Surfacing method and device for intersecting surface of double oblique cylinders of pump shell

Abstract

The invention provides a pump shell double-oblique-cylinder intersecting surface surfacing welding method and device, and relates to the technical field of surfacing welding, and the pump shell double-oblique-cylinder intersecting surface surfacing welding method comprises the steps that a target intersecting surface is divided into a first area, a second area and a third area; the first area is layered in the vertical direction and marked as an alpha1 layer to an alpha n layer from bottom to top, the distance between every two layers is h1, and a mechanical arm drives a welding gun to conduct surfacing on the alpha1 layer to the alpha n layer in sequence from bottom to top; the second area is layered in the vertical direction and marked as a beta 1 layer to a beta n layer from bottom to top, and the manipulator drives the welding gun to conduct surfacing on the beta 1 layer to the beta n layer in sequence from bottom to top; and manually welding the third area. The manipulator is used for driving the welding gun to perform automatic surfacing in most areas, manual surfacing is replaced, the surfacing quality is high, the third area with small occupation is located between the first area and the second area, only the first area and the second area need to be connected through manual surfacing, the first area and the second area serve as reference surfaces, the surfacing difficulty is reduced, and the surfacing quality is improved.

Description

Technical Field

[0001] The invention relates to the technical field of surfacing welding, and in particular to a method and device for surfacing welding of double oblique cylindrical intersection surfaces of a pump casing. Background Art

[0002] There is a double oblique cylindrical intersecting surface structure on the inner wall of the nuclear power pump casing, which is an irregular cylindrical structure. The existing technology uses manual electric welding rods to perform additive manufacturing on the inner wall of the pump casing to build up a double oblique cylindrical intersecting surface structure. However, due to manual welding, there are problems such as low welding efficiency, poor quality, uneven weld thickness, large welding volume, and the need for further processing and grinding after welding. Summary of the invention

[0003] The problem to be solved by the present invention is to improve the manufacturing quality of the double oblique cylindrical intersecting surface in a pump casing.

[0004] To this end, the present invention provides a method for surfacing welding of double oblique cylindrical intersecting surfaces of a pump casing, comprising the following steps:

[0005] S1, taking the two cylindrical contact points and the cylindrical top surface as boundaries, dividing the target intersecting surface into a first area located below the contact point P, a second area located above the cylindrical top surface, and a third area located between above the contact point P and below the cylindrical top surface;

[0006] S2, the first zone is layered in the vertical direction, recorded as α1 layer to αn layer from bottom to top, the distance between each layer is h1, and the manipulator drives the welding gun to sequentially build-up the α1 layer to the αn ​​layer from bottom to top;

[0007] S3, the second zone is layered in the vertical direction, recorded as β1 layer to βn layer from bottom to top, and the manipulator drives the welding gun to build-up weld the β1 layer to the βn layer in sequence from bottom to top;

[0008] S4, manually welding the third zone.

[0009] Optionally, any layer from the α1 layer to the αn ​​layer includes an arc GI, a line segment IK, a line segment KJ, an arc JH, a line segment HA and a line segment AG connected in sequence, wherein the line segment IK and the line segment KJ are on the same straight line, and the line segment HA and the line segment AG are on the same straight line, and the step S2 includes:

[0010] S21, the welding gun sequentially builds up the line segment AG, the arc line GI, the line segment IK, the line segment KJ, the arc line JH and the line segment HA of the α1 layer;

[0011] S22, moving the welding gun up by h1, and surfacing the α2 layer in the above order;

[0012] S23, welding is performed sequentially according to the above steps to the αn ​​layer.

[0013] Optionally, the step S21 includes:

[0014] S211, the manipulator extends into the pump casing along the through hole above the pump casing and stops at the center point O of the α1 layer, and the welding head of the welding gun is located at point A;

[0015] S213, taking point A as the starting point, the robot drives the welding gun to move a distance h2 along the AG direction to build-up the line segment AG;

[0016] S214, the manipulator drives the welding gun to rotate 180 degrees counterclockwise in a horizontal plane to build up the arc GI;

[0017] S215, the robot drives the welding gun to move a distance of 2h2 along the IK direction to build-up the line segment IK and the line segment KJ;

[0018] S216, the manipulator drives the welding gun to rotate 180 degrees counterclockwise in a horizontal plane to build up the arc JH;

[0019] S217, the robot drives the welding gun to move a distance h2 along the HA direction to build-up weld the line segment HA.

[0020] Optionally, after step S211, the method further includes:

[0021] S212, detecting the length of the line segment HG, wherein h2 is half of the length of the line segment HG.

[0022] Optionally, the welding gun head is provided with a laser rangefinder, and the laser rangefinder is used to measure the length of the line segment HG.

[0023] Optionally, step S3 includes:

[0024] S31, the robot drives the welding head to move until the lower end of the welding head stops at the contact point P;

[0025] S32, identifying the intersection of the horizontal plane where the upper end of the welding head is located with the top surface of the cylinder on the left in the positive direction of the Y axis, which is recorded as S1, and the intersection with the top surface of the cylinder on the right, which is recorded as T1, and the manipulator drives the welding gun to rotate clockwise, around the area surrounded by the circumferential surfacing point P, point S1 and point T1 of the second zone, and surfacing the corresponding area in the negative direction of the Y axis according to the above steps to complete the β1 layer surfacing;

[0026] S33, move the welding gun upward by h32, identify the intersection of the horizontal plane where the upper end of the welding head is located with the top surface of the cylinder on the left in the positive direction of the Y axis, record it as S2, and the intersection with the top surface of the cylinder on the right, record it as T2, the manipulator drives the welding gun to rotate clockwise, around the area surrounded by the circumferential surfacing points S2, S1, T1 and T2 of the second zone, and surfacing the corresponding area in the negative direction of the Y axis according to the above steps to complete the β2 layer surfacing;

[0027] S34, according to the above steps, move the welding gun upwards by h3n, and build up the βn layer in sequence.

[0028] Optionally, h32=PS1*Sin∠PNM, h3n=S n S n-1 *Sin∠PNM.

[0029] Optionally, the welding head is provided with a laser rangefinder and a welding camera, and the laser rangefinder and the welding camera are used to measure the length of PS1 to S n S n-1 length.

[0030] Optionally, the first zone and the second zone are built-up by TIG additive manufacturing.

[0031] Compared with the prior art, the pump casing double oblique cylindrical intersecting surface surfacing method of the present invention has the following beneficial effects:

[0032] The present invention first divides the intersecting surface of the double oblique cylinders into zones with point P, the left cylindrical top surface PM, and the right cylindrical top surface PN as boundaries, wherein the area between L1 and L2 is the first zone, the area corresponding to the triangle PMN is the second zone, and the area between L2 and MN excluding the triangle PMN is the third zone; a robot is used to grasp the welding gun and weld the first zone and the second zone in sequence from bottom to top, and the specific sequence is that the first zone is first layered in the vertical direction, and they are respectively recorded as α1 layer, α2 layer to αn layer from bottom to top, and the shapes of each layer from α1 layer to αn layer are similar, and only the specific sizes are changed, and the α1 layer, α2 layer to αn layer are welded in sequence, and the moving paths of the robot driving the welding gun for welding are basically the same, so it is convenient to control the robot to drive the welding gun to automatically weld the first zone; then The second zone is layered in the vertical direction, and are recorded as β1 layer, β2 layer to βn layer from bottom to top. The shape of each layer from β1 layer to βn layer is similar, and only the specific size changes. The β1 layer, β2 layer to βn layer are welded in sequence. The moving paths of the manipulator driving the welding gun for welding are basically the same, which is convenient for controlling the manipulator to drive the welding gun to automatically weld the second zone. Finally, the third zone between the first zone and the second zone is manually welded to complete the welding of the double oblique cylindrical intersecting surface structure in the shell. In addition, most areas use manipulators to drive the welding gun for automatic welding instead of manual welding, and the welding quality is high. The third zone, which accounts for a relatively small proportion, is located between the first zone and the second zone. Manual welding only needs to connect the first zone and the second zone, and the first zone and the second zone are used as reference surfaces to reduce the difficulty of welding and improve the welding quality.

[0033] In addition, in order to solve the above-mentioned problem, the present invention also provides a pump casing double-oblique cylindrical intersecting surface surfacing welding device, which is used to implement the above-mentioned pump casing double-oblique cylindrical intersecting surface surfacing welding method.

[0034] Compared with the prior art, the beneficial effects of the pump casing double-oblique cylindrical intersecting surface surfacing device described in the present invention are substantially the same as the beneficial effects of the pump casing double-oblique cylindrical intersecting surface surfacing method described above, and are not described in detail herein. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 This is one of the structural schematic diagrams of the pump casing according to an embodiment of the present invention;

[0036] Figure 2 This is a second structural schematic diagram of a pump casing according to an embodiment of the present invention;

[0037] Figure 3 A schematic diagram of a surfacing welding trajectory of the first zone according to an embodiment of the present invention;

[0038] Figure 4 A schematic diagram of a surfacing welding trajectory of the second zone according to an embodiment of the present invention;

[0039] Figure 5This is one of the flow charts of the method for surfacing welding of double oblique cylindrical intersection surfaces of a pump casing according to an embodiment of the present invention;

[0040] Figure 6 This is a second flow chart of the method for surfacing welding of double oblique cylindrical intersection surfaces of a pump casing according to an embodiment of the present invention;

[0041] Figure 7 This is a flowchart of the third method for surfacing welding of double oblique cylindrical intersection surfaces of a pump casing according to an embodiment of the present invention;

[0042] Figure 8 This is the fourth flow chart of the method for surfacing welding of double oblique cylindrical intersection surfaces of a pump casing described in an embodiment of the present invention.

[0043] Description of reference numerals:

[0044] 1- pump casing; 2- second zone; 3- third zone. DETAILED DESCRIPTION

[0045] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, specific embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0046] It should be noted that in the description of the present invention, the directions or positional relationships indicated by “up”, “down”, “left”, “right”, “top”, “bottom”, “front”, “back”, “inside” and “outside” are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention, and do not indicate or imply that the device referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, it should not be understood as limiting the scope of protection of the present invention.

[0047] The terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features.

[0048] Moreover, although the present invention is described with reference to specific embodiments, it should be understood that these embodiments are merely examples of the principles and applications of the present invention. It should therefore be understood that many modifications may be made to the exemplary embodiments and that other arrangements may be designed without departing from the spirit and scope of the present invention as defined by the appended claims. It should be understood that the features of the various dependent claims and herein may be combined in a manner not described in the original claims. It may also be understood that the features described in conjunction with the individual embodiments may be used in other embodiments.

[0049] like Figure 1 and Figure 2As shown, through holes are provided on the top, front and back of the nuclear power pump housing 1, that is, in the positive direction of the Z axis and the positive and negative directions of the Y axis. From the top through hole downward, there is a double oblique cylindrical intersecting surface structure. Point p is the intersection of the two cylinders. The two cylinders are respectively inclined to the left (negative direction of the X axis) and the right (positive direction of the X axis) relative to the vertical direction at a certain angle, for example, 20 degrees. PM is the top surface of the left cylinder, PN is the top surface of the right cylinder, and there is a water drop-shaped structure between the two cylinders. The side surface after the two cylinders and the water drop-shaped structure are connected together is a discontinuous surface, and the structure The surface is uneven, and the side surface of the single cylinder and the side surface of the teardrop-shaped structure are continuous surfaces, while the two cylinders and the teardrop-shaped structure are divided by PQ and PR, which makes it impossible for the side surface of the cylinder and the side surface of the teardrop-shaped structure to be connected as a whole. They are discontinuous surfaces. The existing technology uses manual welding rods to weld a double-oblique cylindrical intersecting surface structure. It is difficult to weld such a discontinuous surface on the inner wall of an empty pump casing, which will result in low welding efficiency, poor quality, uneven weld thickness, large welding volume, and the need for further processing and grinding after welding.

[0050] To solve the above problems, Figure 1 , Figure 2 and Figure 6 As shown, the present invention provides a method for surfacing welding of double oblique cylindrical intersecting surfaces of a pump casing, comprising the following steps:

[0051] S1, taking the two cylindrical contact points and the cylindrical top surface as boundaries, dividing the target intersecting surface into a first zone located below the contact point P, a second zone 2 located above the cylindrical top surface, and a third zone 3 located between above the contact point P and below the cylindrical top surface;

[0052] S2, the first zone is layered in the vertical direction, recorded as α1 layer to αn layer from bottom to top, the distance between each layer is h1, and the manipulator drives the welding gun to sequentially build-up the α1 layer to the αn ​​layer from bottom to top;

[0053] S3, the second zone 2 is layered in the vertical direction, recorded as β1 layer to βn layer from bottom to top, and the manipulator drives the welding gun to build-up weld the β1 layer to the βn layer in sequence from bottom to top;

[0054] S4, manually welding the third zone 3.

[0055] In this embodiment, firstly, the double oblique cylinder intersecting surface is divided into zones with point P, the left cylinder top surface PM, and the right cylinder top surface PN as boundaries, wherein the area between L1 and L2 is the first zone, the area corresponding to the triangle PMN is the second zone 2, and the area between L2 and MN excluding the triangle PMN is the third zone 3; a robot is used to grasp the welding gun and weld the first zone and the second zone 2 in sequence from bottom to top, and the specific sequence is as follows: first, the first zone is layered in the vertical direction, and they are respectively recorded as α1 layer, α2 layer to αn layer from bottom to top, and the shapes of each layer from α1 layer to αn layer are similar, and only the specific sizes are changed, and the α1 layer, α2 layer to αn layer are welded in sequence, and the moving paths of the robot driving the welding gun for welding are basically the same, so it is convenient to control the robot to drive the welding gun to automatically weld the first zone; then The second zone 2 is layered in the vertical direction, and is recorded as β1 layer, β2 layer to βn layer from bottom to top. The shape of each layer from β1 layer to βn layer is similar, and only the specific size changes. The β1 layer, β2 layer to βn layer are welded in sequence. The moving paths of the manipulator driving the welding gun for welding are basically the same, which is convenient for controlling the manipulator to drive the welding gun to automatically weld the second zone 2. Finally, the third zone 3 between the first zone and the second zone 2 is manually welded to complete the welding of the double oblique cylindrical intersecting surface structure in the shell. In addition, the manipulator drives the welding gun to automatically weld in most areas instead of manual welding, and the welding quality is high. The third zone 3, which accounts for a relatively small proportion, is located between the first zone and the second zone 2. Manual welding only needs to connect the first zone and the second zone 2, and the first zone and the second zone 2 are used as reference surfaces to reduce the difficulty of welding and improve the welding quality.

[0056] Specifically, Figure 3 As shown, Figure 3 It is a top view. The shapes of each layer from α1 to αn are similar, including arcs corresponding to the cylinders on both sides and arcs corresponding to the teardrop-shaped structure in the middle. The arcs corresponding to the cylinders are approximately semicircular, and the arcs corresponding to the teardrop-shaped structure can be approximated as a straight line due to the short distance. Figure 4 As shown, Figure 4 It is a front view, and the shape of each layer from β1 layer to βn layer is similar, all are arc-shaped, and the curvature is the same; after the welding of the third zone 3 is completed, the double oblique cylindrical intersection surface can be detected and polished by a laser rangefinder, and conventional surfacing can be used for other areas in the pump casing 1, and the welding gun can be inserted from the through holes on the top, front, and back of the pump casing 1.

[0057] Alternatively, if Figure 4 and Figure 6 As shown, any layer from the α1 layer to the αn ​​layer includes an arc GI, a line segment IK, a line segment KJ, an arc JH, a line segment HA and a line segment AG connected in sequence, wherein the line segment IK and the line segment KJ are on the same straight line, and the line segment HA and the line segment AG are on the same straight line, and the step S2 includes:

[0058] S21, the welding gun sequentially builds up the line segment AG, the arc line GI, the line segment IK, the line segment KJ, the arc line JH and the line segment HA of the α1 layer;

[0059] S22, moving the welding gun up by h1, and surfacing the α2 layer in the above order;

[0060] S23, welding is performed sequentially according to the above steps to the αn ​​layer.

[0061] In this embodiment, any layer from the α1 layer to the αn ​​layer includes the arc GI corresponding to the left cylinder, the arc JH corresponding to the right cylinder, and the line segments HA and AG corresponding to the middle droplet-shaped structure in the positive direction of the Y axis, and the line segments IK and KJ corresponding to the negative direction of the Y axis. Starting from point A, the welding is performed counterclockwise, and the line segment AG, arc GI, line segment IK, line segment KJ, arc JH and line segment HA are welded in sequence to complete the welding of the α1 layer. The welding gun is moved upward by h1, and the α2 layer is welded in the above order. The welding gun is then moved upward by h1 until the αn ​​layer is welded to complete the welding of the first zone.

[0062] Specifically, h1 is selected between 5 mm and 8 mm according to actual working conditions.

[0063] Alternatively, if Figure 4 and Figure 7 As shown, the step S21 includes:

[0064] S211, the manipulator extends into the pump housing 1 along the through hole above the pump housing 1 and stops at the center point O of the α1 layer, and the welding head of the welding gun is located at point A;

[0065] S213, taking point A as the starting point, the robot drives the welding gun to move a distance h2 along the AG direction to build-up the line segment AG;

[0066] S214, the manipulator drives the welding gun to rotate 180 degrees counterclockwise in a horizontal plane to build up the arc GI;

[0067] S215, the robot drives the welding gun to move a distance of 2h2 along the IK direction to build-up the line segment IK and the line segment KJ;

[0068] S216, the manipulator drives the welding gun to rotate 180 degrees counterclockwise in a horizontal plane to build up the arc JH;

[0069] S217, the robot drives the welding gun to move a distance h2 along the HA direction to build-up weld the line segment HA.

[0070] In this embodiment, the manipulator is first extended into the pump casing 1 along the through hole above the pump casing 1, and stops at the center point O of the α1 layer, and the welding head of the welding gun stops at the starting point of surfacing, point A, and the manipulator drives the welding gun to move h2 along the AG direction, where h2 is the offset distance of the cylinder relative to point O, and the lengths of line segments IK, KJ, HA and AG are all h2. The manipulator is then controlled to drive the welding gun to rotate 180 degrees counterclockwise in the horizontal plane to build up the arc GI, and then the manipulator is controlled to drive the welding gun to move a distance of 2h2 in the IK direction to build up the line segments IK and KJ, and then the manipulator is controlled to drive the welding gun to rotate 180 degrees counterclockwise in the horizontal plane to build up the arc JH, and finally the manipulator is controlled to drive the welding gun to move a distance h2 in the HA direction to build up the line segment HA to complete the surfacing of the α1 layer.

[0071] Specifically, the α2 to αn layers are all built-up according to the above trajectory.

[0072] Optionally, after step S211, the method further includes:

[0073] S212, detecting the length of the line segment HG, wherein h2 is half of the length of the line segment HG.

[0074] In this embodiment, point H and point G are specific points at the edge of the water drop-shaped structure, point A is the midpoint of line segment HG, and by detecting the length of line segment HG, the length of h2 can be calculated, which is half the length of line segment HG.

[0075] Optionally, the welding gun head is provided with a laser rangefinder, and the laser rangefinder is used to measure the length of the line segment HG.

[0076] In this embodiment, a laser rangefinder is arranged on the head of the welding gun, so as to facilitate the measurement of the maximum distance between the welding head of the welding gun and the inner wall of the pump housing 1 .

[0077] Optionally, step S3 includes:

[0078] S31, the robot drives the welding head to move until the lower end of the welding head stops at the contact point P;

[0079] S32, identifying the intersection of the horizontal plane where the upper end of the welding head is located with the top surface of the cylinder on the left in the positive direction of the Y axis, which is recorded as S1, and the intersection with the top surface of the cylinder on the right, which is recorded as T1, and the manipulator drives the welding gun to rotate clockwise, around the area surrounded by the circumferential surfacing point P, point S1 and point T1 of the second zone 2, and surfacing the corresponding area in the negative direction of the Y axis according to the above steps to complete the β1 layer surfacing;

[0080] S33, move the welding gun upward by h32, identify the intersection of the horizontal plane where the upper end of the welding head is located with the top surface of the cylinder on the left in the positive direction of the Y axis, which is recorded as S2, and the intersection with the top surface of the cylinder on the right, which is recorded as T2, and the manipulator drives the welding gun to rotate clockwise, around the area surrounded by the circumferential surfacing points S2, S1, T1 and T2 of the second zone 2, and surfacing the corresponding area in the negative direction of the Y axis according to the above steps to complete the β2 layer surfacing;

[0081] S34, according to the above steps, move the welding gun upwards by h3n, and build up the βn layer in sequence.

[0082] In this embodiment, the surfaces formed by the second zone 2 in the positive and negative directions of the Y axis after surfacing are both arc surfaces, the shapes of the two arc surfaces are the same, and the projections on the X-axis and Z-axis planes are both triangular structures, which can be approximated as triangle PMN, point M is the point on the top surface of the left cylinder farthest from point P, and point N is the point on the top surface of the right cylinder farthest from point P. The second zone is layered from bottom to top, and each layer contains two parts facing the positive direction of the Y axis and the negative direction of the Y axis. When surfacing, the part facing the positive direction of the Y axis is first surfacing, and then the part facing the positive direction of the Y axis is surfacing. The part in the negative direction of the Y axis can be specifically described in the following order: the robot drives the welding head to move until the lower end of the welding head stops at point P, and the intersection of the upper end of the welding head and the top surface of the left cylinder in the positive direction of the Y axis can be recorded as S1, and the intersection of the upper end of the welding head and the top surface of the right cylinder in the positive direction of the Y axis can be recorded as T1. The area surrounded by point P, point S1 and point T1 is the area corresponding to the β1 layer in the positive direction of the Y axis, and the robot is controlled to drive the welding gun to rotate clockwise, and the area surrounded by point P, point S1 and point T1 is circumferentially surfacing the second zone 2. , to complete the welding of the β1 layer in the positive direction of the Y axis, and then follow the above steps to build up the area of ​​the β1 layer in the negative direction of the Y axis to complete the build-up welding of the β1 layer; the manipulator drives the welding gun to move upward by h32, where h32 is the height of the β1 layer. At this time, the lower end of the welding gun is on the same horizontal line as point S1 and point T1. The intersection of the upper end of the welding gun and the top surface of the left cylinder in the positive direction of the Y axis can be recorded as S2, and the intersection of the upper end of the welding head and the top surface of the right cylinder in the positive direction of the Y axis can be recorded as T2. Points S2, S1, T1 and T2 surround The area formed is the area corresponding to the β2 layer in the positive direction of the Y axis, and the manipulator is controlled to drive the welding gun to rotate clockwise, and the circumferential surfacing welding is performed around the second zone 2 to surfacing the area surrounded by points S2, S1, T1 and T2 to complete the welding of the β2 layer in the positive direction of the Y axis, and then the above steps are followed to surfacing the area of ​​the β2 layer in the negative direction of the Y axis to complete the surfacing of the β2 layer, and the welding gun is moved from h33, h34 to h3n in sequence according to the above steps, that is, the height of the β2 layer, the β3 layer to the βn-1 layer, to complete the surfacing from the β3 layer to the βn layer.

[0083] Specifically, the welded second area 2 transitions smoothly with the hole wall of the through hole above the pump casing 1 .

[0084] Alternatively, if Figure 4 As shown, h32 = PS1*Sin∠PNM, h3n = S n S n-1 *Sin∠PNM.

[0085] In this embodiment, h32 is the distance that the robot drives the welding gun to move upward after welding the β1 layer, h32 is the height of the β1 layer, h3n is the height of the βn-1 layer, and since the projection of the second zone on the X-axis Z-axis plane is a triangle, it can be approximated as △PMN. The projections of points S2, S1, T1 and T2 on the X-axis Z-axis plane are all on △PMN, PS1 is the length of the line segment PS1 on △PMN, S n S n-1 That is, line segment S on △PMN n S n-1 The length of the welding gun can be calculated by the distance it rises when surfacing the second zone 2. For example, h32 = PS1 * Sin∠PNM, h3n = S n S n-1 *Sin∠PNM, ∠PNM is the angle at which the cylinder tilts to the left or right relative to the vertical direction, for example 20 degrees.

[0086] Optionally, a laser rangefinder and a welding camera are provided on the welding head, and the laser rangefinder and the welding camera are used to measure the length from PS1 to SnSn-1.

[0087] In this embodiment, a laser rangefinder and a welding camera are arranged on the welding head, and the laser rangefinder is a laser rangefinder, which is convenient for identifying the edges PS1 to S1 of each layer after the second zone 2 is layered. n S n-1 The length that the welding camera can shoot in the vertical direction is limited, so the area photographed by the welding camera is selected as a layer, and the laser rangefinder identifies the length of the upper edge of the layer.

[0088] Optionally, the first zone and the second zone 2 are built-up by TIG additive manufacturing.

[0089] In this embodiment, the first zone and the second zone 2 are welded by TIG (Tungsten Inert Gas Welding) additive method to improve the accuracy and safety of automatic welding.

[0090] A pump casing double-oblique cylindrical intersecting surface surfacing device according to another embodiment of the present invention is used to implement the above-mentioned pump casing double-oblique cylindrical intersecting surface surfacing method.

[0091] Compared with the prior art, the beneficial effects of the pump casing double-oblique cylindrical intersecting surface surfacing device of this embodiment are substantially the same as the beneficial effects of the pump casing double-oblique cylindrical intersecting surface surfacing method described above, and will not be elaborated herein.

[0092] Although the present invention is disclosed as above, the protection scope of the present invention is not limited thereto. Those skilled in the art may make various changes and modifications without departing from the spirit and scope of the present invention, and these changes and modifications will fall within the protection scope of the present invention.

Claims

1. A method for surfacing welding of double oblique cylindrical intersection surfaces of a pump casing, characterized in that: The steps include: S1, taking the two cylindrical contact points and the cylindrical top surface as boundaries, dividing the target intersecting surface into a first area located below the contact point P, a second area (2) located above the cylindrical top surface, and a third area (3) located between the contact point P and the cylindrical top surface; S2, the first zone is layered in the vertical direction, recorded as α1 layer to αn layer from bottom to top, the distance between each layer is h1, and the manipulator drives the welding gun to sequentially build-up the α1 layer to the αn ​​layer from bottom to top; S3, the second zone (2) is layered in the vertical direction, recorded as β1 layer to βn layer from bottom to top, and the manipulator drives the welding gun to build-up weld the β1 layer to the βn layer in sequence from bottom to top; S4, manually welding the third zone (3).

2. The method for surfacing welding of double oblique cylindrical intersection surfaces of a pump casing according to claim 1 is characterized in that: Any layer from the α1 layer to the αn ​​layer includes an arc GI, a line segment IK, a line segment KJ, an arc JH, a line segment HA and a line segment AG which are connected in sequence, wherein the line segment IK and the line segment KJ are on the same straight line, and the line segment HA and the line segment AG are on the same straight line, and the step S2 includes: S21, the welding gun sequentially builds up the line segment AG, the arc line GI, the line segment IK, the line segment KJ, the arc line JH and the line segment HA of the α1 layer; S22, moving the welding gun up by h1, and surfacing the α2 layer in the above order; S23, welding is performed sequentially according to the above steps to the αn ​​layer.

3. The method for surfacing welding of double oblique cylindrical intersection surfaces of a pump casing according to claim 2, characterized in that: The step S21 comprises: S211, the robot arm extends into the pump housing (1) along the through hole above the pump housing (1) and stops at the center point O of the α1 layer, and the welding head of the welding gun is located at point A; S213, taking point A as the starting point, the robot drives the welding gun to move a distance h2 along the AG direction to build-up the line segment AG; S214, the manipulator drives the welding gun to rotate 180 degrees counterclockwise in a horizontal plane to build up the arc GI; S215, the robot drives the welding gun to move a distance of 2h2 along the IK direction to build-up the line segment IK and the line segment KJ; S216, the manipulator drives the welding gun to rotate 180 degrees counterclockwise in a horizontal plane to build up the arc JH; S217, the robot drives the welding gun to move a distance h2 along the HA direction to build-up weld the line segment HA.

4. The method for surfacing welding of double oblique cylindrical intersection surfaces of a pump casing according to claim 3 is characterized in that: After step S211, the method further includes: S212, detecting the length of the line segment HG, wherein h2 is half of the length of the line segment HG.

5. The method for surfacing welding of double oblique cylindrical intersection surfaces of a pump casing according to claim 3, characterized in that: The welding gun head is provided with a laser rangefinder, and the laser rangefinder is used to measure the length of the line segment HG.

6. The method for surfacing welding of double oblique cylindrical intersection surfaces of a pump casing according to claim 1, characterized in that: The step S3 comprises: S31, the robot drives the welding head to move until the lower end of the welding head stops at the contact point P; S32, identifying the intersection of the horizontal plane where the upper end of the welding head is located with the top surface of the cylinder on the left side in the positive direction of the Y axis, which is recorded as S1, and the intersection with the top surface of the cylinder on the right side, which is recorded as T1, and the manipulator drives the welding gun to rotate clockwise to weld the area surrounded by the circumferential cladding point P, point S1 and point T1 of the second zone (2), and cladding the corresponding area in the negative direction of the Y axis according to the above steps to complete the β1 layer cladding; S33, move the welding gun upward, identify the intersection of the horizontal plane where the upper end of the welding head is located with the top surface of the cylinder on the left side in the positive direction of the Y axis, record it as S2, and the intersection with the top surface of the cylinder on the right side, record it as T2, and the robot drives the welding gun to rotate clockwise to weld the area surrounded by the circumferential cladding points S2, S1, T1 and T2 of the second zone (2), and cladding the corresponding area in the negative direction of the Y axis according to the above steps to complete the β2 layer cladding; S34, according to the above steps, move the welding gun upwards by h3n, and build up the βn layer in sequence.

7. The method for surfacing welding of double oblique cylindrical intersection surfaces of a pump casing according to claim 6, characterized in that: h32 = PS1 * Sin∠PNM, h3n = S n S n-1 *Sin∠PNM.

8. The method for surfacing welding of double oblique cylindrical intersection surfaces of a pump casing according to claim 6, characterized in that: The welding head is provided with a laser rangefinder and a welding camera, and the laser rangefinder and the welding camera are used to measure the length of PS1 to S n S n-1 length.

9. The method for surfacing welding of double oblique cylindrical intersection surfaces of a pump casing according to claim 1, characterized in that: The first zone and the second zone (2) are welded by TIG additive manufacturing.

10. A pump casing double oblique cylindrical intersecting surface surfacing device, characterized in that: A method for surfacing the double oblique cylindrical intersection surfaces of a pump casing as described in any one of claims 1 to 9.

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