Impact type rotating wheel welding structure based on robot welding and using method of impact type rotating wheel welding structure

Abstract

The invention discloses an impact type rotating wheel welding structure based on robot welding and a using method of the impact type rotating wheel welding structure, and relates to the technical field of production and manufacturing of impact type rotating wheels, in particular to the impact type rotating wheel welding structure based on robot welding and the using method of the impact type rotating wheel welding structure. The root water buckets are arranged on the rotating wheel center body, and the external water buckets are arranged on the root water buckets; a butt welding groove is formed in the connecting face of the external water bucket and the root water bucket, and the welding groove is arranged to be a multi-section linear groove. The method has the advantages that the gradual change positions are designed into a plurality of fixed-angle positions, and the robot is adopted for multi-layer and multi-pass welding. A complex space gradient welding position is optimized into a plurality of fixed-angle welding positions, and parameter self-adaption in the robot welding process is simplified, so that robot welding is achieved, the welding quality of the impact type rotating wheel is guaranteed, and the cavitation erosion resistance of the rotating wheel is improved.

Description

Technical Field

[0001] The invention relates to the technical field of production and manufacturing of impact wheels, and in particular to an impact wheel welding structure based on robot welding and a use method thereof. Background Art

[0002] In the traditional manual gas shielded welding process, the operator needs to rely on experience and skills to control welding parameters such as current, voltage and speed. Due to the interference of human factors, the welding quality is often difficult to stabilize, and defects such as pores and slag inclusions are prone to occur. Especially in the case of variable cross-sections and variable grooves, welding is more difficult and quality is more difficult to guarantee.

[0003] As the size of the core components of the Pelton turbine increases, split-piece manufacturing becomes necessary. This method involves dividing the runner into a center body with a root bucket and multiple outer buckets, which are forged and processed separately before being assembled and welded. However, this split-piece manufacturing method also brings new challenges, especially how to ensure precise docking and high-quality welding between the parts.

[0004] Existing manual gas shielded welding methods and equipment have many shortcomings in the welding of large and complex structural parts. First, they are difficult to ensure the welding quality of large and complex structural parts; second, they cannot adapt to the welding requirements of variable cross-sections, variable grooves, and variable positions; finally, they rely on the experience and skills of the operator and are difficult to achieve automation and standardized production.

[0005] Compared with manual welding, robot welding has obvious advantages. It can provide a stable welding process and high-quality welds, and reduce defects caused by human factors. However, for the external bucket with complex profiles, the welding groove is variable in section, groove and position, which is difficult to adapt to robot welding. Therefore, it is necessary to develop new welding structures and processes to solve this problem. Summary of the invention

[0006] The present invention aims to overcome the above-mentioned shortcomings of the prior art and provides an impact wheel welding structure based on robot welding and a method of using the same.

[0007] The technical solution adopted by the present invention is as follows:

[0008] An impact wheel welding structure based on robot welding comprises: a wheel center body, a root bucket and an external bucket, wherein the root bucket is arranged on the wheel center body, and the external bucket is arranged on the root bucket;

[0009] The connection surface between the external bucket and the root bucket is provided with a butt welding groove, and the welding groove is provided with a plurality of straight line grooves.

[0010] Furthermore, the root water bucket, the external water bucket and the central body of the runner are provided with reference points for positioning the robot.

[0011] Furthermore, the welding groove is designed as a double-sided asymmetric groove according to the position of the straight groove.

[0012] Furthermore, multiple straight grooves are transitioned through arc grooves.

[0013] Furthermore, positioning welding points are provided on the connecting surfaces of the root water bucket and the external water bucket.

[0014] Furthermore, a method for using an impact wheel welding structure based on robot welding comprises the following steps:

[0015] S1: After the runner center body and the root bucket are integrally formed, the welding groove is processed to form a welding groove composed of multiple straight grooves;

[0016] S2: Process the welding groove of the external bucket into multiple straight grooves corresponding to the root bucket;

[0017] S3: Pre-join the root bucket and the external bucket to check whether the multiple straight grooves correspond;

[0018] S4: Perform initial electric welding positioning at the positioning welding point;

[0019] S5: placing the central rotating wheel on the rotating platform, and setting up multiple welding robots around the rotating platform;

[0020] S6: Use offline programming to compile robot welding programs and set multiple welding parameters according to different welding positions;

[0021] S7: calibrate the welding robot with reference points;

[0022] S8: The welding robot welds multiple straight grooves;

[0023] S9: After the overall welding is completed, enter the furnace for annealing;

[0024] S10: After annealing, grind the weld to meet the requirements of flaw detection and profile.

[0025] Furthermore, after step S8, after the welding of one side of a water bucket is completed, the robot welding of the other sides of the water bucket is completed according to steps S6-S8.

[0026] Furthermore, after step S8, the machine is turned over, and the roots are cleaned by grinding, and the welding of the water bucket is completed according to steps S6-S8.

[0027] Furthermore, in step S8, laser vision is used to adjust the robot welding position in real time during the welding process.

[0028] Furthermore, in step S6, the robot welding program is compiled by on-site teaching.

[0029] In summary, due to the adoption of the above technical solution, the beneficial effects of the present invention are:

[0030] By using robotic welding technology, high-precision and high-consistency welding quality can be achieved. Robots can accurately control welding parameters such as current, voltage, speed and angle according to preset programs, thereby reducing defects caused by human factors. In addition, robotic welding can also improve production efficiency and shorten production cycles. Traditional manual welding methods often lead to high scrap rates and material waste due to unstable operations. Robotic welding can increase the first-piece pass rate and reduce rework and repair, thereby reducing overall costs. At the same time, due to the accuracy of robotic welding, unnecessary material waste can be reduced.

[0031] In order to ensure the welding quality of the external bucket of the impact wheel and solve the problem of robot welding of the external bucket of the complex profile, the present invention divides the wheel into a center body with a root bucket and a plurality of external buckets. After forging, the external bucket and the root bucket are processed into an asymmetric double-sided V-shaped groove, and the gradient position is designed as a plurality of fixed-angle positions, and a robot is used for multi-layer and multi-pass welding. The complex spatial gradient welding position is optimized into a plurality of fixed-angle welding positions, and the robot welding process parameter adaptation is simplified, thereby realizing robot welding, ensuring the welding quality of the impact wheel, and improving the anti-cavitation ability of the wheel. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 It is a schematic diagram of the structure of the present invention;

[0033] Figure 2 It is an enlarged schematic diagram of the splicing part of the present invention;

[0034] Figure 3 It is a schematic diagram of the welding groove form of the present invention;

[0035] Figure 4 It is a cross-sectional view of the welding groove of the present invention.

[0036] Markings in the figure:

[0037] 1-wheel center body, 2-root bucket, 3-external bucket, 4-welding groove, 5-straight groove, 6-arc groove.

[0038] Specific Examples

[0039] The present invention will be described in detail below in conjunction with the accompanying drawings.

[0040] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0041] In this embodiment, if Figure 1 As shown in FIG. 4 , an impact wheel welding structure based on robot welding comprises: a wheel center body 1, a root bucket 2 and an external bucket 3, wherein the root bucket 2 is arranged on the wheel center body 1, and the external bucket 3 is arranged on the root bucket 2;

[0042] The connection surface between the external scoop 3 and the root scoop 2 is provided with a butt welding groove 4, and the welding groove 4 is provided as a plurality of straight grooves 5.

[0043] An impact wheel welding structure based on robot welding, wherein a root bucket 2 and an outer bucket 3 are connected by a multi-segment straight groove 5, each of which has a specific butt joint angle and length to adapt to the robot's welding path planning, to prevent the welding robot from having difficulty in welding due to the overly complex shape of the welding groove 4, the weld width, weld arc and weld depth, and by setting the weld as a multi-segment straight weld, the welding difficulty of the welding robot is simplified, and the welding steps are divided into a multi-segment and multi-layer independent straight welding method;

[0044] At the same time, by first determining the weld segmentation according to the bucket size and then entering it into the robot system, different straight line welds can be effectively customized for the different curvatures of impact wheels of different sizes, and then the weld angles after processing can be entered into the welding robot system to ensure that the welding route of the welding robot is accurate and the welding quality is guaranteed.

[0045] Furthermore, the root water bucket 2, the external water bucket 3 and the runner center body 1 are provided with reference points for robot positioning.

[0046] The robot's initial position requires a reference point for positioning so that it can find the starting point to start welding. By setting reference points on the two split weldments respectively, it is helpful for the welding robot to effectively find the welding starting position. At the same time, setting a third reference point on the center body 1 of the rotating wheel can effectively record the starting point of the circular wheel welding to prevent repeated welding or leaking welding.

[0047] Furthermore, the welding groove 4 is designed as a double-sided asymmetric groove according to the position of the straight groove 5 .

[0048] Since the original weld is divided into multiple straight welds, and the depth angles between the multiple welds are the same, in order to ensure the welding quality, the back weld needs to be adjusted accordingly to form a double-sided asymmetric groove. When entering the system, only the weld information of two sides needs to be entered, which reduces workload and improves work efficiency.

[0049] Furthermore, the plurality of straight grooves 5 are transitioned through arc grooves 6 .

[0050] The arc transition can prevent the welding robot from leaking or breaking during the welding of two adjacent straight grooves 5 , and the small arc can improve the fault tolerance of the welding robot during the welding process.

[0051] Furthermore, the connecting surface between the root water bucket 2 and the external water bucket 3 is provided with positioning welding points.

[0052] In this way, the position of the positioning weld is fixed. When entering the weld information, the position information of the positioning weld is entered into the system so that the welding robot can avoid the positioning weld during the welding process, prevent repeated welding, or laser visual interference, and improve the fault tolerance of the welding robot during the welding process.

[0053] Furthermore, a method for using an impact wheel welding structure based on robot welding comprises the following steps:

[0054] S1: After the runner center body 1 and the root bucket 2 are integrally formed, the welding groove 4 is processed to form a welding groove 4 composed of multiple straight grooves 5;

[0055] An impact wheel welding structure based on robot welding, wherein a root bucket 2 and an outer bucket 3 are connected by a multi-segment straight groove 5, each of which has a specific butt joint angle and length to adapt to the robot's welding path planning, to prevent the welding robot from having difficulty in welding due to the overly complex shape of the welding groove 4, the weld width, weld arc and weld depth, and by setting the weld as a multi-segment straight weld, the welding difficulty of the welding robot is simplified, and the welding steps are divided into a multi-segment and multi-layer independent straight welding method;

[0056] S2: Processing the welding groove 4 of the external water bucket 3 into a plurality of straight grooves 5 corresponding to the root water bucket 2;

[0057] The welding seam is set corresponding to the root water bucket 2, so that the welding seam of the root water bucket 2 and the external water bucket 3 can be completely matched after being connected, thereby ensuring the quality of the subsequent welding seam.

[0058] S3: pre-join the root bucket 2 and the external bucket 3, and check whether the multi-segment straight groove 5 corresponds;

[0059] S4: Perform initial electric welding positioning at the positioning welding point;

[0060] S5: placing the central rotating wheel on the rotating platform, and setting up multiple welding robots around the rotating platform;

[0061] This positioning method ensures the stability and accuracy of the wheel during welding and improves the welding quality.

[0062] S6: Use offline programming to compile robot welding programs and set multiple welding parameters according to different welding positions;

[0063] S7: calibrate the welding robot with reference points;

[0064] S8: The welding robot welds the multiple straight grooves 5;

[0065] Multiple welding parameters can be set according to different welding positions, and the position of the welding robot can be calibrated using reference points. This method improves production efficiency and flexibility, and reduces dependence on high-quality welding operators.

[0066] S9: After the overall welding is completed, enter the furnace for annealing;

[0067] S10: After annealing, grind the weld to meet the requirements of flaw detection and profile.

[0068] Furthermore, after step S8, after the welding of one side of a water bucket is completed, the robot welding of the other sides of the water bucket is completed according to steps S6-S8.

[0069] This approach ensures consistent welding quality and efficiency on both sides of the runner, improving overall production levels.

[0070] Furthermore, after step S8, the machine is turned over, and the roots are cleaned by grinding, and the welding of the water bucket is completed according to steps S6-S8.

[0071] Turn over and clean the root by grinding, and then follow the same steps to complete the welding of the other side. This step-by-step welding method ensures the continuity and consistency of the weld and improves the overall quality of the runner.

[0072] Furthermore, in step S8, laser vision is used to adjust the robot welding position in real time during the welding process.

[0073] The laser vision system is used to adjust the robot's welding position in real time to ensure the accuracy and consistency of the weld. This technology improves welding accuracy and reliability and reduces defects caused by human factors.

[0074] Furthermore, in step S6, the robot welding program is compiled by on-site teaching.

[0075] Teach the robot to learn complex welding trajectories and parameter settings through practical operation. This method simplifies the programming process, improves programming efficiency and accuracy, and explains its advantages and operation steps in detail. This method is suitable for complex or irregular welding tasks and improves the flexibility and adaptability of production.

[0076] The above description is only a preferred embodiment of the invention and is not intended to limit the invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the invention should be included in the protection scope of the invention.

Claims

1. An impact wheel welding structure based on robot welding, characterized in that: include: A runner central body (1), a root water bucket (2) and an external water bucket (3), wherein the root water bucket (2) is arranged on the runner central body (1), and the external water bucket (3) is arranged on the root water bucket (2); The connection surface between the external scoop (3) and the root scoop (2) is provided with a butt welding groove (4), and the welding groove (4) is configured as a multi-segment straight groove (5).

2. According to the robot-based impact wheel welding structure of claim 1, it is characterized in that: The root water bucket (2), the external water bucket (3) and the central body (1) of the runner are provided with reference points for positioning the robot.

3. According to the robot-based impact wheel welding structure of claim 1, it is characterized in that: The welding groove (4) is designed as a double-sided asymmetric groove according to the position of the straight groove (5).

4. According to the robot-based impact wheel welding structure of claim 1, it is characterized in that: The plurality of straight grooves (5) are transitioned through circular arc grooves (6).

5. The impact wheel welding structure based on robot welding according to claim 1, characterized in that: Positioning welding points are provided on the connection surfaces of the root water bucket (2) and the external water bucket (3).

6. A method for using an impact wheel welding structure based on robot welding, applied to any one of the impact wheel welding structures based on robot welding according to claims 1 to 5, characterized in that: The following steps are involved: S1: After the runner center body (1) and the root bucket (2) are integrally formed, the welding groove (4) is processed to form a welding groove (4) composed of multiple straight grooves (5); S2: Processing the welding groove (4) of the external water bucket (3) into a plurality of straight grooves (5) corresponding to the root water bucket (2); S3: pre-join the root bucket (2) and the external bucket (3), and check whether the multiple straight grooves (5) correspond to each other; S4: Perform initial electric welding positioning at the positioning welding point; S5: placing the central rotating wheel on the rotating platform, and setting up multiple welding robots around the rotating platform; S6: Use offline programming to compile robot welding programs and set multiple welding parameters according to different welding positions; S7: calibrate the welding robot with reference points; S8: The welding robot welds the multiple straight grooves (5); S9: After the overall welding is completed, enter the furnace for annealing; S10: After annealing, grind the weld to meet the requirements of flaw detection and profile.

7. The method for using the impact wheel welding structure based on robot welding according to claim 6, characterized in that: After step S8, after the welding of one side of a water bucket is completed, the robot welding of the other sides of the water bucket is completed according to steps S6-S8.

8. The method for using the impact wheel welding structure based on robot welding according to claim 6, characterized in that: After step S8, turn over, clean the roots by grinding, and complete the welding of the water bucket according to steps S6-S8.

9. The method for using the impact wheel welding structure based on robot welding according to claim 6, characterized in that: In step S8, laser vision is used to adjust the robot welding position in real time during the welding process.

10. The method for using the impact wheel welding structure based on robot welding according to claim 6, characterized in that: In step S6, the robot welding program is compiled by on-site teaching.

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