|---|---|
| CN102248253A (en) * | 2011-06-23 | 2011-11-23 | 山东奥太电气有限公司 | Arc ignition cooperation control method for twin-wire welding device system |
| CN102581449A (en) * | 2011-11-22 | 2012-07-18 | 深圳市瑞凌实业股份有限公司 | Twin-wire vertical electrogas welding system with low welding heat input and welding method |
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