CN111299768A - A dual-robot welding system and welding method therefor - Google Patents

Abstract

The invention discloses a dual-robot welding system and a welding method thereof. The welding system includes a base, a truss assembly, a submerged arc welding mechanism, a argon arc welding mechanism, a workpiece installation assembly and a control cabinet. The truss assembly is fixed On the base, it includes the X axis of the truss, the Y axis of the truss and the Z axis of the truss arranged at both ends of the X axis of the truss; the submerged arc welding mechanism is located at one end of the X axis of the truss, and is used to realize submerged arc welding; the argon The arc welding mechanism is located at the other end of the X-axis of the truss, and is used to realize argon arc welding; the workpiece to be welded is installed on the workpiece installation assembly, which can realize rotational displacement; the control cabinet is respectively connected with the workpiece installation assembly and the submerged arc welding assembly. The welding mechanism is connected with the argon arc welding mechanism. The welding method specifically includes: when the butt welding seam is welded, firstly adopting argon arc welding to weld the bottom, and then adopting submerged arc welding to weld the covering surface. In the invention, the submerged arc welding and the argon arc welding are combined with welding, which can effectively improve the welding quality of the welding seam.

Description

A dual-robot welding system and welding method therefor

technical field

The invention relates to the technical field of robot welding, in particular to a dual-robot welding system and a welding method thereof.

Background technique

Welding, also known as welding, welding, is a manufacturing process and technology for joining metals or other thermoplastic materials such as plastics by heating, high temperature or high pressure. In many fields such as automobile and aviation, welding as the most commonly used processing method has been concerned and studied by many technicians. In order to improve welding efficiency and quality, more and more welding robots have been put into production one after another, bringing great convenience to welding work.

At present, in the field of pressure vessel manufacturing, manual welding is also commonly used, because the outer wall of the pressure vessel is a curved structure, and there is no welding equipment that can meet such welding requirements except for welding robots used in automobile manufacturing. In addition, with the rapid development of chemical, pharmaceutical and other industries that require a large number of pressure vessels, the specifications and dimensions of pressure vessels are also getting larger and larger. Therefore, for welders, the increase in size will inevitably lead to welding difficulty and labor intensity. In the long run, not only the welding quality will be reduced, but also there will be a greater safety hazard, which will affect the interests of the enterprise. Moreover, welding causes great physical harm to workers. With people's pursuit of quality of life, fewer and fewer people are willing to engage in this industry. Therefore, it is an urgent need to use robots instead of manual labor.

The size of the pressure vessel varies greatly, and the common diameter is also 3-5 meters. The many accessories lead to various forms of welds, covering almost all the current forms of weld joints, and the quality of welds is very high. Among them, the large amount of welding includes butt welds between pipes, surfacing welding of bottle caps, and heat exchanger tube sheet welding, etc., and the national standard stipulates that all pressure vessel welds are not allowed to use gas shielded welding, only argon is allowed. Arc and submerged arc welding. Conventional robot argon arc welding has a slow welding speed and a small amount of filling, so it is not suitable for pressure vessel welding; while robot submerged arc welding must consider the laying and recycling of flux, cleaning of welding slag, and thick welding wire, which may lead to poor wire feeding and workpiece. Larger accessibility is not enough, and submerged arc welding cannot be used for multi-pass welding of thick plate welds.

The existing patent application publication number CN104191117A discloses a tooling system for automatic welding of pressure vessel jackets, which is characterized by including two positioners, a control cabinet and a welding robot, and the control system sends instructions to the welding robot for control System, the robot control system performs automatic control, and coordinates with the positioner for welding. Although it adopts the dual-station mode to improve the welding efficiency, specifically, when one welding station in the dual-station is welding, the other station can load and unload jacket products at the same time, thereby improving the efficiency of the whole system, but the welding method The welding quality still needs to be improved, and it is difficult to meet the welding requirements with high weld quality requirements, such as butt welds between pipes with a large amount of welding, surfacing welding of bottle caps, and heat exchanger tube sheet welding.

SUMMARY OF THE INVENTION

In view of the above problems existing in the prior art, the purpose is to provide a dual-robot welding system and a welding method thereof. When welding the butt weld, the submerged arc welding and the argon arc welding are used in conjunction to realize the complete welding of the pressure vessel. Position seam welding, in which argon arc welding realizes the primer treatment of the butt weld to ensure the quality of the weld, and the backside does not need to be cleaned. Disadvantages; submerged arc welding is used to fill the cover surface to increase the welding speed and ensure the quality of the weld.

The specific technical solutions are as follows:

A dual-robot welding system, including a base, further includes:

a truss assembly, the truss assembly is fixed on the base, including the truss X axis, the truss Y axis and the truss Z axis arranged at both ends of the truss X axis;

A argon arc welding mechanism, the argon arc welding mechanism is located at one end of the X-axis of the truss, and is used to realize argon arc welding bottom welding;

A submerged arc welding mechanism, the submerged arc welding mechanism is located at the other end of the X-axis of the truss, and is used to realize submerged arc welding filling and capping welding;

A workpiece mounting assembly, on which the workpiece to be welded is mounted, is used to realize the rotational displacement of the welded workpiece;

A control cabinet, the control cabinet is respectively connected with the workpiece mounting assembly, the submerged arc welding mechanism and the argon arc welding mechanism, and the control cabinet is equipped with a control system for controlling the completion of the submerged arc welding mechanism and the argon arc welding mechanism Welding of workpieces.

Specifically, the argon arc welding mechanism includes a argon arc welding control cabinet, a argon arc welding machine, a argon arc welding robot, a argon arc welding wire feeding barrel and a argon arc welding torch, wherein the argon arc welding control cabinet controls the argon arc welding control cabinet. The arc welding machine transports the welding wire to the argon arc welding torch through the argon arc welding wire feeding barrel. The argon arc welding robot is installed on the mounting seat of the Y-axis of the truss, and the argon arc welding robot can control the movement of the argon arc welding torch. and welding operations.

Further, the argon arc welding torch is provided with a laser tracking device to realize real-time tracking of the welding seam and ensure the welding quality.

Further, the argon arc welding torch is provided with a 3D vision device. Because the pressure vessel workpiece is too large and the installation and positioning accuracy is not enough, 3D vision equipment is used to scan and position the heat exchanger tube sheet to ensure the quality of the weld.

Specifically, the submerged arc welding mechanism includes a submerged arc welding control cabinet, a submerged arc welding machine, a submerged arc welding wire barrel, a submerged arc welding robot, a submerged arc welding wire feeder, and a submerged arc welding torch. The arc welding control cabinet controls the submerged arc welding machine to transport the welding wire in the submerged arc welding wire barrel to the submerged arc welding torch through the submerged arc welding wire feeder. The submerged arc welding robot is installed on the mounting seat of the truss Y axis, And the submerged arc welding robot can control the movement of the submerged arc welding torch and the welding operation.

Further, the submerged arc welding mechanism also includes a submerged arc welding flux laying and recycling device, which reduces the waste of flux, has good recovery effect, and good dust removal performance, improves economic benefits and effectively reduces environmental pollution.

Further, the submerged arc welding torch is provided with a laser tracking device to realize real-time tracking of the welding seam and ensure the welding quality.

Further, the submerged arc welding machine is a single power source double wire submerged arc welding machine, which uses a single power source double wire submerged arc welding machine to cooperate with the welding seam laser tracking multi-layer multi-pass welding to fill the cover surface, improve the welding speed, and ensure the welding speed. seam quality.

Specifically, the workpiece mounting assembly includes a roller frame, a roller and a servo motor, the roller is mounted on the roller frame, the servo motor drives the roller to rotate, and the control cabinet controls the operation of the servo motor and the rotation of the roller. The friction between the roller and the cylindrical workpiece (ie the pressure vessel) is used to drive the workpiece to rotate to realize the displacement, which can realize the horizontal position welding of the inner and outer circumferential seams and the inner and outer longitudinal seams of the workpiece, and automatic welding can be realized by matching automatic welding equipment.

Preferably, the control cabinet is a PLC control cabinet. The control cabinet is equipped with a control system. The control cabinet is respectively connected with the submerged arc welding mechanism and the argon arc welding mechanism, and is used to control the submerged arc welding mechanism and the argon arc welding mechanism to complete the welding of the workpiece. The control cabinet is also installed with the workpiece. The servo motor in the assembly is connected and used to control the rolling of the roller to control the rotational displacement of the pressure vessel, so as to ensure the uniform rotation speed and adjustable speed during welding.

A welding method for a dual-robot welding system specifically includes: when butt welds are welded, first argon arc welding is used to make the bottom, and then submerged arc welding is used to fill the cover.

The invention adopts the design of double robot system welding, that is, the submerged arc welding and the argon arc welding are used together to realize the application of all-position welding of the pressure vessel. Among them, argon arc welding realizes the bottoming treatment of the butt weld to ensure the quality of the weld, and the back side does not need to be cleaned. The welding speed of argon arc welding is fast, which can improve production efficiency and effectively avoid the shortcomings of argon arc welding; argon arc welding It is equipped with laser tracking to track the welding seam in real time to ensure that there will be no welding defects caused by poor assembly accuracy, deformation of the welding seam, and movement of the workpiece when the workpiece is rotated. If it is too large, the installation and positioning accuracy is not enough. 3D vision equipment is used to scan and position the heat exchanger tube sheet to ensure the quality of the weld. Then, submerged arc welding is used. The thickness of the butt weld is thicker and the filling amount is large. Single power supply and double wire are used. The submerged arc welding machine is equipped with welding seam laser tracking multi-layer multi-pass welding to fill the cover surface, improve the welding speed and ensure the welding seam quality. The submerged arc welding and argon arc welding are mainly used in the welding of butt welds, and the welding method of argon arc welding for bottoming and submerged arc welding for filling the cover surface is adopted.

Description of drawings

Fig. 1 is the overall structure schematic diagram of the present invention;

2 is an enlarged view of the structure of the submerged arc welding mechanism in the present invention;

3 is an enlarged view of the structure of the argon arc welding mechanism in the present invention;

Figure 4 is a side view of the overall structure of the present invention.

In the accompanying drawings, 1, the base; 2.1, the X axis of the truss; 2.2, the Y axis of the truss; 2.3, the Z axis of the truss; 3, the argon arc welding mechanism; 3.1, the argon arc welding control cabinet; 3.2, the argon arc welding machine; 3.3, argon arc welding robot; 3.4, argon arc welding wire feeding barrel; 3.5, argon arc welding torch; 4, submerged arc welding welding mechanism; 4.1, submerged arc welding control cabinet; 4.2, submerged arc welding machine; 4.3, submerged arc welding Welding wire barrel; 4.4, submerged arc welding robot; 4.5, submerged arc welding wire feeder; 4.6, submerged arc welding torch; 5.1, roller frame; 5.2, roller; 6, control cabinet.

Detailed ways

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

As shown in FIGS. 1 and 4 , a dual-robot welding system is shown, including a base 1 , a truss assembly, a submerged arc welding mechanism 4 , a argon arc welding mechanism 3 , a workpiece mounting assembly, and a control cabinet 6 . The truss component is fixed on the base 1. The truss component includes the truss X axis 2.1, the truss Y axis 2.2 and the truss Z. The truss X axis 2.1 is a horizontal long axis with a stroke of up to 40m; the truss Z axis 2.3 has two The two trusses are arranged vertically on the mounting plates at both ends of the truss X-axis 2.1, and the two truss Z-axes 2.3 are distributed in parallel, and the travel of each truss Z-axis 2.3 can reach 5m; there are also two truss Y-axis 2.2, which are 1.5 The m-long fixed shafts are respectively installed vertically on the mounting plate of the truss Z-axis 2.3. The truss Z-axis 2.3 can walk up and down, and the effective stroke is 5m, and the two truss Y-axis 2.2 are distributed in parallel. The submerged arc welding mechanism 4 and The argon arc welding mechanism 3 is respectively arranged at both ends of the truss X-axis 2.1, and controls a pair of truss X-axis 2.1 and truss Z-axis 2.3 respectively, and can move up and down, left and right, respectively, to complete submerged arc welding and argon arc welding. the goal of.

As shown in FIG. 3 , the argon arc welding mechanism 3 is located at one end of the X-axis 2.1 of the truss, and is used to realize argon arc welding bottom welding. Specifically, the argon arc welding mechanism 3 includes a argon arc welding control cabinet 3.1, a argon arc welding machine 3.2, a argon arc welding robot 3.3, a argon arc welding wire feeding barrel 3.4 and a argon arc welding torch 3.5, among which the argon arc welding control cabinet 3.1 Control the argon arc welding machine 3.2 Transport the welding wire through the argon arc welding wire feeding barrel 3.4 to the argon arc welding torch 3.5, the argon arc welding robot 3.3 is installed on the mounting seat of the truss Y axis 2.2, the argon arc welding robot 3.3 can control the argon arc welding machine Movement and welding of the arc welding torch 3.5. The argon arc welding robot 3.3 in the present invention is also a FANUC six-axis robot. The robot is equipped with Lincoln's TOPTIG argon arc welding, and the welding speed is several times that of ordinary welding machines.

Further, the argon arc welding torch 3.5 is also equipped with a laser tracking device, which realizes real-time tracking of the welding seam, ensures the welding quality, and ensures that welding will not be caused by problems such as poor assembly accuracy, deformation of the welding seam, and movement of the workpiece when the workpiece is rotated. defect. The working principle of laser tracking is that when the robot is welding, the laser tracking laser line scans the position of the welding seam in front of the welding seam, and the laser tracking calculates the three-dimensional space coordinate data of the center of the welding seam through the scanned three-dimensional space position and sends it to the robot. The robot corrects the position of the welding torch in real time according to the data to ensure that the welding seam is not misaligned due to problems such as insufficient groove accuracy, insufficient assembly accuracy, welding deformation, and the workpiece moving on the roller 5.2, or the welding seam quality is not up to standard. The laser tracking device can also achieve the welding seam offset (the laser tracking weld needs to have feature points, and the feature points will be lost due to the welding seam filling process during multi-layer multi-pass welding, so the laser tracking can be tracked at a fixed position, and by calculating The data will be transmitted to the robot according to the offset amount), the tracked data can be offset by a certain position in space by the program, and the data will be transmitted to the robot in real time.

Further, the 3.5 argon arc welding torch is equipped with a 3D vision device for welding tube sheets. After scanning the three-dimensional space position of each tube, the three-dimensional coordinate point is sent to the robot, and the robot executes the operation according to the center position of the tube. Teach the programmed program in advance. Because the pressure vessel workpiece is too large and the installation and positioning accuracy is not enough, 3D vision equipment is used to scan and position the heat exchanger tube sheet to ensure the quality of the weld. The traditional argon arc welding torch 3.5 avoids the shortcomings of the traditional argon arc welding torch 3.5 when using the argon arc welding to weld the tube sheet. The center distance between the tube and the tube is generally only about 30mm, and the pipe diameter is about 20mm. Therefore, the traditional argon arc welding torch 3.5 will interfere with the pipe during welding. This is also the reason why robot argon arc welding cannot directly weld tube sheets so far, so the use of this special welding torch can perfectly avoid interference (toptig is a special welding torch that integrates the welding wire into the welding torch and is different from the traditional argon arc welding torch 3.5 ).

As shown in FIG. 2 , the submerged arc welding mechanism 4 is located at the other end of the X-axis 2.1 of the truss, and is used to realize submerged arc welding filling and capping welding. Specifically, the submerged arc welding mechanism 4 includes a submerged arc welding control cabinet 4.1, a submerged arc welding machine 4.2, a submerged arc welding wire barrel 4.3, a submerged arc welding robot 4.4, a submerged arc welding wire feeder 4.5, and a submerged arc welding torch 4.6. Among them, the submerged arc welding control cabinet 4.1 controls the submerged arc welding machine 4.2 The welding wire in the submerged arc welding wire barrel 4.3 is transported to the submerged arc welding torch 4.6 through the submerged arc welding wire feeder 4.5, and the submerged arc welding robot 4.4 is installed on the truss Y On the mounting seat of the shaft 2.2, the submerged arc welding robot 4.4 can control the movement of the submerged arc welding torch 4.6 and the welding operation. The submerged arc welding robot 4.4 in the present invention is a FANUC six-axis robot. The robot is equipped with a Lincoln submerged arc welding machine with a single power supply and two wires. The use of 1.2mm welding wire can ensure smooth wire feeding during the robot operation, and the double wire can Ensure the welding speed and increase the fill volume of the weld.

Further, in order to ensure the normal recycling of flux and the effective removal of flux dust, a submerged arc welding flux laying and recycling device is set up, which has the functions of automatic flux addition and automatic heating (the flux should be dried and heated before welding), And the welding flux can be automatically laid and recycled, which reduces the waste of flux, has good recovery effect and good dust removal performance, improves economic benefits and effectively reduces environmental pollution.

Further, a laser tracking device is installed on the submerged arc welding torch 4.6, and its working principle is the same as above, which realizes the real-time tracking of the welding seam and ensures the welding quality.

In addition to its own six-axis linkage, the submerged arc welding robot 4.4 and the argon arc welding robot also control the linkage of the X-axis and Z-axis of the truss on one side, so as to achieve coordinated linkage. Since the submerged arc welding robot 4.4 and the argon arc welding robot are respectively installed on the mounting seat of the fixed axis, that is, the truss Y axis 2.2, the fixed truss Y axis 2.2 is to increase the working radius of the robot, and adopts a different installation method from the past to ensure that The maximum stroke of the submerged arc welding robot 4.4 and the argon arc welding robot is determined, and the accessibility during welding is the highest. The stroke of the truss X-axis 2.1 can reach 40m, and the truss Z-axis 2.3 stroke can reach 5m. Due to the long stroke of the truss, considering the attenuation and heat generation of the cable signal, the control cabinet 6 of the robot, the welding machine, etc. all need to walk on the truss synchronously with the robot. Since the robots in the present invention all use FANUC welding robots with a load of 45kg, the arm span is long, and the body load exceeds 500kg, so the X-axis 2.1 load of the truss must be greater than 4T, and the parameter configuration of the above truss increases the design, processing, installation and debugging. With great difficulty, it was the first time in the industry. This large-travel and large-load dual-robot truss design concept breaks through the difficulties left by traditional truss design.

The workpiece mounting assembly is used to place the workpiece to be welded, and the welded workpiece can be rotated and displaced on the workpiece mounting assembly to adapt to the welding process. Specifically, the workpiece mounting assembly includes a roller frame 5.1, a roller 5.2 and a servo motor. The roller 5.2 is installed on the roller frame 5.1, the servo motor drives the roller 5.2 to rotate, and the friction between the roller 5.2 and the cylindrical workpiece is used to drive the workpiece to rotate. Displacement can realize the horizontal position welding of the inner and outer circumferential seams and the inner and outer longitudinal seams of the workpiece, and the matching automatic welding equipment can realize automatic welding. In one embodiment of the present invention, two sets of workpiece mounting assemblies are used to stabilize the workpiece.

The control cabinet 6 is the control end of the entire system, preferably a PLC control cabinet 6, the control cabinet 6 is equipped with a control system, and the control cabinet 6 is respectively connected with the submerged arc welding mechanism 4 and the argon arc welding mechanism 3, for controlling the submerged arc welding. The welding mechanism 4 and the argon arc welding mechanism 3 complete the welding of the workpiece, and the control cabinet 6 is also connected to the servo motor in the workpiece mounting assembly, which is used to control the rolling of the roller 5.2 to control the rotational displacement of the pressure vessel to ensure that during welding The speed is uniform and the speed is adjustable.

The dual-robot welding system of the present invention adopts the combination of argon arc welding and submerged arc welding to realize all-position welding of the welding pressure vessel, and adopts the centralized control principle. The PLC control cabinet 6 controls the argon arc welding robot 3.3 and the submerged arc welding robot 4.4. Before welding, the two welding robots teach programming separately, and the two robots run according to the taught program during welding. The argon arc welding machine 3.2, the submerged arc welding machine 4.2, the laser tracking equipment, the flux laying and recycling device, and the 3D vision equipment in the present invention are all the most advanced equipment in their respective fields, and are all digitally communicated with the robot system, which are controlled by the robot. The system control has the characteristics of high integration, convenient operation and wide application.

Because argon arc welding has the characteristics of high weld quality and few defects, argon arc welding is used first when welding butt welds to avoid the back root cleaning process during manual welding. The welding speed is greatly improved, and the inherent shortcomings of slow welding speed and less filling amount of argon arc welding are avoided. After the bottom of argon arc welding, the weld quality inspection is carried out. After the inspection is passed, the submerged arc welding is used to fill the cover. The double-wire submerged arc welding with thin wires avoids the inherent shortcomings of robot submerged arc welding (ordinary single wire buried arc welding). Arc welding uses thicker welding wire. The robot is a six-axis robot that performs complex curvilinear movements in three-dimensional space, which easily leads to bending of the welding wire, jamming of the wire feeder, and poor wire feeding.) The double wire can ensure welding. It has the characteristics of high deposition rate and improved welding speed. Both the argon arc welding machine 3.2 and the submerged arc welding machine 4.2 have the function of digital communication, which perfectly combines the built-in welding program inside the robot, and the robot can also directly call the welding machine for different plates, plate thicknesses, grooves, and other heights. With the set welding process parameter package, the requirements for the robot debugging engineer are greatly reduced, and the welding process personnel do not need to re-adjust the welding parameters.

Although the present invention has been described in detail with reference to the foregoing embodiments, for those skilled in the art, it is still possible to modify the technical solutions described in the foregoing embodiments, or to perform equivalent replacements for some of the technical features. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims (10)

1. The utility model provides a double robot welding system, includes base (1), its characterized in that still includes:

the truss assembly is fixedly arranged on the base (1) and comprises a truss X shaft (2.1), truss Y shafts (2.2) and truss Z shafts (2.3) which are arranged at two ends of the truss X shaft (2.1);

the argon arc welding mechanism (3) is positioned at one end of the X axis (2.1) of the truss and is used for realizing argon arc welding backing welding;

the submerged-arc welding mechanism (4) is positioned at the other end of the X axis (2.1) of the truss and used for realizing submerged-arc welding filling cover surface welding;

the workpiece mounting assembly is used for realizing the rotary displacement of the welded workpiece;

the control cabinet (6), the control cabinet (6) links to each other with work piece installation component, submerged arc welding mechanism (4) and argon arc welding mechanism (3) respectively, control system is equipped with in the control cabinet (6) for control submerged arc welding mechanism (4) and argon arc welding mechanism (3) accomplish the welding to the work piece.

2. The dual-robot welding system of claim 1, wherein: argon arc welds welding mechanism (3) and welds robot (3.3), argon arc welding and send a bucket (3.4) and argon arc welding welder (3.5) including argon arc welding switch board (3.1), argon arc welding, wherein argon arc welding switch board (3.1) control argon arc welding machine (3.2) send a bucket (3.4) fortune to argon arc welding welder (3.5) with the welding wire through argon arc welding, argon arc welding robot (3.3) install and set up on the mount pad of truss Y axle (2.2), and argon arc welding robot (3.3) steerable argon arc welding welder (3.5) remove and welding jobs.

3. The dual-robot welding system of claim 2, wherein: and 3D visual equipment is arranged on the argon arc welding gun (3.5).

4. The dual-robot welding system of claim 1, wherein: the submerged-arc welding mechanism (4) comprises a submerged-arc welding control cabinet (4.1), a submerged-arc welding machine (4.2), a submerged-arc welding wire barrel (4.3), a submerged-arc welding robot (4.4), a submerged-arc welding wire feeder (4.5) and a submerged-arc welding gun (4.6), wherein the submerged-arc welding control cabinet (4.1) controls the submerged-arc welding machine (4.2) to convey welding wires in the submerged-arc welding wire barrel (4.3) to the submerged-arc welding gun (4.6) through the submerged-arc welding wire feeder (4.5), the submerged-arc welding robot (4.4) is arranged on a mounting seat of a truss Y shaft (2.2), and the submerged-arc welding robot (4.4) can control movement and welding operation of the submerged-arc welding gun (4.6).

5. The dual-robot welding system of claim 4, wherein: the submerged arc welding mechanism (4) further comprises a submerged arc welding flux laying and recycling device.

6. The dual-robot welding system of claim 4, wherein: the submerged arc welding machine (4.2) is a single-power-supply double-wire submerged arc welding machine (4.2).

7. The dual-robot welding system of claim 2 or 4, wherein: and the welding gun is provided with a laser tracking device.

8. The dual-robot welding system of claim 1, wherein: the workpiece mounting assembly comprises a roller frame (5.1), rollers (5.2) and a servo motor, the rollers (5.2) are mounted on the roller frame (5.1), the servo motor drives the rollers (5.2) to rotate, and the control cabinet (6) controls the operation of the servo motor and the rotation of the rollers (5.2).

9. The dual-robot welding system of claim 1, wherein: the control cabinet (6) is a PLC control cabinet (6).

10. The welding method of the dual-robot welding system of any one of claims 1-9, wherein: when butt welding seams are welded, argon arc welding is firstly adopted for bottoming, and then submerged arc welding is adopted for welding and filling the cover surface.

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