A robotic welding method and a ship

Abstract

The application relates to the ship technology field and discloses a robot welding method and a ship. The robot welding method comprises the following steps: S1, a welding gun performs arc striking welding according to specific arc striking parameters; S2, the welding gun performs standard welding according to specific welding parameters; when flat corner welding is adopted, the specific welding parameters comprise the following parameters: a welding current is 280 A, a welding voltage is 27 V, a welding speed is 7.5 mm / s, and a wire feeding speed is 12000 mm / min; when vertical corner welding is adopted, the specific welding parameters comprise the following parameters: a welding current is 190 A, a welding voltage is 22 V, a welding speed is 4 mm / s, and a wire feeding speed is 6400 mm / min; S3, the welding gun performs arc extinguishing welding according to specific arc extinguishing parameters; in the S1 step, the S2 step and the S3 step, the welding gun performs swinging according to specific swinging parameters, so that a weld leg with a weld leg height of 6 mm is formed.

Description

Technical Field

[0001] This invention relates to the field of shipbuilding technology, and more particularly to a robotic welding method and a ship. Background Technology

[0002] In modern manufacturing, robotic welding technology, with its high efficiency, stability, and precision, has become an indispensable part. The adjustment and control of the robot's welding parameters remain crucial. Inappropriate welding parameter settings can lead to a series of welding defects, severely impacting weld quality and overall product performance. Specifically, poor welding parameters may first cause insufficient weld depth due to insufficient heat input or inaccurate parameter settings, thus reducing weld strength and increasing the risk of product failure. Furthermore, porosity is another common welding defect, formed when gas is trapped in the weld pool during welding, weakening the weld's density and strength, further increasing product safety hazards. In addition to the above defects, for T-joints with a 6mm weld leg height, the weld leg height may not meet structural requirements, reducing weld strength.

[0003] Furthermore, robots do not possess the same adaptive capabilities as welders. For example, they cannot collect factors such as bevel changes and provide real-time feedback for control. These factors make the welding process for robots extremely complex.

[0004] Therefore, there is an urgent need for a robotic welding method and a vessel to solve the aforementioned problems. Summary of the Invention

[0005] Based on the above, the purpose of this invention is to provide a robotic welding method and a ship, in which the robot performs standard welding with specific welding parameters, achieving a T-joint with a weld leg height of 6mm, ensuring stable weld quality, and increasing the welding speed by more than 20% compared to manual welding.

[0006] To achieve the above objectives, the present invention adopts the following technical solution:

[0007] On one hand, a robotic welding method is provided, wherein a welding torch is mounted on a robotic arm, and the welding torch is applied to a T-joint with a weld leg height of 6mm using the robotic welding method. The robotic welding method includes the following steps:

[0008] S1. The welding torch initiates arc welding according to specific arc initiation parameters;

[0009] S2. The welding torch performs standard welding according to specific welding parameters;

[0010] When using fillet welding, the specific welding parameters include the following: welding current of 280A, welding voltage of 27V, welding speed of 7.5mm / s, and wire feed speed of 12000mm / min.

[0011] When using vertical fillet welding, the specific welding parameters include the following: welding current of 190A, welding voltage of 22V, welding speed of 4mm / s, and wire feed speed of 6400mm / min.

[0012] S3. The welding torch performs arc extinguishing welding according to specific arc extinguishing parameters;

[0013] In steps S1, S2 and S3, the welding torch oscillates according to specific oscillation parameters to form a weld leg with a height of 6mm.

[0014] As a preferred technical solution for robotic welding, when using fillet welding, the specific oscillation parameters include the following parameters: the oscillation pattern is "Z-shaped", the oscillation frequency is 1.5Hz, the oscillation amplitude is 2mm, and the dwell time at the extreme oscillation position is 0.

[0015] When using vertical fillet welding, the specific oscillation parameters include the following: the oscillation pattern is "Z-shaped", the oscillation frequency is 1Hz, the oscillation amplitude is 5mm, and the dwell time at the extreme oscillation position is 0.4s.

[0016] As a preferred technical solution of a robotic welding method, when using fillet welding, the specific oscillation parameters also include the angle between the axis of the welding torch and the horizontal plane being 45°, and the axis of the welding torch being perpendicular to the weld seam.

[0017] When using vertical fillet welding, the specific oscillation parameters also include the welding torch posture being push welding, the welding torch axis making an angle of 15° with the horizontal plane, and the welding torch axis being located on the angle bisector of the angle between the two welding plates.

[0018] As a preferred technical solution of a robotic welding method, in step S1, when using fillet welding, the specific arc initiation parameters include the following parameters: arc initiation current of 274A, arc initiation voltage of 25V, and arc initiation wire feeding speed of 11000mm / min.

[0019] When using vertical fillet welding, the specific arc initiation parameters include the following: arc initiation current of 170A, arc initiation voltage of 22V, and arc initiation wire feed speed of 5200mm / min.

[0020] As a preferred technical solution of a robotic welding method, in steps S1, S2 and S3, a protective gas is sprayed onto the welding area, and the gas flow rate of the protective gas is 15L / min-25L / min.

[0021] As a preferred technical solution of a robotic welding method, the shielding gas supply starts 1 second before arc ignition welding, and the shielding gas supply ends 1.5 seconds after arc extinguishing welding.

[0022] In a preferred embodiment of a robotic welding method, the protective gas is CO2.

[0023] As a preferred technical solution for a robotic welding method, in step S3, when using fillet welding, the specific arc extinguishing parameters include the following parameters: arc extinguishing current of 220A, arc extinguishing voltage of 23V, and arc extinguishing wire feeding speed of 8000mm / min.

[0024] When using vertical fillet welding, the specific arc extinguishing parameters include the following: arc extinguishing current of 160A, arc extinguishing voltage of 20V, and arc extinguishing wire feeding speed of 4500mm / min.

[0025] As a preferred technical solution for robotic welding, the weld gap between two welding plates is 0-2mm.

[0026] On the other hand, a ship is provided, which is welded using the robotic welding method described in any of the above schemes.

[0027] The beneficial effects of this invention are as follows:

[0028] This invention provides a robotic welding method and a ship. When welding a T-joint with a weld leg height of 6mm, the welding torch on the robotic arm initiates the arc welding according to specific arc initiation parameters. Then, the welding torch performs standard welding according to specific welding parameters. When using flat fillet welding, the specific welding parameters include the following: welding current of 280A, welding voltage of 27V, welding speed of 7.5mm / s, and wire feed speed of 12000mm / min. When using vertical fillet welding, the specific welding parameters include the following: welding current of 190A, welding voltage of 22V, welding speed of 4mm / s, and wire feed speed of 6400mm / min. Finally, the welding torch performs arc extinguishing welding according to specific arc extinguishing parameters. Arc welding is initiated according to the specific welding parameters mentioned above. The robotic arm performs standard welding according to the specific welding parameters mentioned above to ensure that the heat input meets the requirements, ensures the weld depth, improves the weld strength, prevents porosity in the weld leg area, forms a weld leg with a height of 6mm, and has high weld quality. It can smoothly transition with the arc welding area, ensure that the hardness of the heat-affected zone meets the requirements, and prevents weld cracking.

[0029] In the aforementioned welding process, the welding torch oscillates according to specific oscillation parameters to form a weld leg height of 6mm. The welding torch on the robotic arm can oscillate during welding, ensuring that the weld seam is covered even with changes in the bevel, thus guaranteeing weld quality and achieving weld deviation correction. Using this robotic welding method, the welding torch on the robotic arm can form T-joints with a weld leg height of 6mm, guaranteeing stable weld quality, and increasing welding speed by more than 20% compared to manual welding. Attached Figure Description

[0030] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments of the present invention will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the content of the embodiments of the present invention and these drawings without creative effort.

[0031] Figure 1 This is a process flow diagram of the robot welding method provided in a specific embodiment of the present invention;

[0032] Figure 2 This is a front view of the welding gun used for fillet welding provided in a specific embodiment of the present invention;

[0033] Figure 3 This is a schematic diagram of the angle between the welding gun and the weld seam provided in a specific embodiment of the present invention;

[0034] Figure 4 This is a top view of the welding torch used for vertical fillet welding provided in a specific embodiment of the present invention;

[0035] Figure 5 This is a schematic diagram of the angle between the welding torch and the weld seam when the welding torch is used for vertical fillet welding, according to a specific embodiment of the present invention.

[0036] The markings in the image are as follows:

[0037] 1. Welding plate; 11. Weld seam; 2. Welding torch. Detailed Implementation

[0038] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, the accompanying drawings show only the parts relevant to the present invention, and not all of the structures.

[0039] In the description of this invention, unless otherwise explicitly specified and limited, the terms "connected," "linked," and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0040] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0041] In the description of this embodiment, the terms "upper," "lower," "left," and "right," etc., refer to the orientation or positional relationship shown in the accompanying drawings. They are used only for ease of description and simplification of operation, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the present invention. In addition, the terms "first" and "second" are used only for distinction in description and have no special meaning.

[0042] In modern manufacturing, robotic welding technology, with its high efficiency, stability, and precision, has become an indispensable part. The adjustment and control of the robot's welding parameters remains a crucial step. Inappropriate welding parameter settings can lead to a series of welding defects, severely impacting weld quality and overall product performance. Specifically, poor welding parameters can first cause incomplete weld penetration. This is due to insufficient heat input or inaccurate parameter settings, resulting in insufficient weld depth, reduced weld strength, and increased risk of product failure. Furthermore, porosity is another common welding defect, formed when gas is trapped in the weld pool during welding, weakening the weld's density and strength, further increasing safety hazards. In addition to these defects, for T-joints with a 6mm weld leg height, the weld leg height may not meet structural requirements, reducing weld strength.

[0043] To solve the above problems, such as Figures 1-5As shown, this embodiment provides a robotic welding method. The welding torch 2 is mounted on a robotic arm. The welding torch 2 is applied to a T-joint with a weld leg height of 6mm using the robotic welding method. The robotic welding method includes the following steps:

[0044] S1, Welding torch 2 performs arc initiation welding according to specific arc initiation parameters;

[0045] S2, Welding torch 2 performs standard welding according to specific welding parameters;

[0046] When using flat fillet welding, the specific welding parameters include the following: welding current of 280A, welding voltage of 27V, welding speed of 7.5mm / s, and wire feed speed of 12000mm / min. When using vertical fillet welding, the specific welding parameters include the following: welding current of 190A, welding voltage of 22V, welding speed of 4mm / s, and wire feed speed of 6400mm / min. Arc welding is initiated according to the above specific welding parameters, and the robotic arm performs standard welding according to the above specific welding parameters to ensure that the heat input meets the requirements, ensures the depth of weld 11, improves the strength of weld 11, prevents porosity in the weld leg area, forms a weld leg with a height of 6mm, and the quality of weld 11 is high, which can smoothly transition with the arc welding area, ensures that the hardness of the heat-affected zone meets the requirements, and prevents weld 11 from cracking.

[0047] S3, Welding torch 2 performs arc extinguishing welding according to specific arc extinguishing parameters;

[0048] In steps S1, S2, and S3, the welding torch 2 oscillates according to specific oscillation parameters to form a weld leg with a height of 6mm. The welding torch 2 on the robotic arm can oscillate during welding, ensuring that even with changes in the bevel, it can cover the weld seam 11, thus guaranteeing the welding quality of the weld seam 11 and achieving the effect of correcting weld seam 11 deviation. In this embodiment, the welding torch 2 on the robotic arm, using the above-described robotic welding method, can form a T-joint with a weld leg height of 6mm, ensuring stable weld seam 11 quality, and increasing the welding speed by more than 20% compared to manual welding.

[0049] Preferably, in step S1, when using flat fillet welding, the specific arc initiation parameters include the following: arc initiation current of 274A, arc initiation voltage of 25V, and arc initiation wire feed speed of 11000mm / min; when using vertical fillet welding, the specific arc initiation parameters include the following: arc initiation current of 170A, arc initiation voltage of 22V, and arc initiation wire feed speed of 5200mm / min; performing arc initiation welding according to the above specific arc initiation parameters can ensure a smooth transition of the weld leg at the arc initiation welding part, guarantee the aesthetics of the arc initiation part, and ensure a full weld leg formation at the arc initiation part, thereby improving the weld leg strength and reliability.

[0050] Preferably, in step S2, when using flat fillet welding, the specific welding parameters include the following: welding current of 280A, welding voltage of 27V, welding speed of 7.5mm / s, and wire feed speed of 12000mm / min; when using vertical fillet welding, the specific welding parameters include the following: welding current of 190A, welding voltage of 22V, welding speed of 4mm / s, and wire feed speed of 6400mm / min. The robotic arm performs standard welding according to the above specific welding parameters, forming a weld leg with a height of 6mm. Furthermore, the weld 11 has high quality, smoothly transitioning to the arc-initiated welding area, ensuring the heat-affected zone hardness meets requirements, and preventing cracking of the weld 11.

[0051] Furthermore, when using flat fillet welding, the specific oscillation parameters include the following: oscillation pattern is "Z-shaped", oscillation frequency is 1.5Hz, oscillation amplitude is 2mm, and dwell time at the extreme oscillation position is 0; when using vertical fillet welding, the specific oscillation parameters include the following: oscillation pattern is "Z-shaped", oscillation frequency is 1Hz, oscillation amplitude is 5mm, and dwell time at the extreme oscillation position is 0.4s. Using the above specific oscillation parameters for oscillation welding, the regular transverse oscillation on weld 11 makes the welding energy distribution on weld 11 more uniform, thereby improving the uniformity of weld 11. Oscillating welding enables good fusion between weld 11 and welding plate 1, thereby improving the strength and stability of the weld.

[0052] In this embodiment, as Figure 2 and Figure 3 As shown, when using fillet welding, specific oscillation parameters also include the welding torch 2's axis forming a 45° angle with the horizontal plane, and the welding torch 2's axis being perpendicular to the weld 11; as Figure 4 and Figure 5 As shown, when using vertical fillet welding, specific oscillation parameters also include the welding torch 2's posture being push welding, the axis of the welding torch 2 making a 15° angle with the horizontal plane, and the axis of the welding torch 2 lying on the angle bisector of the angle between the two welding plates 1, wherein the two welding plates 1 are perpendicular, and the axis of the welding torch 2 making a 45° angle with the two welding plates 1. A suitable welding torch 2 angle helps reduce defects such as undercut and slag inclusions generated during welding, improving the weld formation quality of 11 and increasing welding efficiency.

[0053] Furthermore, in step S3, when using flat fillet welding, the specific arc extinguishing parameters include the following: arc extinguishing current of 220A, arc extinguishing voltage of 23V, and arc extinguishing wire feed speed of 8000mm / min; when using vertical fillet welding, the specific arc extinguishing parameters include the following: arc extinguishing current of 160A, arc extinguishing voltage of 20V, and arc extinguishing wire feed speed of 4500mm / min. By performing arc extinguishing welding according to the above specific parameters, the arc remains stable during the extinguishing process, ensuring that the crater at the arc-extinguished welding site is filled, and preventing defects such as porosity, cracks, pores, or slag inclusions from occurring at the arc-extinguished welding site.

[0054] Preferably, in steps S1, S2, and S3, a shielding gas is sprayed onto the welding area, with a gas flow rate of 15 L / min to 25 L / min. By spraying the shielding gas, the weld seam 11 is isolated from oxygen and moisture in the air, thereby preventing oxidation and corrosion of the high-temperature metal. This not only maintains the metallic composition and properties of the weld seam 11 but also reduces welding defects such as porosity and cracks, improving the corrosion resistance and durability of the weld seam 11. The shielding gas also provides some protection for the welding torch 2, reducing equipment damage caused by high temperatures and oxidation, and extending the equipment's service life. In this embodiment, the shielding gas is CO2.

[0055] More preferably, the shielding gas supply begins 1 second before arc ignition, ensuring that all air in the nozzle is expelled and that the welding area is within the shielding gas protection zone at the start of welding, thus reducing the impact of air on weld quality. The shielding gas supply ends 1.5 seconds after arc extinguishing, allowing the shielding gas to cool and protect the weld after welding stops. This embodiment improves weld quality while maintaining welding efficiency.

[0056] In this embodiment, the gap between the weld seam 11 between the two welding plates 1 is 0-2mm, and the thickness of the welding plate 1 is 3mm-16mm. Before welding, the area to be welded should be cleaned to ensure that there are no impurities such as oil, moisture, or rust. In this embodiment, a flux-cored welding wire with a diameter of 1.2mm is used.

[0057] This embodiment also provides a ship, which is welded using the above-described robotic welding method. The weld seam 11 is formed satisfactorily, and the weld leg height of 6mm-7mm meets the requirements. Furthermore, the weld leg is free of defects such as porosity, undercut, inclusions, and cracks. The robotic welding method described above not only significantly improves the forming quality but also increases the speed by more than 20% compared to traditional welding methods.

[0058] Note that the above description is merely a preferred embodiment of the present invention and the technical principles employed. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and various obvious changes, readjustments, and substitutions can be made without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in detail through the above embodiments, the present invention is not limited to the above embodiments, and may include many other equivalent embodiments without departing from the concept of the present invention, the scope of which is determined by the scope of the appended claims.

Claims

1. A robotic welding method, characterized in that, The welding torch (2) is mounted on a robotic arm. The welding torch (2) is applied to a T-joint with a weld leg height of 6mm using the robotic welding method described above. The robotic welding method includes the following steps: S1, Welding torch (2) performs arc welding according to specific arc starting parameters; S2, Welding torch (2) performs standard welding according to specific welding parameters; When using fillet welding, the specific welding parameters include the following: welding current of 280A, welding voltage of 27V, welding speed of 7.5mm / s, and wire feed speed of 12000mm / min. When using vertical fillet welding, the specific welding parameters include the following: welding current of 190A, welding voltage of 22V, welding speed of 4mm / s, and wire feed speed of 6400mm / min. S3, Welding torch (2) performs arc extinguishing welding according to specific arc extinguishing parameters; In steps S1, S2 and S3, the welding torch (2) oscillates according to specific oscillation parameters to form a weld leg with a height of 6mm. When using fillet welding, the specific oscillation parameters include the following: the oscillation pattern is "Z-shaped", the oscillation frequency is 1.5Hz, the oscillation amplitude is 2mm, and the dwell time at the extreme oscillation position is 0. When using vertical fillet welding, the specific oscillation parameters include the following: the oscillation pattern is "Z-shaped", the oscillation frequency is 1Hz, the oscillation amplitude is 5mm, and the dwell time at the extreme oscillation position is 0.4s; When using fillet welding, the specific oscillation parameters also include the fact that the axis of the welding torch (2) is at an angle of 45° to the horizontal plane, and the axis of the welding torch (2) is perpendicular to the weld (11). When using vertical fillet welding, the specific oscillation parameters also include the posture of the welding gun (2) being push welding, the angle between the axis of the welding gun (2) and the horizontal plane being 15°, and the axis of the welding gun (2) being located on the angle bisector of the angle between the two welding plates (1).

2. The robotic welding method according to claim 1, characterized in that, In step S1, when using fillet welding, the specific arc-starting parameters include the following parameters: arc-starting current is 274A, arc-starting voltage is 25V, and arc-starting wire feeding speed is 11000mm / min. When using vertical fillet welding, the specific arc initiation parameters include the following: arc initiation current of 170A, arc initiation voltage of 22V, and arc initiation wire feed speed of 5200mm / min.

3. The robotic welding method according to claim 1, characterized in that, In steps S1, S2 and S3, a protective gas is sprayed onto the welding area, and the gas flow rate is 15L / min - 25L / min.

4. The robotic welding method according to claim 3, characterized in that, The shielding gas supply begins 1 second before arc ignition welding and ends 1.5 seconds after arc extinguishing welding.

5. The robotic welding method according to claim 3, characterized in that, The protective gas is CO2.

6. The robotic welding method according to claim 1, characterized in that, In step S3, when using fillet welding, the specific arc extinguishing parameters include the following parameters: arc extinguishing current is 220A, arc extinguishing voltage is 23V, and arc extinguishing wire feeding speed is 8000mm / min. When using vertical fillet welding, the specific arc extinguishing parameters include the following: arc extinguishing current of 160A, arc extinguishing voltage of 20V, and arc extinguishing wire feeding speed of 4500mm / min.

7. The robotic welding method according to claim 1, characterized in that, The gap between the weld (11) between the two welding plates (1) is 0-2mm.

8. A ship, characterized in that, The vessel is welded using the robotic welding method described in any one of claims 1-7.

Images