Impact type rotating wheel external water bucket robot welding structure and method

Abstract

The invention belongs to the technical field of impact type rotating wheel welding, and particularly relates to an impact type rotating wheel external water bucket robot welding structure and method. According to the technical scheme, the impact type rotating wheel external water bucket robot welding structure comprises a rotating wheel body and a plurality of external water buckets, and the rotating wheel body comprises a center body and a plurality of root water buckets which are integrally formed; a groove between a root water bucket and an external water bucket is divided into two parts at the thickest position of the water bucket, the side close to the non-overflowing face is the first part, the side close to the overflowing face is the second part, and the dividing face of the root water bucket and the external water bucket is perpendicular to the dividing face divided by the groove. The groove of the first part is a single-face U-shaped groove, and the groove of the second part is a double-face V-shaped groove. According to the impact type rotating wheel external water bucket robot welding structure and method, robot welding of an impact type rotating wheel is achieved, and the welding quality of the impact type rotating wheel is improved.

Description

Technical Field

[0001] This invention belongs to the field of impact-type rotary wheel welding technology, and specifically relates to a welding structure and method for an external water bucket robot of an impact-type rotary wheel. Background Technology

[0002] As the parameters of impulse turbine units increase, the size of the core component, the runner, also grows larger. The traditional method of forging and then machining the entire runner is no longer feasible due to limitations in forging capacity. Therefore, for large impulse runners, a segmented approach is primarily used, dividing the runner into a central body with root buckets and multiple external buckets. These are forged and machined separately before being assembled and welded together. Currently, the external buckets of impulse runners are mainly welded using manual gas-shielded welding. However, the quality of manual welding is inconsistent, especially with unavoidable porosity defects, which exacerbate cavitation after the runner begins operation.

[0003] Therefore, there is an urgent need to adopt a welding method with a stable welding process and controllable welding quality to ensure the high-quality manufacturing of impact wheels. Summary of the Invention

[0004] In order to solve the above-mentioned problems in the prior art, the purpose of this invention is to provide a robotic welding structure and method for the external water bucket of an impact wheel, so as to realize the robotic welding of the impact wheel and improve the welding quality of the impact wheel.

[0005] The technical solution adopted in this invention is as follows: A robotic welding structure for an impact-type impeller with external water buckets includes an impeller body and several external water buckets. The impeller body includes an integrally formed central body and several root water buckets. At the thickest part of the water buckets, the bevel between the root water buckets and the external water buckets is divided into two parts: the side closer to the non-flow surface is the first part, and the side closer to the flow surface is the second part. The dividing surface between the root water buckets and the external water buckets is perpendicular to the dividing interface of the bevel. The bevel of the first part is a single-sided U-shaped bevel, and the bevel of the second part is a double-sided V-shaped bevel.

[0006] This invention divides the welding of the turbine water tank into two parts. The first part uses flat welding, which is more conducive to robotic welding and reduces the change in the welding position angle of the flow surface in the second part. This invention designs the turbine's gradual welding position as a fixed-angle welding position, which is beneficial for robotic welding trajectory planning. This invention solves the problem of inconsistent quality in manual welding by applying robotic welding technology.

[0007] As a preferred embodiment of the present invention, the single-sided U-shaped bevel of the first part is welded by a robot.

[0008] As a preferred embodiment of the present invention, the single-sided U-shaped bevel of the first part is welded by a robot in a flat welding position.

[0009] As a preferred embodiment of the present invention, the flow-through side of the double-sided V-groove of the second part is welded by robot, and the non-flow-through side of the double-sided V-groove is welded by manual welding.

[0010] As a preferred embodiment of the present invention, before manually welding the non-flow side of the double-sided V-groove, the weld on the flow side of the double-sided V-groove is first cleaned.

[0011] To ensure the welding quality of the external water buckets of the impact impeller and to solve the challenge of robotic welding of external water buckets with complex profiles, this invention divides the impeller into a main body with a central water bucket and several external water buckets. After forging, at the thickest point of the external water buckets and the root water buckets, the bevel is divided into two parts: a first part near the non-flowing surface and a second part near the flowing surface. The first part is machined into a single-sided U-shaped bevel and welded by robotic flat welding using a roller frame for repositioning. The second part is machined into a double-sided V-shaped bevel at a fixed angle, with robotic welding used on the flowing surface and manual root cleaning and welding used on the non-flowing surface.

[0012] In a preferred embodiment of the present invention, robotic welding accounts for more than 95% of the weld between the outer water tank and the root water tank. Specifically, the welding volume of the first part accounts for 60% of the total welding volume, and flat welding is used, which is more conducive to ensuring welding quality.

[0013] A welding method for an external water bucket robot of an impact-type turbine includes the following steps: S1: After the main body of the rotating wheel is assembled and positioned and welded to the external water tank, the rotating wheel is placed on the rotating platform, and multiple robots are placed around the rotating platform; S2: Calibrate the robot base using several reference points; S3: Use offline programming to develop robot welding programs; S4: Weld the flow-through side of the double-sided V-groove of the second part after preheating; S5: Laser vision is used to adjust the robot's welding position in real time during the welding process; S6: After completing the welding of the flow surface side of the second part of one water bucket, complete the robot welding of the flow surface side of the remaining second parts of the water bucket according to steps S2 to S5. S7: After the flow-through side of the second part of the water bucket is welded, turn it over and clean the root of the welded seam. Then, follow steps S2 to S6 to complete the manual welding of the non-flow-through side of the second part of the water bucket. S8: After the flow-through side and non-flow-through side of the second part of the water tank are welded, the impeller is placed upright using the roller frame; S9: Calibrate the robot base using several reference points; S10: Robot welding programs are developed using offline programming. S11: After preheating, the robot welds the single-sided U-shaped bevel of the first part; S12: During the welding process, laser vision is used to adjust the robot's welding position in real time; S13: After completing the welding of the first part of one water bucket, complete the robot welding of the remaining first parts of the water buckets according to steps S9 to S12.

[0014] As a preferred embodiment of the present invention, in steps S2 and S9, the robot base is calibrated using three reference points.

[0015] As a preferred embodiment of the present invention, the following steps are also included: S14: After the overall welding is completed, the furnace is annealed.

[0016] As a preferred embodiment of the present invention, the following steps are also included: S15: After annealing, grind the weld to meet the requirements for flaw detection and profile.

[0017] The beneficial effects of this invention are as follows: This invention divides the welding of the turbine water tank into two parts. The first part uses flat welding, which is more conducive to robotic welding and reduces the change in the welding position angle of the flow surface in the second part. This invention designs the turbine's gradual welding position as a fixed-angle welding position, which is beneficial for robotic welding trajectory planning. This invention solves the problem of inconsistent quality in manual welding by applying robotic welding technology. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the structure of the present invention; Figure 2 This is a schematic diagram showing the division between the first and second parts of the water bucket slope. Figure 3 This is a structural diagram of the first part of the bevel; Figure 4 This is a structural diagram of the second part of the bevel; Figure 5 This is a schematic diagram showing the position of the water tank when welding the second part of the flow surface side; Figure 6 This is a schematic diagram of the water tank position when welding the non-flow surface side of the second part; Figure 7 This is a schematic diagram showing the position of the water tank during the welding of the first part.

[0019] In the diagram: 1-Central body; 2-Root water bucket; 3-Outer water bucket; 4-First weld; 5-Second weld; 6-Third weld. Detailed Implementation

[0020] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0021] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention. It should be noted that, unless otherwise specified, the embodiments and features described in the embodiments of the invention can be combined with each other.

[0022] Conventional segmented impact impellers are welded manually. When welding the outer water tank 3 to the root water tank 2, a K-shaped bevel is made at the center of the cross-section. Due to the different cross-sectional thicknesses, the bevel angle varies considerably, requiring manual welding to adapt to these bevel variations. However, this bevel is difficult to adapt to robotic welding. To enable robotic welding, a new welding structure for the impact impeller was designed.

[0023] To solve the above problems, such as Figures 1-4 As shown, the impact-type rotor external water bucket robot welding structure of this embodiment includes a rotor body and several external water buckets 3. The rotor body includes an integrally formed central body 1 and several root water buckets 2. At the thickest part of the water bucket, the bevel between the root water bucket 2 and the external water bucket 3 is divided into two parts. The side closer to the non-flow surface is the first part, and the side closer to the flow surface is the second part. The dividing surface between the root water bucket 2 and the external water bucket 3 is perpendicular to the dividing interface of the bevel. The bevel of the first part is a single-sided U-shaped bevel, and the bevel of the second part is a double-sided V-shaped bevel.

[0024] The first part, with its single-sided U-shaped bevel, is welded by a robot at a flat welding position.

[0025] The flow-through side of the double-sided V-groove in the second part is welded by robot, while the non-flow-through side is welded by hand.

[0026] Before manually welding the non-flow side of the double-sided V-groove, the weld on the flow side of the double-sided V-groove should be cleaned at the root.

[0027] To ensure the welding quality of the external water tanks 3 of the impact impeller and to solve the challenge of robotic welding of the external water tanks 3 with complex profiles, this invention divides the impeller into a central body 1 with root water tanks 2 and several external water tanks 3. After forging, at the thickest point of the external water tanks 3 and root water tanks 2, the bevel is divided into two parts: a first part near the non-flowing surface and a second part near the flowing surface. The first part is machined into a single-sided U-shaped bevel and welded by robotic flat welding using a roller frame; the second part is machined into a double-sided V-shaped bevel at a fixed angle, with robotic welding used on the flowing surface and manual root cleaning and welding used on the non-flowing surface.

[0028] In the weld between the outer water tank 3 and the root water tank 2, robotic welding accounts for more than 95%. Among them, the welding volume of the first part accounts for 60% of the total welding volume, and flat welding is used, which is more conducive to ensuring welding quality.

[0029] The welding method for the external water bucket robot of the impact-type runner in this embodiment includes the following steps: S1: After the main body of the rotating wheel is assembled and positioned and welded to the external water tank 3, the rotating wheel is placed on the rotating platform, and multiple robots are placed around the rotating platform; S2: Calibrate the robot base using 3 reference points; S3: Use offline programming to develop robot welding programs; S4: As Figure 5 As shown, after preheating, the flow surface side of the double-sided V-groove of the second part is welded to form the first weld 4; S5: Laser vision is used to adjust the robot's welding position in real time during the welding process; S6: After completing the welding of the flow surface side of the second part of one water bucket, complete the robot welding of the flow surface side of the remaining second parts of the water bucket according to steps S2 to S5. S7: As Figure 6 As shown, after the flow-through side of the second part of the water bucket is welded, it is turned over and the root of the welded seam is cleaned. Then, the manual welding of the non-flow-through side of the second part of the water bucket is completed according to steps S2 to S6 to form the second weld 5. S8: After the flow-through side and non-flow-through side of the second part of the water tank are welded, the impeller is placed upright using the roller frame; S9: Calibrate the robot base using 3 reference points; S10: Robot welding programs are developed using offline programming. S11: As Figure 7 As shown, after preheating, the robot welds the single-sided U-shaped bevel of the first part to form the third weld 6; S12: During the welding process, laser vision is used to adjust the robot's welding position in real time; S13: After completing the welding of the first part of a water bucket, complete the robot welding of the first parts of the remaining water buckets according to steps S9 to S12. S14: After the overall welding is completed, the furnace is annealed; S15: After annealing, grind the weld to meet the requirements for flaw detection and profile.

[0030] This invention divides the welding of the turbine water tank into two parts. The first part uses flat welding, which is more conducive to robotic welding and reduces the change in the welding position angle of the flow surface in the second part. This invention designs the turbine's gradual welding position as a fixed-angle welding position, which is beneficial for robotic welding trajectory planning. This invention solves the problem of inconsistent quality in manual welding by applying robotic welding technology.

[0031] This invention is not limited to the above-described optional embodiments. Anyone can derive other various forms of products under the guidance of this invention. However, regardless of any changes made in their shape or structure, any technical solution that falls within the scope of the claims of this invention shall be protected by this invention.

Claims

1. A welding structure for an impact-type rotary wheel external water bucket robot, characterized in that: It includes a main body of the impeller and several external water buckets (3). The main body of the impeller includes an integrally formed central body (1) and several root water buckets (2). At the thickest part of the water bucket, the bevel between the root water bucket (2) and the external water bucket (3) is divided into two parts. The side closer to the non-flow surface is the first part, and the side closer to the flow surface is the second part. The dividing surface between the root water bucket (2) and the external water bucket (3) is perpendicular to the dividing interface of the bevel. The bevel of the first part is a single-sided U-shaped bevel, and the bevel of the second part is a double-sided V-shaped bevel.

2. The welding structure for an impact-type rotary wheel external water bucket robot according to claim 1, characterized in that: The single-sided U-shaped bevel of the first part is welded by a robot.

3. The welding structure for an impact-type rotary wheel external water bucket robot according to claim 2, characterized in that: The single-sided U-shaped bevel of the first part is welded by a robot at a flat welding position.

4. The welding structure of an impact-type rotary wheel external water bucket robot according to claim 1, characterized in that: The flow-through side of the double-sided V-groove in the second part is welded by robot, while the non-flow-through side is welded by hand.

5. The welding structure for an external water bucket robot with an impact-type rotating wheel according to claim 4, characterized in that: Before manually welding the non-flow side of the double-sided V-groove, the weld on the flow side of the double-sided V-groove should be cleaned at the root.

6. The welding structure for an impact-type rotary wheel external water bucket robot according to claim 1, characterized in that: In the weld between the external water tank (3) and the root water tank (2), robot welding accounts for more than 95%.

7. A welding method for an external water bucket robot of an impact-type rotor, employing the welding structure for an external water bucket robot of an impact-type rotor as described in any one of claims 1 to 6, characterized in that: Includes the following steps: S1: After the main body of the rotating wheel is assembled and positioned and welded to the external water tank (3), the rotating wheel is placed on the rotating platform and multiple robots are placed around the rotating platform; S2: Calibrate the robot base using several reference points; S3: Use offline programming to develop robot welding programs; S4: Weld the flow-through side of the double-sided V-groove of the second part after preheating; S5: Laser vision is used to adjust the robot's welding position in real time during the welding process; S6: After completing the welding of the flow surface side of the second part of one water bucket, complete the robot welding of the flow surface side of the remaining second parts of the water bucket according to steps S2 to S5. S7: After the flow-through side of the second part of the water bucket is welded, turn it over and clean the root of the welded seam. Then, follow steps S2 to S6 to complete the manual welding of the non-flow-through side of the second part of the water bucket. S8: After the flow-through side and non-flow-through side of the second part of the water tank are welded, the impeller is placed upright using the roller frame; S9: Calibrate the robot base using several reference points; S10: Robot welding programs are developed using offline programming. S11: After preheating, the robot welds the single-sided U-shaped bevel of the first part; S12: During the welding process, laser vision is used to adjust the robot's welding position in real time; S13: After completing the welding of the first part of one water bucket, complete the robot welding of the remaining first parts of the water buckets according to steps S9 to S12.

8. The welding method for an external water bucket robot of an impact-type rotor according to claim 7, characterized in that: In steps S2 and S9, the robot base is calibrated using three reference points.

9. The welding method for an external water bucket robot of an impact-type rotor according to claim 7, characterized in that: It also includes the following steps: S14: After the overall welding is completed, the furnace is annealed.

10. The welding method for an external water bucket robot of an impact-type rotor according to claim 9, characterized in that: It also includes the following steps: S15: After annealing, grind the weld to meet the requirements for flaw detection and profile.

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