Deep and narrow gap submerged arc welding device with melon petal welding track self-recognition and welding method

Abstract

The invention provides a deep and narrow gap submerged arc welding device with melon petal welding track self-recognition and a welding method which are more suitable for circular curve and ellipsoidal curve space butt welding seams. The deep and narrow gap submerged arc welding device comprises a flexible rail, a laser vision sensor located above a gap, two vehicle frames movably connected to theflexible rail and connected into a whole through a base plate, a guide mechanism located above a to-be-welded deep and narrow gap, an automatic welding flux conveying mechanism and an automatic wirefeeding mechanism, wherein the automatic welding flux conveying mechanism and the automatic wire feeding mechanism are connected with a z-axis guide rail sliding block of the guide mechanism, a deep narrow gap welding gun is fixedly connected to the lower part of the automatic wire feeding mechanism, the automatic welding flux conveying mechanism is fixedly connected with the deep narrow gap welding gun, a y-axis guide rail of the guide mechanism is fixedly connected to the base plate, and a z-axis guide rail of the guide mechanism is fixedly connected to a sliding block of the y-axis guide rail. The deep and narrow gap submerged arc welding device is suitable for welding occasions of flat welding, vertical upward welding and transition from vertical upward welding to flat welding, good weld joint forming quality can be guaranteed, and welding efficiency is improved.

Description

technical field [0001] The invention belongs to the field of welding automation, in particular to laser vision sensing technology and deep narrow gap single wire submerged arc welding welding track recognition technology, especially a deep narrow gap submerged arc welding device and welding method for self-identifying melon petal welding track . Background technique [0002] Deep and narrow gap submerged arc welding technology is widely used in the welding of medium and thick plate structural parts such as oil pipelines, pressure vessels, ships, and aviation. Traditional deep and narrow gap submerged arc welding equipment has the following characteristics: [0003] 1. The single welding form of flat welding is basically adopted; there are two main methods: one is that the welding torch stays still vertically downward, and with the cooperation of a large positioner, the displacement movement of the workpiece is controlled to complete the welding of the entire deep and narrow ...

AI Technical Summary

Problems solved by technology

[0005] 1. In the case of welding workpieces with different sizes and specifications, the manual teaching process significantly increases the welding preparation time, but this technology fails to achieve the effect of independent planning and intelligent control of each layer and each welding path, and fails to eliminate manual teaching. The taught process cannot more actively identify the welding trajectory and independently plan the welding path;

[0006] 2. When the deep and narrow gap weld is a space curve, such as an ellipse, the adaptability of this technology is slightly insufficient. This technology needs to use a positioner to find the welding trajectory through repeated manual teaching, which seriously increases the welding time and is difficult. suitable for outdoor

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