Robot double-sided intelligent welding method for reinforcing ring in deep sea structural pipe

Abstract

The invention discloses a robot double-face intelligent welding method for a reinforcing ring in a deep sea structural pipe, and belongs to the technical field of robot welding. The robot double-face intelligent welding method comprises the following steps that the structural pipe is axially and horizontally placed and fixed through a tool clamp; a 45-degree K-shaped groove is formed in a ring body of the reinforcing ring, and the reinforcing ring is fixed to the interior of the structural pipe in a point mode; the two welding robots are arranged at the two ends of the structural pipe correspondingly. Each welding robot carries a welding gun to conduct backing welding on the gap groove; and after bottoming is completed, each welding robot carries two welding guns to fill and cover the gap grooves. And in the bottoming, filling and capping processes, the welding guns on the two sides arc at the same time. Efficient intelligent welding of the large and thick plate with the 45-degree K-shaped groove is achieved, parameters of the four welding guns are controlled in a unified mode, the groove gap and the groove size can be intelligently recognized, the angle between the welding guns can be adjusted, a laser scanning device is arranged, various severe assembly conditions are greatly solved, and the production efficiency is improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of robot welding, and in particular relates to a robot double-sided intelligent welding method for an internal reinforcement ring of a deep-sea structural pipe. Background Art

[0002] At present, when welding the reinforcing ring of a deep-sea structural pipe, the pipe body axis is placed vertically and the welding trolley is manually operated to weld the reinforcing ring body. The efficiency of single-sided welding is low and the workload of turning the workpiece is large. At the same time, the process is also limited. Usually, a single-sided groove is opened for single-sided welding. In this way, the main problem after welding is welding deformation. Under the action of welding stress, the welding deformation is obvious and cannot be corrected in most cases. Therefore, a high-efficiency and double-sided simultaneous welding method is developed to reduce the deformation after welding.

[0003] Therefore, it is urgent to design a robot double-sided intelligent welding method for the internal reinforcement ring of the deep-sea structural pipe to solve the above-mentioned problems. Summary of the invention

[0004] The purpose of the present invention is to provide a robot double-sided intelligent welding method for the internal reinforcement ring of a deep-sea structural pipe, which has the advantages of improving welding efficiency and welding quality and solves the problems mentioned in the background technology.

[0005] To achieve the above-mentioned purpose, the specific technical scheme of the robot double-sided intelligent welding method of the internal reinforcement ring of the deep-sea structure pipe of the present invention is as follows:

[0006] A robot double-sided intelligent welding method for an internal reinforcement ring of a deep-sea structural pipe comprises the following steps:

[0007] S1. Place the structural pipe axially and horizontally and fix it with a fixture;

[0008] S2. Open a 45° K-shaped groove on the reinforcing ring body to fix the reinforcing ring point to the inside of the structural pipe;

[0009] S3, two welding robots are placed at both ends of the structural pipe;

[0010] S4. Each welding robot uses a welding gun to perform base welding on the groove gap;

[0011] S5. After the base coating is completed, each welding robot uses two welding guns to fill and cover the groove gap;

[0012] S6. After welding is completed, turn off the protective gas and the welding power supply.

[0013] Furthermore, during the welding process, the reinforcing ring and the structural pipe rotate at a constant speed, and the welding guns carried by the welding robots on both sides always maintain a horizontal welding position.

[0014] Furthermore, the welding robot is equipped with a laser device. The line laser automatically finds and aligns with the center of the groove gap through the control system. The position of the welding gun is adjusted by adjusting the six axes of the robot. Before line laser welding, the groove is scanned to obtain the groove information, including the groove angle, groove gap and cross-sectional area.

[0015] Furthermore, the welding gun includes a first welding gun, a second welding gun, a third welding gun and a fourth welding gun, the first welding gun and the third welding gun are connected to the welding robot at the first direction end, the second welding gun and the fourth welding gun are connected to the welding robot at the second direction end, a collaborative communication line is connected between the welding machines connected to the first welding gun and the second welding gun, and a collaborative communication line is connected between the welding machines connected to the third welding gun and the fourth welding gun.

[0016] Further, in S4, the first welding gun and the second welding gun are used for base welding, and the interval between the first welding gun and the second welding gun is 20 mm to reduce interference between arcs. The parameters of the first welding gun are smaller than the parameters of the second welding gun during base welding, and the front gun swings during base welding, and the rear gun swings or does not swing.

[0017] Furthermore, the welding process is equipped with a line laser sensor and combined with the independently developed multi-layer and multi-pass welding technology. The actual groove information obtained by the laser, including the groove angle, gap and cross-sectional area, is used for offline weld planning. During the welding process, the dual-gun welding process parameters and the dual robots are coordinated and adaptively adjusted to avoid manual teaching of subsequent welds.

[0018] Furthermore, the welding wire angle of the first welding gun points to the positive welding direction for push welding, and the welding wire angle of the second welding gun points to the negative welding direction for pull welding to obtain a greater penetration depth.

[0019] Further, in S5, the first welding gun, the second welding gun, the third welding gun and the fourth welding gun are used for filling and capping, and the interval between the first welding gun and the second welding gun is 15 mm, the interval between the third welding gun and the fourth welding gun is 15 mm, and the first welding gun, the second welding gun, the third welding gun and the fourth welding gun are arced at the same time.

[0020] Furthermore, during filling, the welders on both sides of the workpiece use the same welding parameters to ensure the same heat input and reduce the deformation of the workpiece.

[0021] The present invention has the following advantages: the present invention realizes efficient welding of large thick plates with 45° K-type grooves, the parameters of four welding guns are controlled in a unified manner, the angles between the welding guns can be adjusted and the laser scanning device is provided, which greatly solves various severe assembly conditions and improves production efficiency. The problem of poor base fusion is solved by increasing the bottom penetration depth through the arcs on both sides during base fusion, the root cleaning process can be omitted, and the welding efficiency is improved. At the same time, the introduction of four wires significantly increases the deposition efficiency, further improving the welding efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 This is a schematic diagram of the relative positions of the welding gun and the workpiece during the base welding of the present invention;

[0023] Figure 2 This is a schematic diagram of the relative positions of the welding gun and the workpiece during filling welding and cap welding of the present invention;

[0024] Figure 3 This is a schematic diagram of the angles and spacings of two welding guns during filling and capping welding of the present invention;

[0025] Figure 4 It is a structural schematic diagram of an arbitrary section of a reinforcing ring workpiece of a deep-sea structural pipe according to the present invention along the axis of the workpiece;

[0026] Explanation of the markings in the figure: 1. structural tube; 2. reinforcement ring; 3. welding gun; 31. first welding gun; 32. second welding gun; 33. third welding gun; 34. fourth welding gun; 4. laser device. DETAILED DESCRIPTION

[0027] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0028] Those skilled in the art will appreciate that, although some embodiments herein include certain features included in other embodiments but not other features, the combination of features of different embodiments is meant to be within the scope of the present invention and form different embodiments. For example, in the claims, any one of the claimed embodiments may be used in any combination.

[0029] Please refer to the attached Figure 1 To Attachment Figure 4 The invention describes a robot double-sided intelligent welding method for an inner reinforcement ring of a deep-sea structure pipe.

[0030] At present, when welding the reinforcing ring of a deep-sea structural pipe, the pipe body axis is placed vertically and the welding trolley is manually operated to weld the reinforcing ring body. The efficiency of single-sided welding is low and the workload of turning the workpiece is large. At the same time, the process is also limited. Usually, a single-sided groove is opened for single-sided welding. In this way, the main problem after welding is welding deformation. Under the action of welding stress, the welding deformation is obvious and cannot be corrected in most cases. Therefore, a high-efficiency and double-sided simultaneous welding method is developed to reduce post-welding deformation. In addition, this method realizes the replacement of manual and efficient welding by robots, and one-button start is achieved during the welding process without manual intervention. The groove size is obtained by laser scanning, and an intelligent routing program is compiled to realize the double-sided double-arc bottoming and root cleaning-free welding process, and the double-sided double-wire simultaneous filling is used for efficient welding.

[0031] A robot double-sided intelligent welding method for an internal reinforcement ring of a deep-sea structural pipe comprises the following steps:

[0032] S1. Place the structural pipe 1 axially and horizontally and fix it with a fixture.

[0033] S2, a 45° K-shaped groove is formed on the ring body of the reinforcement ring 2, and the reinforcement ring 2 is fixed to the inside of the structural pipe 1;

[0034] S3, two welding robots are placed at both ends of the structural pipe 1;

[0035] Specifically, during the welding process, the reinforcing ring 2 and the structural pipe 1 rotate at a constant speed, and the welding guns carried by the welding robots on both sides always maintain a horizontal welding position.

[0036] Preferably, wheels with anti-skid belts are provided on both sides of the tube body to rotate and drive the structural tube 1 to roll, and a top-tightening structure is adopted below, and the tube is clamped on the fixture of the positioner, and the rotation of the positioner drives the workpiece to rotate.

[0037] Specifically, two welding robots penetrate into the pipe body from both sides to perform welding; each robot carries two welding guns.

[0038] Furthermore, the welding robot is provided with a laser device 4, and the line laser can accurately locate the center of the groove gap, and the position of the welding gun is adjusted by adjusting the six axes of the robot.

[0039] Preferably, the line laser is placed on the welding gun and follows the welding gun to perform welding, and real-time adjustments are made during the welding process.

[0040] Preferably, the welding robot adjusts the welding gun position by confirming the moving position through the linkage of the six axes including the X-axis, the Y-axis, the Z-axis and the X1-axis, the Y1-axis and the Z1-axis.

[0041] The welding guns include a first welding gun 31, a second welding gun 32, a third welding gun 33 and a fourth welding gun 34. The first welding gun 31 and the third welding gun 33 are connected to the welding robot at the first direction end, the second welding gun 32 and the fourth welding gun 34 are connected to the welding robot at the second direction end, a collaborative communication line is connected between the welding machines connected to the first welding gun 31 and the second welding gun 32, and a collaborative communication line is connected between the welding machines connected to the third welding gun 33 and the fourth welding gun 34.

[0042] A line laser device 4 is installed between the first welding gun 31 and the third welding gun 33, and a line laser device 4 is installed between the second welding gun 32 and the fourth welding gun 34. Before welding starts, the line laser first scans the workpiece to give the groove parameters so as to allocate them to the robot for multi-layer and multi-pass arranging and adjust the process parameters to implement welding. The welding guns on both sides are respectively carried by two six-axis robots, which can drive the welding guns to move in the X direction, Y direction, and Z direction.

[0043] The line laser devices 4 on both sides are mounted on the welding gun, and their angles are adjusted with the angle of the welding gun. Before base welding, the line laser device 4 first scans the workpiece to give the size data of each part, so as to adjust the welding parameters. After the base welding is completed, during the subsequent filling and cover welding, the line laser device 4 is in working state to ensure the accuracy of the machine movement.

[0044] S4. Each welding robot uses a welding gun to perform base welding on the groove gap;

[0045] Under the protection of double-sided gas, the back root cleaning process is eliminated, the double arc improves the welding efficiency, increases the welding penetration, and realizes the double-sided non-root cleaning horizontal fillet welding of the structural pipe reinforcement ring.

[0046] Preferably, in S4, the first welding gun 31 and the second welding gun 32 are used for base welding, and the interval between the first welding gun 31 and the second welding gun 32 is 20 mm to reduce interference between arcs. In other embodiments of the present invention, the third welding gun 33 and the fourth welding gun 34 can also be used for base welding, as long as it can be ensured that each welding robot uses one welding gun for base welding.

[0047] Specifically, during base welding, the distance between the first welding gun 31 and the second welding gun 32 is 20 mm. If the distance is too close, there will be serious arc interference. If the distance is too far, the molten pool of the front wire will have cooled when the rear wire is welded during the welding process, which may easily cause root unfusion defects.

[0048] Furthermore, during base welding, the parameters of the first welding gun 31 are smaller than those of the second welding gun 32. Specifically, during welding, the first welding gun 31 adopts "push" welding, and its welding wire angle points to the positive direction of welding, which can increase the welding width, while the second welding gun 32 adopts "pull" welding, and its welding wire angle points to the negative direction of welding, which can increase the penetration depth and ensure root penetration. During welding, the parameters of the first welding gun 31 are smaller than those of the second welding gun 32. The second welding gun 32 uses a large current to penetrate the back of the weld to ensure the quality of base welding.

[0049] Preferably, during the base welding, the welding current of the first welding gun 31 is 250A, the welding current of the second welding gun 32 is 260A, the welding voltage of the first welding gun 31 is 30V, the welding voltage of the second welding gun 32 is 33V, and the base welding speed is preferably 30cm / min.

[0050] When the welding gun 3 moves to a position where the groove is not the same size, the weld can be compensated by adaptive adjustment. Specifically, the corresponding relationship between the groove gap, groove angle and welding current is first established through process tests to avoid defects caused by too large or too small welding current. Since the welding current and the wire feeding speed are a unified relationship, the wire feeding speed is adjusted according to the changes in the groove gap and groove angle to change the filling amount of the welding process. Based on the wire feeding speed of 10m / min, an adjustment range of ±1m / min is set, which can cover the ±2mm gap under a fixed plate thickness.

[0051] S5. After the base coating is completed, each welding robot uses two welding guns to fill and cover the groove gap;

[0052] During filling welding, four wires are fed into the welding groove at the same time, which further improves the filling efficiency and gives full play to the advantages of multi-arc high efficiency.

[0053] Further, in S5, the first welding gun 31, the second welding gun 32, the third welding gun 33 and the fourth welding gun 34 are used for filling and covering, and the interval between the first welding gun 31 and the second welding gun 32 is 15 mm, the interval between the third welding gun 33 and the fourth welding gun 34 is 15 mm, and the first welding gun 31, the second welding gun 32, the third welding gun 33 and the fourth welding gun 34 are arced at the same time.

[0054] Specifically, the first welding gun 31 and the third welding gun 33 are located at the first direction end A and extend into the groove 12 at an angle of 22.5°, and the second welding gun 32 and the fourth welding gun 34 are located at the second direction end B and extend into the groove 12 at an angle of 22.5°.

[0055] Specifically, the distance between the two welding guns is controlled within 15mm to ensure the eutectic pool of the two wires. The welding gun angle is 15 degrees and should not be too large. If the two wires are too close, the arc cannot burn stably. If the welding gun angle is too large, the distance between the two wires will be reduced, which will also cause unstable arc.

[0056] Furthermore, during filling, the welders on both sides of the workpiece use the same welding parameters to ensure the same heat input and reduce the deformation of the workpiece.

[0057] Specifically, during filling welding, the front wire current is 320A and the rear wire current is 300A, the front wire voltage is 33V, and the rear wire voltage is 30V. The welding machines on both sides of the workpiece use the same welding parameters to ensure the same heat input and reduce the deformation of the workpiece. The welding speed is 90cm / min. The large front wire parameters can well turn out the previous coating and obtain better weld formation.

[0058] Specifically, the cover welding parameters are the same as the filling parameters, but in order to control the weld formation, a high welding speed is adopted as much as possible during the cover welding. Here, a welding speed of 120 cm / min is adopted to achieve good cover formation.

[0059] Specifically, the shielding gas is 18% carbon dioxide and 82% pure argon, and the gas flow rate used by the four welding guns is 15L / min.

[0060] S6. After welding is completed, turn off the protective gas and the welding power supply.

[0061] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the embodiments here. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. A robot double-sided intelligent welding method for the internal reinforcement ring of a deep-sea structural pipe, characterized in that: The following steps are involved: S1. Place the structural pipe axially and horizontally and fix it with a fixture; S2. Open a 45° K-shaped groove on the reinforcing ring body to fix the reinforcing ring point to the inside of the structural pipe; S3, two welding robots are placed at both ends of the structural pipe; S4. Each welding robot uses a welding gun to perform base welding on the groove gap; S5. After the base is completed, each welding robot uses two welding guns to fill and cover the groove gap.

2. The robot double-sided intelligent welding method for the internal reinforcement ring of the deep-sea structure pipe according to claim 1 is characterized in that: During the welding process, the reinforcement ring and the structural pipe rotate at a constant speed, and the welding guns carried by the welding robots on both sides always maintain a horizontal welding position.

3. The robot double-sided intelligent welding method for the internal reinforcement ring of the deep-sea structure pipe according to claim 1 is characterized in that: The welding robot is equipped with a laser device. The line laser automatically finds and aligns with the center of the groove gap through the control system. The position of the welding gun is adjusted by adjusting the six axes of the robot. Before line laser welding, the groove is scanned to obtain the groove information, including the groove angle, groove gap and cross-sectional area.

4. The robot double-sided intelligent welding method for the internal reinforcement ring of the deep-sea structure pipe according to claim 1 is characterized in that: The welding guns include a first welding gun, a second welding gun, a third welding gun and a fourth welding gun. The first welding gun and the third welding gun are connected to a welding robot at a first direction end, the second welding gun and the fourth welding gun are connected to a welding robot at a second direction end, a collaborative communication line is connected between the welding machines connected to the first welding gun and the second welding gun, and a collaborative communication line is connected between the welding machines connected to the third welding gun and the fourth welding gun.

5. The robot double-sided intelligent welding method for the internal reinforcement ring of the deep-sea structure pipe according to claim 4 is characterized in that: In S4, the first welding gun and the second welding gun are used for base welding, and the interval between the first welding gun and the second welding gun is 20 mm to reduce interference between arcs. The parameters of the first welding gun are smaller than those of the second welding gun during base welding, and the front gun swings during base welding, and the rear gun swings or does not swing.

6. The robot double-sided intelligent welding method for the internal reinforcement ring of the deep-sea structure pipe according to claim 5 is characterized in that: The welding process is equipped with a line laser sensor and combined with the independently developed multi-layer and multi-pass welding technology. The actual groove information obtained by the laser, including the groove angle, gap and cross-sectional area, is used for offline weld planning. During the welding process, the dual-gun welding process parameters and the coordinated adaptive adjustment of the dual robots are carried out to eliminate the need for manual teaching of subsequent welds.

7. The robot double-sided intelligent welding method for the internal reinforcement ring of the deep-sea structure pipe according to claim 5 is characterized in that: The welding wire angle of the first welding gun points to the positive welding direction for push welding, and the welding wire angle of the second welding gun points to the negative welding direction for pull welding to obtain a greater penetration depth.

8. The robot double-sided intelligent welding method for the internal reinforcement ring of a deep-sea structure pipe according to claim 4 is characterized in that: In S5, the first welding gun, the second welding gun, the third welding gun and the fourth welding gun are used for filling and capping, and the interval between the first welding gun and the second welding gun is 15 mm, the interval between the third welding gun and the fourth welding gun is 15 mm, and the first welding gun, the second welding gun, the third welding gun and the fourth welding gun are arced at the same time.

9. The robot double-sided intelligent welding method for the internal reinforcement ring of a deep-sea structure pipe according to claim 1 is characterized in that: During filling, the welders on both sides of the workpiece use the same welding parameters to ensure the same heat input and reduce deformation of the workpiece.

10. The robot double-sided intelligent welding method for the internal reinforcement ring of a deep-sea structure pipe according to claim 1, characterized in that: It also includes S6. After welding is completed, turn off the protective gas and the welding power supply.

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