Swinging arc welding method and arc welding robot

Abstract

The invention relates to the technical field of arc welding, and discloses a swinging arc welding method and an arc welding robot. The swinging arc welding method includes the following steps that the values of the length L, the semi-major axis wHa of the oblique ellipse, the semi-minor axis wHb and the inclination amount gama of a to-be-welded weld joint are obtained, wherein the oblique ellipse is the shape of the track of welding gun movement; the offset and the distance xB from the circle center of the first oblique ellipse to the welding start point of the first oblique ellipse are calculated according to L, wHa, wHb and gama, wherein offset is the distance from the circle center of the first oblique ellipse to the start point of the first oblique ellipse; the corresponding relation between the welding length L and the total planned amount target is established according to offset and xB, wherein target is the movement displacement of a welding gun; the welding gun is controlled to move towards the welding end point from the welding start point according to the corresponding relation, and meanwhile the welding gun is controlled to move towards the top side of the weld joint form the bottom end of the weld joint at a preset welding speed till the welding gun is moved to the welding end point. Thus, upper side cut sides and lower side overlaps of the weld joint can be avoided during transverse welding, and the welding quality is improved.

Description

technical field [0001] The invention relates to the technical field of arc welding, in particular to a swing arc welding method and an arc welding robot. Background technique [0002] Welding is the primary method of joining metals. When the weld seam is wide, weaving welding is required. According to different welds, weaving welding can be divided into flat welding, vertical welding, horizontal welding and so on. The swing arc type of swing welding is very important for welding. The commonly used swing arc types mainly include triangle, circular arc, "8" shape, etc. These swing arc types can better solve the welding conditions such as flat welding and vertical welding. [0003] However, when performing horizontal welding, since the left and right vertices of the swing are not on the same horizontal plane, the molten metal flows downward due to the action of gravity, resulting in uneven thickness of the upper and lower layers of the welding layer, and even defects such as...

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Problems solved by technology

[0003] However, when performing horizontal welding, since the left and right vertices of the swing are not on the same horizontal plane, the molten metal flows downward due to the action of gravity, resulting in uneven thickness of the upper and lower layers of the welding layer, and even defects such as undercuts and welding tumors.

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