A method and device for surfacing a double-inclined cylindrical intersecting surface of a pump shell

Abstract

The application provides a pump shell double-inclined-cylinder intersecting surface surfacing method and device, and relates to the technical field of surfacing. The pump shell double-inclined-cylinder intersecting surface surfacing method comprises the following steps: dividing the target intersecting surface into a first area, a second area and a third area; layering the first area in the vertical direction, and recording the layers from bottom to top as alpha 1 layer to alpha n layer, the distance between each layer is h1, and a welding gun is sequentially surfaced on alpha 1 layer to alpha n layer by a manipulator from bottom to top; layering the second area in the vertical direction, and recording the layers from bottom to top as beta 1 layer to beta n layer, the welding gun is sequentially surfaced on beta 1 layer to beta n layer by the manipulator from bottom to top; and manually welding the third area. In the application, the welding gun is automatically surfaced by the manipulator in most areas, instead of manual surfacing, the surfacing quality is high, and the proportion of the third area is small. The third area is located between the first area and the second area, manual surfacing is only needed to connect the first area and the second area, the first area and the second area are used as reference surfaces, the surfacing difficulty is reduced, and the surfacing quality is improved.

Description

Technical Field

[0001] This invention relates to the field of welding technology, and more specifically, to a method and apparatus for welding the intersecting surfaces of double oblique cylindrical surfaces of a pump casing. Background Technology

[0002] The inner wall of a nuclear power pump casing has a structure with intersecting double oblique cylindrical surfaces, which is an irregular cylindrical structure. Current technology uses manual welding rods to additively manufacture the inner wall of the pump casing to build up the structure with intersecting double oblique cylindrical surfaces. However, since it is 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 this invention is to improve the manufacturing quality of the intersecting surfaces of the double oblique cylinders inside the pump casing.

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

[0005] S1. Using the two cylindrical contact points and the top surface of the cylinder as boundaries, the target intersection surface is divided into a first region located below the contact point P, a second region located above the top surface of the cylinder, and a third region located between the contact point P and the top surface of the cylinder.

[0006] S2. The first area is divided into layers in the vertical direction, from bottom to top, denoted as layer α1 to layer αn, with a distance of h1 between each layer. The robotic arm drives the welding gun to sequentially deposit the layers α1 to αn from bottom to top.

[0007] S3. The second region is divided into layers in the vertical direction, from bottom to top, labeled as layer β1 to layer βn. The robotic arm drives the welding gun to sequentially deposit layer β1 to layer βn from bottom to top.

[0008] S4. Manually weld the third zone.

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

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

[0011] S22. Move the welding torch up by h1 and deposit layer α2 in the above order;

[0012] S23. Follow the above steps to weld up to layer αn.

[0013] Optionally, step S21 includes:

[0014] S211. The robotic arm extends into the pump housing through the upper through hole 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. Starting from point A, the robotic arm drives the welding torch to move a distance h2 along the AG direction to deposit the line segment AG.

[0016] S214. The robotic arm drives the welding torch to rotate 180 degrees counterclockwise in the horizontal plane to deposit the arc GI.

[0017] S215. The robotic arm drives the welding torch to move a distance of 2h2 along the IK direction to deposit the line segment IK and the line segment KJ.

[0018] S216. The robotic arm drives the welding torch to rotate 180 degrees counterclockwise in the horizontal plane to deposit the arc JH.

[0019] S217. The robotic arm drives the welding torch to move a distance h2 along the HA direction to deposit the line segment HA.

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

[0021] S212. Detect the length of the line segment HG, where h2 is half the length of the line segment HG.

[0022] Optionally, the welding torch head is equipped with a laser rangefinder, which is used to measure the length of the line segment HG.

[0023] Optionally, step S3 includes:

[0024] S31. The robotic arm drives the welding head to move until the lower end of the welding head stops at the contact point P;

[0025] S32. 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 Y-axis direction, and record it as S1. Identify the intersection with the top surface of the cylinder on the right side, and record it as T1. The robot arm drives the welding gun to rotate clockwise and weld the corresponding area in the negative Y-axis direction around the area enclosed by the circumferential welding points P, S1 and T1 in the second area, in accordance with the above steps, to complete the welding of the β1 layer.

[0026] S33. Move the welding gun upwards by h32, identify the intersection of the horizontal plane where the upper end of the welding head is located in the positive Y-axis direction with the top surface of the cylinder on the left, and record it as S2. The intersection of the horizontal plane with the top surface of the cylinder on the right is recorded as T2. The robot arm drives the welding gun to rotate clockwise, and welds the corresponding area in the negative Y-axis direction around the area enclosed by the circumferential welding points S2, S1, T1 and T2 in the second area, in accordance with the above steps, to complete the β2 layer welding.

[0027] S34. Following the steps above, move the welding torch upwards by h3n and sequentially deposit it onto the βn layer.

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

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

[0030] Optionally, the first region and the second region can be overlaid using TIG additive manufacturing.

[0031] Compared with the prior art, the beneficial effects of the pump casing double-oblique cylindrical intersecting surface overlay welding method of the present invention are:

[0032] This invention first divides the intersection of the two oblique cylinders into three zones, using point P, the top surface PM of the left cylinder, and the top surface PN of the right cylinder as boundaries. The area between L1 and L2 is the first zone, the area corresponding to triangle PMN is the second zone, and the area between L2 and MN, excluding triangle PMN, is the third zone. A robotic arm holds a welding torch and sequentially welds the first and second zones from bottom to top. Specifically, the first zone is first layered vertically, labeled α1, α2, and αn from bottom to top. Each layer from α1 to αn has a similar shape, differing only in size. Layers α1, α2, and αn are welded sequentially. The robotic arm's movement path for welding the torch is essentially the same, facilitating automatic welding of the first zone. Then... The second zone is vertically layered, labeled β1, β2, and βn from bottom to top. Each layer from β1 to βn has a similar shape, differing only in size. Layers β1, β2, and βn are welded sequentially. The movement path of the robotic arm driving the welding gun is basically the same, facilitating automatic welding of the second zone. Finally, the third zone, between the first and second zones, is manually welded to complete the welding of the intersecting double oblique cylinder structure inside the shell. Most areas are automatically welded using the robotic arm driving the welding gun, replacing manual welding, resulting in high welding quality. The third zone, which accounts for a smaller proportion, is located between the first and second zones. Manual welding only requires connecting the first and second zones, using them as reference surfaces, reducing welding difficulty and improving welding quality.

[0033] In addition, to solve the above problems, the present invention also provides a pump casing double oblique cylindrical intersecting surface overlay welding device for realizing the above-mentioned pump casing double oblique cylindrical intersecting surface overlay welding method.

[0034] Compared with the prior art, the beneficial effects of the pump casing double oblique cylindrical intersecting surface overlay welding device described in this invention are roughly the same as the beneficial effects of the above-mentioned pump casing double oblique cylindrical intersecting surface overlay welding method, and will not be repeated here. Attached Figure Description

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

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

[0037] Figure 3 This is a schematic diagram of the welding trajectory in the first region according to an embodiment of the present invention;

[0038] Figure 4 This is a schematic diagram of the welding trajectory in the second region according to an embodiment of the present invention;

[0039] Figure 5This is one of the flowcharts for the pump casing double oblique cylindrical intersecting surface overlay welding method according to an embodiment of the present invention;

[0040] Figure 6 This is the second flowchart of the pump casing double oblique cylindrical intersecting surface overlay welding method described in the embodiment of the present invention;

[0041] Figure 7 This is the third flowchart of the pump casing double oblique cylindrical intersecting surface overlay welding method described in the embodiment of the present invention;

[0042] Figure 8 This is the fourth flowchart of the pump casing double oblique cylindrical intersecting surface overlay welding method described in the embodiments of the present invention.

[0043] Explanation of reference numerals in the attached figures:

[0044] 1-Pump casing; 2-Second zone; 3-Third zone. Detailed Implementation

[0045] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0046] It should be noted that in the description of this invention, the orientations or positional relationships indicated by terms such as "upper," "lower," "left," "right," "top," "bottom," "front," "back," "inner," and "outer" are based on the orientations or positional relationships shown in the accompanying drawings and are only for the convenience of describing this invention. They are not intended to indicate or imply that the device referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as limiting the scope of protection of this invention.

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

[0048] Furthermore, although specific embodiments have been described herein, it should be understood that these embodiments are merely examples of the principles and applications of the invention. Therefore, it should be understood that many modifications can be made to the exemplary embodiments, and other arrangements can be designed without departing from the spirit and scope of the invention as defined by the appended claims. It should be understood that different dependent claims and features herein can be combined in ways not used as described in the original claims. It is also understood that features described in conjunction with individual embodiments can be used in other embodiments.

[0049] like Figure 1 and Figure 2As shown, the nuclear power pump casing 1 has through holes at the top, front, and back, i.e., in the positive Z-axis and positive and negative Y-axis directions. From the top through hole downwards, there is a double-inclined cylindrical intersection structure. Point p is the intersection of the two cylinders. The two cylinders are inclined at a certain angle relative to the vertical direction, to the left (negative X-axis) and right (positive X-axis), respectively, for example, 20 degrees. PM is the top surface of the left cylinder, and PN is the top surface of the right cylinder. A teardrop-shaped structure connects the two cylinders. The side surface after the two cylinders and the teardrop-shaped structure are connected is a discontinuous surface, and the structure... The surface is uneven. The individual cylindrical side surface and the teardrop-shaped side surface are continuous, but the PQ and PR are used as dividers between the two cylinders and the teardrop-shaped structure, making it impossible to connect the cylindrical side surface and the teardrop-shaped side surface into a whole. They are discontinuous surfaces. The existing technology uses manual welding rods to build up the intersecting surface of the double oblique cylinders. It is difficult to build up such a discontinuous surface on the inner wall of the empty pump casing. This will result in problems such as 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, such as Figure 1 , Figure 2 and Figure 6 As shown, the present invention provides a method for overlaying welding the intersecting surfaces of double oblique cylindrical surfaces of a pump casing, comprising the following steps:

[0051] S1. Using the two cylindrical contact points and the top surface of the cylinder as boundaries, the target intersection surface is divided into a first region below the contact point P, a second region 2 above the top surface of the cylinder, and a third region 3 between the contact point P and the top surface of the cylinder.

[0052] S2. The first area is divided into layers in the vertical direction, from bottom to top, denoted as layer α1 to layer αn, with a distance of h1 between each layer. The robotic arm drives the welding gun to sequentially deposit the layers α1 to αn from bottom to top.

[0053] S3. The second zone 2 is divided into layers in the vertical direction, from bottom to top, and labeled as layer β1 to layer βn. The robotic arm drives the welding gun to sequentially deposit layer β1 to layer βn from bottom to top.

[0054] S4. Manually weld the third zone 3.

[0055] In this embodiment, the intersection surface of the double oblique cylinders is first divided into sections using point P, the top surface PM of the left cylinder, and the top surface PN of the right cylinder as boundaries. The area between L1 and L2 is the first section, the area corresponding to triangle PMN is the second section 2, and the area between L2 and MN, excluding triangle PMN, is the third section 3. A robotic arm is used to hold the welding torch and weld the first section and the second section 2 sequentially from bottom to top. Specifically, the first section is first layered vertically, labeled α1, α2, and αn from bottom to top. Each layer from α1 to αn has a similar shape, differing only in size. Layers α1, α2, and αn are welded sequentially. The movement path of the robotic arm driving the welding torch is basically the same, facilitating automatic welding of the first section by controlling the robotic arm to drive the welding torch. Then... The second zone 2 is vertically layered, labeled β1, β2 to βn from bottom to top. Each layer from β1 to βn has a similar shape, differing only in size. Layers β1, β2 to βn are welded sequentially. The movement path of the robotic arm driving the welding gun is basically the same, facilitating automatic welding of the second zone 2. Finally, the third zone 3 between the first and second zones 2 is manually welded, completing the welding of the intersecting double oblique cylindrical surface structure inside the shell. Most areas are automatically welded using the robotic arm driving the welding gun, replacing manual welding, resulting in high welding quality. The third zone 3, which accounts for a smaller proportion, is located between the first and second zones 2. Manual welding only requires connecting the first and second zones 2, using the first and second zones 2 as reference surfaces, reducing welding difficulty and improving welding quality.

[0056] Specifically, such as Figure 3 As shown, Figure 3 This is a top view. Layers α1 to αn have similar shapes, each including arcs corresponding to the cylinders on either side and an arc corresponding to the teardrop-shaped structure in the middle. The arcs corresponding to the cylinders are approximately semicircles, while the arcs corresponding to the teardrop-shaped structure can be approximated as straight lines due to their short distance. Figure 4 As shown, Figure 4 The front view shows that each layer from β1 to βn has a similar shape, all being arc-shaped with the same curvature. After the welding in the third zone 3 is completed, a laser rangefinder can be used to inspect and grind the intersection of the double oblique cylinders. Other areas inside the pump housing 1 can be welded using conventional methods, and the welding torch can be inserted from the through holes above, in front, and behind the pump housing 1.

[0057] Optionally, such as Figure 4 and Figure 6 As shown, any layer from α1 to αn includes, in sequence, arc GI, line segment IK, line segment KJ, arc JH, line segment HA, and line segment AG, wherein line segment IK and line segment KJ are on the same straight line, and line segment HA and line segment AG are on the same straight line. Step S2 includes:

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

[0059] S22. Move the welding torch up by h1 and deposit layer α2 in the above order;

[0060] S23. Follow the above steps to weld up to layer αn.

[0061] In this embodiment, each of the layers α1 to αn 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 teardrop-shaped structure in the positive Y-axis direction, and the line segments IK and KJ corresponding to the teardrop-shaped structure in the negative Y-axis direction. Starting from point A, the welding proceeds counterclockwise, sequentially welding line segments AG, arc GI, line segments IK, line segments KJ, arc JH, and line segments HA to complete the welding of layer α1. The welding gun is then moved upward by h1, and layer α2 is welded in the same order. The welding gun is then moved upward by h1 until layer αn is welded, completing the welding of the first region.

[0062] Specifically, h1 is selected between 5 mm and 8 mm depending on the actual working conditions.

[0063] Optionally, such as Figure 4 and Figure 7 As shown, step S21 includes:

[0064] S211. The robotic arm extends into the pump housing 1 through the upper through hole and stops at the center point O of the α1 layer. The welding head of the welding gun is located at point A.

[0065] S213. Starting from point A, the robotic arm drives the welding torch to move a distance h2 along the AG direction to deposit the line segment AG.

[0066] S214. The robotic arm drives the welding torch to rotate 180 degrees counterclockwise in the horizontal plane to deposit the arc GI.

[0067] S215. The robotic arm drives the welding torch to move a distance of 2h2 along the IK direction to deposit the line segment IK and the line segment KJ.

[0068] S216. The robotic arm drives the welding torch to rotate 180 degrees counterclockwise in the horizontal plane to deposit the arc JH.

[0069] S217. The robotic arm drives the welding torch to move a distance h2 along the HA direction to deposit the line segment HA.

[0070] In this embodiment, the robotic arm is first inserted into the pump housing 1 through the through hole above the pump housing 1 and stops at the center point O of the α1 layer. The welding head of the welding gun is stopped at the starting point of the welding, point A. The robotic arm drives the welding gun to move h2 along the AG direction, where h2 is the offset distance of the cylinder relative to point O. The lengths of line segments IK, KJ, HA, and AG are all h2. Then, the robotic arm is controlled to drive the welding gun to rotate 180 degrees counterclockwise in the horizontal plane to weld arc GI. Next, the robotic arm is controlled to drive the welding gun to move a distance of 2h2 along the IK direction to weld line segments IK and KJ. Then, the robotic arm is controlled to drive the welding gun to rotate 180 degrees counterclockwise in the horizontal plane to weld arc JH. Finally, the robotic arm is controlled to drive the welding gun to move a distance of h2 along the HA direction to weld line segment HA, thus completing the welding of the α1 layer.

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

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

[0073] S212. Detect the length of the line segment HG, where h2 is half the length of the line segment HG.

[0074] In this embodiment, points H and G are points that specifically exist at the edge of the teardrop-shaped structure. Point A is the midpoint of line segment HG. 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 torch head is equipped with a laser rangefinder, which is used to measure the length of line segment HG.

[0076] In this embodiment, by setting a laser rangefinder at the head of the welding torch, it is convenient to measure the maximum distance between the welding torch tip and the inner wall of the pump casing 1.

[0077] Optionally, step S3 includes:

[0078] S31. The robotic arm drives the welding head to move until the lower end of the welding head stops at the contact point P;

[0079] S32. 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 Y-axis direction, and record it as S1. Identify the intersection with the top surface of the cylinder on the right side, and record it as T1. The robot arm drives the welding gun to rotate clockwise and weld the corresponding area in the negative Y-axis direction around the area enclosed by the circumferential welding points P, S1 and T1 in the second area 2, in accordance with the above steps, to complete the welding of the β1 layer.

[0080] S33. Move the welding gun upwards by h32, identify the intersection of the horizontal plane where the upper end of the welding head is located in the positive Y-axis direction with the top surface of the cylinder on the left, and record it as S2. The intersection of the horizontal plane with the top surface of the cylinder on the right is recorded as T2. The robot arm drives the welding gun to rotate clockwise, and welds the corresponding area in the negative Y-axis direction around the area enclosed by the circumferential welding points S2, S1, T1 and T2 in the second area 2, in accordance with the above steps, to complete the β2 layer welding.

[0081] S34. Following the steps above, move the welding torch upwards by h3n and sequentially deposit it onto the βn layer.

[0082] In this embodiment, after welding, the surfaces formed in the second region 2 in both the positive and negative Y-axis directions are arc surfaces. The two arc surfaces have the same shape, and their projections onto the X and Z axis planes are both triangular structures, which can be approximated as triangle PMN. Point M is the point farthest from point P on the top surface of the left cylinder, and point N is the point farthest from point P on the top surface of the right cylinder. The second region is divided into layers from bottom to top, and each layer contains two parts: one facing the positive Y-axis and the other facing the negative Y-axis. During welding, the part facing the positive Y-axis is welded first, followed by the part facing the negative Y-axis. For the negative Y-axis region, the specific procedure is as follows: The robotic arm moves the welding head until its lower end stops at point P. The intersection of the upper end of the welding head and the top surface of the left cylinder in the positive Y-axis direction is 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 Y-axis direction is recorded as T1. The area enclosed by points P, S1, and T1 is the region corresponding to layer β1 in the positive Y-axis direction. The robotic arm is then controlled to rotate the welding torch clockwise, circumferentially depositing welds around the area enclosed by points P, S1, and T1 in the second zone 2. To complete the welding of layer β1 in the positive Y-axis direction, the same steps are followed to deposit welds on the area of ​​layer β1 in the negative Y-axis direction to complete the deposit of layer β1. The robotic arm moves the welding torch upwards by h32, which is the height of layer β1. At this time, the lower end of the welding torch is on the same horizontal line as points S1 and T1. The intersection of the upper end of the welding torch and the top surface of the left cylinder in the positive Y-axis direction can be recorded as S2, and the intersection of the upper end of the welding torch and the top surface of the right cylinder in the positive Y-axis direction can be recorded as T2. Points S2, S1, T1, and T2 enclose... The area formed is the area corresponding to the positive Y-axis direction of layer β2. The robot arm is controlled to drive the welding gun to rotate clockwise and weld around the area enclosed by welding points S2, S1, T1 and T2 in the second zone 2 to complete the welding of layer β2 in the positive Y-axis direction. Then, the area of ​​layer β2 in the negative Y-axis direction is welded according to the above steps to complete the welding of layer β2. The welding gun is moved sequentially from h33, h34 to h3n according to the above steps, that is, the height of layer β2, layer β3 to layer βn-1, to complete the welding of layer β3 to layer βn.

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

[0084] Optionally, such as Figure 4 As shown, h32 = PS1 * Sin∠PNM, and h3n = S n S n-1 *Sin∠PNM.

[0085] In this embodiment, h32 is the distance the robot moves the welding torch upward after welding layer β1, and h32 is the height of layer β1. h3n is the height of layer βn-1. Since the projection of the second region onto the X-axis and Z-axis planes is a triangle, it can be approximated as △PMN. The projections of points S2, S1, T1, and T2 onto the X-axis and Z-axis planes all lie on △PMN. PS1 is the length of line segment PS1 on △PMN. n S n-1 That is, on triangle PMN, line segment S n S n-1 The length of the welding torch can be calculated by the distance the torch rises during the second zone 2 of the welding process. For example, h32 = PS1 * Sin∠PNM, h3n = S n S n-1 *Sin∠PNM, where ∠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, the welding head is equipped with a laser rangefinder and a welding camera, the laser rangefinder and the welding camera being used to measure the length from PS1 to SnSn-1.

[0087] In this embodiment, by setting a laser rangefinder and a welding camera on the welding head, the laser rangefinder is used as a laser range meter, which facilitates the identification of the edges PS1 to S of each layer after the second zone is layered. n S n-1 The length of the welding camera is limited in the vertical direction, so the area captured 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 region and the second region 2 are overlaid using TIG additive manufacturing.

[0089] In this embodiment, the first and second zones 2 are overlaid using TIG (Tungsten Inert Gas Welding) additive manufacturing, thereby improving the accuracy and safety of automated welding.

[0090] Another embodiment of the present invention provides a pump casing double-oblique cylindrical intersecting surface overlay welding device for implementing the above-mentioned pump casing double-oblique cylindrical intersecting surface overlay welding method.

[0091] Compared with the prior art, the beneficial effects of the pump casing double oblique cylindrical intersecting surface overlay welding device in this embodiment are roughly the same as the beneficial effects of the above-described pump casing double oblique cylindrical intersecting surface overlay welding method, and will not be repeated here.

[0092] While the present invention has been disclosed above, its scope of protection is not limited thereto. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the present invention, and all such changes and modifications will fall within the scope of protection of the present invention.

Claims

1. A method for overlaying welding the intersecting surfaces of double oblique cylindrical surfaces of a pump casing, characterized in that, Includes the following steps: S1. Using the two cylindrical contact points and the top surface of the cylinder as boundaries, the target intersection surface is divided into a first region located below the contact point P, a second region located above the top surface of the cylinder (2), and a third region located between the contact point P and the top surface of the cylinder (3). S2. The first area is divided into layers in the vertical direction, from bottom to top, denoted as layer α1 to layer αn, with a distance of h1 between each layer. The robotic arm drives the welding gun to sequentially deposit the layers α1 to αn from bottom to top. S3. The second region (2) is divided into layers in the vertical direction, from bottom to top, and is referred to as layer β1 to layer βn. The robotic arm drives the welding gun to sequentially deposit layer β1 to layer βn from bottom to top. S4. Manually weld the third zone (3).

2. The method for overlaying welds on the intersecting surfaces of double oblique cylindrical surfaces of a pump casing according to claim 1, characterized in that, Each of the α1 to αn layers includes, in sequence, an arc GI, a line segment IK, a line segment KJ, an arc JH, a line segment HA, and a line segment AG, wherein line segment IK and line segment KJ are on the same straight line, and line segment HA and line segment AG are on the same straight line. Step S2 includes: S21, the welding torch sequentially deposits the line segment AG, the arc GI, the line segment IK, the line segment KJ, the arc JH and the line segment HA of the α1 layer; S22. Move the welding torch up by h1 and deposit layer α2 in the above order; S23. Follow the above steps to weld up to layer αn.

3. The method for overlaying welds on the intersecting surfaces of double oblique cylindrical surfaces of a pump casing according to claim 2, characterized in that, Step S21 includes: S211. The robotic arm extends into the pump housing (1) through the upper through hole and stops at the center point O of the α1 layer. The welding head of the welding gun is located at point A. S213. Starting from point A, the robotic arm drives the welding torch to move a distance h2 along the AG direction to deposit the line segment AG. S214. The robotic arm drives the welding torch to rotate 180 degrees counterclockwise in the horizontal plane to deposit the arc GI. S215. The robotic arm drives the welding torch to move a distance of 2h2 along the IK direction to deposit the line segment IK and the line segment KJ. S216. The robotic arm drives the welding torch to rotate 180 degrees counterclockwise in the horizontal plane to deposit the arc JH. S217. The robotic arm drives the welding torch to move a distance h2 along the HA direction to deposit the line segment HA.

4. The method for overlaying welds on the intersecting surfaces of double-oblique cylindrical pump casings according to claim 3, characterized in that, Following step S211, the method further includes: S212. Detect the length of the line segment HG, where h2 is half the length of the line segment HG.

5. The method for overlaying welds on the intersecting surfaces of double-oblique cylindrical pump casings according to claim 3, characterized in that, The welding torch head is equipped with a laser rangefinder, which is used to measure the length of the line segment HG.

6. The method for overlaying welds on the intersecting surfaces of double-oblique cylindrical pump casings according to claim 3, characterized in that, Step S3 includes: S31. The robotic arm drives the welding head to move until the lower end of the welding head stops at the contact point P; S32. Identify the intersection of the upper end of the welding head with the top surface of the cylinder on the left side in the positive Y-axis direction, and record it as S1. Identify the intersection with the top surface of the cylinder on the right side, and record it as T1. The robot arm drives the welding gun to rotate clockwise to weld the corresponding area in the negative Y-axis direction around the area enclosed by the circumferential welding points P, S1 and T1 of the second area (2) in accordance with the above steps to complete the welding of the β1 layer. S33. Move the welding gun upwards and identify the intersection of the horizontal plane where the upper end of the welding head is located in the positive Y-axis direction with the top surface of the cylinder on the left, denoted as S2, and the intersection with the top surface of the cylinder on the right, denoted as T2. The robot arm drives the welding gun to rotate clockwise to weld the corresponding area in the negative Y-axis direction around the area enclosed by the circumferential welding points S2, S1, T1 and T2 of the second area (2) in accordance with the above steps to complete the β2 layer welding. S34. Following the steps above, move the welding torch upwards by h3n and sequentially deposit it onto the βn layer.

7. The method for overlaying welds on the intersecting surfaces of double-oblique cylindrical pump casings according to claim 6, characterized in that, h32 = PS1 * Sin∠PNM, h3n = S n S n-1 *Sin∠PNM.

8. The method for overlaying welds on the intersecting surfaces of double-oblique cylindrical pump casings according to claim 6, characterized in that, The welding head is equipped with a laser rangefinder and a welding camera. 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 overlaying welds on the intersecting surfaces of double oblique cylindrical surfaces of a pump casing according to claim 1, characterized in that, The first region and the second region were overlaid using TIG additive manufacturing (2).

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