Multilayer and multipass welding method of robot

Abstract

The invention relates to a multilayer and multipass welding method of a robot, which is used for groove welding seams of thick plates. Multilayer and multipass automatic MAG welding is performed on athick plate taking a T-shaped panel as an example by adopting a robot, the robot system is integrated with an arc welding robot, an arc welding power supply system, a robot welding gun system, a linelaser scanning system and a robot control system, groove information such as the groove top width, the groove bottom width, the groove central position and the like of a V-shaped groove welding seam can be obtained by the line laser scanning system, a groove bottom width matching process database is obtained through line laser scanning so as to complete one to two layers of multilayer and multipass welding, and the line laser scanning is performed for many times so as to complete the multilayer and multipass welding of the whole welding seam. According to the method, the problem of inaccuratepaths caused by excessive layers and passes in traditional multilayer and multipass automatic welding is effectively solved.

Description

technical field [0001] The invention relates to the technical field of thick plate welding, in particular to a robot multi-layer and multi-pass welding method for thick plate groove welds. Background technique [0002] In industrial production, the welding of thick plates (plate thickness greater than 20mm) needs to be realized by multi-layer and multi-channel methods. For example, there are many thick plate welding tasks in the segmental manufacturing of large ships, such as the welding of segmented T profiles: T The thickness of the profile panel is relatively large (≥30mm), and it needs to be grooved for multi-layer and multi-pass welding. [0003] At present, in the multi-layer and multi-pass welding process of the shipyard, manual welding is usually used, and the labor intensity of the workers is high, the production efficiency is low, the quality is unstable, and welding defects are prone to occur. Robotic welding has the characteristics of stable welding quality and ...

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Problems solved by technology

[0006] However, the actual working conditions are more complicated: the thickness of the T-profile panel is relatively large, so there are many layers to be welded, and welding defects are prone to occur after repeated errors are accumulated; the error range of the assembly gap during the manual assembly process is large, and different batches There are also differences in the bevel angles of the panels, resulting in a large amount of bevel information, which requires high accuracy and breadth of the process database, and it is difficult to give a filling strategy through the bevel information at one time

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