固定管机器人全位置焊接工艺研究

发布时间：2017-12-31 10:34

本文关键词：固定管机器人全位置焊接工艺研究　出处：《江苏科技大学》2015年硕士论文　论文类型：学位论文

【摘要】：目前我国的大部分固定管的全位置焊仍然采用CO2半自动焊作业或者利用机器人加变位机进行焊接,这两种焊接方法都有着自身局限性。首先,对焊接设备要求高,需要两种机械设备协同运行;其次,对一些不能利用变位机的固定管焊接,仍然需要手工进行焊接。市场上专用的管子焊接专机,大部分可以解决管子焊接的问题,但是对于一些固定管和连续长管道,只能进行全位置焊。依据这一现状,本课题进行了不同位置板的打底和填充焊接,以及大量固定管全位置焊工艺试验,总结出利用机器人进行固定管道全位置焊的一套参数。当焊缝长度与机器人摆长不成正比时,在焊缝末端会出现不摆动,造成焊缝末端填充不饱满。利用VB语言设计了一个可以计算焊缝长度的软件,保证了每段焊缝与摆长成倍数关系。同时设计了管子的工装夹具,保证管子焊接时不会窜动。仰立过渡区位置填充焊出现了断续焊瘤,通过增加摆幅,减小双边延迟,减少了对焊缝两边的热输入,使熔池两侧的金属尽快凝固。同时改变焊枪倾斜角度,增加电弧吹力对熔滴的托举。解决了该区域断续焊瘤的问题。通过此项研究,调试出了仰,仰立过渡区,立,立平过渡区,平五个位置的焊接参数,并形成了实用性很强的数据库,并通过试验焊接出了完整的固定管全位置焊缝。分别得到了全位置打底焊、填充焊和盖面焊的焊接工艺参数。并进行工艺的验证,总结出适合于管子全位置焊的焊接参数数据库,最后完成本试验。机器人管焊接头力学性能试验结果表明:侧弯试验的试样焊缝和熔合区均无裂纹,焊接接头的抗拉强度大于母材,且其冲击功明显高于热影响区,在熔合线外2mm和5mm处热影响区冲击功明显较低。
[Abstract]:At present most of the fixed tube all position welding in China is still using CO2 semi automatic welding robot and welding or using the positioner, these two kinds of welding methods have their own limitations. First, the welding equipment requirement is high, need two coordinated operation of machinery and equipment; second, some can not use variable a fixed tube welding machine, still require manual welding. The market of special pipe welding machine, most can solve the pipe welding problems, but for some fixed tube and continuous long pipeline, only for all position welding. According to this situation, this thesis had different position board backing and filling welding, and a large number of fixed tube all position welding process test, summed up all position welding robot fixed pipe by using a set of parameters. When the weld length and length of pendulum robot is not proportional to the time, in the end there will be no weld Swing caused by weld end filling is not full. One can calculate the length of the weld the software design using VB language, to ensure that every section of the weld and put into a multiple relationship. At the same time the design of the fixture, ensure the pipe welding will not be moved. Yang Li transition zone position welding appeared by intermittent welding increase the swing, reduce bilateral delay, reduce the heat input on both sides of the weld, the weld pool on both sides of the metal solidification as soon as possible. At the same time to change the tilt angle of the welding torch, increase arc force on the droplet lifts. To solve the problem. The intermittent regional overlap through this research, debugging back upward vertical transition Li Liping, zone, transition zone, flat welding parameters of five positions, and the formation of a strong practical database, and through the test of a fixed pipe all position welding weld integrity were obtained. All position backing welding, filling welding and cover The welding parameters welding. Verify and process, summed up the suitable for all position welding pipe welding parameter database, finally completed the test. Test results of pipe welding robot head of mechanical properties show that lateral bending test sample weld and fusion zone are free of cracks, the tensile strength of welded joint is greater than that of the parent material, and the impact power was significantly higher than that of the heat affected zone, fusion line in 2mm and 5mm at the heat affected zone of impact energy is significantly lower.

【学位授予单位】：江苏科技大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：TG409;TP242

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