CN210387898U - Automatic welding equipment applied to large-size Invar steel die - Google Patents
Automatic welding equipment applied to large-size Invar steel die Download PDFInfo
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- CN210387898U CN210387898U CN201921156616.2U CN201921156616U CN210387898U CN 210387898 U CN210387898 U CN 210387898U CN 201921156616 U CN201921156616 U CN 201921156616U CN 210387898 U CN210387898 U CN 210387898U
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Abstract
The utility model provides a be applied to automatic weld of jumbo size Invar steel mould and equip, automatic weld equips and includes: the movable support is arranged on the upper surface of the Invar steel die or on the ground on one side of the Invar steel die, and is arranged in parallel with a welding seam in the Invar steel die; the traveling mechanism is arranged on the movable support in a sliding manner; the welding equipment comprises a welding equipment main body, a traveling mechanism and a welding head adjusting mechanism, wherein the welding equipment main body is fixed on the traveling mechanism and is provided with a universal suspension arm, a visual detection device, a position angle sensor, a welding head adjusting mechanism and a K-TIG welding gun are arranged at the tail end of the universal suspension arm and are positioned right above a welding seam, and the K-TIG welding gun is arranged on the welding head adjusting mechanism; and the control device is connected with the walking mechanism, the visual detection device, the position angle sensor, the welding head adjusting mechanism and the K-TIG welding gun. The utility model discloses can realize that the disposable continuous welding of jumbo size segmentation mold processing profile takes shape, effectively improve welding efficiency and welding quality.
Description
Technical Field
The utility model relates to a mould is made, especially is applied to the automatic weld of jumbo size Invar steel mould and equips.
Background
Because the composite material has the advantages of high specific stiffness, high specific strength, light weight, fatigue resistance, corrosion resistance and the like, the composite material is increasingly applied to the manufacturing of airplane structural parts, and the sizes of parts are increasingly larger and longer, for example, the A350 airplane wing wall plate adopts a full composite material structure, and the length of a single-side wing is about 30 meters. With the increase in the number and size specifications of composite parts used on aircraft, higher demands are placed on the forming molds for the production of composite materials: good forming and dimensional stability, light structure weight, low thermal expansion coefficient, good air tightness of the die surface, long service life under the thermal cycle service condition and the like. Considering the most suitable composite forming die material currently available is Invar steel alloy, which is typically welded in a frame-type configuration with a profile thickness of about 8mm to 12mm thick.
The Invar steel (Invar alloy, also called Invar steel) mold for forming the fuselage or wing panel of a large passenger plane is too large in size, so that on one hand, the requirements on mold clamping and positioning and processing equipment are too high, and on the other hand, the transportation difficulty and the transportation cost are too large, therefore, the most suitable method is to transport the mold to a client for on-site welding and assembling after segmented processing, and the requirement on good air tightness and low welding deformation of a welding seam is met so as not to influence the size precision of the whole mold.
At present, the conventional argon arc welding and gas shielded welding method has the problems that the molded surface of a die is thick, wire filling multi-layer and multi-pass welding is needed, the welding efficiency is low, the waiting time for controlling the interlayer temperature is long, the welding deformation is large, heat treatment is needed after welding, and the air hole defect is easy to occur during manual welding. In addition, because the large-scale die needs to be welded and assembled on the spot of a customer, certain mobility is required for welding equipment, and high-power electron beam welding and laser welding equipment cannot meet the requirements. In order to solve the problems, a new welding method and corresponding welding equipment must be developed, the requirement of single-pass self-melting welding of a segmented mold can be met, and on the premise of meeting the requirements of air tightness and size precision of an integral mold, the welding efficiency is improved and the welding cost is reduced.
SUMMERY OF THE UTILITY MODEL
The utility model provides a be applied to automatic weld of jumbo size Invar steel mould and equip, the surface of Invar steel mould is the cambered surface, automatic weld equips and includes:
the movable support is arranged on the upper surface of the Invar steel die or on the ground on one side of the Invar steel die and is arranged in parallel with a welding seam in the Invar steel die;
the traveling mechanism is arranged on the movable support in a sliding manner;
the welding equipment main body is fixed on the travelling mechanism and provided with a universal suspension arm, a visual detection device, a position angle sensor, a welding head adjusting mechanism and a K-TIG (Keyhole TIG) welding gun are arranged at the tail end of the universal suspension arm and right above the welding line, and the K-TIG welding gun is arranged on the welding head adjusting mechanism;
and the control device is connected with the walking mechanism, the visual detection device, the position angle sensor, the welding head adjusting mechanism and the K-TIG welding gun.
Further, the position angle sensor is provided with two distance measuring laser heads which are used for simultaneously transmitting two beams of laser with an included angle of α to the surface of the Invar steel mould;
the welding angle of the K-TIG welding gun is consistent with the emission angle of the first laser beam, and the irradiation point of the second laser beam on the Invar steel mould is positioned in front of the welding point of the current K-TIG welding gun in the advancing direction of the K-TIG welding gun.
Further, the control device is provided with a correction system, and the correction system is connected with the visual detection device, the position angle sensor and the welding head adjusting mechanism.
The utility model has the advantages and beneficial effects:
1) the mould is assembled and welded on site, so that the processing and manufacturing are convenient, and the transportation cost is reduced;
2) the welding device is detachable and convenient to maintain and transport;
3) the one-time continuous welding forming of the molded surface of the large-size sectional processing die can be realized, and the welding efficiency and the welding quality are effectively improved;
4) the accurate positioning of the welding seam, and the accurate control of the distance between the tungsten electrode and the part and the welding angle in the welding process can be realized through the welding seam tracker and the welding gun position sensor;
5) by using the K-TIG keyhole deep fusion welding method, no welding wire is needed to be added, and the welding process is more stably controlled;
6) the bosses are added on the surface of the die, so that the working procedure that the welding seam surface is collapsed and needs to be filled with wires for repair welding is avoided, and the bosses are removed only by milling or polishing;
7) the welding heat input is small, the splicing deformation of the die is avoided, and the subsequent heat treatment is not needed.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the embodiments or the prior art descriptions will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive labor.
FIG. 1 is a part connection diagram of an automatic welding device applied to a large-sized Invar steel mold according to the present invention;
FIG. 2 is a schematic diagram of the operation of the position angle sensor;
FIG. 3 is a cross-sectional view of the current K-TIG deep fusion welding process after welding is completed;
4-6 are flow charts of welding methods using the present invention;
FIG. 7 is a metallographic diagram of an Invar steel weld joint using the welding method of the present invention.
Fig. 8 is a weld joint fracture scanning diagram of the welding method provided by the present invention.
Detailed Description
In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the present invention. It will be apparent, however, to one skilled in the art, that the present invention may be practiced without one or more of these specific details. In other instances, well-known features have not been described in order to avoid obscuring the present invention.
In order to thoroughly understand the present invention, detailed steps and detailed structures will be provided in the following description so as to explain the technical solution of the present invention. The preferred embodiments of the present invention are described in detail below, however, other embodiments of the present invention are possible in addition to these detailed descriptions.
As shown in fig. 1, the utility model provides an automatic weld of being applied to jumbo size Invar steel mould equips, the surface of Invar steel mould is the cambered surface, automatic weld equips and includes:
the movable support is arranged on the upper surface of the Invar steel die or on the ground on one side of the Invar steel die and is arranged in parallel with a welding seam in the Invar steel die;
the travelling mechanism 20 is mounted on the movable support in a sliding manner;
the welding equipment main body is fixed on the travelling mechanism 20, the welding equipment main body is provided with a universal suspension arm, a visual detection device 30, a position angle sensor 40, a welding head adjusting mechanism 50 and a K-TIG welding gun 60 are arranged at the tail end of the universal suspension arm and right above the welding seam, and the K-TIG welding gun 60 is installed on the welding head adjusting mechanism 50;
and a control device 10, wherein the control device 10 is connected with the traveling mechanism 20, the visual detection device 30, the position angle sensor 40, the welding head adjusting mechanism 50 and the K-TIG welding gun 60.
In an alternative embodiment, the position angle sensor 40 is provided with two ranging laser heads for simultaneously emitting two beams of α -angled laser light to the surface of the Invar steel mold, the welding angle of the K-TIG welding gun 60 is identical to the emitting angle of the first laser beam, and the irradiation point of the second laser beam on the Invar steel mold is located in front of the welding point of the current K-TIG welding gun 60 in the traveling direction of the K-TIG welding gun 60, as shown in fig. 2.
Because the welding seam of the Invar steel die is not a perfect straight line in the actual situation, the fact that the welding track is attached to the actual welding seam track is particularly important, and the strength of the whole steel after subsequent welding forming is directly influenced. On the other hand, the surface of the Invar steel die is a streamline cambered surface, so that the angle between a welding gun and the surface of the part is continuously changed in the welding process, the requirement of the K-TIG welding process on the welding angle is very high, and the overall strength of the part after welding forming is also negatively influenced if the welding angle is not at a proper welding angle. Therefore, the utility model discloses carried on visual detection device 30, position angle sensor 40 in the welding equipment main part. The correction system 11 performs corresponding operations according to the signal input transmitted from the vision detection device 30 and the position angle sensor 40, and then outputs a control signal to the welding head adjusting mechanism 50, so as to adjust the welding track according to the front welding seam profile, so that the welding track of the welding gun is perfectly fitted with the welding seam track, and the welding effect is improved; on the other hand, the current welding angle obtained through calculation is finely adjusted in real time, so that the welding gun always performs welding at a better angle, and the welding effect is further improved.
The following briefly describes the operation of the visual detection device 30: the visual inspection device 30 is a high-precision industrial camera, real-time shooting is performed in the welding process, and due to the fact that the weld at the edge of the Invar steel mold is obviously different from the surface of the Invar steel mold, after corresponding image recognition and processing are performed, a weld track consistent with the weld can be generated. The correction system 11 reasonably controls the welding head adjusting mechanism 50 based on the welding seam track, so that the welding track of the K-TIG welding gun 60 is overlapped with the welding seam track as much as possible, and the welding effect is further improved.
The working principle of the position angle sensor 40 is briefly described below, wherein the position angle sensor 40 comprises two ranging laser heads, the two ranging laser heads can simultaneously emit two beams of laser with an included angle of α to the surface of the Invar steel mold, the distances a and b between the two ranging laser heads and the laser irradiation point corresponding to the upper surface of the Invar steel mold can be respectively calculated after the two beams of laser contact the workpiece, and the included angle β between the first laser beam and the surface of the Invar steel mold is calculated by using a cosine law according to the included angles α and the distances a and b, as shown in FIG. 2, wherein the welding angle of the K-TIG welding gun 60 is consistent with the emission angle of the first laser beam, and the irradiation point of the second laser beam on the Invar steel mold is located in front of the current K-TIG welding gun 60 in the advancing direction of the K-TIG welding gun 60.
Simultaneously, the utility model also provides an automatic weld method of jumbo size Invar steel mould, as shown in fig. 4-6, include the following step:
s1, providing a plurality of sections of spliced cambered surface large-size Invar steel dies 100, wherein bosses 101 are arranged on the upper surfaces of the edges of the welded joints of the Invar steel dies 100 close to the spliced parts;
s2, adhering a U-shaped ceramic liner 203 to a weld joint on the back surface of the Invar steel die, wherein the weld joint is positioned in the center of the U-shaped ceramic liner 203, as shown in FIG. 4;
s3, carrying out one-time penetration welding on the welding seam by adopting a K-TIG deep fusion welding process; in the welding process, acquiring an image of a welding seam in real time, processing the image to generate a track of a front unwelded welding seam, correcting the welding track of the current K-TIG welding gun 60 in real time according to the track, measuring an included angle between the current K-TIG welding gun 60 and the upper surface of the Invar steel mold through a position angle sensor 40, and correcting the welding angle of the K-TIG welding gun 60 in real time according to the current included angle;
s4, after the welding is completed, as shown in fig. 5. Then the U-shaped ceramic liner is removed, and the upper surface of the weld joint is polished to remove excess materials 200 such as bosses, so that the welding surface of the Invar steel die tends to be flat, as shown in FIG. 6.
One drawback of the conventional K-TIG keyhole deep fusion welding process is that, as shown in fig. 3, after welding is completed, a large intermittent weld bead 210 is left on the back of the weld, and the weld is not polished. In consideration of the situation, before welding, a high-temperature-resistant U-shaped ceramic liner is attached to the back of a welding seam, so that excessive downward leakage of the welding flux can be effectively avoided, and good back forming is guaranteed. In addition, in the K-TIG keyhole deep fusion welding process, after welding is completed, a recess is generally left on the upper surface of a welding line, as shown in fig. 3, the recess cannot be ground because the recess is located below the surface of a part, the part strength is affected by no treatment or backfilling in the common way, and the process and the cost are increased when the backfilling is performed. In order to solve the problem of the inward concave surface of the welding line, a boss is machined on the edge, close to the welding line, of the Invar steel die and used for lifting the subsequent welding line depression, and then the boss and the boss are ground together.
The utility model discloses in, adopt K-TIG deep penetration welding method to carry out from melting welding after the segmentation mould combination, the welding seam is once only welded thoroughly, need not add the welding wire.
In an alternative embodiment, the Invar steel mold to be welded is 8mm to 12mm thick.
In an alternative embodiment, in step S1, the boss 101 is integrally formed on the rim of the Invar steel mold. Preferably, the width of the boss 101 is 4-6mm and the height is 1mm-2 mm.
In an alternative embodiment, in step S3, the step of measuring an angle between the current K-TIG welding gun 60 and the upper surface of the Invar steel mold by the position angle sensor 40 includes:
the method comprises the steps of utilizing two distance measuring laser heads to simultaneously emit two beams of laser with an included angle of α to the surface of an Invar steel die, respectively calculating the distance a and the distance b between the two distance measuring laser heads and a laser irradiation point corresponding to the upper surface of the Invar steel die after the two beams of laser contact a workpiece, and calculating the included angle β between a first laser beam and the surface of the Invar steel die by utilizing a cosine law according to the included angle α, the distance a and the distance b, wherein the welding angle of a K-TIG welding gun 60 is consistent with the emission angle of the first laser beam, and the irradiation point of a second laser beam on the Invar steel die is located in front of the welding point of the current K-TIG welding gun 60 in the advancing direction of the K-TI.
The following description will be given by way of a specific example: the thickness of the Invar steel is 10mm, the K-TIG welding process is used, the one-time penetration of the single-layer welding line without filling the wire is realized, and the welding parameters are as follows: the gap of the welding line is 0mm, the welding current is 450A, the welding speed is 235mm/min, the length of the electric arc is 1.5mm, and the flow of the protective gas Ar is 30L/min. After welding, no defects such as air holes and cracks exist in the welding seam (figure 7), the tensile strength of the welding seam reaches 99.76% of the strength of the base metal, the elongation is 31.03%, and the welding performance is excellent. The weld fracture area exhibited a significant amount of dimples and craters, typical ductile fracture, indicating better plasticity of the joint (fig. 8).
The above description is directed to the preferred embodiment of the present invention. It is to be understood that the invention is not limited to the particular embodiments described above, and that devices and structures not described in detail are understood to be implemented in a manner common in the art; without departing from the scope of the invention, it is intended that the present invention shall not be limited to the above-described embodiments, but that the present invention shall include all the modifications and variations of the embodiments. Therefore, any simple modification, equivalent change and modification made to the above embodiments by the technical entity of the present invention all still fall within the protection scope of the technical solution of the present invention, where the technical entity does not depart from the content of the technical solution of the present invention.
Claims (3)
1. An automatic welding device applied to a large-size Invar steel die, wherein the surface of the Invar steel die is a cambered surface, the automatic welding device is characterized by comprising:
the movable support is arranged on the upper surface of the Invar steel die or on the ground on one side of the Invar steel die and is arranged in parallel with a welding seam in the Invar steel die;
the traveling mechanism is arranged on the movable support in a sliding manner;
the welding equipment main body is fixed on the travelling mechanism and provided with a universal suspension arm, a visual detection device, a position angle sensor, a welding head adjusting mechanism and a K-TIG welding gun are arranged at the tail end of the universal suspension arm and right above the welding seam, and the K-TIG welding gun is arranged on the welding head adjusting mechanism;
and the control device is connected with the walking mechanism, the visual detection device, the position angle sensor, the welding head adjusting mechanism and the K-TIG welding gun.
2. The automatic welding equipment for the large-size Invar steel mold as recited in claim 1, wherein the position angle sensor is provided with two ranging laser heads, and the two ranging laser heads are used for simultaneously transmitting two beams of laser with an included angle of α to the surface of the Invar steel mold;
the welding angle of the K-TIG welding gun is consistent with the emission angle of the first laser beam, and the irradiation point of the second laser beam on the Invar steel mould is positioned in front of the welding point of the current K-TIG welding gun in the advancing direction of the K-TIG welding gun.
3. The automatic welding equipment applied to the large-size Invar steel die is characterized in that the control device is provided with a correction system, and the correction system is connected with a visual detection device, a position angle sensor and a welding head adjusting mechanism.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201921156616.2U CN210387898U (en) | 2019-07-23 | 2019-07-23 | Automatic welding equipment applied to large-size Invar steel die |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201921156616.2U CN210387898U (en) | 2019-07-23 | 2019-07-23 | Automatic welding equipment applied to large-size Invar steel die |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110280872A (en) * | 2019-07-23 | 2019-09-27 | 上海工程技术大学 | Automatic welding equipment and welding method applied to large scale Invar steel mold |
| CN112975190A (en) * | 2021-03-23 | 2021-06-18 | 北京石油化工学院 | Multilayer multi-pass welding method, device, equipment and system based on visual sensing |
| CN114154926A (en) * | 2021-11-22 | 2022-03-08 | 成都飞机工业（集团）有限责任公司 | Intelligent logistics system and method suitable for sheet metal part manufacturing |
-
2019
- 2019-07-23 CN CN201921156616.2U patent/CN210387898U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110280872A (en) * | 2019-07-23 | 2019-09-27 | 上海工程技术大学 | Automatic welding equipment and welding method applied to large scale Invar steel mold |
| CN112975190A (en) * | 2021-03-23 | 2021-06-18 | 北京石油化工学院 | Multilayer multi-pass welding method, device, equipment and system based on visual sensing |
| CN114154926A (en) * | 2021-11-22 | 2022-03-08 | 成都飞机工业（集团）有限责任公司 | Intelligent logistics system and method suitable for sheet metal part manufacturing |
| CN114154926B (en) * | 2021-11-22 | 2024-05-14 | 成都飞机工业（集团）有限责任公司 | Intelligent logistics system and method suitable for sheet metal part manufacturing |
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