Automatic laser welding equipment for convex seat and ring of stress application header pipe and welding process method of automatic laser welding equipment

Abstract

The invention discloses automatic laser welding equipment for a convex seat and a ring of a stress application header pipe and a welding process method of the automatic laser welding equipment. The automatic laser welding equipment comprises a positioning point fixing device, a dust suction and exhaust device, a welding device of an integrated positioner, a 3D measuring camera, a welding robot, a robot controller, a water cooling machine, a laser, an integrated console and a voltage-stabilized source. All the components are integrally connected through cables or pipelines, the 3D measuring camera and the welding robot move synchronously, the water cooling machine and the dust suction and exhaust device form cooling and dust removal loops with related components respectively, and the stabilized voltage supply supplies power to all the components. The process method comprises the following steps: positioning and locking the convex seat through the bolt, and tacking a welding seam to ensure that a gap is less than or equal to 0.1 mm Inputting a theoretical model, scanning a real object, modeling and comparing, and automatically planning a track; and according to the logic of first scanning confirmation and second welding, 24 welding seams on the outer side and partial welding seams on the inner side are symmetrically completed, and the remaining welding seams on the inner side are completed after turning over. Manual argon arc welding is replaced by laser welding, the problem of automatic welding of pipelines of complex structures is solved, the welding technology level is improved, and the product quality consistency and the machining efficiency are improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of aero-engine manufacturing, in particular to a laser automatic welding device for a boss and a ring of a thrust pipe and a welding process method thereof. BACKGROUND

[0002] There are 158 welding seams in the existing aero-engine single-piece thrust fuel pipe, and 97 welding seams of the oil injection rod and the plug, the oil injection rod and the saddle, and the oil inlet pipe assembly have been realized automatic argon arc welding. However, the 48 welding seams between the boss and the ring still adopt manual welding, and the main reasons are as follows: first, the oil injection rods are dense, and the space between the rods is narrow, so it is difficult for the robot welding gun to move; second, the welding seam shape between the boss and the ring is a small length of space intersecting line, and it is difficult for the robot to plan the welding track; third, the part is thin-walled structure, the welding seam quantity is large, the argon arc welding heat input is large, and the deformation after the previous welding seam welding causes the position of the subsequent welding seam to change irregularly, so the automatic welding program cannot be fixed. The above factors lead to the failure of automatic welding argon arc welding, so manual argon arc welding is still adopted, and the product quality consistency and efficiency cannot meet the mass production, and the labor intensity is large. SUMMARY

[0003] To solve the above technical problems, the present application provides a laser automatic welding device for a boss and a ring of a thrust pipe and a welding process method thereof, and the specific technical solutions are as follows: A laser automatic welding device for a boss and a ring of a thrust pipe, comprising a positioning point fixing tool, a dust suction and discharge device, a welding tool, a 3D measurement camera, a welding robot, a robot controller, a water cooling machine, a laser, an integrated control console and a stabilized power supply; The positioning point fixing tool is provided with a limiting groove matched with the thrust pipe part and a bolt structure for positioning the inner and outer 48 oil injection rod bosses, and is used for positioning and temporarily fixing the thrust pipe part and the bosses and the rings thereon; The welding tool is integrated with a positioner, and is arranged near the positioning point fixing tool or integrated on the same working platform, and is used for fixing the thrust pipe part which has completed the positioning point fixing; The feeding side of the positioning point fixing tool corresponds to the welding tool; The welding robot is arranged around the welding tool, and the execution end of the welding robot is provided with a laser welding gun; The 3D measurement camera is installed beside the execution end of the welding robot, moves synchronously with the welding robot, and is used for scanning the thrust pipe part to form a physical model; The welding robot is signal connected with the robot controller, the robot controller is bidirectionally communicated with the integrated control console, the laser welding gun of the welding robot is connected with the laser through an optical fiber, and the laser provides the required laser energy for welding; The water cooling machine is communicated with the laser and the welding gun cooling channel of the welding robot through pipelines; The dust suction device is arranged near the welding area, and a dust suction port of the dust suction device faces a welding operation area of the welding tool, and is used for discharging welding generated dust; The stable power supply is electrically connected with the integrated control console, the laser, the robot controller and the water cooling machine, and provides stable power supply for each component. Each component is integrally connected through a cable or a pipeline, and is centrally controlled by the integrated control console.

[0004] The 3D measurement camera has a physical scanning and model comparison function, can compare the physical model formed by scanning with the theoretical model of the part pre-stored in the integrated control console, generate deviation data and transmit to the robot controller. After the comparison of the physical model formed by scanning and the theoretical model, the welding track is automatically planned, and the length difference between the physical model of the boss and the theoretical model is less than or equal to ±0.3mm.

[0005] The positioning point fixing tool is configured to use an argon arc welding gun to symmetrically fix two points of the weld between the boss and the ring, and a total of 48 welds are sequentially fixed.

[0006] A welding process method of a boss and ring laser automatic welding equipment of a force augmentation manifold, comprising the following steps: Step one: positioning and fixing work; The force augmentation manifold part is pre-placed in the limiting groove of the positioning and fixing tool, the 48 oil injection rod bosses inside and outside the force augmentation manifold are positioned by the pin structure on the positioning and fixing tool, the boss is locked and fixed by operating the lock, and the gap between the boss and the ring is ensured to be less than or equal to 0.1mm; then the argon arc welding gun is used to symmetrically fix two points of the weld to be welded, and the point fixing work of the 48 welds is completed in sequence, and the force augmentation manifold part after point fixing is obtained; Step two: welding track planning; The theoretical model of the force augmentation manifold part is input in the integrated control console, the single weld is manually tracked and checked by the robot controller; the force augmentation manifold part after step one is clamped to the welding tool, the 3D measurement camera is started to scan the part to form a physical model; the 3D measurement camera compares the physical model with the theoretical model, ensures that the length difference between the physical model of the boss and the theoretical model is less than or equal to ±0.3mm, the robot controller automatically plans the welding track and welding sequence of the 48 welds according to the comparison result, and the track program is saved in the integrated control console for future use; Step three: laser automatic welding; Start the stabilized power supply, water cooling machine and dust suction device to make them enter the working state; the integrated control console calls the saved track program in step two to control the 3D measurement camera to scan and confirm the position of the first to-be-welded weld, and the welding robot calls the corresponding track program under the control of the robot controller to complete the welding of the first weld under the condition that the laser provides laser energy; according to the logic of “scanning and confirming the position first, and then calling the track program to weld”, the subsequent welds are sequentially welded, and the specific welding sequence is as follows: first, 24 outside welds are welded in a symmetrical sequence, and then 24 inside welds are welded in a symmetrical sequence, and the half of the welds facing the welding gun are welded; the force adding manifold part is taken off from the welding tool and turned over, and after being clamped and fixed again, the welding of the other half of the 24 inside welds is sequentially completed according to the same logic, and finally the welding of the whole force adding manifold part is completed.

[0007] The preferred scheme of the welding process method of the convex seat and ring laser automatic welding equipment of the force adding manifold is that in step one, the argon arc welding points are symmetrical two points.

[0008] The preferred scheme of the welding process method of the convex seat and ring laser automatic welding equipment of the force adding manifold is that in step three, for each weld, the 3D measurement camera is used to scan and confirm / modify the position before welding, and then the program is called to weld. Advantages

[0009] The automatic welding is realized, and the manual operation is replaced; the automatic welding of the most complex structure and the most limited space convex seat and ring weld in the afterburner of the aero-engine is successfully solved. The original manual argon arc welding depending on skilled workers is directly replaced, and the dependence on manual operation skills and the labor intensity are significantly reduced. The welding deformation is effectively controlled by using the characteristics of the laser welding energy concentration, small heat input and narrow heat affected zone. Through the real-time track modification strategy of scanning first and then welding, the deformation and position deviation caused by the previous machining or previous welds are adaptively compensated, and the welding precision and quality stability of each weld are ensured. The cumulative deformation irregularity caused by the thin wall of the part and the large number of welds is fundamentally solved.

[0010] The automatic welding equipment and process realize continuous and standardized welding operation, and compared with manual welding, the total welding time of a single product is greatly shortened. The reliable technical support is provided for the mass production of the afterburner of the aero-engine. BRIEF DESCRIPTION OF DRAWINGS

[0011] Fig. 1 The force adding manifold part; Fig. 2 It is a schematic view of a convex seat and ring laser automatic welding equipment of a force adding manifold.

[0012] In the figure: 1-positioning point fixing tool, 2-dust collector, 3-welding tool, 4-3D measurement camera, 5-welding robot, 6-robot controller, 7-water cooling machine, 8-laser, 9-integrated console, 10-stabilized power supply, 11-welding seam. DETAILED DESCRIPTION

[0013] The application will be described in detail below with reference to the accompanying drawings. Figs. 1-2 The application will be described in detail below with reference to the accompanying drawings.

[0014] A laser automatic welding device for the convex seat and ring of a booster manifold, comprising a positioning point fixing tool 1, a dust collector 2, a welding tool 3, a 3D measurement camera 4, a welding robot 5, a robot controller 6, a water cooling machine 7, a laser 8, an integrated console 9 and a stabilized power supply 10; The positioning point fixing tool 1 is provided with a limiting groove matched with the booster manifold parts and a plug structure for positioning the inner and outer 48 oil injection rod convex seats; it is used for positioning and temporarily fixing the booster manifold parts and the convex seat and ring thereon; The welding tool 3 is integrated with a positioner, which is arranged near the positioning point fixing tool 1 or integrated on the same working platform, and is used for fixing the booster manifold parts which have completed the positioning point fixing; The feeding side of the positioning point fixing tool 1 corresponds to the welding tool 3; The welding robot 5 is arranged around the welding tool 3, and the execution end of the welding robot 5 is provided with a laser welding gun; The 3D measurement camera 4 is arranged beside the execution end of the welding robot 5, moves synchronously with the welding robot 5, and is used for scanning the booster manifold parts to form a physical model; The welding robot 5 is signal connected with the robot controller 6, the robot controller 6 is in bidirectional communication with the integrated console 9, the laser welding gun of the welding robot 5 is connected with the laser 8 through an optical fiber, and the laser 8 provides the laser energy required for welding; The water cooling machine 7 is communicated with the laser 8 and the welding gun cooling channel of the welding robot 5 through pipelines; The dust collector 2 is arranged near the welding area, the dust suction port of the dust collector 2 faces the welding operation area of the welding tool 3, and the dust collector 2 is used for discharging the smoke and dust generated in welding; The stabilized power supply 10 is electrically connected with the integrated console 9, the laser 8, the robot controller 6 and the water cooling machine 7 respectively, provides stable power supply for each component, each component is integrally connected through a cable or a pipeline, and is centrally controlled by the integrated console 9.

[0015] The 3D measurement camera 4 has physical scanning and model comparison functions, can compare the physical model formed by scanning with the theoretical part model pre-stored in the integrated console 9, generate deviation data and transmit the deviation data to the robot controller 6. After the comparison between the physical model and the theoretical model, the welding track is automatically planned, and the length difference between the physical model and the theoretical model of the convex seat is ≤±0.3mm.

[0016] The positioning fixture 1 is configured to use an argon arc welding gun to symmetrically point-fix two points of the weld 11 between the convex seat and the ring, and a total of 48 welds 11 are sequentially point-fixed.

[0017] A welding process method of a convex seat and a ring of a force augmentation manifold laser automatic welding device, comprising the following steps: Step one: positioning and point-fixing operation; The force augmentation manifold parts are pre-placed in the limiting groove of the positioning fixture 1, the 48 oil injection rod convex seats inside and outside the force augmentation manifold are positioned by the pin structure on the positioning fixture, the convex seats are locked and fixed by operating the lock, and the gap between the convex seat and the ring is ensured to be ≤0.1mm; then the argon arc welding gun is used to symmetrically point-fix two points of the weld 11 to be welded, and the point-fixing operation of the 48 welds 11 is completed in sequence, and the force augmentation manifold parts after point-fixing are obtained; Step two: welding track planning; The theoretical model of the force augmentation manifold parts is input in the integrated console 9, the single weld 11 is manually tracked and checked by the robot controller 6; the force augmentation manifold parts after point-fixing in step one are clamped to the welding fixture 3, the 3D measurement camera 4 is started to scan the parts to form a physical model; the physical model is compared with the theoretical model by the 3D measurement camera 4, the length difference between the physical model and the theoretical model of the convex seat is ensured to be ≤±0.3mm, and the welding track and welding sequence of the 48 welds 11 are automatically planned by the robot controller 6 according to the comparison result, and the track program is saved in the integrated console 9 for future use; Step three: laser automatic welding; The stabilized power supply 10, the water cooler 7 and the dust suction device 2 are started to make them enter the working state; the integrated console 9 calls the track program saved in step two, controls the 3D measurement camera 4 to scan and confirm the position of the first weld 11 to be welded, the welding robot 5 calls the corresponding track program under the control of the robot controller 6, and completes the welding of the first weld 11 under the condition that the laser energy is provided by the laser 8; according to the logic of scanning and confirming the position first and then calling the track program for welding, the subsequent welds 11 are welded in turn, and the specific welding sequence is as follows: first, the 24 welds 11 on the outside are welded in the symmetric sequence, and then the half of the 24 welds 11 on the inside facing the welding gun are welded in the symmetric sequence; the force augmentation manifold parts are taken off from the welding fixture 3 and turned over, and then clamped and fixed again, and the welding of the other half of the 24 welds 11 is completed in turn according to the same logic, and finally the welding operation of the entire force augmentation manifold parts is completed.

[0018] In step one, the argon arc welding points are fixed as two symmetrical points.

[0019] In step three, for each weld 11, a pre-welding scanning confirmation / correction of position is performed by the 3D measuring camera 4, and then the program is called to perform welding.

Claims

1. A laser automatic welding equipment for the dome and ring of a booster manifold, characterized in that, The device comprises a positioning fixture (1), a dust collector (2), a welding fixture (3), a 3D measurement camera (4), a welding robot (5), a robot controller (6), a water cooler (7), a laser (8), an integrated console (9) and a stabilized power supply (10); The positioning fixture (1) is provided with a limiting groove matched with the force augmenting pipe part and a plug structure for positioning the 48 inner and outer oil injection rod bosses; The welding fixture (3) is integrated with a positioner, which is arranged near the positioning fixture (1) or integrated on the same working platform, and is used for fixing the force augmenting pipe part after the positioning is completed; The feeding side of the positioning fixture (1) corresponds to the welding fixture (3); The welding robot (5) is arranged around the welding fixture (3), and a laser welding gun is installed at the execution end of the welding robot (5); The 3D measurement camera (4) is installed beside the execution end of the welding robot (5) and moves synchronously with the welding robot (5), and is used for scanning the force augmenting pipe part to form a physical model; The welding robot (5) is signal connected with the robot controller (6), the robot controller (6) is bidirectionally communicated with the integrated console (9), the laser welding gun of the welding robot (5) is connected with the laser (8) through an optical fiber, and the laser (8) provides the required laser energy for welding; The water cooler (7) is communicated with the laser (8) and the welding gun cooling channel of the welding robot (5) through pipelines; The dust collector (2) is arranged near the welding area, and the dust suction port thereof faces the welding operation area of the welding fixture (3) and is used for discharging the welding smoke; The stabilized power supply (10) is electrically connected with the integrated console (9), the laser (8), the robot controller (6) and the water cooler (7) respectively, and provides stable power supply for each component; each component is integrally connected through cables or pipelines, and is centrally controlled by the integrated console (9).

2. The laser automatic welding equipment for the boss and ring of the force augmenting manifold according to claim 1, characterized in that, The 3D measurement camera (4) has physical scanning and model comparison functions, can compare the physical model formed by scanning with the theoretical model of the part pre-stored in the integrated console (9), generate deviation data and transmit the deviation data to the robot controller (6); After the comparison between the physical model formed by scanning and the theoretical model, the welding track is automatically planned, and the length difference between the physical model and the theoretical model of the boss is less than or equal to ±0.3mm.

3. The laser automatic welding equipment for the boss and ring of the force augmenting manifold according to claim 1, characterized in that, The positioning fixture (1) is configured to use an argon arc welding gun to symmetrically point-fix two points of the weld (11) between the boss and the ring, and a total of 48 welds (11) are sequentially point-fixed.

4. The welding process method of the laser automatic welding device for the boss and the ring of the force augmenting pipe according to any one of claims 1-3, characterized in that, Step one: positioning and point-fixing operation; The force augmenting manifold part is pre-positioned in the limiting groove of the positioning fixture (1), the inner and outer 48 oil injection rod bosses of the force augmenting manifold are positioned through the pin structure on the positioning fixture, the bosses are locked and fixed by operating the locker, the gap between the bosses and the ring is ensured to be less than or equal to 0.1 mm, then the argon arc welding gun is used to symmetrically fix two points on the weld (11) to be welded, and the point fixing work of the 48 welds (11) is completed in sequence, and the force augmenting manifold part after point fixing is obtained. Step two: welding track planning; The theoretical model of the force augmenting manifold part is input in the integrated console (9), the single weld (11) is manually tracked and checked through the robot controller (6), the force augmenting manifold part after point fixing in step one is clamped to the welding fixture (3), the 3D measurement camera (4) is started to scan the part to form a physical model, the 3D measurement camera (4) compares the physical model with the theoretical model to ensure that the length difference between the physical model and the theoretical model of the boss is less than or equal to ±0.3 mm, the robot controller (6) automatically plans the welding track and welding sequence of the 48 welds (11) according to the comparison result, and the track program is saved in the integrated console (9) for future use. Step three: automatic laser welding; The stabilized power supply (10), the water cooling machine (7) and the dust suction and exhaust device (2) are started to work, the integrated console (9) calls the track program saved in step two, controls the 3D measurement camera (4) to scan and confirm the position of the first weld (11) to be welded, the welding robot (5) calls the corresponding track program under the control of the robot controller (6) to complete the welding of the first weld (11) under the condition of laser energy provided by the laser (8), and the subsequent welds (11) are welded in sequence according to the logic of scanning and confirming the position first and then calling the track program for welding, and the specific welding sequence is that the 24 welds (11) on the outside are welded in the symmetric sequence first, and then the half of the 24 welds (11) on the inside facing the welding gun are welded in the symmetric sequence; the force augmenting manifold part is taken off from the welding fixture (3) and turned over, and then clamped and fixed, and the welding of the other half of the 24 welds (11) on the inside is completed in sequence according to the same logic, and finally the welding work of the whole force augmenting manifold part is completed.

5. The method of welding a thrust chamber dome to a ring laser automatic welding apparatus as defined in claim 4 wherein, In step one, the argon arc welding point fixing is symmetric two-point fixing.

6. The method of welding a thrust chamber dome to a ring laser automatic welding apparatus of claim 4 wherein, In step three, for each weld (11), the operation of scanning and confirming / correcting the position first and then calling the program for welding is performed by the 3D measurement camera (4) before welding.

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