中文
this system is suitable for fillet welding and flat welding of tube sheet;
welding joint material: carbon steel, stainless steel;
tube specifications: tube diameter is 10-80mm (standard tube diameter φ10-50 lens, other lenses need to be purchased above φ50), wall thickness is between 1-5mm;
tube sheet material: carbon steel, stainless steel;
pipe extension length: fillet weld 4-6mm;
the main purpose of this system is to solve the unmanned operation of tube sheet, efficient tig welding, one-man multi-machine control, improve production efficiency and reduce labor intensity;
this system consists of kuka robot, vision system, program-controlled welding power source, special welding head, data acquisition system, etc.;
the complete system adopts the mature tig welding equipment and technology of kuka and huaheng to ensure efficient, stable and reliable welding quality
the robot first measures the distance between the gun head and the tube sheet through the laser;
the robot measures the inner diameter and outer diameter of each pipe diameter within the range of 100*100mm by taking pictures. such multiple pictures can measure the specific positions of all pipes, and perform background calculations;
robotic tube-sheet welding guns reach the desired position on each tube accurately and quickly
the welding program is started, and automatic tube sheet welding is performed. during the welding process, automatic tracking is turned on to ensure smooth welding at all positions;
the robot automatically calculates the number of welds, and when the set number of welds is welded, it will alarm and manually replace the tungsten electrode;
1kg/disk welding wire is used, and the robot alarms and manually replaces the welding wire;
the whole welding process requires no manual intervention (except for changing the welding wire and tungsten electrode);
one person can manage the welding of 3-4 robots;
weldable material | carbon steel, stainless steel, titanium alloy (optional support cover) |
weldable pipe diameter（mm） | φ10～φ80 （standard lens with diameter φ10-50, other lenses need to be purchased over φ50） |
tube sheet form | tube extension, tube flush, tube retraction |
spinning speed（rpm） | 0.3～5.9 |
rotation accuracy error | ≤5% |
torch inclination | 0º～30ºadjustable |
arc length adjustment spacing（mm） | 20 |
maximum wire feed speed（mm/min） | 1800 |
wire feeding accuracy error | ≤5% |
arc length accuracy error（v） | ≤0.1 |
protective gas | argon |
cooling method | water cooling |
cooling flow（ml/min） | ≥300 |
rated current | 300a duty cycle 60% |
weight（kg） | 12(without cable) |
robot tubesheet welding system.pdf
