CN106425015A - All-position self-adaptive welding process for large low-alloy high-strength steel ball tank - Google Patents
All-position self-adaptive welding process for large low-alloy high-strength steel ball tank Download PDFInfo
- Publication number
- CN106425015A CN106425015A CN201611029971.4A CN201611029971A CN106425015A CN 106425015 A CN106425015 A CN 106425015A CN 201611029971 A CN201611029971 A CN 201611029971A CN 106425015 A CN106425015 A CN 106425015A
- Authority
- CN
- China
- Prior art keywords
- welding
- longitudinal joint
- section
- inwall
- spherical tank
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/0026—Arc welding or cutting specially adapted for particular articles or work
- B23K9/0035—Arc welding or cutting specially adapted for particular articles or work of thin articles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/12—Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
- B23K9/124—Circuits or methods for feeding welding wire
- B23K9/125—Feeding of electrodes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K2101/00—Articles made by soldering, welding or cutting
- B23K2101/04—Tubular or hollow articles
- B23K2101/12—Vessels
- B23K2101/125—Cans
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Plasma & Fusion (AREA)
- Mechanical Engineering (AREA)
- Butt Welding And Welding Of Specific Article (AREA)
Abstract
The invention relates to an all-position self-adaptive welding process for a large low-alloy high-strength steel ball tank. The all-position self-adaptive welding process comprises the following steps of: S1, before welding, setting different welding process parameters according to different areas on a longitudinal seam of the ball tank, and respectively inputting welding process parameters into a central control unit of a welding trolley according to a welding area; S2, pre-arranging a rail on the ball tank, arranging the welding trolley on the rail, and arranging a position detecting device on the welding trolley; and S3, in a field welding process, detecting the welding area in which the welding trolley is located in real time by a position detecting device, and sending the detected results to the central control unit, wherein the central control unit is used for regulating the welding process parameters of the welding trolley in real time according to the received welding area of the welding trolley. The welding process can realize automatically regulating welding process parameters of different welding parts, so that automation level is relatively high, and working efficiency is greatly improved; and moreover, welding quality of the longitudinal seam of the ball tank is effectively ensured.
Description
Technical field
The present invention relates to a kind of large-scale low-alloy high-strength steel spherical tank all positon self adaptation welding procedure.
Background technology
Limited by the condition such as transporting, large pressurized vessel such as spherical storage tank etc. is typically necessary at the scene carries out welding group
Dress.China starts just to carry out the research of spherical tank scene automatic welding from last century the nineties, but the live automatic welding of early development
Equipment automatization level is relatively low, it is impossible to automatic sensing welding position, and the welding condition of diverse location needs operator's reality
When be adjusted, device to scene adaptability poor, Product jointing quality is affected larger by anthropic factor, it is difficult to guarantee weld
It is seamed into shape and welding quality, it is impossible to meet the requirement of modern high parameter pressure vessel welding quality.
Content of the invention
In order to solve above-mentioned technical problem, it is an object of the invention to provide a kind of full position of large-scale low-alloy high-strength steel spherical tank
Self adaptation welding procedure is put, this welding procedure can realize the adjust automatically of the welding condition of different welding positions, so as to
Automatization level is higher, not only substantially increases work efficiency, and effectively ensures the welding quality of spherical tank longitudinal joint.
In order to the purpose of the present invention is realized, technical scheme below is present invention employs：
A kind of large-scale low-alloy high-strength steel spherical tank all positon self adaptation welding procedure, comprises the steps：
S1, before spherical tank welding, sets different welding conditions according to the zones of different on spherical tank longitudinal joint, and by this
Different welding conditions are separately input in the central control unit of welding tractor by welding region；
S2, preset track on spherical tank, the track is arranged along the longitudinal joint direction of spherical tank, and the welding tractor is arranged on
On the track, and position detecting device is provided with the welding tractor；
S3, during Site Welding, welding region residing for the position detecting device real-time detection welding tractor, position
Detection means simultaneously sends the welding region of the welding tractor for detecting to the central control unit；The central control unit
According to the welding region of the welding tractor for receiving, the welding condition of real-time adjustment welding tractor, until welding terminates.
Preferably, in step S1, according to its length, some welding regions are divided into per bar longitudinal joint on spherical tank, each welding
Region corresponds to different welding conditions.
Preferably, the welding condition includes welding current value, the arc voltage value of welding and welding tractor
Speed of travel value.
Preferably, the position detecting device is obliquity sensor.
It is more highly preferred to, in step S1, the part per longitudinal joint described in bar on spherical tank outer wall is outer wall longitudinal joint, in ball
Part on top tank structure is inwall longitudinal joint；The outer wall longitudinal joint is divided into eight weld zones from the top of the bottom of spherical tank to spherical tank
Domain, respectively outer wall longitudinal joint first weldering section, outer wall longitudinal joint second weld section, outer wall longitudinal joint the 3rd weld section, outer wall longitudinal joint the 4th weld section,
Outer wall longitudinal joint the 5th welds section, outer wall longitudinal joint the 6th and welds section, the weldering section of outer wall longitudinal joint the 7th, the weldering section of outer wall longitudinal joint the 8th；The inwall
Longitudinal joint is divided into eight welding regions from the bottom at the top of spherical tank to spherical tank, and respectively inwall longitudinal joint first welds section, inwall and indulges
Seam the second weldering section, the weldering section of inwall longitudinal joint the 3rd, the weldering section of inwall longitudinal joint the 4th, inwall longitudinal joint the 5th weld section, inwall longitudinal joint the 6th and weld
Section, inwall longitudinal joint the 7th weld section, inwall longitudinal joint the 8th and weld section；
The outer wall longitudinal joint first welds section and the welding condition of the weldering section of inwall longitudinal joint first is as follows：Welding current value is
170A, the arc voltage value of welding is 20V, and the speed of travel value of welding tractor is 180mm/min；
The outer wall longitudinal joint second welds section and the welding condition of the weldering section of inwall longitudinal joint second is as follows：Welding current value is
180A, the arc voltage value of welding is 20.5V, and the speed of travel value of welding tractor is 170mm/min；
The outer wall longitudinal joint the 3rd welds section and the welding condition of the weldering section of inwall longitudinal joint the 3rd is as follows：Welding current value is
185A, the arc voltage value of welding is 21V, and the speed of travel value of welding tractor is 160mm/min；
The outer wall longitudinal joint the 4th welds section and the welding condition of the weldering section of inwall longitudinal joint the 4th is as follows：Welding current value is
190A, the arc voltage value of welding is 21V, and the speed of travel value of welding tractor is 160mm/min；
The outer wall longitudinal joint the 5th welds section and the welding condition of the weldering section of inwall longitudinal joint the 5th is as follows：Welding current value is
190A, the arc voltage value of welding is 21V, and the speed of travel value of welding tractor is 160mm/min；
The outer wall longitudinal joint the 6th welds section and the welding condition of the weldering section of inwall longitudinal joint the 6th is as follows：Welding current value is
200A, the arc voltage value of welding is 22V, and the speed of travel value of welding tractor is 155mm/min；
The outer wall longitudinal joint the 7th welds section and the welding condition of the weldering section of inwall longitudinal joint the 7th is as follows：Welding current value is
210A, the arc voltage value of welding is 22.5V, and the speed of travel value of welding tractor is 155mm/min；
The outer wall longitudinal joint the 8th welds section and the welding condition of the weldering section of inwall longitudinal joint the 8th is as follows：Welding current value is
220A, the arc voltage value of welding is 23V, and the speed of travel value of welding tractor is 150mm/min.
The beneficial effects of the present invention is：Welding tractor in the present invention has perception, being capable of automatic identification welding
Position, central control unit inquires about the technological parameter corresponding with welding position according to the welding position of welding tractor, in basis
The technical parameter of the technological parameter real-time adjustment welding tractor for pre-entering, not only greatly improves work efficiency, also effectively
Ensure that the integral solder quality of large-size spherical tank.
Description of the drawings
Fig. 1 is the structural representation of spherical tank robot welding system.
Fig. 2 is the segmentation schematic diagram of the welding region of a certain bar longitudinal joint in spherical tank surface.
Fig. 3 is operating diagram of the welding tractor in lower semisphere inwall and the episphere outer wall of spherical tank.
Fig. 4 is operating diagram of the welding tractor in lower semisphere outer wall and the episphere inwall of spherical tank.
Fig. 5 is the block plan of the welding region of a certain bar longitudinal joint in the obtained spherical tank surface of obliquity sensor detection.
Fig. 6 controls implementation process schematic diagram for spherical tank automatic welding.
Marked data in Fig. 5, Fig. 6, the numeral before bracket is angle subregion during outer wall longitudinal seam welding, the number in bracket
Word is the angle subregion in inwall longitudinal seam welding.
The implication of in figure labelling is as follows：
10- welding tractor 11- wire-feed motor 12- obliquity sensor 20- track
30- source of welding current 40- central control cabinet 50- spherical tank
51- outer wall longitudinal joint 511- outer wall longitudinal joint first welds section 512- outer wall longitudinal joint second and welds section
513- outer wall longitudinal joint the 3rd welds section 514- outer wall longitudinal joint the 4th and welds section
515- outer wall longitudinal joint the 5th welds section 516- outer wall longitudinal joint second and welds section
517- outer wall longitudinal joint second welds section 518- outer wall longitudinal joint second and welds section
52- inwall longitudinal joint 521- inwall longitudinal joint first welds section 522- inwall longitudinal joint second and welds section
523- inwall longitudinal joint the 3rd welds section 524- inwall longitudinal joint the 4th and welds section
525- inwall longitudinal joint the 5th welds section 526- inwall longitudinal joint second and welds section
527- inwall longitudinal joint second welds section 528- inwall longitudinal joint second and welds section
Specific embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation is described, it is clear that described embodiment is only a part of embodiment of the present invention, rather than whole embodiments.It is based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under the premise of creative work is not made
Embodiment, belongs to the scope of protection of the invention.
As shown in figure 1, spherical tank robot welding system is by welding tractor 10, wire-feed motor 11, obliquity sensor 12, preset soft
Property track 20, the source of welding current 30 and be built-in with central control cabinet 40 of central control unit etc. composition；The wire-feed motor 11 with
And obliquity sensor 12 is that on welding machine, the flexible rail 20 then moves towards preset along spherical tank longitudinal joint installed in welding tractor 10
On spherical tank 50.
Below in conjunction with the accompanying drawings, the welding process of the present invention is described in detail.
S1, before spherical tank welding, to each longitudinal joint on spherical tank 50, all carries out phase according to the position of the zones of different of longitudinal joint
The qualification of welding procedure that answers, determines the welding condition of each welding region.
As shown in Fig. 2 the part per longitudinal joint described in bar on spherical tank outer wall is outer wall longitudinal joint 51, on spherical tank inwall
Part be inwall longitudinal joint 52；The outer wall longitudinal joint 51 is divided into eight welding regions from the top of the bottom of spherical tank to spherical tank
(being divided into eight sections from bottom to top along the warp direction of spherical tank), respectively outer wall longitudinal joint first weldering section 511, outer wall longitudinal joint
Second weldering section 512, outer wall longitudinal joint the 3rd weld section 513, outer wall longitudinal joint the 4th and weld section 514, the weldering section 515, outer wall of outer wall longitudinal joint the 5th
Longitudinal joint the 6th welds section 516, outer wall longitudinal joint the 7th and welds section 517, the weldering section 518 of outer wall longitudinal joint the 8th；The inwall longitudinal joint 52 is from spherical tank
The bottom at top to spherical tank be divided into eight welding regions (warp direction i.e. along spherical tank be divided into eight from top to bottom
Section), respectively the weldering of inwall longitudinal joint first section 521, inwall longitudinal joint second weld section 522, inwall longitudinal joint the 3rd and weld section 523, inwall and indulge
Stitch the 4th weldering section 524, inwall longitudinal joint the 5th and weld section 525, inwall longitudinal joint the 6th and weld section 526, inwall longitudinal joint the 7th and weld section 527, interior
Wall longitudinal joint the 8th welds section 528.
Again different welding conditions is separately input in the central control unit of welding tractor by welding region；
Specifically, the welding region residing for welding tractor 10 can be measured by obliquity sensor 12.As shown in figure 3, Fig. 3
For operating diagram of the welding tractor 10 when the lower semisphere inwall longitudinal joint of spherical tank 50 and episphere outer wall longitudinal joint work, now
Angle [alpha] measured by obliquity sensor 12 is that larger angle of angle between the direction of advance of welding tractor 10 and vertical money
Degree；Fig. 4 is that work of the welding tractor 10 in lower semisphere outer wall longitudinal joint and the work of episphere inwall longitudinal joint of spherical tank 50 is illustrated
Figure, now that of direction of advance and vertical money between angle of the angle [alpha] measured by obliquity sensor 12 for welding tractor 10
Less angle.I.e. obliquity sensor 12 is to judge current welding by the angle of plumb line and 10 direction of advance of welding tractor
Position.As shown in figure 5, the Site Welding of general spherical tank 50 is all by the way of welding from bottom to top, so obliquity sensor
Angle [alpha] measured by 12 does not have soldering angle less than 90 ° and the welding position more than 270 °.
In conjunction with Fig. 5, sensed by inclination angle, the angle of 12 measurements is shown in Table 1 with the relation of welding position subregion.
1. sphere welding position partition table of table
| Soldering angle α | 90-112.5 | 112.5-135 | 135-157.5 | 157.5-202.5 | 202.5-225 | 225-247.5 | 247.5-270 |
| Location designation | A | B | C | D | E | F | G |
| Welding procedure | Overhead welding | Stand and face upward 2 | Stand and face upward 1 | Vertical position welding | Vertical flat 1 | Vertical flat 2 | Downhand welding |
Each longitudinal joint of spherical tank 50 is divided into 8 regions by welding procedure of the present invention, corresponding welding position
Code name is A, B, C, D, E, F, G (wherein D area is that two, the welding condition in Liang Ge D area is identical), as shown in figure 5, right respectively
The welding position of 7 different welding procedures, all longitudinal joints of spherical tank is answered all to be included into this 7 regions.Weld in welding process
Welding condition of the dolly in certain welding region keeps constant, and during change region, welding condition needs real-time adjustment,
To meet appearance of weld and the welding quality requirement of different welding regions.
Before spherical tank welding, corresponding qualification of welding procedure is carried out by the position of each welding region on longitudinal joint, determine each welding
The corresponding welding condition in region, as shown in table 2.
The welding condition of each welding region of table 2.
| Soldering angle code name | A | B | C | D | E | F | G |
| Welding position | Overhead welding | Stand and face upward 2 | Stand and face upward 1 | Vertical position welding | Vertical flat 1 | Vertical flat 2 | Downhand welding |
| Welding current A | 170 | 180 | 185 | 190 | 200 | 210 | 220 |
| Arc voltage V | 20 | 20.5 | 21 | 21 | 22 | 22.5 | 23 |
| Speed of travel mm/min | 180 | 170 | 160 | 160 | 155 | 155 | 150 |
The welding condition of each welding region is pressed welding region difference by the man machine interface of central control cabinet 40 defeated
Enter in central control unit.
S2, preset track on spherical tank 50, the track is arranged along the longitudinal joint direction of spherical tank 50, the welding tractor 10
It is arranged on the track 20 according to mode shown in Fig. 3,4, and on the welding tractor 10, is provided with obliquity sensor 12.
S3, during Site Welding, welding region residing for 12 real-time detection welding tractor 10 of obliquity sensor, such as runs
During to P point position shown in Fig. 6, the soldering angle α that obliquity sensor 12 is detected be 210 °, by table 1 regulation judge current
Welding position code name is " E ", i.e., " vertical flat 1 ", system is by this information transmission to the central control unit in central control cabinet 40；In
Centre control unit continually scans for the information of the input of obliquity sensor 12, according to currently available welding position code name " E ", from storage
The corresponding welding parameter in inquiry current location in system, that is, enter described in table 2, respectively：Welding current=200A, electric arc
Voltage=22V, speed of welding=155cm/min.
Central control unit is by welding current and arc voltage information transmission to the source of welding current 30 and wire-feed motor 11 with real-time
Adjustment welding current is 200A and arc voltage is 22V；Central control unit is by speed of welding information transmission to welding tractor 10
Traveling controller, the speed of travel of real-time control welding tractor 10 be.
Before welding of the present invention, the welding procedure qualified through qualification of welding procedure is input to central control by each welding position
In system processed, during welding, it is the obliquity sensor installed on welding tractor by welding position information transmission in welding head
To central control unit, the region parameter that system is pre-set according to table 1 judges the welding partition number corresponding to current location, so
The welding condition for being pre-set according to each region afterwards, output control signal is to the source of welding current and the vehicle with walking machine of welding tractor
Structure, real-time adjustment welding condition, realize the correct enforcement of spherical tank all-position automatic welding technology technique, so as to ensure spherical tank everybody
Put shaping and the welding quality of weld seam.
Claims (5)
1. a kind of large-scale low-alloy high-strength steel spherical tank all positon self adaptation welding procedure, it is characterised in that comprise the steps：
S1, before spherical tank welding, sets different welding conditions according to the zones of different on spherical tank longitudinal joint, and this is different
Welding condition be separately input in the central control unit of welding tractor by welding region；
S2, preset track on spherical tank, the track is arranged along the longitudinal joint direction of spherical tank, and the welding tractor is arranged on described
On track, and position detecting device is provided with the welding tractor；
S3, during Site Welding, welding region residing for the position detecting device real-time detection welding tractor, position is detected
Device simultaneously sends the welding region of the welding tractor for detecting to the central control unit；The central control unit according to
The welding region of the welding tractor for receiving, the welding condition of real-time adjustment welding tractor, until welding terminates.
2. a kind of large-scale low-alloy high-strength steel spherical tank all positon self adaptation welding procedure as claimed in claim 1, its feature exists
In：In step S1, on spherical tank, some welding regions are divided into per bar longitudinal joint according to its length, each welding region corresponds to different
Welding condition.
3. a kind of large-scale low-alloy high-strength steel spherical tank all positon self adaptation welding procedure as claimed in claim 1 or 2, its feature
It is：The welding condition includes the speed of travel value of welding current value, the arc voltage value of welding and welding tractor.
4. a kind of large-scale low-alloy high-strength steel spherical tank all positon self adaptation welding procedure as claimed in claim 1 or 2, its feature
It is：The position detecting device is obliquity sensor.
5. a kind of large-scale low-alloy high-strength steel spherical tank all positon self adaptation welding procedure as claimed in claim 2, its feature exists
In：In step S1, the part per longitudinal joint described in bar on spherical tank outer wall is outer wall longitudinal joint, and the part on spherical tank inwall is
Inwall longitudinal joint；The outer wall longitudinal joint is divided into eight welding regions from the top of the bottom of spherical tank to spherical tank, and respectively outer wall is indulged
Seam the first weldering section, the weldering section of outer wall longitudinal joint second, the weldering section of outer wall longitudinal joint the 3rd, outer wall longitudinal joint the 4th weld section, outer wall longitudinal joint the 5th and weld
Section, outer wall longitudinal joint the 6th weld section, outer wall longitudinal joint the 7th and weld section, the weldering section of outer wall longitudinal joint the 8th；The inwall longitudinal joint is from the top of spherical tank
The bottom in portion to spherical tank is divided into eight welding regions, and respectively inwall longitudinal joint first welds section, inwall longitudinal joint second and welds section, inwall
Longitudinal joint the 3rd welds section, inwall longitudinal joint the 4th and welds section, the weldering section of inwall longitudinal joint the 5th, the weldering section of inwall longitudinal joint the 6th, inwall longitudinal joint the 7th
Weldering section, inwall longitudinal joint the 8th weld section；
The outer wall longitudinal joint first welds section and the welding condition of the weldering section of inwall longitudinal joint first is as follows：Welding current value is
170A, the arc voltage value of welding is 20V, and the speed of travel value of welding tractor is 180mm/min；
The outer wall longitudinal joint second welds section and the welding condition of the weldering section of inwall longitudinal joint second is as follows：Welding current value is
180A, the arc voltage value of welding is 20.5V, and the speed of travel value of welding tractor is 170mm/min；
The outer wall longitudinal joint the 3rd welds section and the welding condition of the weldering section of inwall longitudinal joint the 3rd is as follows：Welding current value is
185A, the arc voltage value of welding is 21V, and the speed of travel value of welding tractor is 160mm/min；
The outer wall longitudinal joint the 4th welds section and the welding condition of the weldering section of inwall longitudinal joint the 4th is as follows：Welding current value is
190A, the arc voltage value of welding is 21V, and the speed of travel value of welding tractor is 160mm/min；
The outer wall longitudinal joint the 5th welds section and the welding condition of the weldering section of inwall longitudinal joint the 5th is as follows：Welding current value is
190A, the arc voltage value of welding is 21V, and the speed of travel value of welding tractor is 160mm/min；
The outer wall longitudinal joint the 6th welds section and the welding condition of the weldering section of inwall longitudinal joint the 6th is as follows：Welding current value is
200A, the arc voltage value of welding is 22V, and the speed of travel value of welding tractor is 155mm/min；
The outer wall longitudinal joint the 7th welds section and the welding condition of the weldering section of inwall longitudinal joint the 7th is as follows：Welding current value is
210A, the arc voltage value of welding is 22.5V, and the speed of travel value of welding tractor is 155mm/min；
The outer wall longitudinal joint the 8th welds section and the welding condition of the weldering section of inwall longitudinal joint the 8th is as follows：Welding current value is
220A, the arc voltage value of welding is 23V, and the speed of travel value of welding tractor is 150mm/min.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611029971.4A CN106425015A (en) | 2016-11-15 | 2016-11-15 | All-position self-adaptive welding process for large low-alloy high-strength steel ball tank |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611029971.4A CN106425015A (en) | 2016-11-15 | 2016-11-15 | All-position self-adaptive welding process for large low-alloy high-strength steel ball tank |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106425015A true CN106425015A (en) | 2017-02-22 |
Family
ID=58221603
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611029971.4A Pending CN106425015A (en) | 2016-11-15 | 2016-11-15 | All-position self-adaptive welding process for large low-alloy high-strength steel ball tank |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106425015A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111451606A (en) * | 2020-03-31 | 2020-07-28 | 北京博清科技有限公司 | Welding control method and device |
| CN114619120A (en) * | 2020-12-10 | 2022-06-14 | 中国石油天然气集团有限公司 | Method for root welding |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2406767Y (en) * | 1999-12-17 | 2000-11-22 | 中国石油天然气总公司工程技术研究院 | Automatic welding apparatus for spherical storage tank |
| JP2000330638A (en) * | 1999-05-25 | 2000-11-30 | Osaka Gas Co Ltd | Traveling controlling method and traveling object |
| CN101648583A (en) * | 2008-08-11 | 2010-02-17 | 北京石油化工学院 | Non-guide rail automatic-tracking flexible crawl trolley |
| CN102248258A (en) * | 2010-05-21 | 2011-11-23 | 北京石油化工学院 | Guide rail-free automatic tracking flexible crawling trolley applied to underwater local dry welding |
| CN103203517A (en) * | 2012-01-16 | 2013-07-17 | 成都熊谷加世电器有限公司 | All-position automatic welding system |
| CN204997244U (en) * | 2015-09-14 | 2016-01-27 | 中石化南京工程有限公司 | Full position automatic weld of spherical tank track for equipment |
| JP2016525449A (en) * | 2014-05-13 | 2016-08-25 | ツィンファ ユニバーシティ | Apparatus and method for detecting narrow groove of workpiece reflecting specularly |
-
2016
- 2016-11-15 CN CN201611029971.4A patent/CN106425015A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000330638A (en) * | 1999-05-25 | 2000-11-30 | Osaka Gas Co Ltd | Traveling controlling method and traveling object |
| CN2406767Y (en) * | 1999-12-17 | 2000-11-22 | 中国石油天然气总公司工程技术研究院 | Automatic welding apparatus for spherical storage tank |
| CN101648583A (en) * | 2008-08-11 | 2010-02-17 | 北京石油化工学院 | Non-guide rail automatic-tracking flexible crawl trolley |
| CN102248258A (en) * | 2010-05-21 | 2011-11-23 | 北京石油化工学院 | Guide rail-free automatic tracking flexible crawling trolley applied to underwater local dry welding |
| CN103203517A (en) * | 2012-01-16 | 2013-07-17 | 成都熊谷加世电器有限公司 | All-position automatic welding system |
| JP2016525449A (en) * | 2014-05-13 | 2016-08-25 | ツィンファ ユニバーシティ | Apparatus and method for detecting narrow groove of workpiece reflecting specularly |
| CN204997244U (en) * | 2015-09-14 | 2016-01-27 | 中石化南京工程有限公司 | Full position automatic weld of spherical tank track for equipment |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111451606A (en) * | 2020-03-31 | 2020-07-28 | 北京博清科技有限公司 | Welding control method and device |
| CN114619120A (en) * | 2020-12-10 | 2022-06-14 | 中国石油天然气集团有限公司 | Method for root welding |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104959714B (en) | Four-head gantry welder and control method for single-beam of driving a vehicle | |
| CN112059363B (en) | Unmanned wall climbing welding robot based on vision measurement and welding method thereof | |
| CN105458462B (en) | A kind of trapezoidal weld seam multi-parameter synchronizing visual detecting and tracking method of Varied clearance | |
| CN102009275B (en) | Automatic welding system for rack and base of marine diesel engine | |
| CN103111730B (en) | Saddle-shaped track automation welding method of collection box large tube socket | |
| CN105195868B (en) | A kind of robot welding system and its welding method | |
| CN105618976B (en) | A kind of intelligent weld seam system | |
| CN102861970A (en) | Welding method of orthotropic plate U-shaped rib fillet welding robot and special equipment thereof | |
| CN104785958B (en) | A kind of cryogenic tank outer member robot welding workstation | |
| CN207205619U (en) | Ripple seam tracking system based on 3 D laser scanning | |
| CN205342175U (en) | Robot welding system | |
| KR102584173B1 (en) | Welding control method of portable welding robot, welding control device, portable welding robot and welding system | |
| CN107378246A (en) | A kind of method and system for correcting laser welding track | |
| CN107414364A (en) | A kind of sliceable welding robot track and its manufacture method | |
| CN106425015A (en) | All-position self-adaptive welding process for large low-alloy high-strength steel ball tank | |
| CN108381068A (en) | A kind of welding manipulator weld image servo teaching apparatus and teaching method | |
| CN109834373A (en) | A kind of view-based access control model and the automation submerged arc soldering equipment of laser tracking | |
| CN209035666U (en) | A kind of round tube internal partition automatic soldering device | |
| CN106180965A (en) | The laser scanning welder of a kind of robot and method | |
| CN103769723B (en) | A kind of nuclear island primary Ioops main pipeline installation method | |
| CN212094991U (en) | Numerical control welding machine for anti-skid points of steel plates | |
| CN204321382U (en) | A kind of gate-type automatic submerged arc welding machine | |
| CN204711384U (en) | For the four-head gantry welder of single-beam of driving a vehicle | |
| CN103909356B (en) | A kind of balcony blocks bar automatic welding machine and method of operating thereof | |
| CN206105156U (en) | Three -dimensional rectangular robot line laser welding seam automatic tracking system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170222 |