A method for welding a vertical t-joint under a package angle by a welding robot

Abstract

The application provides a welding robot welding vertical T joint under the wrap angle method, relates to the welding field, and the method comprises the following steps: measuring the thickness of a web plate by using a welding robot; measuring and determining the coordinates of the web plate and the connecting end of a bottom plate by using the welding robot, determining an initial welding arc starting point position, and planning a welding path; the welding robot starts welding according to the initial welding arc starting point position and the welding path, sets a plurality of arc starting point positions and arc extinguishing point positions on the welding motion track, executes the arc starting instruction and the arc extinguishing instruction on the same point position, and stops for 0.3-0.6 seconds, until the point position moves to the outside of the plate thickness, the welding torch moves upward to the vertical upward welding arc starting point position, and the vertical upward welding program is executed. The application is used for solving the welding robot welding vertical T joint under the wrap angle welding problem and avoiding interference.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of welding, and particularly relates to a welding robot welding vertical T-shaped joint lower included angle method. BACKGROUND

[0002] At present, ship structures are usually divided into small assembly, medium assembly and large assembly parts during shipbuilding, and are combined at the stages of section assembly, total assembly and loading, and the joint forms are usually T-shaped and butt joint, and the T-shaped joint is mainly divided into vertical and horizontal directions.

[0003] The existing T-shaped joint lower included angle process method is designed for an open structure at the lower end, and the total assembly loading stage has a bottom plate structure at the lower end of the vertical T-shaped joint, and when the existing welding robot welding included angle process construction is adopted, the welding gun will interfere with the bottom plate, for example, Figure 1 The structure form causes welding to be unreachable, and conventional welding processes cannot be used for welding, and generally, welding is left for processing, and manual repair welding is performed subsequently. Therefore, it is urgent to research a welding robot welding vertical T-shaped joint lower included angle method.

[0004] Therefore, how to provide a welding robot welding vertical T-shaped joint lower included angle method has become a technical problem to be solved in the field. SUMMARY

[0005] The application aims to provide a welding robot welding vertical T-shaped joint lower included angle method.

[0006] The application provides a welding robot welding vertical T-shaped joint lower included angle method, which comprises,

[0007] The vertical T-shaped joint comprises a web plate, a face plate and a bottom plate, the bottom plate is arranged vertically with the face plate, the web plate is arranged vertically with the face plate and the bottom plate respectively, and the web plate is cut at a contact position with the face plate and the bottom plate to form a lower included angle, and the method comprises the following steps.

[0008] Step S1: measuring the thickness of the web plate by using a welding robot;

[0009] Step S2: measuring and determining the coordinates of the web plate and the bottom plate connection end by using a welding robot, determining the initial welding arc starting point position, and planning the welding path;

[0010] Step S3: starting welding according to the initial welding arc starting point position and the welding path of the welding robot, setting multiple arc starting point positions and arc extinguishing point positions on the welding motion track, executing the arc starting instruction and the arc extinguishing instruction on the same point position, and pausing for 0.3-0.6 seconds, until the point position moves to the outside of the plate thickness, the welding gun is moved upward to the vertical upward welding arc starting point position, and the vertical upward welding program is executed.

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

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

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

[0014] Optionally, the horizontal angle between the welding torch on the welding robot and the bottom plate during welding is 5°.

[0015] Optionally, the angle between the welding torch on the welding robot and the panel and the web during welding is 45°.

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

[0017] Optionally, the planned welding path includes planning a fillet welding motion path, determining the arc starting point and the arc extinguishing point, setting the welding torch attitude angle, and setting the welding parameters.

[0018] Optionally, according to the thickness of the web and the information of the initial welding arc starting point, the fillet welding path is determined, and the welding torch moves along the path.

[0019] Optionally, the welding torch does not rotate relative during movement at each arc starting point.

[0020] As can be seen from the above scheme, the embodiment of the present application provides a method for welding a vertical T-shaped joint lower fillet angle by a welding robot, which has the following beneficial effects:

[0021] The method of the present application overcomes the problem that the welding torch interferes with the bottom plate and other structures during the construction of the existing welding fillet angle process, resulting in welding unavailability and the need for manual repair welding, greatly improving the accessibility of the welding robot and the quality of the T-shaped joint lower fillet angle. BRIEF DESCRIPTION OF DRAWINGS

[0022] Figure 1 A welding robot welding vertical T-shaped joint lower fillet angle method flowchart is provided according to the embodiment;

[0023] Figure 2 A front view of the vertical T-shaped joint lower fillet angle posture in a welding robot welding vertical T-shaped joint lower fillet angle method according to the embodiment is provided;

[0024] Figure 3 A C-C sectional view of Figure 2 ;

[0025] Figure 4This is a top view of the lower wrap angle posture of the vertical T-joint in a welding robot welding method for welding the lower wrap angle of a vertical T-joint according to an embodiment;

[0026] Figure 5 for Figure 3 A magnified view of point E in the image;

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

[0028] Explanation of reference numerals in the attached figures:

[0029] 1-Welding torch, 2-Body plate, 3-Face plate, 4-Bottom plate, 5-Lower corner guard. Detailed Implementation

[0030] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of the embodiments of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. Based on the embodiments of this invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this invention.

[0031] Example 1:

[0032] In view of the shortcomings of the prior art described above, such as Figure 6 As shown, the technical problem to be solved by the present invention is to provide a method for welding the lower wrap angle of a vertical T-joint on a ship using a welding robot, which is used to solve the problem of the lower wrap angle when welding a vertical T-joint using a welding robot. The present invention provides a method for welding the lower wrap angle of a vertical T-joint using a welding robot, as follows: Figure 1 As shown, the vertical T-joint includes a web 2, a face plate 3, and a bottom plate 4. The bottom plate 4 is perpendicular to the face plate 3, and the web 2 is perpendicular to both the face plate 3 and the bottom plate 4. A wrap angle 5 is cut at the contact point between the web 2 and the face plate 3 and the bottom plate 4 to form a lower wrap angle 5. The method includes:

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

[0034] The welding robot is equipped with a laser sensor, which measures the thickness of the web plate 2.

[0035] Step S2: Use a welding robot to measure and determine the coordinates of the connection end between the web plate 2 and the base plate 4, determine the initial welding arc starting point, and plan the welding path;

[0036] The initial welding arc initiation point is set at the middle position above the thickness of the lower wrap angle of the web 2.

[0037] The planning welding path includes planning a fillet welding motion path, determining an arc starting point and an arc extinguishing point, setting a welding gun attitude angle, and setting welding parameters.

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

[0039] Step S3: The welding robot starts welding according to the initial welding arc starting point and the welding path, sets multiple arc starting points and arc extinguishing points on the welding motion trajectory, executes the arc starting command and the arc extinguishing command 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 upward welding arc starting point, and executes the vertical upward welding program; the distance between the multiple arc starting points is 2-4 mm, preferably 2 mm; the welding gun does not rotate relative during movement at 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 angle between the welding gun on the welding robot and the panel 3 and the web plate 2 is set to 45°.

[0042] The method of the present application overcomes the problem that the welding gun interferes with the bottom plate and other structures during the construction of the existing fillet welding process, resulting in welding unavailability and the need for manual repair welding, greatly improving the accessibility of the welding robot and the quality of the lower fillet of the T joint. Therefore, the present application effectively overcomes the various shortcomings in the prior art and has high industrial utilization value.

[0043] Example 2:

[0044] The present application provides a method for welding a vertical T joint lower fillet of a ship by a welding robot, which is used to solve the problem of welding a vertical T joint lower fillet by a welding robot. As shown in Figures 2-4 The web plate 2 and the panel 3 are vertically installed on the bottom plate 4, the web plate 2 and the panel 3 are perpendicular to each other, and the T joint with a right angle between the web plate 2 and the panel 3 is a vertical direction weld when the ship is built.

[0045] The vertical T joint lower fillet welding method includes:

[0046] S1: Measure the plate thickness information: the welding robot driven by the program measures the thickness information of the web plate 2 using a laser sensor or the like. Different web plate 2 thicknesses determine the planning of the fillet trajectory, the determination of the arc starting / arc extinguishing point, and the retrieval of the welding process parameters;

[0047] S2: Welding seam end positioning: the welding robot driven by the program measures the position coordinates of the lower end P5 point of the vertical web plate 2 using a laser sensor or a touch sensor, as shown inFigure 5 P5 point shown;

[0048] Planning the package corner welding movement path: according to the web plate 2 thickness size, end position P5 point coordinates and other information, from the web plate 2 thickness center point P1 position to the outside of the plate thickness, then moving up to the web plate 2 end point P5, confirming the package corner welding path, the welding torch moves along the path, as shown in Figure 5 ;

[0049] S3 determines the arc starting / arc extinguishing point: in order to ensure good package corner forming quality, multiple arc starting / arc extinguishing points are set on the welding movement trajectory, the welding torch 1 executes the arc starting and arc extinguishing instructions at the same point and stops for about 0.5 seconds of welding time. The first arc starting / arc extinguishing point is at the web plate 2 center position P1, the welding torch 1 starts arc at P1 point and stays for 0.5 seconds of welding and then extinguishes the arc; the welding torch 1 moves 2mm to the outside to the second arc starting / arc extinguishing point P2, starts arc and stays for 0.5 seconds of welding and then extinguishes the arc; the welding torch 1 moves 2mm to the outside to the third arc starting / arc extinguishing point P3, starts arc and stays for 0.5 seconds of welding and then extinguishes the arc; repeat the above operation until P4 point moves to the outside of the plate thickness, the welding torch 1 moves up to the vertical upward welding arc starting point P5, executes the vertical upward welding program, as shown in Figure 5 ;

[0050] Setting the welding torch attitude angle: before the welding torch 1 is lowered, the welding torch is adjusted to the appropriate angle according to the preset attitude program, which should be able to reach each arc starting / arc extinguishing point and ensure that the welding torch 1 does not interfere with the base plate 4, panel 3, web plate 2 and other structures, and at the same time, the welding torch 1 does not rotate relatively during movement at each arc starting point, in order to reduce the welding robot welding difficulty and improve the overall stability. In order to achieve the above purpose, the horizontal angle between the welding torch 1 and the base plate 4 is set to 5°, and the angle between the welding torch 1 and the web plate 2 and panel 3 is set to 45°, and the welding torch attitude at this angle is preset as a fixed welding attitude, as shown in Figure 2 , Figure 4 ;

[0051] Setting welding parameters: according to the plate thickness size and the design requirement of the welding angle height size, different welding current, voltage, dwell time, etc. are set, and corresponding parameter information is directly called during welding;

[0052] Executing the welding program: the welding torch 1 is adjusted to the welding attitude required in S5, runs to the starting point P1 of the welding path, matches the welding parameters, and completes the welding and movement of each point in turn, until the package corner and vertical upward work of the entire weld are completed.

[0053] In summary, the present application provides a welding robot welding ship vertical T joint under the package angle method, including measuring plate thickness information, weld end positioning, planning package angle welding motion path, determining the arc starting / extinguishing point, setting the welding gun posture angle, setting the welding parameters and other contents. For solving the problem of welding robot welding vertical T joint under the package angle welding.

[0054] The above is the preferred embodiment of the present application, it should be pointed out that, for those skilled in the art, without departing from the principles of the present application, can make a number of improvements and refinements, these improvements and refinements should also be considered as the protection scope of the present application.

Claims

1. A method for welding a vertical T-joint with a lower wrap angle using a welding robot, wherein the vertical T-joint includes a web, a face plate, and a base plate, the base plate being perpendicular to the face plate, the web being perpendicular to both the face plate and the base plate, and a wrap angle is cut at the contact point between the web and the face plate and the base plate to form a lower wrap angle, characterized in that... The method includes: Step S1: Measure the thickness of the web using a welding robot; Step S2: Use a welding robot to measure and determine the coordinates of the connection end between the web plate and the base plate, determine the initial welding arc starting point, and plan the welding path; Step S3: The welding robot starts welding according to the initial welding arc starting point and welding path. Multiple arc starting points and arc extinguishing points are set on the welding motion trajectory. Arc starting and arc extinguishing commands are executed at the same point, and the pause time is 0.3-0.6 seconds until the point moves to the outside of the plate thickness. The welding torch moves upward to the vertical upward welding arc starting point and executes the vertical upward welding program.

2. The method for welding the lower wrap angle of a vertical T-joint using a welding robot according to claim 1, characterized in that, In step S1, the welding robot is equipped with a laser sensor to measure the thickness of the web plate.

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

4. The method for welding the lower wrap angle of a vertical T-joint using a welding robot according to claim 3, characterized in that, In step S3, the distance between the plurality of arc-starting points is 2-4 mm.

5. The method for welding the lower wrap angle of a vertical T-joint using a welding robot according to claim 4, characterized in that, During welding, the horizontal angle between the welding torch on the welding robot and the base plate is set to 5°.

6. The method for welding the lower wrap angle of a vertical T-joint using a welding robot according to claim 5, characterized in that, During welding, the angle between the welding torch, the panel, and the web plate on the welding robot is 45°.

7. The method for welding the lower wrap angle of a vertical T-joint using a welding robot according to claim 6, characterized in that, The distance between the multiple arc initiation points is 2mm.

8. The method for welding the lower wrap angle of a vertical T-joint using a welding robot according to claim 7, characterized in that, The planned welding path includes planning the corner welding motion path, determining the arc starting point and arc ending point, setting the welding torch posture angle, and setting the welding parameters.

9. The method for welding the lower wrap angle of a vertical T-joint using a welding robot according to claim 8, characterized in that, Based on the thickness of the web and the information of the initial arc starting point, the corner welding path is determined, and the welding torch moves along the path.

10. The method for welding the lower wrap angle of a vertical T-joint using a welding robot according to claim 9, characterized in that, The welding torch does not rotate relative to each arc-starting point during its movement.

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