A hull structure fillet welding process and a hull
The fillet weld process for ship hull structures using robotic arms, by utilizing preset parameters and "Z-shaped" oscillation, solves the problem that traditional robotic welding systems cannot detect bevel changes, thereby achieving stability in weld quality and improving welding speed.
Patent Information
- Application Number
- CN202411408815.3
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- Filing Date
- 2024-10-10
- Publication Date
- 2025-12-05
- Estimated Expiration
- 2044-10-10
AI Technical Summary
Traditional robotic welding systems lack adaptability and cannot perceive changes in the bevel in real time, resulting in rigid welding parameters and difficulty in ensuring consistent welding quality. This often leads to defects such as incomplete fusion, undercut, and uneven welds.
The process of using robotic arms to weld fillet welds in ship hull structures involves pre-setting arc initiation, welding, and arc extinguishing parameters, combined with "Z-shaped" oscillation, to form T-joints with a weld leg height of 7mm, ensuring stable weld quality and increasing welding speed.
It achieves stability and uniformity in weld quality, increases welding speed by more than 20%, reduces welding defects, and improves welding strength and stability.
Smart Images
Figure CN119057186B_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The present application relates to the technical field of ship, in particular to a ship structure fillet weld process and ship. BACKGROUND
[0002] In modern manufacturing industry, robot welding is widely used for its high efficiency and precision. However, one significant limitation is that these robot systems often lack the adaptive ability that welding workers have. Groove change is a key variable in the welding process. Traditional welding robots perform welding along a straight line and cannot dynamically perceive the specific form and size change of the groove, which leads to rigid and mismatched welding parameters and makes it difficult to ensure the consistency of welding quality. In the face of complex factors of groove change in the welding process, traditional robots cannot perceive and adjust welding parameters in real time, thereby frequently causing welding defects such as incomplete fusion, undercut and uneven welds.
[0003] Therefore, there is an urgent need for a ship structure fillet weld process and ship to solve the above problems. SUMMARY
[0004] Based on the above, the purpose of the present application is to provide a ship structure fillet weld process and ship, which realizes automatic welding of T-shaped joints with a weld leg height of 7mm using a mechanical arm, ensures stable weld quality, and increases welding speed by more than 20% compared to manual welding.
[0005] To achieve the above purpose, the technical scheme adopted by the present application is as follows:
[0006] On the one hand, a ship structure fillet weld process is provided, a welding gun is arranged on a mechanical arm, the welding gun is applied to weld T-shaped joints with a weld leg height of 7mm using the ship structure fillet weld process, and the ship structure fillet weld process comprises the following steps:
[0007] S1, the welding gun performs arc striking welding according to preset arc striking parameters;
[0008] When flat angle welding is used, the preset arc striking parameters include the following parameters: arc striking current is 260A, arc striking voltage is 23.8V, and arc striking wire feeding speed is 11000mm / min;
[0009] When vertical angle welding is used, the preset arc striking parameters include the following parameters: arc striking current is 170A, arc striking voltage is 22V, and arc striking wire feeding speed is 5000mm / min;
[0010] S2, the welding gun performs standard welding according to preset welding parameters;
[0011] S3, the welding gun performs arc extinguishing welding according to preset arc extinguishing parameters;
[0012] In the S1 step, the S2 step and the S3 step, the welding torch is swung according to the preset swing parameter to form a weld leg with a weld leg height of 7 mm.
[0013] As a preferred technical scheme of the fillet weld process of the ship structure, in the S2 step, when flat fillet welding is adopted, the preset welding parameter comprises the following parameters: a welding current is 280 A, a welding voltage is 27 V, a welding speed is 9.7 mm / s, and a wire feeding speed is 12000 mm / min.
[0014] When vertical fillet welding is adopted, the preset welding parameter comprises the following parameters: a welding current is 180 A, a welding voltage is 23.5 V, a welding speed is 7 mm / s, and a wire feeding speed is 6400 mm / min.
[0015] As a preferred technical scheme of the fillet weld process of the ship structure, when flat fillet welding is adopted, the preset swing parameter comprises the following parameters: a swing form is a “Z” shape, a swing frequency is 1.5 Hz, a swing amplitude is 2 mm, and a swing limit position dwell time is 0.
[0016] When vertical fillet welding is adopted, the preset swing parameter comprises the following parameters: a swing form is a “Z” shape, a swing frequency is 2 Hz, a swing amplitude is 2.7 mm, and a swing limit position dwell time is 0.6 s.
[0017] As a preferred technical scheme of the fillet weld process of the ship structure, when flat fillet welding is adopted, the preset swing parameter further comprises that an included angle between an axis of the welding torch and a horizontal plane is 45°, and the axis of the welding torch is perpendicular to the weld.
[0018] When vertical fillet welding is adopted, the preset swing parameter further comprises that a posture of the welding torch is push welding, an included angle between an axis of the welding torch and a horizontal plane is 15°, and the axis of the welding torch is located on an angle bisector of the included angle between the two welding plates.
[0019] As a preferred technical scheme of the fillet weld process of the ship structure, in the S3 step, when flat fillet welding is adopted, the preset arc extinguishing parameter comprises the following parameters: an arc extinguishing current is 220 A, an arc extinguishing voltage is 22 V, and an arc extinguishing wire feeding speed is 8000 mm / min.
[0020] When vertical fillet welding is adopted, the preset arc extinguishing parameter comprises the following parameters: an arc extinguishing current is 155 A, an arc extinguishing voltage is 20 V, and an arc extinguishing wire feeding speed is 4500 mm / min.
[0021] As a preferred technical scheme of the ship structure fillet welding process, the welding position is sprayed with the protective gas in the S1 step, the S2 step and the S3 step, and the gas supply flow of the protective gas is 15L / min-25L / min.
[0022] As a preferred technical scheme of the ship structure fillet welding process, the gas supply start time of the protective gas is 1s before the arc welding, and the gas supply end time of the protective gas is 1.5s after the arc extinguishing welding.
[0023] As a preferred technical scheme of the ship structure fillet welding process, the protective gas is CO2.
[0024] As a preferred technical scheme of the ship structure fillet welding process, the welding gap between the two welding plates is 0-2mm.
[0025] In another aspect, a ship is provided, which is formed by the ship structure fillet welding process according to any one of the above schemes.
[0026] The present application has the following beneficial effects:
[0027] The present application provides a ship structure fillet welding process and a ship. When welding a T joint with a welding leg height of 7mm, a welding gun on a mechanical arm performs arc welding according to preset arc welding parameters. Then, the welding gun performs standard welding according to preset welding parameters. Finally, the welding gun performs arc extinguishing welding according to preset arc extinguishing parameters. During the welding process, the welding gun performs swinging according to preset swinging parameters to form a welding leg with a welding leg height of 7mm. When flat fillet welding is used, the preset swinging parameters include the following parameters: the swinging form is "Z-shaped", the swinging frequency is 1.5Hz, the swinging amplitude is 2mm, and the swinging limit position dwell time is 0. When vertical fillet welding is used, the preset swinging parameters include the following parameters: the swinging form is "Z-shaped", the swinging frequency is 1Hz, the swinging amplitude is 7mm, and the swinging limit position dwell time is 0.4s. The welding gun on the mechanical arm can form a T joint with a welding leg height of 7mm by using the above ship structure fillet welding process, which ensures stable welding quality and increases the welding speed by more than 20% compared with manual welding. Moreover, the welding gun can be swung along a "Z-shaped" path during welding, so that the travel path of the welding gun completely covers the groove. Even if the groove changes, the welding gun can still cover the groove during swinging, which increases the welding area and ensures the welding quality of the welding seam to achieve the effect of welding seam correction. The welding gun is swung according to the above preset swinging parameters, which makes the welding energy more evenly distributed on the welding seam, thereby improving the uniformity of the welding seam. The swinging welding can form good fusion between the welding seam and the welding plate, thereby improving the strength and stability of the welding. BRIEF DESCRIPTION OF DRAWINGS
[0028] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments of the present application will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative effort on the basis of the contents of the embodiments of the present application and the drawings.
[0029] Figure 1 is a process flow chart of the corner weld process of the ship structure provided by the embodiment of the present application;
[0030] Figure 2 is a front view of the welding gun using flat corner welding provided by the embodiment of the present application;
[0031] Figure 3 is an angle diagram of the welding gun relative to the weld when the welding gun uses flat corner welding provided by the embodiment of the present application;
[0032] Figure 4 is a top view of the welding gun using vertical corner welding provided by the embodiment of the present application;
[0033] Figure 5 is an angle diagram of the welding gun relative to the weld when the welding gun uses vertical corner welding provided by the embodiment of the present application.
[0034] The marks in the drawings are as follows:
[0035] 1, welding plate; 11, weld; 2, welding gun. EMBODIMENT
[0036] The present application will be further described in detail below in combination with the drawings and embodiments. It can be understood that the specific embodiments described herein are only used to explain the present application, but not to limit the present application. In addition, it should be noted that, for the convenience of description, only the parts related to the present application are shown in the drawings, but not all the structures.
[0037] In the description of the present application, unless otherwise explicitly specified and limited, the terms "connected", "connected", "fixed" should be understood in a broad sense, for example, it can be fixedly connected, or it can be detachably connected, or it can be integrated; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the internal connection of two elements or the interaction relationship between two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.
[0038] In the present application, unless otherwise explicitly specified and limited, the first feature is "on" or "under" the second feature can include that the first and second features are in direct contact, or can include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, the first feature "on", "above" and "over" the second feature includes that the first feature is directly above and obliquely above the second feature, or only indicates that the first feature is higher in horizontal height than the second feature. The first feature "under", "below" and "underneath" the second feature includes that the first feature is directly below and obliquely below the second feature, or only indicates that the first feature is lower in horizontal height than the second feature.
[0039] In the description of the present embodiment, the terms "upper", "lower", "left", "right", and other orientation or position relationships shown in the drawings are based on the orientation or position relationships shown in the drawings, and are only for the convenience of description and simplification of operation, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first" and "second" are only used to distinguish in the description and have no special meaning.
[0040] In modern manufacturing industry, robot welding is widely used for its high efficiency and precision. However, a significant limitation is that these robot systems often lack the adaptive ability that welding workers have. Groove change is a key variable in the welding process. Traditional welding robots weld along a straight line and cannot dynamically perceive the specific form and size change of the groove, which leads to rigid and mismatched welding parameters, making it difficult to ensure the consistency of welding quality. In the face of complex factors of groove change in the welding process, traditional robots are difficult to perceive and adjust welding parameters in real time, thereby frequently causing welding defects such as incomplete fusion, undercut, and uneven welds.
[0041] To solve the above problems, as shown in Figures 1-5 The present embodiment provides a hull structure fillet weld process. The welding torch 2 is arranged on the mechanical arm. The welding torch 2 is applied to weld a T-shaped joint with a welding leg height of 7mm using the hull structure fillet weld process. The hull structure fillet weld process comprises the following steps:
[0042] S1, the welding torch 2 performs arc welding according to preset arc starting parameters;
[0043] S2, the welding torch 2 performs standard welding according to preset welding parameters;
[0044] S3, the welding torch 2 performs arc extinguishing welding according to preset arc extinguishing parameters;
[0045] In the S1 step, the S2 step and the S3 step, the welding torch 2 swings according to the preset swing parameters to form a weld leg with a height of 7 mm; when flat fillet welding is adopted, the preset swing parameters include the following parameters: the swing form is "Z-shaped", the swing frequency is 1.5 Hz, the swing amplitude is 2 mm, and the swing limit position dwell time is 0; when vertical fillet welding is adopted, the preset swing parameters include the following parameters: the swing form is "Z-shaped", the swing frequency is 1 Hz, the swing amplitude is 7 mm, and the swing limit position dwell time is 0.4 s. The welding torch 2 on the mechanical arm can form a T-shaped joint with a weld leg height of 7 mm by adopting the above ship structure fillet welding process, which can ensure the stability of the weld 11 quality and improve the welding speed by more than 20% compared with manual welding. Moreover, during welding, the mechanical arm can drive the welding torch to swing along the "Z-shaped" path to completely cover the groove, so that the welding torch 2 can cover the groove during swinging even if the groove changes, thereby increasing the welding area and ensuring the welding quality of the weld 11 to achieve the effect of correcting the weld 11. By adopting the above preset swing parameters for swing welding, regular horizontal swinging is performed on the weld 11, so that the welding energy is more uniformly distributed on the weld 11, thereby improving the uniformity of the weld 11. The swing welding can form good fusion between the weld 11 and the welding plate 1, thereby improving the strength and stability of the welding.
[0046] In the embodiment, as shown in Figure 2 and Figure 3 , when flat fillet welding is adopted, the preset swing parameters further include that the angle between the axis of the welding torch 2 and the horizontal plane is 45°, and the axis of the welding torch 2 is perpendicular to the weld 11; as shown in Figure 4 and Figure 5 , when vertical fillet welding is adopted, the preset swing parameters further include that the posture of the welding torch 2 is push welding, the angle between the axis of the welding torch 2 and the horizontal plane is 15°, and the axis of the welding torch 2 is located on the angle bisector of the angle between the two welding plates 1, wherein the two welding plates 1 are perpendicular, and the angle between the axis of the welding torch 2 and the two welding plates 1 is 45°. The appropriate angle of the welding torch 2 helps to reduce defects such as undercut and slag inclusion generated during welding, improve the forming quality of the weld 11, and improve the welding efficiency.
[0047] Preferably, in the S1 step, when flat fillet welding is adopted, the preset arc striking parameters include the following parameters: the arc striking current is 274 A, the arc striking voltage is 25 V, and the arc striking wire feeding speed is 11000 mm / min; when vertical fillet welding is adopted, the preset arc striking parameters include the following parameters: the arc striking current is 170 A, the arc striking voltage is 22 V, and the arc striking wire feeding speed is 5200 mm / min; by adopting the above preset arc striking parameters for arc striking welding, the weld leg can be smoothly transitioned at the arc striking welding position, the appearance of the arc striking position can be ensured, the weld leg at the arc striking position can be formed full, and the strength and reliability of the weld leg can be improved.
[0048] Preferably, in the S2 step, when flat fillet welding is adopted, the preset welding parameters include the following parameters: welding current is 280 A, welding voltage is 27 V, welding speed is 6.5 mm / s, and wire feeding speed is 12500 mm / min; when vertical fillet welding is adopted, the preset welding parameters include the following parameters: welding current is 190 A, welding voltage is 22 V, welding speed is 3 mm / s, and wire feeding speed is 6400 mm / min. The mechanical arm performs standard welding according to the preset welding parameters, can form a weld leg with a height of 7 mm, and has high weld quality, can smoothly transition with the part of the arc welding, can make the hardness of the heat affected zone meet the requirements, and can prevent the weld 11 from cracking.
[0049] Further, in the S3 step, when flat fillet welding is adopted, the preset arc extinguishing parameters include the following parameters: arc extinguishing current is 220 A, arc extinguishing voltage is 23 V, and arc extinguishing wire feeding speed is 8000 mm / min; when vertical fillet welding is adopted, the preset arc extinguishing parameters include the following parameters: arc extinguishing current is 160 A, arc extinguishing voltage is 20 V, and arc extinguishing wire feeding speed is 4500 mm / min. According to the preset arc extinguishing parameters, the arc is stable during arc extinguishing, can ensure that the arc pit of the arc extinguishing welding part is filled, and can prevent defects such as porosity, cracks, pores, or slag inclusion from occurring in the arc extinguishing welding part.
[0050] Preferably, in the S1 step, the S2 step, and the S3 step, the welding part is sprayed with protective gas, and the protective gas has a flow rate of 15 L / min-25 L / min. By spraying the protective gas, the weld 11 area can be isolated from contact with oxygen and moisture in the air, thereby preventing the high-temperature metal from being oxidized and corroded. This not only maintains the metal composition and performance of the weld 11, but also reduces the occurrence of welding defects such as pores, cracks, etc., and improves the corrosion resistance and durability of the weld 11. The protective gas can also protect the welding gun 2 to some extent, reduce equipment damage caused by high temperature and oxidation, and prolong the service life of the equipment. In the present embodiment, the protective gas is CO2.
[0051] Further preferably, the protective gas starts to be sent 1 s before the arc welding, can ensure that the air in the nozzle is exhausted, can ensure that the welding part is within the range of the protective gas at the beginning of welding, and can reduce the influence of air on the welding quality; the protective gas is sent for 1.5 s after the arc extinguishing welding, and after the welding stops, the protective gas can cool and protect the welding point. The present embodiment improves the quality of the welding part while ensuring the welding efficiency.
[0052] In the embodiment, the gap of the weld 11 between the two welding plates 1 is 0-2mm, the thickness of the welding plate 1 is 3mm-16mm, the area to be welded should be cleaned before welding to ensure that there is no oil stain, moisture, rust and other impurities. The welding wire used in the embodiment is a flux-cored wire with a diameter of 1.2mm.
[0053] The embodiment also provides a ship body which is formed by the ship body structure fillet weld process described above, the weld 11 is qualified, the weld leg height is 7mm-8mm which meets the requirements, and the weld leg has no defects such as pores, undercut, inclusions and cracks. The robot uses the ship body structure fillet weld process described above, not only the forming quality is obviously improved, but also the speed can be increased by more than 20% compared with the traditional welding method.
[0054] Note that the above is only the preferred embodiment of the present application and the technical principle applied. Those skilled in the art will understand that the present application is not limited to the specific embodiments described herein, and those skilled in the art can make various obvious changes, readjustments and substitutions without departing from the scope of the present application. Therefore, although the present application has been described in more detail through the above embodiments, the present application is not limited to the above embodiments, and can include more other equivalent embodiments without departing from the concept of the present application, and the scope of the present application is determined by the scope of the appended claims.
Claims
1. A process for fillet welding of a ship structure, characterized by, The welding torch (2) is arranged on the mechanical arm, and the welding torch (2) is applied to weld the T-shaped joint with a 7mm welding leg height by using the ship structure fillet welding process. S1. The welding torch (2) performs arc striking welding according to preset arc striking parameters. S2. The welding torch (2) performs standard welding according to preset welding parameters. S3. The welding torch (2) performs arc extinguishing welding according to preset arc extinguishing parameters. In the S1 step, the S2 step and the S3 step, the welding torch (2) performs swinging according to preset swinging parameters to form a welding leg with a 7mm welding leg height. When flat fillet welding is adopted, the preset swinging parameters include the following parameters: the swinging form is "Z-shaped", the swinging frequency is 1.5Hz, the swinging amplitude is 2mm, and the swinging limit position stays for 0. When vertical fillet welding is adopted, the preset swinging parameters include the following parameters: the swinging form is "Z-shaped", the swinging frequency is 1Hz, the swinging amplitude is 7mm, and the swinging limit position stays for 0.4s. When flat fillet welding is adopted, the preset swinging parameters further include that the angle between the axis of the welding torch (2) and the horizontal plane is 45°, and the axis of the welding torch (2) is perpendicular to the welding seam (11). When vertical fillet welding is adopted, the preset swinging parameters further include that the posture of the welding torch (2) is push welding, the angle between the axis of the welding torch (2) and the horizontal plane is 15°, and the axis of the welding torch (2) is located on the angle bisector of the included angle between the two welding plates (1). In the S3 step, when flat fillet welding is adopted, the preset arc extinguishing parameters include the following parameters: the arc extinguishing current is 220A, the arc extinguishing voltage is 23V, and the arc extinguishing wire feeding speed is 8000mm / min. When vertical fillet welding is adopted, the preset arc extinguishing parameters include the following parameters: the arc extinguishing current is 160A, the arc extinguishing voltage is 20V, and the arc extinguishing wire feeding speed is 4500mm / min. In the S1 step, when flat fillet welding is adopted, the preset arc striking parameters include the following parameters: the arc striking current is 274A, the arc striking voltage is 25V, and the arc striking wire feeding speed is 11000mm / min. When vertical fillet welding is adopted, the preset arc striking parameters include the following parameters: the arc striking current is 170A, the arc striking voltage is 22V, and the arc striking wire feeding speed is 5200mm / min.
2. The hull structure fillet weld process of claim 1, wherein, In the S2 step, when flat fillet welding is adopted, the preset welding parameters include the following parameters: the welding current is 280A, the welding voltage is 27V, the welding speed is 6.5mm / s, and the wire feeding speed is 12500mm / min. When vertical fillet welding is adopted, the preset welding parameters include the following parameters: the welding current is 190A, the welding voltage is 22V, the welding speed is 3mm / s, and the wire feeding speed is 6400mm / min.
3. The hull structure fillet weld process of claim 1, wherein, In the S1 step, the S2 step and the S3 step, a protective gas is sprayed at the welding position, and the gas feeding flow rate of the protective gas is 15L / min-25L / min.
4. The hull structure fillet weld process of claim 3, wherein, The gas feeding start time of the protective gas is 1s before arc striking welding, and the gas feeding end time of the protective gas is 1.5s after arc extinguishing welding.
5. The hull structure fillet weld process of claim 3, wherein, The shielding gas is CO2.
6. The hull structure fillet weld process of claim 1, wherein, The gap of the weld joint (11) between the two welding plates (1) is 0-2 mm.
7. A hull, characterized by The ship body is formed by the fillet welding process of the ship body structure according to any one of claims 1-6.
Citation Information
Patent Citations
Control method for lap welding of bead joint
JP1999077305A