CN105921854B - A kind of rotating the arc narrow gap MAG welding line deviation identification devices and method - Google Patents
A kind of rotating the arc narrow gap MAG welding line deviation identification devices and method Download PDFInfo
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- CN105921854B CN105921854B CN201610298408.0A CN201610298408A CN105921854B CN 105921854 B CN105921854 B CN 105921854B CN 201610298408 A CN201610298408 A CN 201610298408A CN 105921854 B CN105921854 B CN 105921854B
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- 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
- B23K9/095—Monitoring or automatic control of welding parameters
- B23K9/0956—Monitoring or automatic control of welding parameters using sensing means, e.g. optical
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- 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
- B23K9/16—Arc welding or cutting making use of shielding gas
- B23K9/173—Arc welding or cutting making use of shielding gas and of a consumable electrode
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Abstract
The present invention discloses a kind of rotating the arc narrow gap MAG welding line deviation identification devices and method, described device includes rotating the arc welding torch, electric arc rotational position sensor, microphone, sound conditioning module, data acquisition module, electric arc rotation position detection module, monocycle arc sound signal extraction module, Fast Fourier Transform (FFT) processing module, monocycle weld seam deviation extraction module, multicycle weld seam deviation statistical module, microphone is placed on the Narrow sloping-glot plane of symmetry apart from electric arc, is sequentially connected sound conditioning module, data acquisition module；Electric arc rotational position sensor is installed on rotating the arc welding torch, its output signal is connected to data acquisition module, and data acquisition module is sequentially connected electric arc rotation position detection module, monocycle arc sound signal extraction module, Fast Fourier Transform (FFT) processing module, monocycle weld seam deviation extraction module and multicycle weld seam deviation statistical module to exporting weld seam deviation.The present invention obtains narrow gap weld seam deviation efficiency high and accurately and reliably.
Description
Technical field
The present invention relates to a kind of rotating the arc narrow gap MAG welderings, more particularly to a kind of based on sound sensor
Rotating the arc narrow gap MAG welding line deviation identification devices and method, belong to welding automatization technology field.
Background technology
Rotating the arc narrow gap MAG welderings are to realize the high-efficiency welding method of big slab consumable electrode welding, have section of weld joint
Product is small, welding filling metal is few, thermal weld stress is low, welding efficiency is high, property of welded joint is good, is welded in shipbuilding, pressure vessel
Connect, and using more and more extensive in manufacture of steel structure.In order to ensure the quality of rotating the arc narrow gap MAG welding lines, make slope
The mouth all uniform penetration of left and right sidewall is, it is necessary to ensure that the arc center of rotating the arc welding torch and the groove center of narrow gap workpiece are strict
Alignment.Need to carry out effective Weld Seam Tracking Control in real time to rotating the arc narrow gap MAG weldering welding processes for this, it is crucial just
It is that by the identification and extraction of reliable weld seam deviation in real time.
The sensor main applied to weld seam deviation identification will have at present：Mechanical sensor, electromagnetic sensor, weldering
Jointing temp field sensor, arc sensor, CCD vision sensors and sound transducer etc..Wherein, sound transducer because its not by
The interference of caused flue dust, arc optical, electromagnetic in splashing, the influence of groove changes in bottom and the welding process adhered in side wall,
Contain much information, be applicable the advantages that groove type is more, it is considered to be a kind of method for sensing very with development prospect.
On the research of the sound sensor technology of narrow gap welding and few, in document, " narrow gap MAG welds welding arc sound and electricity
The correlation of arc active position " (Lan Hu etc., mechanical engineering journal, 2014, volume 50, the 24th phase, page 38~43) in, propose
Narrow gap MAG, which welds arc sound signal and arc center active position, has correlation, and the system to narrow gap MAG pulses by standing
Extraction, processing and the analysis of arc sound signal during weldering, find arc sound signal energy spectrum distribution and arcing in
The heart has the correlation of height to the distance of narrow gap workpiece grooves side wall, with arcing center to narrow gap workpiece grooves
The gradual increase of side wall distance, distribution of the arc sound signal energy in low-frequency range exist all the time, its be distributed it is overall present from
Discontinuously arrive interrupted feature again to continuous, however work as arcing center to the distance of Narrow sloping-glot side wall reach 2.6mm with
When upper, distribution occurs in its arc sound signal energy in high-frequency range, and its distribution is generally presented from discontinuously to continuous spy
Sign.So it can be realized using the regularity of distribution of the narrow gap MAG pulse vertical position welding arc sound signals in time domain and frequency domain narrow
Gap Weld tracks.This method only have studied rocking arc narrow clearance welding arc acoustical signal, and its shake frequency is low, does not have
The rotating the arc acoustical signal of high speed is studied.It is " online based on arc sound signal signature analysis MAG weldering penetration signals in document
Monitoring " (Bi Shujuan etc., welding journal, 2010, volume 31, the 5th phase, page 17~20) in, develop a kind of based on MAG welding
The joint penetration state on_line monitoring method of collection and the processing of the audible arc sound signal of process, using wavelet de-noising method and short
When the preprocessing means such as adding window arc sound signal is pre-processed, extract characteristic parameter, PCA parameter meters carried out to characteristic vector
Calculate fusion treatment, and in this, as input parameter, using four kinds of joint penetration states be used as output parameter, establish based on BP with
The identification network model of RBF joint penetration state, and the identification network model of both joint penetration states is carried out accordingly
Application verification, the ONLINE RECOGNITION to weld seam penetration signal can be realized.This method only carries out the online prison of MAG welding processes
Survey, have no the synchronization and tracking control for realizing weld seam.In document " MIG weld arc sound signal and penetration signal correlation ", to
Arc sound signal is studied as the potential source signal of joint penetration condition monitoring, is extracted penetrating for flat board docking MIG welderings
The arc sound signal of caused non-stationary in transient is flowed through, arc sound signal is handled using wavelet transformation technique, then
Research point is carried out to the correlation of arc sound signal and joint penetration state from time domain, frequency domain and three, time-frequency combination domain angle
Analysis, it is found that the change of arc sound signal energy in 1.5~4.5kHz frequency bands can be detected exactly and extract, so as to use
To characterize the change of joint penetration state in welding process.This method only have studied flat board docking MIG weldering arc sound signals, not have
Study narrow gap MAG weldering arc sound signals.
In the patent authorized, Wang Yaowen of Tsing-Hua University et al. is " plasma arc welding (PAW) molten bath perforation in patent name
The sound signal sensing method and its system of state " (application number：00105933.5) in patent of invention, propose that one kind is directed to
The sound sensor method of ion welding, by mounting microphone near plasma gun, plasma arc welding (PAW) is gathered in real time and is taken over
Voice signal s (t) in journey is simultaneously stored into computer；Discrete Fourier transform processing is carried out to the signal of collection again, obtaining can
Whether perforated transducing signal As for the quantitative molten bath of machine recognition；Finally by As compared with given threshold value, to judge to work as
When molten bath pierce state.This method only have studied the sound sensor of plasma arc welding (PAW), and discrete Fourier transform amount of calculation is big,
Reduce ageing.Zhu Jialei of Beijing Institute of Petro-Chemical Technology et al. is " the underwater GMAW welding electricity of high-pressure dry process in patent name
Arc sound test and analysis system " (application number：201520393537.9) utility model patent in, disclose a kind of high-pressure dry process
Underwater GMAW welding arcs sound test and analysis system, including high pressure Welding experiment cabin, Welding experiment platform, electret are transaudient
Device, preamplifier, signal analyzer, anti-aliasing filter module, data collecting card and industrial computer.But the system only stays in reality
Research is tested, also without practical application.
The content of the invention
The purpose of the present invention is the needs for the tracking of rotating the arc narrow gap MAG weld and welding quality control, is proposed
A kind of rotating the arc narrow gap MAG welding line deviation identification devices and method based on sound sensor.Sensed in arcing sounds
It is high that a kind of efficiency of algorithm is provided on the basis of system hardware composition, reliable weld seam deviation identification extracting method.The present invention is to adopt
Rotating the arc narrow gap MAG weldering arc sound signals are obtained come accurate with microphone (sound transducer), sound conditioning module, to electricity
The quick processing of arc sound signal progress that hook goes to molten bath left side, right side, rear position obtains frequency domain character signal, by feature
Signal is compared to obtain weld seam deviation with threshold value.
The proposition of the present invention is the characteristics of having considered rotating the arc narrow gap MAG welderings and sound sensing power spectrum density
The characteristics of.For Quick Acquisition and processing arc sound signal, ensure the real-time of rotating the arc narrow gap MAG welding lines deviation extraction
Property, electric arc rotational position sensor is introduced to obtain the arc sound signal in each rotating the arc cycle.Rotating the arc narrow gap
The sound channel of MAG weldering welding arc sounds is by the two poles of the earth i.e. consumable electrode welding wire of electric arc and molten bath, the left and right groove of narrow gap workpiece and guarantor
The complicated multifaceted resonator that shield gas is formed, the sound source excitation of welding arc sound need the modulating action by sound channel
The voice signal that microphone is collected is only, its spectral characteristic depends primarily on the spectral response characteristic of sound channel.Research is found
Rotating the arc narrow gap MAG welds arcing sounds after the modulation of its sound channel, and the energy peak of its power spectral density can be distributed in some
Near characteristic frequency, when weld seam deviation be present, by consumable electrode welding wire and molten bath, the left and right groove of narrow gap workpiece and protection
The sound channel system that gas is formed changes, and causes the Energy distribution near the characteristic frequency of arc sound signal power spectral density
Change.Meanwhile from the point of view of the characteristics of arcing sounds sense, arc sound signal not by adhere in side wall splashing, groove bottom
The interference of caused flue dust, arc optical, electromagnetic in portion's change and welding process, comprising containing much information in welding process, and
Arc sound signal power spectral density has the energy that preferably resistance external interference influences relative to its time domain waveform, can be quick
Accurately identification extraction weld seam deviation.
In order to achieve the above object, the technical solution adopted for solving the technical problem of the present invention is：
A kind of rotating the arc narrow gap MAG welding line deviation identification devices, including rotating the arc welding torch, electric arc rotation position
Sensor, microphone, sound conditioning module, data acquisition module, electric arc rotation position detection module, monocycle arc sound signal
Extraction module, Fast Fourier Transform (FFT) processing module, monocycle weld seam deviation extraction module, multicycle weld seam deviation statistical module
Exported with weld seam deviation, wherein the microphone is placed on the Narrow sloping-glot plane of symmetry apart from electric arc, be sequentially connected sound tune
Module, data acquisition module are managed, the electric arc rotational position sensor is installed on rotating the arc welding torch, the connection of its output signal
To data acquisition module, the data acquisition module is sequentially connected electric arc rotation position detection module, monocycle arc sound signal
Extraction module, Fast Fourier Transform (FFT) processing module, monocycle weld seam deviation extraction module and multicycle weld seam deviation statistics mould
Block is to exporting weld seam deviation.
Electric arc rotational position sensor described above is divided into fixed part and movable part, wherein, fixed part is fixed
In the fixed part of rotating the arc welding torch, movable part is fixed on the rotating part of rotating the arc welding torch, when electric arc rotation position
Sensor movable part rotates to ad-hoc location, that is, changes the sensing output state of electric arc rotational position sensor fixed part,
So as to can determine that the rotation position of electric arc, the installation of electric arc rotational position sensor is adjusted so that electric arc is rotated in front of molten bath
When, output pulse signal.
The fixed part of electric arc rotational position sensor described above is groove type optoelectronic switch, electric arc rps
The movable part of device is code-disc of the edge with a breach.
Microphone described above is 200~500mm apart from the distance of electric arc.
In order to achieve the above object, the present invention, which solves another technical scheme for being taken of technical problem, is：
A kind of recognition methods of rotating the arc narrow gap MAG weld deviation identification device, comprises the following steps：
(1) arcing sounds sense samples rate is set, 200~10000 are multiplied by the range of electric arc speed k；
(2) electric arc rps sample rate is set, its value is multiplied by 200 more than electric arc speed k；
(3) in order to avoid the unstable interference to arc sound signal collection of electric arc, 2~5s after narrow gap MAG welds the starting the arc,
Start arc sound signal data acquisition；
(4) to the signal of data collecting module collected, an electric arc revolution is obtained using electric arc rotational position sensor
The arc sound signal data of phase；
(5) in the electric arc swing circle that utilization " monocycle arc sound signal extraction module " is obtained to step (4)
Arc sound signal extraction electric arc rotate to molten bath left side, rear, the arc sound signal near right positions, respectively SL、SB、
SR；
(6) " Fast Fourier Transform (FFT) processing module " is utilized to S obtained by step (5)L、SB、SRHandled, obtained corresponding
Arc sound signal power spectral density PL、PB、PR；
(7) P obtained in detecting step (6)L、PB、PREnergy peak A near characteristic frequencyL、AR、AB；
(8) A is calculatedLWith ABRatio RL, i.e. RL=AL/AB；
(9) A is calculatedRWith ABRatio RR, i.e. RR=AR/AB；
(10) R is calculatedLWith RRRatio R, i.e. R=RL/RR；
(11) by R compared with the R threshold ranges under different weld seam deviations, the weld seam corresponding to the threshold value most matched
Weld seam deviation of the deviation as current arc swing circle；
(12) average value of the weld seam deviation of continuous m electric arc swing circle recently is calculated, or they are sorted and takes it
Intermediate value exports as final weld seam deviation value, and to improve the accuracy of algorithm and antijamming capability, m values are (n × k/10)
Value round numbers, wherein n be 1~3 between number, k is electric arc speed, and m value is set if rounding rear m values and being 0 as 1；
(13) when there are abort commands, that is, terminate, when no abort commands, that is, jump to step (4) and continue to run with.
Being rotated to using monocycle arc sound signal extraction module extraction electric arc on the left of molten bath described in above-mentioned steps (5),
The method of arc sound signal near rear, right positions is：
1) using continuous two electric arc anterior position signal position as original position and final position, an electric arc is extracted
Arc sound signal data Data in swing circle；
2) when electric arc turns clockwise, Data 1/8~3/8 arc sound signal data are extracted；When electric arc revolves counterclockwise
Turn, extract Data 5/8~7/8 arc sound signal data；Extraction data SLAs electric arc is rotated near on the left of molten bath
When arc sound signal；
3) when electric arc turns clockwise, Data 5/8~7/8 arc sound signal data are extracted；When electric arc revolves counterclockwise
Turn, extract Data 1/8~3/8 arc sound signal data；Extraction data SRAs electric arc is rotated near on the right side of molten bath
When arc sound signal；
4) Data 5/8~7/8 arc sound signal data are extracted, that is, obtain the electricity that electric arc is rotated near the rear of molten bath
Arc acoustical signal SB。
The acquisition methods of " the R threshold ranges under different weld seam deviations " described in above-mentioned steps (11) are：
Different weld seam deviations is set during Welding experiment, according to step described in claim 5 (1) to step (10), obtained
R values under different weld seam deviations, then it can obtain R values scope corresponding to a range of weld seam deviation.
The rotating the arc narrow gap MAG welding line deviation identification devices and method, its feature and beneficial effect of the present invention：
(1) arc sound signal not by splash, flue dust, arc optical, electromagnetic and groove changes in bottom are disturbed, include welding process
In contain much information, and the efficiency high, accurately and reliably of weld seam deviation is obtained by it, to realize that Automation of Welding provides one
The new method of kind, has broad application prospects.
(2) sound sensor includes the information that arc sensing, visual sensing etc. are difficult to detect, and can such as detect the derusting of workpiece
State, protection gaseity, the patent are also easy to be combined with the welding quality monitoring based on sound sensor, have broader answer
Use prospect.
Brief description of the drawings
Fig. 1 is a kind of construction schematic block diagram of rotating the arc narrow gap MAG weld deviation identification device of the present invention.
Fig. 2 is electric arc rotating position signal detection module algorithm flow block diagram.
Fig. 3 is each swing circle arc sound signal extraction module algorithm flow block diagram.
Fig. 4 is power spectral density plot of the arc sound signal at different electric arc rotation positions, wherein scheming a) on the left of molten bath
Power spectrum near position, b) for molten bath right positions, nearby power spectrum, figure are c) molten bath rear position power spectrum nearby to figure.
Embodiment
In order to deepen the understanding of the present invention, below in conjunction with the accompanying drawings and specific embodiment is further to present invention work detailed
Illustrate, the embodiment is only used for explaining the present invention, is not intended to limit the scope of the present invention..
As shown in figure 1, being a kind of rotating the arc narrow gap MAG welding line deviation identification devices of the present invention, including rotate
Arc torch 1, electric arc rotational position sensor 2, microphone 3, sound conditioning module 4, data acquisition module 5, electric arc rotation position
Put detection module 6, monocycle arc sound signal extraction module 7, Fast Fourier Transform (FFT) processing module 8, monocycle weld seam deviation
Extraction module 9, multicycle weld seam deviation statistical module 10 and weld seam deviation output 11.Wherein described microphone 3 is placed in narrow
On the plane of symmetry of gap groove 12, apart from 200~500mm of electric arc distance.Arc sound signal is successively through described microphone 3, sound
Described data acquisition module 5 is input to after sound conditioning module 4 again.Described electric arc rotational position sensor 2 is installed on rotation
On arc torch 1, its output signal is connected to described data acquisition module 5.Described data acquisition module 5 is sequentially connected institute
The electric arc rotation position detection module 6 stated, monocycle arc sound signal extraction module 7, Fast Fourier Transform (FFT) processing module 8,
Monocycle weld seam deviation extraction module 9 and multicycle weld seam deviation statistical module 10, finally complete weld seam deviation output 11.
Described microphone 3 is located on the plane of symmetry of Narrow sloping-glot 12, away from electric arc 300mm above workpiece, to avoid welding
Arc heat and the influence splashed to microphone when connecing.
Described electric arc rotational position sensor 2 divides for fixed and mobile two parts.Wherein fixed part is groove type light
Electric switch, movable part are the code-disc of one breach of edge band.The fixed part of described electric arc rotational position sensor 2 is consolidated
Due to the fixed part of rotating the arc welding torch 1, the movable part of electric arc rotational position sensor 2 is fixed on rotating the arc welding torch 1
Rotating part.When the described movable part of electric arc rotational position sensor 2 rotates to ad-hoc location, i.e. change electric arc rotates position
The sensing output state of the fixed part of sensor 2 is put, so as to can determine that the rotation position of electric arc, adjusts electric arc rps
The installation of device 2 so that when electric arc is rotated in front of molten bath, output pulse signal.
Described sound conditioning module 4 be used for the voice signal that is gathered to microphone 3 be amplified, isolate, denoising etc.
Processing, improves its quality.
The electric arc rotating position signal that described electric arc rotational position sensor 2 collects is transferred into described data
Acquisition module 5；Electric arc rotating position signal is transferred to described electric arc rotation position and detects mould by described data acquisition module 5
Block 6, the arc position signal data obtained is handled using described electric arc rotation position detection module 6, such as Fig. 2,
The pulse triggering signal when electric arc rotates to molten bath anterior position is extracted, described monocycle arc sound signal is transferred to and carries
Modulus block 7.
The arc sound signal that described microphone 3 collects passes through described sound conditioning module 4 and is transferred into data
Acquisition module 5；Arc sound signal is transferred to described monocycle arc sound signal extraction module by described data acquisition module 5
7, described monocycle arc sound signal extraction module 7 is extracted when previous rotation according to the pulse triggering signal of anterior position
Arc sound signal data when electric arc rotates to molten bath left side, right side, rear position in arcing cycle, through in described quick Fu
Leaf transformation processing module 8, obtain the work(of arc sound signal when electric arc rotates to left and right groove position and molten bath rear position
Rate spectrum density, the deviation of current rotating the arc cycle weld seam is obtained through described monocycle weld seam deviation extraction module 9, and updated
Nearest continuous 3 electric arc swing circle weld seam deviation, through multicycle weld seam deviation statistical module 12, export weld seam deviation knot
Fruit.
The recognition methods of the rotating the arc narrow gap MAG welding line deviation identification devices of the present invention, comprises the following steps：
(1) arcing sounds sense samples rate is set as 250000.
(2) electric arc rps sample rate is set as 250000.
(3) in order to avoid the unstable interference to arc sound signal collection of electric arc, the 3s after narrow gap MAG welds the starting the arc, open
Dynamic arc sound signal data acquisition.
(4) signal gathered to data acquisition module 5, an electric arc rotation is obtained using electric arc rotational position sensor 2
The arc sound signal data in cycle.
(5) such as Fig. 3, " the electric arc rotation that monocycle arc sound signal extraction module 7 " is obtained to step (4) is utilized
Arc sound signal extraction electric arc in cycle rotates to molten bath left side, rear, the arc sound signal near right positions, respectively
SL、SB、SR。
(6) " Fast Fourier Transform (FFT) processing module 8 " is to S obtained by step (5) for utilizationL、SB、SRHandled, obtained corresponding
Arc sound signal power spectral density PL、PB、PR。
(7) such as Fig. 4, the middle P obtained of detecting step (6)L、PB、PREnergy peak A near characteristic frequency 2500HzL=
8.98×10-5、AR=4.36 × 10-5、AB=3.88 × 10-5。
(8) A is calculatedLWith ABRatio RL, i.e. RL=AL/AB=2.31.
(9) A is calculatedRWith ABRatio RR, i.e. RR=AR/AB=1.12.
(10) R is calculatedLWith RRRatio R, i.e. R=RL/RR=2.06.
(11) by R compared with the threshold value under each weld seam deviation detected before, corresponding to the threshold value most matched
Weld seam deviation of the weld seam deviation as current arc swing circle.Table 1 is before weld seam deviation detection, by setting different welderings
Stitch deviation and carry out Welding experiment, obtained from determining R scope corresponding to different weld seam deviations.
Table 1：Rotating the arc narrow gap MAG welds the threshold range under different weld seam deviations
| Weld seam deviation | R threshold values |
| Left avertence is more than 2mm | >2.35 |
| Left avertence 1.5mm | 1.75~2.35 |
| Left avertence 1.0mm | 1.25~1.75 |
| Centering | 0.85~1.25 |
| Right avertence 1.0mm | 0.65~0.85 |
| Right avertence 1.5mm | 0.45~0.65 |
| Right avertence is more than 2mm | <0.45 |
(12) average value of the weld seam deviation of continuous m=3 electric arc swing circle recently is calculated, or they are sorted and taken
Its intermediate value exports as final weld seam deviation value, to improve the accuracy of algorithm and antijamming capability.
(13) when there are abort commands, that is, terminate, when no abort commands, that is, jump to step (4) and continue to run with.
" monocycle arc sound signal extraction module 7 extracts electric arc and rotates to a molten bath left side for utilization according to step (5)
Side, right side, the arc sound signal near rear position ", its specific method is：
1) using continuous two electric arc anterior position signal position as original position and final position, an electric arc is extracted
Arc sound signal data Data in swing circle.
2) when electric arc turns clockwise, Data 1/8~3/8 arc sound signal data are extracted；When electric arc revolves counterclockwise
Turn, extract Data 5/8~7/8 arc sound signal data.Extraction data SLAs electric arc is rotated near on the left of molten bath
When arc sound signal.
3) when electric arc turns clockwise, Data 5/8~7/8 arc sound signal data are extracted；When electric arc revolves counterclockwise
Turn, extract Data 1/8~3/8 arc sound signal data.Extraction data SRAs electric arc is rotated near on the right side of molten bath
When arc sound signal.
4) Data 5/8~7/8 arc sound signal data are extracted, that is, obtain the electricity that electric arc is rotated near the rear of molten bath
Arc acoustical signal SB。
" the R threshold ranges under different weld seam deviations " described in step (11), its method obtained are：Set during Welding experiment
Different weld seam deviations is put, such as ± 2mm, ± 1mm, 0mm, according to step described in claim 5 (1) to step (10), obtained not
With the R values under weld seam deviation, then R values scope corresponding to a range of weld seam deviation can obtain.
Above-mentioned case study on implementation does not limit the present invention in any form, and all forms using equivalent substitution or equivalent transformation are obtained
The technical scheme obtained, is within the scope of the present invention.
Claims (4)
1. a kind of rotating the arc narrow gap MAG welding line deviation identification devices, it is characterised in that including rotating the arc welding torch, electricity
Arc rotational position sensor, microphone, sound conditioning module, data acquisition module, electric arc rotation position detection module, monocycle
Arc sound signal extraction module, Fast Fourier Transform (FFT) processing module, monocycle weld seam deviation extraction module, multicycle weld seam are inclined
Poor statistical module and weld seam deviation output, wherein the microphone is placed on the Narrow sloping-glot plane of symmetry apart from electric arc, successively
Sound conditioning module, data acquisition module are connected, the electric arc rotational position sensor is installed on rotating the arc welding torch, and its is defeated
Go out and be signally attached to data acquisition module, the data acquisition module is sequentially connected electric arc rotation position detection module, monocycle
Arc sound signal extraction module, Fast Fourier Transform (FFT) processing module, monocycle weld seam deviation extraction module and multicycle weld seam
Deviation statistics module is to exporting weld seam deviation；Wherein, the electric arc rotational position sensor is divided into fixed part and movable part,
Wherein, fixed part is fixed on the fixed part of rotating the arc welding torch, and movable part is fixed on the rotating part of rotating the arc welding torch
Point, when electric arc rotational position sensor movable part rotates to ad-hoc location, that is, change electric arc rotational position sensor fixed part
The sensing output state divided, so as to can determine that the rotation position of electric arc, adjust the installation of electric arc rotational position sensor so that electricity
When hook is gone in front of molten bath, output pulse signal；The fixed part of the electric arc rotational position sensor is groove type photoelectricity
Switch, the movable part of the electric arc rotational position sensor is code-disc of the edge with a breach；Described electric arc rotation
Turn position detecting module to be used to handle the electric arc rotational position sensor signal data acquired in data acquisition；Institute
It is 200~500mm that microphone, which is stated, apart from the distance of electric arc.
2. a kind of recognition methods of rotating the arc narrow gap MAG welding line deviation identification devices according to claim 1, its
It is characterised by comprising the following steps：
(1) arcing sounds sense samples rate is set, 200~10000 are multiplied by the range of electric arc speed k；
(2) electric arc rps sample rate is set, its value is multiplied by 200 more than electric arc speed k；
(3) in order to avoid the unstable interference to arc sound signal collection of electric arc, 2~5s after narrow gap MAG welds the starting the arc, start
Arc sound signal data acquisition；
(4) to the signal of data collecting module collected, electric arc rotational position sensor one electric arc swing circle of acquisition is utilized
Arc sound signal data；
(5) electricity in the electric arc swing circle that utilization " monocycle arc sound signal extraction module " is obtained to step (4)
Arc acoustic signal extraction electric arc rotates to molten bath left side, rear, the arc sound signal near right positions, respectively SL、SB、SR；
(6) " Fast Fourier Transform (FFT) processing module " is utilized to S obtained by step (5)L、SB、SRHandled, obtain corresponding electricity
Arc acoustical signal power spectral density PL、PB、PR；
(7) P obtained in detecting step (6)L、PB、PREnergy peak A near characteristic frequencyL、AR、AB；
(8) A is calculatedLWith ABRatio RL, i.e. RL=AL/AB；
(9) A is calculatedRWith ABRatio RR, i.e. RR=AR/AB；
(10) R is calculatedLWith RRRatio R, i.e. R=RL/RR；
(11) by R compared with the R threshold ranges under different weld seam deviations, the weld seam deviation corresponding to the threshold value most matched
Weld seam deviation as current arc swing circle；
(12) average value of the weld seam deviation of continuous m electric arc swing circle recently is calculated, or they are sorted and takes its intermediate value
Exported as final weld seam deviation value, to improve the accuracy of algorithm and antijamming capability, m values are the value of (n × k/10)
Round numbers, wherein n are the number between 1~3, and k is electric arc speed, and m value is set if rounding rear m values and being 0 as 1；
(13) when there are abort commands, that is, terminate, when no abort commands, that is, jump to step (4) and continue to run with.
3. the recognition methods of rotating the arc narrow gap MAG welding line deviation identification devices according to claim 2, its feature
It is, molten bath left side, rear, the right side is rotated to using monocycle arc sound signal extraction module extraction electric arc described in step (5)
The method of arc sound signal near side position is：
1) using continuous two electric arc anterior position signal position as original position and final position, an electric arc rotation is extracted
Arc sound signal data Data in cycle；
2) when electric arc turns clockwise, 1/8~3/8 arc sound signal for extracting Data is used as extraction data；When the electric arc inverse time
Pin rotates, and extracts Data 5/8~7/8 arc sound signal as extraction data；The extraction data be electric arc rotate to it is molten
Arc sound signal S when on the left of pond nearbyL；
3) when electric arc turns clockwise, 5/8~7/8 arc sound signal for extracting Data is used as extraction data；When the electric arc inverse time
Pin rotates, and extracts Data 1/8~3/8 arc sound signal as extraction data；The extraction data be electric arc rotate to it is molten
Arc sound signal S when on the right side of pond nearbyR；
4) Data 5/8~7/8 arc sound signal is extracted as extraction data, that is, is obtained electric arc and rotated near the rear of molten bath
Arc sound signal SB。
4. the recognition methods of rotating the arc narrow gap MAG welding line deviation identification devices according to claim 2, its feature
It is, the acquisition methods of " the R threshold ranges under different weld seam deviations " described in step (11) are：Set during Welding experiment different
Weld seam deviation, according to step described in claim 2 (1) to step (10), obtain the R values under different weld seam deviations, be then
It can obtain R threshold ranges corresponding to a range of weld seam deviation.
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