Robotic automatic welding device for submerged arc welding in space arc path

Abstract

The invention discloses a robot automatic welding device for submerged arc welding in a space arc path, comprising: a robot system, a submerged arc welding machine system, a gas shielded arc welding system, a welding torch switching mechanism system, a laser vision tracking system, and a displacement machine system. A submerged arc welding torch and a laser vision tracking system are installed at the front end of the robot. The laser vision tracking system is set at an angle with the welding torch to realize real-time tracking and positioning of the welding workpiece and the weld seam during the welding process. The control device automatically identifies the corner characteristics of the welding path through the built-in corner path database, and invokes different multi-wire corner technologies corresponding to the corner characteristics to perform multi-wire welding on the arc path of the workpiece. The positioner system automatically completes the 180° turning of the welding workpiece. The device of the invention can weld the submerged arc welding of the straight line and the curved path, combines with the root cleaning process, improves the welding efficiency and welding quality, and reduces the labor intensity.

Description

technical field [0001] The present invention relates to the field of welding technology, and more particularly relates to a robot automatic welding device for submerged arc welding in a space arc path. Background technique [0002] The girder gusset plate of the quay bridge is the main load-bearing structural part of the quay bridge. Its main structural feature is that a member with an increased plate thickness is embedded in the main structure. Compared with the general structural connection requirements, it needs to bear greater tension and pressure. , so the design requires full penetration welding. Submerged arc welding is usually used in production. However, since the gusset plate is embedded into the main structure and the matching shape adopts a circular arc transition method, the commonly used trolley track cannot effectively match the path change. Therefore, The circular arc section of this type of welding structure requires manual repair welding, which greatly redu...

AI Technical Summary

Problems solved by technology

[0003] Regarding the submerged arc welding curve path weld, there are usually the following three technical problems. First, the planning of the path, the path of the trolley is mainly spliced ​​in a straight line, so it is impossible to achieve any arc change of the path. It is necessary to pre-plan the path turning position and turning speed on the path characteristic components. In order to ensure the stability of the welding process, it is necessary to ensure that the line speed is consistent and the rotation angle is smooth, so as to avoid the problem of poor fusion. Finally, the device with path offset can be independently The welding of a circular arc weld does not have good economic benefits from the perspective of automation

[0004] Welding devices for curved path welding components such as submerged arc welding and arc transition are rarely seen in the market and production at present

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