Space pose welding test operation platform and method

Abstract

The invention belongs to the technical field of oil and gas pipeline steel welding, and discloses a space pose welding test operation platform and method. The platform comprises a right-side bearing platform and a left-side bearing platform which are fixedly welded to the right side and the left side of a supporting mechanism correspondingly. The driving device is fixed to the left bearing platform through bolts. The left bearing platform is connected with a left transmission mechanism. The driving device is connected with the left transmission mechanism through a coupler of the left transmission mechanism; the left transmission mechanism is connected with the left end of the welding platform; the right end of the welding platform is connected with a right transmission mechanism which is fixed to the right bearing platform. The limiting mechanism is connected with the left side bearing platform, wraps the left end of the left side transmission mechanism and is used for adjusting and controlling the rotating speed and the rotating angle of the driving device. According to the clamp, radial shaking and axial movement of the workbench are reduced, and the positioning precision is improved. The labor intensity of operators is obviously reduced, and the welding test requirements under complex working conditions are met.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of oil and gas pipeline steel welding, and particularly relates to a spatial pose welding test operation platform and method. BACKGROUND

[0002] Pipeline all-position welding process involves typical spatial poses such as flat welding PA, vertical welding PC, horizontal welding PE and overhead welding PF, and each position corresponds to a specific combination of welding inclination angle and rotation angle. In order to accurately simulate the multi-field coupling conditions in actual engineering and verify the adaptability of welding process parameters including current, voltage, welding speed and heat input in 360° continuous welding, systematic experimental verification is usually required at spatial positions of 0°, 45°, 90°, 135°, 180°, etc. However, the current fixture design for key point welding experiments often has limitations and cannot meet the needs of all welding positions at the same time. This results in the need for frequent replacement of fixtures by test personnel, and the existing fixtures are generally large in size and heavy in weight, so frequent replacement not only increases the work intensity of the experimental personnel, but also may reduce the operation efficiency.

[0003] Although the existing welding fixture can adapt to part of the welding requirements by adjusting the angle of the workbench, this single inclination angle adjustment method cannot fully cover the requirements of all welding points. This limitation not only reduces the welding efficiency, but also may adversely affect the welding quality of the workpiece. SUMMARY

[0004] In order to overcome the problems in the related art, the present application provides a spatial pose welding test operation platform and method, specifically a typical spatial pose welding test operation platform.

[0005] The technical solution is as follows: a spatial pose welding test operation platform, which comprises a support mechanism arranged on the ground; The right side and the left side of the support mechanism are respectively welded and fixed with a right side bearing platform and a left side bearing platform; The driving device is fixed on the left side bearing platform by bolts, and the left side bearing platform is connected with a left side transmission mechanism; the driving device is connected with the left side transmission mechanism through the coupling of the left side transmission mechanism; and the left side transmission mechanism is connected with the left end of the welding platform; The right end of the welding platform is connected with a right side transmission mechanism, and the right side transmission mechanism is fixed on the right side bearing platform; The limiting mechanism is connected with the left side bearing platform and wrapped around the left end of the left side transmission mechanism, and is used to regulate the rotating speed and angle of the driving device.

[0006] The first transmission shaft of the left transmission mechanism is connected with the left bearing platform through a first bearing, a first bearing sleeve and bolts; the left transmission mechanism is connected with the first clamping device through a flange; the first clamping device is connected with the left end of the welding platform.

[0007] The workbench of the welding platform is connected with the welding pad through bolts, and the welding pad is fixed with welding positioners on both sides for fixing welding pieces.

[0008] The right transmission mechanism comprises a second clamping device; The workbench is connected with the second clamping device through bolts, and the second clamping device is connected with the second transmission shaft through a flange; The second transmission shaft is connected with the right bearing platform through a second bearing sleeve and bolts.

[0009] The limiting mechanism comprises a limiting chuck fixed on the first transmission shaft through a key, and a sliding groove fixed on the left bearing platform through bolts.

[0010] The driving device comprises a motor for realizing rotation of the workbench of the welding platform, a worm and gear reducer for controlling the rotation speed of the workbench, and a limiting mechanism for fixing the rotation angle position of the workbench.

[0011] The welding platform is completed with flat welding, horizontal welding, vertical welding and overhead welding through cooperation of the limiting pin in the limiting mechanism and the limiting chuck.

[0012] Another object of the present application is to provide a space pose welding test operation method, comprising: S1, power-on self-checking; the main controller reads data information of a motor encoder or a workbench sensor, and in the case of abnormal conditions such as sensor not ready or data cannot be read, an alarm shutdown will be performed; if the module data is normally read, the next step will be performed; S2, zero return / calibration; after power-on self-checking, the limiting groove is used as a mechanical origin for sensor reading setting to ensure machining accuracy; the motor is moved at low speed to the limiting groove of the welding platform to ensure that the mechanical origin is accurately positioned, and the data collected by the sensor when the welding platform is inserted into the limiting groove is used as the zero point of the servo motor and a 0°-180° reference is established; S3, trajectory planning and execution; in the trajectory planning stage, the trajectory planner module generates a motion trajectory according to the input data to avoid direct input of the original data into the motor; S4, the controller outputs a small current to the motor to generate a torque for resisting gravity, load torque or internal stress of the transmission mechanism to maintain the predetermined position of the motor; the worm and gear reducer is self-locked to control the rotation angle position of the workbench; the limiting mechanism is fixed and assisted to fix the rotation angle position of the workbench.

[0013] In step S3, when trajectory planning is performed, one way is to judge motor position outer ring PID, feedforward compensation and speed inner ring PI, friction / dead zone compensation; the other way is to judge the relative position between the angle formed by the sensor collected relative position and the set zero point.

[0014] In step S4, the worm gear reducer self-locking includes: The worm head number Z1=1, The lead angle The material selection steel worm and cast iron worm gear friction coefficient The friction angle The self-locking condition is: 7.13≤8.53.

[0015] In combination with all the technical solutions described above, the present application has the following beneficial effects: Firstly, the present application realizes high-precision and high-stability welding operation through the precisely designed supporting mechanism, limiting mechanism, transmission mechanism and clamping device. The supporting mechanism is composed of a main supporting rod and an auxiliary supporting rod, adopts a triangular geometric structure, and ensures the bearing capacity and anti-deformation performance of the platform. The limiting mechanism effectively fixes the position of the welding platform by combining motor driving with the self-locking characteristics of the worm gear reducer, thereby improving the welding precision and reliability. The bearing sleeve and flange connection in the left transmission mechanism ensure low friction and stable operation of the shafting, and the right transmission mechanism further enhances the overall stability. The clamping device reduces the radial and axial movement of the workbench by precisely matching the gap size, thereby improving the positioning accuracy. The center of the welding platform is provided with a rectangular groove, which cooperates with the replaceable welding gasket, thereby not only reducing the wear of the workbench, but also improving the test flexibility and efficiency. This design significantly reduces the labor intensity of the operator while ensuring the welding quality, and is suitable for welding test requirements under complex working conditions.

[0016] Secondly, the current domestic and foreign welding test platforms are mostly limited to single or limited welding poses, and lack an integrated platform that can comprehensively cover 0°-180° continuous spatial poses and has high-precision positioning and self-locking functions. The present application integrates the driving device, limiting mechanism, double-sided transmission mechanism and clamping device to realize high-stability control and multi-mechanism collaborative control of the welding platform in multiple poses in space. The present application uses the self-locking characteristics of the worm gear reducer and the mechanical limiting of the limiting pin-chuck to ensure that the platform does not drift and does not back off during welding, thereby realizing double protection of self-locking and limiting and improving welding precision. The welding gasket of the present application is replaceable and suitable for different weldments. The platform structure is open and compatible with multiple welding heat sources, meeting future technology upgrade needs. BRIEF DESCRIPTION OF DRAWINGS

[0017] The accompanying drawings, which are incorporated herein and constitute part of the specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the disclosure; Figure 1 is a schematic diagram of a spatial pose welding test operation platform of the present application; Figure 2 is a schematic diagram of a side view of the spatial pose welding test operation platform of the present application; Figure 3 is a schematic diagram of a limiting mechanism of the present application; Figure 4 is a schematic diagram of a left side transmission mechanism of the present application; Figure 5 is a schematic diagram of a first clamping device of the present application; Figure 6 is a schematic diagram of a welding platform of the present application; Figure 7 is a schematic diagram of a right side transmission mechanism of the present application; Figure 8 is a schematic diagram of a control motor of the present application; Figure 9 is a schematic diagram of a worm gear reducer with self-locking of the present application; Figure 10 is a welding effect diagram when flat welding of the present application; Figure 11 is a welding effect diagram of flat plate butt welding in a 45° flat-stand transition zone of the present application; In the figure: 1, support mechanism; 11, main support rod; 12, auxiliary support rod; 2, driving device; 21, motor; 22, worm gear reducer; 3, limiting mechanism; 31, limiting chuck; 32, limiting pin; 33, sliding groove; 4, left side transmission mechanism; 41, first transmission shaft; 42, first bearing; 43, shaft coupling; 44, first bearing sleeve; 45, first clamping device; 46, flange connection; 5, welding platform; 51, workbench; 52, welding gasket; 53, welding part positioner; 61, right side bearing platform; 62, left side bearing platform; 7, right side transmission mechanism; 71, second clamping device; 72, second bearing; 73, second bearing sleeve; 74, second transmission shaft. DETAILED DESCRIPTION

[0018] In order to make the above objectives, features and advantages of the present application more obvious and easy to understand, the specific embodiments of the present application are described in detail below with reference to the drawings. In the following description, a large number of specific details are set forth in order to facilitate a thorough understanding of the present application. However, the present application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without departing from the scope of the present application, so the present application is not limited to the specific implementations disclosed below.

[0019] The innovation of the present application is that: the present application adopts a high-rigidity triangular support structure, forms a stable frame through precise welding of the main support rod 11 and the auxiliary support rod 12, and combines a bilateral symmetrical transmission system (including the left transmission mechanism 5 and the right transmission mechanism 7) to significantly enhance the bending resistance, torsion resistance and load capacity of the overall structure. The platform utilizes the self-locking property of the worm gear reducer 22 (the lead angle 7.13° is less than the friction angle 8.53°, meeting the self-locking condition), cooperates with the precise meshing of the multi-angle notched limiting chuck 31 and the limiting pin 32, realizes the precise positioning and firm locking of the welding platform 5 at any angle within the range of 0°-180°, and supports the quick and reliable switching of multiple standard welding poses such as flat welding (PA), vertical welding (PC), horizontal welding (PE) and overhead welding (PF). Further, the platform innovatively adopts a modular replaceable welding gasket 52 design, which is connected through standardized slots and bolts, allows quick replacement of gaskets of different materials or thicknesses according to test requirements, protects the workbench 51 surface from welding damage, and improves the efficiency and flexibility of test preparation. The intelligent sensing unit (such as motor encoder and workbench sensor) integrated in the system monitors the pose and motion state in real time, combines the double closed-loop control strategy of position outer ring PID control and speed inner ring PI compensation, ensures high-precision trajectory tracking and motion stability, and significantly improves the positioning accuracy, process consistency and adaptability of the equipment to complex working conditions in the welding process. The platform is widely applicable to full-position welding test of various advanced welding processes such as laser welding, arc welding and laser-arc hybrid welding, and is especially suitable for welding process development and verification in the fields of oil and gas pipelines and shipbuilding. Through the above technical innovations, the present application effectively solves the problems of complicated replacement of traditional welding fixtures, insufficient positioning accuracy, poor resistance to mechanical and thermal disturbance, etc., and provides an efficient, reliable and flexible hardware platform and operation method for welding test research.

[0020] As shown in Figures 1-7 The space pose welding test operation platform comprises a support mechanism 1 arranged on the ground and used for fixing the overall device and ensuring stability thereof. The support mechanism 1 and the right bearing platform 61 and the left bearing platform 62 (as Figure 2The left bearing platform 62 is connected with the supporting mechanism 1 by welding technology, and the driving device 2 is fixed on the left bearing platform 62 by bolts. Figure 4 、 Figure 5 As shown in the figure. As shown in the figure. Figure 6 The workbench 51 is connected with the welding pad 52 by bolts, and the welding pad 52 is fixed on both sides with the welding positioner 53. The workbench 51 is connected with the second clamping device 71 by bolts, and the second clamping device 71 is connected with the second transmission shaft 74 through the flange. Figure 7 As shown in the figure. The second transmission shaft 74 is axially fixed by the second bearing 72, the second bearing sleeve 73 and the right bearing platform 61 through bolts.

[0021] As shown in the figure. Figure 1 、 Figure 2 、 Figure 3 The limiting mechanism 3 is connected with the left bearing platform 62, the limiting chuck 31 is fixed on the first transmission shaft 41 by keys, and the sliding groove 33 is fixed on the left bearing platform 62 by bolts. The limiting mechanism 3 is connected with the left bearing platform 62 and covers the left end of the left transmission mechanism 4, which is used to control the rotating speed and angle of the driving device 2.

[0022] The workbench 51 of the welding platform 5 is rotated by controlling the motor 21, the rotating speed of the workbench 51 is controlled by the worm gear reducer 22, and the position of the workbench 51 is fixed by the limiting mechanism 3.

[0023] As shown in the figure. Figure 8 As shown in the figure.

[0024] The supporting mechanism 1 includes the main supporting rod 11 and the auxiliary supporting rod 12.

[0025] The driving device 2 is fixed on the right bearing platform 61, including the motor 21 and the worm gear reducer 22, which can reduce the output rotating speed and increase the output torque.

[0026] The shaft coupling 43 connects the driving device 2 with the first transmission shaft 41 respectively, and the rotating speed of the two is the same.

[0027] The limiting mechanism 3 comprises a limiting chuck 31, a limiting pin 32 and a sliding groove 33, and is connected with the first transmission shaft 45 through a key connection, and the sliding groove 33 is fixed on the left bearing platform 62.

[0028] The left transmission mechanism 4 comprises a first transmission shaft 41, a first bearing 42, a shaft coupling 43, a first bearing sleeve 44, a first clamping device 45, a flange connection 46, and the first bearing 42 supports the rotation of the shaft, reduces the friction coefficient in the movement process, and the first bearing sleeve 44 is fixed on the left bearing platform 62 to provide support force for the left transmission mechanism 4.

[0029] The welding platform 5 is fixed on the first clamping device 45 and the second clamping device 71, and comprises a workbench 51, a welding gasket 52 and a welding part positioner 53.

[0030] The left bearing platform 62 and the right bearing platform 61 are connected with the support structure 1 through a welding technology.

[0031] The right transmission mechanism 7 comprises a second clamping device 71, a second bearing 72, a second bearing sleeve 73 and a second transmission shaft 74.

[0032] The second clamping device 71 is connected with the right bearing platform 61 through the second transmission shaft 74, the second bearing sleeve 73 is sleeved outside the second bearing 72, and the second bearing 72 is connected on the second transmission shaft 74 in an interference fit; For example, the welding platform 5 can rotate, and through cooperation of the limiting pin 32 and the limiting chuck 31 in the limiting mechanism 3, flat welding, transverse welding, vertical welding and overhead welding can be realized.

[0033] For example, the space between the welding platform 5 and the support mechanism 1 is large, and is suitable for full-position laser welding, arc welding and composite welding of various models of laser or arc guns.

[0034] As known from the above embodiment, the support structure is a triangular structure, and the base is provided with a hole and can be fixed on the ground. The space between the welding platform 5 and the support frame is designed by fully considering the functional requirements, and the size layout can provide sufficient track range for movement of the laser head and the arc gun, so as to ensure flexibility and barrier-free operation of the equipment in the operation process, and meet the requirement of multi-pose adjustment of the laser head. The limiting chuck 31 is provided with notches at multiple angles, and the limiting pin 32 is precisely matched with the notches, so that stable fixation of the welding platform 5 at various angles is realized. The design of the limiting mechanism 3 can effectively disperse and reduce the pressure load borne by the worm and gear reducer 22, so as to significantly optimize the mechanical properties of the whole system, and improve the operation efficiency and stability.

[0035] For example, Figure 1 and Figure 2The working principle of the space pose welding test operation platform is as follows: the support mechanism 1 is composed of a main support rod 11 and an auxiliary support rod 12, the support rods are connected through precise welding technology at the connection positions of the support rods and the left bearing platform 62 and the right bearing platform 61, and a stable triangular geometric structure is formed. The structure design fully utilizes the mechanical stability characteristics of the triangle, can provide sufficient support force and structural rigidity for the whole operation platform, and ensures that the platform has excellent bearing capacity and anti-deformation performance under actual working conditions.

[0036] As shown in the limiting mechanism 3, the limiting chuck 31, the limiting pin 32 and the sliding groove 33 are connected through precise welding technology, and the stable triangular geometric structure is formed. The structure design fully utilizes the mechanical stability characteristics of the triangle, can provide sufficient support force and structural rigidity for the whole operation platform, and ensures that the platform has excellent bearing capacity and anti-deformation performance under actual working conditions. Figure 3 The limiting mechanism 3 is composed of a limiting chuck 31, a limiting pin 32 and a sliding groove 33. By controlling the motor 21 to drive the welding platform 5 to rotate, the self-locking characteristic of the worm gear reducer 22 is utilized, and the position of the welding platform 5 can be effectively fixed after the motor 21 stops running, so as to ensure the stability of the welding platform 5 during operation. In addition, the limiting pin 32 is designed to only have limited movement in the sliding groove 33, and cooperates with the limiting chuck 31 to further enhance the stability of the position of the welding platform 5. The precision of the welding process is improved, the experimental error is effectively reduced, and the welding efficiency and the reliability of the whole process are greatly improved.

[0037] As shown in the left transmission mechanism 4, the first bearing sleeve 44 is a key component, bears the load and provides support for the rotating element, ensures that the shafting rotates smoothly with low friction and high precision. The flange connection 46 firmly connects the first transmission shaft 41 and the first clamping device 45, realizes effective power transmission and structural connection between the two shafts, and ensures that the welding platform 5 rotates synchronously with the shaft. Figure 4 As shown in the first clamping device 45, the gap size in the middle of the device is accurately matched with the thickness of the workbench 51, so that the matching precision between the two is significantly improved. This design effectively reduces the radial swing and axial movement of the workbench 51 during operation, and further improves the positioning precision and stability of the welding process.

[0038] Figure 5

[0039] Figure 6 ​​A rectangular slot is arranged in the center of the welding platform 5, which is accurately matched with the welding pad 52. The welding pad 52 and the slot are both designed with threaded holes, which can ensure the pad to be firmly fixed on the workbench 51 through bolt connection. The welding part is firmly fixed on the workbench 51 through the welding part positioner 53, and the welding seam is placed in the area above the welding pad 52, which is the laser electric arc working area. Since the welding gap is the key adjustment parameter in the test, the welding pad 52 is designed as a replaceable component, which can effectively reduce the wear of the workbench 51, prolong its service life, reduce the labor intensity of the operator due to frequent maintenance or replacement of the workbench 51, and improve the flexibility and efficiency of the test.

[0040] As shown in Figure 7 The right transmission mechanism 7, together with the left transmission mechanism 4, can greatly improve the stability of the overall device.

[0041] In summary, the spatial pose welding test operation platform comprises a support mechanism 1, a driving device 2, a limiting mechanism 3, a left transmission mechanism 4, a welding platform 5, a bearing platform, and a right transmission mechanism 7. The welding platform 5 is firmly fixed on the support mechanism 1 by welding, ensuring the stability and carrying capacity of the structure. The driving device 2 is reliably assembled with the welding platform 5 by bolt connection. The welding platform 5 is fixedly connected with the left transmission mechanism 4 and the right transmission mechanism 7 to ensure the accuracy and stability of the position during processing. The welding workpiece is fixed on the workbench 51, and its position is adjusted so that the welding area is accurately located above the welding pad 52.

[0042] The welding pad 52 is a replaceable component, which can avoid damage to the workbench 51 during welding and improve welding efficiency.

[0043] The limiting chuck 31 is firmly installed on the first transmission shaft 41 through key connection, and the outer side is designed with a special slot structure to ensure that the limiting pin 32 is completely fitted.

[0044] The welding part positioner 53 firmly fixes the welding workpiece on the welding platform 5 through bolts.

[0045] Embodiment 2, as shown in Figure 8 A spatial pose welding test operation method comprises: S1, power-on self-test. According to the preset, the system main controller reads the data information of the motor encoder or the workbench sensor module. If abnormal conditions such as sensor not ready or data cannot be read occur, the system will alarm and stop; if the module data is normally read, the next step is performed.

[0046] S2, zero return / calibration step. The zero return / calibration step is to set the absolute coordinate reference of the entire system. After the power-on self-test, the limit groove is used as the mechanical origin, and the sensor reads the setting to ensure the machining accuracy. The motor moves the welding platform to the limit groove at low speed to ensure that the mechanical origin is accurately positioned. The data collected by the sensor when the welding platform enters the limit groove is used as the zero point of the servo motor and establishes the 0°-180° reference.

[0047] S3, trajectory planning and execution. In the trajectory planning stage, the trajectory planner module of the system generates an ideal and smooth motion trajectory according to the data input by the operator, avoiding situations such as motor starting and stopping with maximum acceleration, causing impact, vibration and noise, losing steps or damaging mechanical structure, which may be caused by directly inputting the original data into the motor.

[0048] When executing the trajectory planning, one path performs motor 21 position outer ring PID judgment + feedforward compensation and speed inner ring PI + friction / dead zone compensation to achieve high-precision, high-response, and strong anti-disturbance motion control; the other path performs worm and gear reducer 22 position determination to accurately determine the angle formed between the relative position collected by the sensor and the set zero point.

[0049] If the actual position fed back by the sensor exceeds the allowed tolerance from the planned position, i.e., it is not determined to be in place, subsequent adjustment or continuous following is performed; if the actual position fed back by the sensor does not exceed the allowed tolerance from the planned position, i.e., it is determined to be in place, the next step is performed.

[0050] S4, the controller outputs a small current to the motor to generate a small torque to resist external disturbances such as gravity, load torque, or internal stress of the transmission mechanism, so as to maintain the predetermined position of the motor; the worm and gear reducer 22 uses its mechanical structure to perform self-locking to control the angular position of the workbench; the limiting mechanism performs fixed assistance to further fix the angular position of the workbench.

[0051] After completing the small current maintenance, reducer self-locking, and limiting mechanism assistance steps, the system waits for the operator to input the next instruction.

[0052] In step S4, the worm and gear reducer 22 self-locking includes: In the worm and gear reducer 22, the lead angle of the worm is less than the friction angle, so that the worm and gear reducer has self-locking capability, such as Figure 9 The worm and gear reducer has a self-locking schematic diagram; wherein the number of worm heads Z1=1, , the lead angle ; the material selection is steel worm and cast iron worm gear friction coefficient , the friction angle ; the self-locking condition must satisfy , 7.13≤8.53, so the self-locking condition is satisfied.

[0053] The spatial pose welding test operation platform and method provided by the application have the characteristics of high integration, automation and precise control, and can be widely applied to welding process test and training in the fields of oil and gas pipelines, shipbuilding, pressure vessels and the like. Through the cooperative control of the motor drive, the worm gear reducer 22 self-locking and the limiting mechanism 3, the welding platform 5 is precisely positioned within the range of 0°-180°, the manual adjustment time is significantly reduced, and the test efficiency is improved; only one set of equipment can complete welding tests in multiple poses such as flat welding, vertical welding, horizontal welding and overhead welding, the frequent replacement of tooling is avoided, and the labor and equipment costs are reduced; the application provides reliable data support for the optimization of welding process parameters through high-repetition pose control and data acquisition, and promotes the standardization and intelligentization of welding processes; the application is suitable for various welding methods such as laser welding, arc welding and composite welding, and has good compatibility and expansibility.

[0054] The application realizes the rapid positioning and locking of the welding platform 5 at any angle through the cooperative control of the motor 21, the worm gear and the limiting mechanism 3, and overcomes the problem that the workpiece needs to be clamped again when the pose is switched in the traditional way; the application effectively suppresses the radial shaking and axial movement of the workbench 51 during rotation through the double-sided transmission mechanism and the precise clamping device, and ensures the stability of the welding process; the application combines PID control and mechanical self-locking to ensure consistent welding conditions in each pose, realizes high repeatability and reliability, and is suitable for high requirement welding process verification. In the welding test and research process, the application can realize full-position, multi-angle and high-precision welding operation on one platform.

[0055] In the above embodiments, the description of each embodiment has its own focus, and the parts not described or recorded in a certain embodiment can be referred to the related description of other embodiments.

[0056] Application Example 1: When flat welding, the forming effect of low carbon steel under suitable process is as follows: 1. Material and structure.

[0057] Low carbon steel Q235 200mmx150mmx7mm is selected as the welding material, the two butt plates are ensured to be free of error edges, and the welding area is polished and cleaned.

[0058] 2. Equipment preparation.

[0059] A fiber laser with a wavelength of 1070nm and a maximum output power of 10000W is used, and a welding machine Fronius CMT Advanced 4000 is used as a composite heat source and is equipped with a high-speed camera, an adjustable protective gas system and an air knife system.

[0060] 3. Pre-welding preparation.

[0061] Two pairs of plates are fixed on the space pose welding experiment operation platform by bolts, the motor 21 is controlled to make the welding platform 5 in a horizontal position, and the position is fixed by the limiting pin 32, and the gap between the two pairs of plates is adjusted, and a plug gauge is added between the gap to ensure that there is no thermal deformation during welding.

[0062] 4. Welding.

[0063] The laser power is set to 4500W, the defocusing distance is -2mm, the welding speed is 1.2m / min, the arc current is 165A, the arc voltage is 14.2V, and the gas protection flow is 25L / min.

[0064] 5. Welding effect.

[0065] If Figure 10 As shown in the welding effect of flat welding, the weld appearance is uniform and continuous, the surface is smooth without pores, slag inclusion and other defects, the undercut and collapse problem is completely eliminated; the front and back surface residual height is controlled within 2-3mm, and the transition zone is smooth; the tensile test result shows that the tensile strength reaches 730MPa, which is 52.7% higher than that of the base material 478MPa, showing significant super matching characteristics; through macroscopic metallographic detection, it is found that the fusion line is clear and the interlayer penetration is sufficient, indicating that the welding parameter control is accurate.

[0066] Application example 2: 45° flat vertical transition zone flat plate butt welding, forming effect of welded joint.

[0067] 1. Material and structure.

[0068] Low carbon steel Q690200mmx150mmx6mm is selected as the welding material to ensure that there is no error edge between the two plates, and the welding area is polished and cleaned.

[0069] 2. Equipment preparation.

[0070] A fiber laser with a wavelength of 1070nm and a maximum output power of 10000W is used, and a welding machine Fronius CMT Advanced 4000 is used as a composite heat source and is equipped with a high-speed camera, an adjustable protection gas system and an air knife system.

[0071] 3. Preparation before welding.

[0072] Two pairs of plates are fixed on the space pose welding experiment operation platform by bolts, the motor 21 is controlled to make the welding platform 5 in a horizontal position, and the position is fixed by the limiting pin 32, and the gap between the two pairs of plates is adjusted, and a plug gauge is added between the gap to ensure that there is no thermal deformation during welding.

[0073] 4. Welding.

[0074] The laser power was set to 4750W, the defocus distance to 0mm, the welding speed to 1.5m / min, the arc current to 165A, the arc voltage to 14.2V, and the gas shielding flow rate to 25L / min.

[0075] 5. Welding effect.

[0076] like Figure 11 The image shows the welding effect of a butt weld on a flat plate in a 45° flat-vertical transition zone. The weld appearance is uniform and continuous, with a smooth surface free of defects such as porosity and slag inclusions. Undercut and collapse issues are completely eliminated. The reinforcement height on both sides is controlled within the range of 2-3mm, and the transition zone is smooth. Tensile test results show that the tensile strength reaches 1126MPa, which is 29.4% higher than the base material's 870MPa, exhibiting significant superior matching characteristics. Macroscopic metallographic examination reveals clear fusion lines and sufficient interlayer penetration, indicating precise control of welding parameters.

[0077] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any modifications, equivalent substitutions and improvements made by those skilled in the art within the scope of the technology disclosed in the present invention and within the spirit and principles of the present invention should be covered within the scope of protection of the present invention.

Claims

1. A space pose welding test operation platform, characterized in that, The platform comprises a supporting mechanism (1) arranged on the ground; Right and left sides of the supporting mechanism (1) are respectively welded with right and left bearing platforms (61) and (62); The driving device (2) is fixed on the left bearing platform (62) through bolts, and the left bearing platform (62) is connected with a left transmission mechanism (4); the driving device (2) is connected with the left transmission mechanism (4) through a shaft coupling (43) of the left transmission mechanism (4); the left transmission mechanism (4) is connected with a left end of a welding platform (5); A right transmission mechanism (7) is connected with a right end of the welding platform (5) and is fixed on the right bearing platform (61); The limiting mechanism (3) is connected with the left bearing platform (62) and is wrapped around a left end of the left transmission mechanism (4), and is used for regulating a rotating speed and a rotating angle of the driving device (2).

2. The spatial pose weld test operation platform of claim 1, wherein, The first transmission shaft (41) of the left transmission mechanism (4) is connected with the left bearing platform (62) through a first bearing (42) and a first bearing sleeve (44) through bolts; the left transmission mechanism (4) is connected with a first clamping device (45) through a flange connection (46); the first clamping device (45) is connected with a left end of the welding platform (5).

3. The spatial pose weld test operation platform of claim 1, wherein, The workbench (51) of the welding platform (5) is connected with a welding pad (52) through bolts, and both sides of the welding pad (52) are fixed with welding positioners (53) for fixing welding pieces.

4. The spatial pose weld test operation platform of claim 3, wherein, The right transmission mechanism (7) comprises a second clamping device (71); The workbench (51) is connected with the second clamping device (71) through bolts, and the second clamping device (71) is connected with a second transmission shaft (74) through a flange; The second transmission shaft (74) is connected with the right bearing platform (61) through a second bearing sleeve (73) through bolts.

5. The spatial pose weld test operation platform of claim 2, wherein, The limiting mechanism (3) comprises a limiting chuck (31), and the limiting chuck (31) is fixed on the first transmission shaft (41) through a key; a sliding groove (33) is fixed on the left bearing platform (62) through bolts.

6. The spatial pose weld test operation platform of claim 1, wherein, The driving device (2) comprises a motor (21) for realizing rotation of the workbench (51) of the welding platform (5), a worm and gear reducer (22) for controlling a rotating speed of the workbench (51), and a limiting mechanism (3) for fixing a rotating angle position of the workbench (51).

7. The spatial pose weld test operation platform of claim 1, wherein, The welding platform (5) completes flat welding, horizontal welding, vertical welding and overhead welding through cooperation of the limiting pin (32) and the limiting chuck (31) in the limiting mechanism (3).

8. A method of operating a space pose welding test, characterized in that The method is applied to the spatial pose welding test operation platform in any one of claims 1-7, and the method comprises: S1, power-on self-checking; the main controller reads data information of a motor encoder or a workbench sensor, and in the case that a sensor is not ready or data cannot be read, an alarm stop is performed; if the module data is normally read, the next step is performed; S2, zero / alignment; after power-on self-test, the limit groove is used as the mechanical origin for the sensor to read the settings to ensure machining accuracy; the motor moves the welding platform to the limit groove at low speed to ensure that the mechanical origin is accurately positioned, and the data collected by the sensor when the welding platform enters the limit groove is used as the zero point of the servo motor and establishes the 0°-180° reference; S3, trajectory planning and execution; in the trajectory planning stage, the trajectory planner module generates a motion trajectory according to the input data to avoid direct input of the original data into the motor; S4, the controller outputs a small current to the motor to generate a torque to counteract the gravity, load torque, or internal stress of the transmission mechanism to maintain the specified position of the motor; the worm gear reducer (22) is self-locked to control the angular position of the workbench; the limit mechanism is fixed to assist the angular position of the workbench.

9. The method of claim 8, wherein, In step S3, when executing trajectory planning, one path performs motor (21) position outer loop PID judgment, feedforward compensation, and speed inner loop PI, friction / dead zone compensation; the other path performs worm gear reducer (22) to position determination to determine the relative position between the sensor collected and the set zero point to form an angle.

10. The method of claim 8, wherein, In step S4, the worm gear reducer (22) self-locking includes: Number of worm head Z1 = 1, Lead angle ; material selection steel worm and cast iron worm wheel friction coefficient Friction angle ; self-locking condition is: 7.13 ≤ 8.53.

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