Circular seam welding robot device

Abstract

The invention discloses a robot device for the circular seam welding of large spherical crown workpieces and pipes. A robot main body comprises a machine head and a machine frame. The machine head consists of a cross sliding table mechanism, a six-freedom-degree motion system, a sliding ring system and a welding gun. The machine frame consists of a fixed base, upright columns, a cross beam and a slider. The machine frame of the robot makes large range motion and moves the robot main body to a position to be welded, the accuracy of micro motion is compensated by the cross sliding table mechanism of the machine head, and six-freedom-degree circular seam welding is realized. Welding process is monitored by a visual sensing technology, and a video camera fits a laser generator and serves as an optical visual sensor for laser structures. Another video camera fits the welding gun, serves as a visual sensor for a welding pool, and carries out real-time visual detection for the welding process. The robot device is particularly suitable for accurate locating motion required for welding large spherical crown workpieces and pipes, and can finish specific track welding in narrow space and control welding hot deformation.

Description

technical field [0001] The invention belongs to an intelligent welding robot, in particular to a device for welding a large spherical crown surface workpiece and a pipe fitting by a robot. Background technique [0002] A welding robot generally consists of a plurality of joints to form an operating arm or other forms of motion mechanism. The end of the mechanism clamps a welding torch and other welding auxiliary devices to complete the weld trajectory movement required for workpiece welding in the welding operation space. Automatic welding device for workpieces. However, for welding projects with special quality requirements and more complex workpieces, the structural design of existing robots still cannot meet the needs of some current projects. For example, the connection between the inlet and outlet of the pressure vessel of the nuclear reactor and the main pipe has a J-shaped bevel and crowns the spherical surface, requiring small deformation after welding. Due to the ...

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Problems solved by technology

Tangshan Kaiyuan Robot System Co., Ltd. and Japan Hitachi jointly developed a nuclear power pressure vessel J-shaped groove automatic welding machine [Li Hanhong, nuclear power pressure vessel J-shaped groove automatic welding. Electric Welding Machine, 2010, (02):84-87], Although the welding with specific requirements can be completed, the half-circle welding method adopted is difficult to control the temperature difference and the composition of the molten pool accumulation is complex, resulting in uneven weld formation and affecting welding quality

[0004]Therefore, the above-mentioned disclosed welding technology is still unable to meet the requirements of the welding device in which the pipe is crowned with the spherical surface and the deformation after welding is small.

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