Robot laser hybrid welding method for T-shaped material

Abstract

The invention provides a robot laser hybrid welding method for a T-shaped material. The robot laser hybrid welding method comprises the steps that 1, an assembled T-shaped connector is placed on a test bed; 2, the robot is operated to move to a designated position; calling out a related program in the demonstrator, and calling out a corresponding welding angle; step 3, adjusting the position and parameters of a position searching laser; 4, setting laser parameters; 5, welding parameters are set; 6, adjusting the distance between the light filaments; 7, calling a fillet weld welding program; 8, the welding speed is set; and 9, the program is operated, and a welding product is obtained. The method fundamentally solves the problem of rapid positioning of the welding incidence angle in the traditional process, and is flexible to adjust. Conventionally, the special design of a welding joint is not needed, a large amount of manpower, material resources, time and financial resources are saved, the debugging progress is greatly accelerated, and the internal quality of a welding seam is greatly improved.

Description

Technical Field

[0001] This invention relates to the field of welding technology, specifically to the application of robotic laser hybrid welding in T-section welding. Background Technology

[0002] In shipbuilding and other manufacturing industries, T-joints are a common type of welded joint, and most are still processed using traditional metal arc welding (MAW) or submerged arc welding (SAW). When higher structural strength is required, beveling is necessary to achieve full penetration, which necessitates the use of large amounts of filler metal and welding flux.

[0003] Because the plate manufacturing process has high requirements for welding quality and there are many indicators for weld inspection, it is necessary to pass many stringent inspection items; traditional arc welding, submerged arc welding and other methods have certain limitations in welding, such as slow speed, low efficiency, shallow penetration and complex process. Summary of the Invention

[0004] To address the shortcomings of the aforementioned technologies, this invention provides an application of robotic laser composite welding in T-profile welding, which perfectly solves the problems mentioned above and features simple process debugging, strong adaptability, and greater flexibility.

[0005] This invention solves the problems of inflexible angle adjustment and welding point deviation in T-joint welding, reduces energy consumption, manpower and material input during debugging, improves internal quality, and saves time and labor costs.

[0006] The method of the present invention includes the following steps:

[0007] Step 1: Place the assembled T-connector on the test bench;

[0008] Step 2: Move the robot to the designated position; retrieve the relevant program in the teach pendant and select the corresponding welding angle;

[0009] Step 3: Adjust the position and parameters of the positioning laser;

[0010] Step 4: Set laser parameters;

[0011] Step 5: Set welding parameters;

[0012] Step 6: Adjust the filament spacing;

[0013] Step 7: Call the fillet weld welding program;

[0014] Step 8: Set the welding speed;

[0015] Step 9: Run the program to obtain the welded product.

[0016] In step 1 of this invention, the assembly gap of the T-joint is no more than 1mm, and the area around the weld is ground. The area around the weld is ground 18-22mm to achieve a metallic luster.

[0017] In step 2 of this invention, the designated position is a safe position outside the workpiece to be welded, ensuring that the laser does not collide with the workpiece; in the robot teach pendant, the incident angle of the laser beam is adjusted by adjusting the angle of the robot end clamping.

[0018] In step 3 of this invention, the positioning laser beam forms a 30-65 degree angle with the weld seam; the parameters, positioning type, and task number of the positioning laser are set in the software; these parameters are retrieved through instructions in the robot teach pendant. The positioning laser parameters include weld seam type, tracking feature point, and laser overlap length; the positioning type includes fillet weld positioning; the task number is a code used for setting parameters for fillet weld tracking, and this task number is user-defined.

[0019] In step 4 of this invention, the laser power is set to 5000-12000W, the laser frequency is set to 100Hz, the laser pulse width is set to 1MS, and the duty cycle is set to 100%.

[0020] In step 5 of this invention, the welding parameters to be called are set as follows: current: 200-280A, voltage: 22-35V, arc correction: -10-+5.

[0021] In step 6 of this invention, the spacing between the optical fibers is adjusted to 0-5mm, the laser focal length to -5-+5mm, and the dry extension of the welding wire to 12-20mm.

[0022] In step 8 of this invention, the welding speed is set by the robot: 1-3.5 m / min.

[0023] This invention fundamentally solves the problem of rapid positioning of the welding incident angle in traditional processes, allowing for flexible adjustment. Special design of the welding joint is no longer required under normal circumstances. Debugging is convenient, flexible, and highly adaptable. Unlike before, it eliminates the need for repeated testing of a single parameter, saving significant manpower, material resources, time, and money, greatly improving debugging progress, and significantly enhancing the internal quality of the weld. Attached Figure Description

[0024] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0025] Figure 1 This is a schematic diagram of the positioning and welding procedure for the fillet weld of the present invention.

[0026] Figure 1 In the table, lines 6 / 8 / 9 / 11 / 12 represent the robot's running position, line 13 represents the robot's welding start point, lines 7 / 10 represent the positioning position, and lines 14 / 15 represent the laser welding start command.

[0027] Figure 2 This is a schematic diagram of the angle and posture of the robot during welding according to the present invention.

[0028] Figure 2 In the equation, x, y, and z represent the robot's position in the Cartesian coordinate system; w, p, and r represent the robot's spatial orientation in the Cartesian coordinate system; and E1 represents the position of the robot's external axis.

[0029] Figure 3 This is a schematic diagram of the laser used for weld seam positioning according to the present invention.

[0030] Figure 4 This is a schematic diagram of the overall view of the robot end effector of the present invention.

[0031] Figure 5 This is a schematic diagram of the laser parameter setting interface.

[0032] Figure 6 This is a schematic diagram of the post-weld forming of the laser composite welding of the present invention.

[0033] Figure 7 This is a schematic diagram of the post-weld surface forming of the T-type joint of the present invention.

[0034] Figure 8 This is a cross-sectional view of the T-shaped profile after laser composite welding according to the present invention. Detailed Implementation

[0035] The invention will be further described in detail below with reference to the specific embodiments and accompanying drawings. Except for the contents specifically mentioned below, the processes, conditions, and experimental methods for implementing the invention are all common knowledge and general knowledge in the art, and the invention does not have any particular limitations.

[0036] Example

[0037] The robotic laser composite welding method for T-shaped materials in this embodiment includes the following steps:

[0038] Step 1: Place the assembled T-joint on the test bench with an assembly gap of no more than 1mm. Grind the area around the weld at an appropriate distance to achieve a metallic luster. In this example, the gap is about 20mm on one side.

[0039] Step 2: Move the robot to a safe position outside the workpiece to be welded (ensure that the laser does not collide with the workpiece). In the robot teach pendant, adjust the angle of the end effector gripper of the robot to adjust the incident angle of the laser beam to 14 degrees.

[0040] Step 3: Adjust the positioning laser to the appropriate position so that the laser beam forms a 47-degree angle with the weld seam. Set the positioning laser parameters, positioning type, and task number in the software. These parameters can be retrieved via commands in the robot teach pendant, such as... Figure 1 As shown in lines 7 and 10 of the document;

[0041] The parameters of the positioning laser include weld type, tracking feature point, and laser overlap length;

[0042] The location search type is fillet weld location search;

[0043] The task number refers to a code used for parameter settings in fillet weld tracking; this task number is customizable.

[0044] Step 4: On the visual operation platform, set the laser power to 8500W, the laser frequency to 100Hz, the laser pulse width to 1MS, and the duty cycle to 100%.

[0045] Step 5: Set the welding parameters to be called in the robot teach pendant: current: 240A, voltage: 28V, arc correction: -2;

[0046] Step 6: Adjust the filament spacing to 2.5mm, laser focal length to 0mm, and welding wire extension to 16mm;

[0047] Step 7: Call the fillet weld welding program in the teach pendant; only the first and last points of the workpiece need to be taught.

[0048] Step 8: The welding speed is set by the robot: 1.7 m / min;

[0049] Step 9: Start the program to achieve automatic welding of T-profiles.

[0050] To obtain a different, more desirable specimen, repeat steps 2, 3, 4, 5, and 8 above.

[0051] From the above examples, it can be clearly seen that, through the present invention, in step 2 and... Figure 3 The laser-assisted hybrid welding achieved in this process allows for rapid and flexible adjustment of the welding incident angle of T-profiles; in step 3 and Figure 1 and Figure 2In this application, the combination of laser positioning and robotics allows for the rapid identification of the start and end points of welding, achieving fast and precise positioning. Furthermore, the laser guides the robot to acquire the correct welding point in real time, offering flexible adjustment and convenient operation. This further saves manpower, material resources, and time costs, improves welding quality and efficiency, and reduces the design cost of welded joints.

[0052] The scope of protection of this invention is not limited to the above embodiments. Any variations and advantages that can be conceived by those skilled in the art without departing from the spirit and scope of the inventive concept are included in this invention and are protected by the appended claims.

Claims

1. A robotic laser composite welding method for T-shaped materials, characterized in that, Includes the following steps: Step 1: Place the assembled T-connector on the test bench; Step 2: Move the robot to the designated position; retrieve the relevant program in the teach pendant and select the corresponding welding angle; Step 3: Adjust the position and parameters of the positioning laser; Step 4: Set laser parameters; Step 5: Set welding parameters; Step 6: Adjust the filament spacing; Step 7: Call the fillet weld welding program; Step 8: Set the welding speed; Step 9: Run the program to obtain the welded product.

2. The welding method as described in claim 1, characterized in that, In step 1, the T-joint assembly gap is no more than 1mm, and the area around the weld is ground.

3. The welding method as described in claim 2, characterized in that, Grind the area around the weld seam for 18-22mm to achieve a metallic luster.

4. The welding method as described in claim 1, characterized in that, In step 2, the designated position is a safe position outside the workpiece to be welded, ensuring that the laser does not collide with the workpiece. Step 2 also includes adjusting the incident angle of the laser beam by 8-30 degrees by adjusting the angle of the robot end effector in the robot teach pendant.

5. The welding method as described in claim 1, characterized in that, In step 3, the positioning laser beam forms an angle of 30-65 degrees with the weld seam; In step 3, the parameters, search type, and task number of the laser search are set in the software; these parameters are retrieved through instructions in the robot teach pendant.

6. The welding method as described in claim 5, characterized in that, The parameters of the positioning laser include weld type, tracking feature point, and laser overlap length; The location search type includes fillet weld location search; The task number refers to a code used for parameter settings in fillet weld tracking; this task number is customizable.

7. The welding method as described in claim 1, characterized in that, In step 4, set the laser power to 5000-12000W, the laser frequency to 100Hz, the laser pulse width to 1MS, and the duty cycle to 100%.

8. The welding method as described in claim 1, characterized in that, In step 5, set the welding parameters to be called: current: 200-280A, voltage: 22-35V, arc correction: -10-+5.

9. The welding method as described in claim 1, characterized in that, In step 6, adjust the filament spacing to 0-5mm, the laser focal length to -5-+5mm, and the welding wire extension to 12-20mm.

10. The welding method as described in claim 1, characterized in that, In step 8, the welding speed is set by the robot: 1-3.5 m / min.

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