Method for welding lower wrap angle of vertical T-shaped connector through welding robot

Abstract

The invention provides a method for welding a lower wrap angle of a vertical T-shaped connector through a welding robot, and relates to the field of welding. A welding robot is used for measuring and determining coordinates of the connecting end of the web and the bottom plate, an initial welding arcing point position is determined, and a welding path is planned; the welding robot starts welding according to the welding initial welding arc starting point and the welding path, a plurality of arc starting points and arc quenching points are arranged on the welding movement track, an arc starting instruction and an arc quenching instruction are executed on the same point, pause is conducted for 0.3-0.6 second till the points move to the outer side of the plate thickness, a welding gun moves upwards to the welding arc starting point in the vertical direction, and then welding is completed. And executing a vertical welding procedure. The method is used for solving the problem of welding the lower wrap angle of the vertical T-shaped joint by the welding robot, and interference is avoided.

Description

Technical Field

[0001] The invention belongs to the technical field of welding, and in particular relates to a method for welding a vertical T-joint bottom corner by a welding robot. Background Art

[0002] At present, during the construction process of ships, the hull structure is usually divided into small assemblies, medium assemblies, large assemblies and other components, which are combined in the segmentation, overall assembly and loading stages. The joints are usually T-type and butt-jointed, and T-type joints are mainly divided into two types: vertical and horizontal.

[0003] The existing T-joint angle wrapping process is designed for an open structure at the bottom. The bottom of the T-joint vertical joint has a bottom plate structure during the assembly stage. When the existing welding robot welding angle wrapping process is used, the welding gun will interfere with the bottom plate. Figure 1 The structural form makes welding inaccessible, and conventional welding processes cannot be used for welding. Generally, the welding process is left, and subsequent manual welding is performed. Therefore, it is urgent to develop a method for welding the lower corner of the vertical T-joint by a welding robot.

[0004] Therefore, how to provide a method for welding the lower corner of a vertical T-joint by a welding robot has become a technical problem that urgently needs to be solved in this field. Summary of the invention

[0005] The purpose of the invention is to provide a method for welding a vertical T-joint by a welding robot.

[0006] The present invention provides a method for welding a vertical T-joint bottom corner by a welding robot, comprising:

[0007] The vertical T-shaped joint comprises a web, a face plate and a bottom plate, wherein the bottom plate is arranged perpendicularly to the face plate, the web is arranged perpendicularly to the face plate and the bottom plate respectively, and a wrap angle is cut at the contact between the web, the face plate and the bottom plate to form a lower wrap angle, wherein the method comprises:

[0008] Step S1: using a welding robot to measure the thickness of the web;

[0009] Step S2: using a welding robot to measure and determine the coordinates of the connecting ends of the web and the bottom plate, determine the initial welding arc starting point, and plan the welding path;

[0010] Step S3: The welding robot starts welding according to the initial arc starting point and welding path, sets multiple arc starting points and arc extinguishing points on the welding motion trajectory, executes arc starting instructions and arc extinguishing instructions at the same point, and pauses for 0.3-0.6 seconds until the point moves to the outside of the plate thickness, and the welding gun moves upward to the vertical welding arc starting point to execute the vertical upward welding program.

[0011] Optionally, in step S1, the welding robot is provided with a laser sensor, and the thickness of the web is measured by the laser sensor.

[0012] Optionally, in step S2, the initial welding arc starting point is set at a point in the middle of the upper side of the thickness of the lower wrap angle of the web.

[0013] Optionally, in step S3, the distance between the multiple arc starting points is 2-4 mm.

[0014] Optionally, during welding, the horizontal angle between the welding gun on the welding robot and the base plate is set to 5°.

[0015] Optionally, during welding, the included angles between the welding gun on the welding robot and the panel and the web are all set to be 45°.

[0016] Optionally, the distance between the multiple arc starting points is 2 mm.

[0017] Optionally, the planning of the welding path includes planning the corner welding motion path, determining the arc starting point and the arc extinguishing point, setting the welding gun posture angle, and setting welding parameters.

[0018] Optionally, the fillet welding path is determined based on the thickness of the web and the information of the initial welding arc starting point, and the welding gun moves along the path.

[0019] Optionally, the welding gun does not rotate relative to each other during the movement of each arc starting point.

[0020] It can be seen from the above scheme that the embodiment of the present invention provides a method for welding a vertical T-joint bottom corner by a welding robot, which has the following beneficial effects:

[0021] The method of the present application overcomes the problem that during the construction of the existing welding angle wrap process, the welding gun will interfere with the structure such as the base plate, resulting in welding being unreachable and requiring manual repair welding, thereby greatly improving the welding accessibility of the welding robot and the quality of the angle wrap under the T-joint. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 A schematic flow chart of a method for welding a vertical T-joint bottom corner by a welding robot according to an embodiment;

[0023] Figure 2 A front view of a vertical T-joint lower angle wrapping posture in a method for welding a vertical T-joint lower angle wrapping by a welding robot provided according to an embodiment;

[0024] Figure 3 for Figure 2 CC section view;

[0025] Figure 4A top view of the posture of the lower corner wrapping of a vertical T-joint in a method for welding the lower corner wrapping of a vertical T-joint by a welding robot provided according to an embodiment;

[0026] Figure 5 for Figure 3 A local enlarged view of point E in FIG.

[0027] Figure 6 This is a schematic diagram of a vertical T-joint with an open lower end and a bottom plate.

[0028] Description of reference numerals:

[0029] 1- welding gun, 2- belly plate, 3- face plate, 4- bottom plate, 5- lower corner. DETAILED DESCRIPTION

[0030] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution in the embodiment of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiment of the present invention. Obviously, the described embodiment is a part of the embodiment of the present invention, not all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0031] Embodiment 1:

[0032] In view of the above-mentioned shortcomings of the prior art, Figure 6 As shown, the technical problem to be solved by the present invention is to provide a method for welding a vertical T-joint of a ship by a welding robot, which is used to solve the problem of welding a vertical T-joint by a welding robot. The present invention provides a method for welding a vertical T-joint by a welding robot, such as Figure 1 As shown, the vertical T-joint comprises a web 2, a panel 3 and a bottom plate 4, wherein the bottom plate 4 is arranged perpendicularly to the panel 3, the web 2 is arranged perpendicularly to the panel 3 and the bottom plate 4 respectively, and a wrap angle 5 is cut at the contact between the web 2 and the panel 3 and the bottom plate 4 to form a lower wrap angle 5: the method comprises:

[0033] Step S1: using a welding robot to measure the thickness of the web 2;

[0034] The welding robot is provided with a laser sensor, and the thickness of the web 2 is measured by the laser sensor;

[0035] Step S2: using a welding robot to measure and determine the coordinates of the connecting ends of the web 2 and the bottom plate 4, determine the initial welding arc starting point, and plan the welding path;

[0036] The initial welding arc starting point is set at the middle position of the upper side of the thickness of the lower wrap angle of the web 2;

[0037] The planning of the welding path includes planning the corner welding motion path, determining the arc starting point and the arc extinguishing point, setting the welding gun posture angle, and setting the welding parameters.

[0038] According to the thickness of the web 2 and the information of the initial welding arc starting point, the fillet welding path is determined, and the welding gun moves along the path.

[0039] Step S3: The welding robot starts welding according to the initial arc starting point and welding path, sets multiple arc starting points and arc extinguishing points on the welding motion trajectory, executes arc starting instructions and arc extinguishing instructions at the same point, and pauses for 0.3-0.6 seconds, preferably about 0.5 seconds; until the point moves to the outside of the plate thickness, the welding gun moves upward to the vertical welding arc starting point, and executes the vertical welding procedure; the distance between the multiple arc starting points is 2-4mm, preferably 2mm; the welding gun does not rotate relative to each other during the movement of each arc starting point.

[0040] During welding, the horizontal angle between the welding gun on the welding robot and the bottom plate 4 is set to 5°.

[0041] During welding, the included angles between the welding gun on the welding robot and the panel 3 and the web 2 are all set to be 45°.

[0042] The method of the present application overcomes the problem that the welding gun will interfere with the structure such as the bottom plate during the existing welding angle wrapping process, resulting in the problem that welding is not accessible and requires manual repair welding, and greatly improves the accessibility of welding robots and the quality of the angle wrapping under the T-joint. Therefore, the present invention effectively overcomes various shortcomings in the existing technology and has a high industrial utilization value.

[0043] Embodiment 2:

[0044] The present invention provides a method for welding a vertical T-joint on a ship by a welding robot, which is used to solve the problem of welding a vertical T-joint on a ship by a welding robot. Figure 2-Figure 4 As shown, the web 2 and the face plate 3 are vertically installed on the bottom plate 4, the web 2 and the face plate 3 intersect vertically, and during construction, the bottom plate 4 is used as the base surface, and the T-joint where the web 2 and the face plate 3 intersect at right angles is a vertical weld.

[0045] The welding methods for the lower corner of the vertical T-joint include:

[0046] S1 Determine the plate thickness information: The program drives the welding robot to use laser and other sensors to measure the thickness information of the web 2. Different web 2 thicknesses determine the wrap angle trajectory planning, arc start / arc extinction point determination, and welding process parameter retrieval;

[0047] S2 Weld end position finding: The program drives the welding robot to use a laser sensor or a touch sensor to measure the position coordinates of point P5 at the lower end of the vertical web 2, such as Figure 5 Point P5 is shown;

[0048] Plan the movement path of the fillet welding: According to the thickness of the web 2 and the coordinates of the end position P5, move outward from the center point P1 of the web 2 thickness to the outside of the thickness, and then move upward to the end point P5 of the web 2, confirm the fillet welding path, and move the welding gun along the path, such as Figure 5 As shown;

[0049] S3 Determine the arc starting / arc extinguishing point: In order to ensure good wrap angle forming quality, multiple arc starting / arc extinguishing points are set on the welding motion trajectory. The welding gun 1 executes the arc starting and arc extinguishing instructions at the same point and pauses for about 0.5 seconds for welding. The first arc starting / arc extinguishing point is at the center position P1 of the web 2. The welding gun 1 starts the arc at point P1 and stays for 0.5 seconds to weld and then extinguishes the arc; the welding gun 1 moves 2mm outward to the second arc starting / arc extinguishing point P2 to start the arc and stay for 0.5 seconds to weld and then extinguish the arc; the welding gun 1 moves 2mm outward to the third arc starting / arc extinguishing point P3 to start the arc and stay for 0.5 seconds to weld and then extinguish the arc; repeat the above operations until point P4 moves to the outside of the plate thickness, and the welding gun 1 moves upward to the vertical upward welding arc starting point P5, and executes the vertical upward welding procedure, such as Figure 5 As shown;

[0050] Set the welding gun posture angle: Before lowering the welding gun 1, adjust the welding gun to a suitable angle according to the preset posture program. This angle must be able to reach each arc starting / extinguishing point, and ensure that the welding gun 1 does not interfere with the bottom plate 4, panel 3, web 2 and other structures. At the same time, the welding gun 1 does not rotate relative to each other during the movement of each arc starting point, so as to reduce the welding difficulty of the welding robot and improve the overall stability. In order to achieve the above purpose, set the horizontal angle between the welding gun 1 and the bottom plate 4 to 5°, and the angle between the welding gun 1 and the web 2 and panel 3 to 45°. The welding gun posture at this angle is preset as a fixed welding posture, such as Figure 2 , Figure 4 As shown;

[0051] Set welding parameters: according to the plate thickness and the weld angle height required by the design, set different welding currents, voltages, dwell times, etc., and directly call the corresponding parameter information during welding;

[0052] Execute the welding procedure: adjust the welding gun 1 to the welding posture required by S5, move to the starting point P1 of the welding path, match the welding parameters, and complete the welding and movement of each point in turn until the corner wrapping and vertical operation of the entire weld are completed.

[0053] In summary, the present invention provides a method for welding the lower corner of a vertical T-joint of a ship by a welding robot, including measuring plate thickness information, finding the position of the weld end, planning the motion path of the corner welding, determining the arc start / arc extinction point, setting the welding gun posture angle, setting welding parameters, etc. It is used to solve the problem of lower corner welding of a vertical T-joint by a welding robot.

[0054] The above are preferred embodiments of the present invention. It should be pointed out that, for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be regarded as within the scope of protection of the present invention.

Claims

1. A method for welding a vertical T-joint with a welding robot, wherein the vertical T-joint comprises a web, a panel and a bottom plate, wherein the bottom plate is vertically arranged with the panel, the web is vertically arranged with the panel and the bottom plate respectively, and a wrap angle is cut at the contact between the web, the panel and the bottom plate to form a lower wrap angle, characterized in that: The method comprises: Step S1: using a welding robot to measure the thickness of the web; Step S2: using a welding robot to measure and determine the coordinates of the connecting ends of the web and the bottom plate, determine the initial welding arc starting point, and plan the welding path; Step S3: The welding robot starts welding according to the initial arc starting point and welding path, sets multiple arc starting points and arc extinguishing points on the welding motion trajectory, executes arc starting instructions and arc extinguishing instructions at the same point, and pauses for 0.3-0.6 seconds until the point moves to the outside of the plate thickness, and the welding gun moves upward to the vertical welding arc starting point to execute the vertical upward welding program.

2. The method for welding a vertical T-joint with a welding robot according to claim 1, characterized in that: In step S1, a laser sensor is provided on the welding robot, and the thickness of the web is measured by the laser sensor.

3. The method for welding a vertical T-joint with a welding robot according to claim 2, characterized in that: In step S2, the initial welding arc starting point is set at a point in the middle of the upper side of the thickness of the lower wrap angle of the web.

4. The method for welding a vertical T-joint with a welding robot according to claim 3, characterized in that: In step S3, the distance between the multiple arc starting points is 2-4 mm.

5. The method for welding a vertical T-joint with a welding robot according to claim 4, characterized in that: When welding, set the horizontal angle between the welding gun and the base plate on the welding robot to 5°.

6. The method for welding a vertical T-joint with a welding robot according to claim 5, characterized in that: During welding, the welding gun on the welding robot is set at an angle of 45° to the panel and the web.

7. The method for welding a vertical T-joint with a welding robot according to claim 6, characterized in that: The distance between the multiple arc starting points is 2 mm.

8. The method for welding a vertical T-joint with a welding robot according to claim 7, characterized in that: The planning of the welding path includes planning the corner welding motion path, determining the arc starting point and the arc extinguishing point, setting the welding gun posture angle, and setting the welding parameters.

9. The method for welding a vertical T-joint with a welding robot according to claim 8, characterized in that: According to the thickness of the web and the information of the initial welding arc starting point, the fillet welding path is confirmed and the welding gun moves along the path.

10. The method for welding a vertical T-joint with a welding robot according to claim 9, characterized in that: The welding gun does not rotate relative to each other during the movement of each arc starting point.

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