CN102069273B - Adaptive welding method for pipe-plate circumference welding and subsection parameter setting and arc welding equipment - Google Patents
Adaptive welding method for pipe-plate circumference welding and subsection parameter setting and arc welding equipment Download PDFInfo
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- CN102069273B CN102069273B CN2009101895380A CN200910189538A CN102069273B CN 102069273 B CN102069273 B CN 102069273B CN 2009101895380 A CN2009101895380 A CN 2009101895380A CN 200910189538 A CN200910189538 A CN 200910189538A CN 102069273 B CN102069273 B CN 102069273B
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Abstract
The invention discloses an adaptive welding method for pipe-plate circumference welding and subsection parameter setting, which comprises the following steps of: dividing the circumferential seam of a welded workpiece pipe-plate into n arc sections, and presetting the welding parameter of each arc section; storing n groups of preset welding parameters in a memory; placing a welding gun at a welding start position; switching on a welding power supply, taking out the welding parameters from the memory under the control of a central processing unit to control welding current and voltage supplied to the arc section by the welding power supply and control arc striking and arcing of the welding gun, and rotating the welding gun to complete the angular displacement of a given value; and after the welding gun completes welding of the arc section, taking the welding parameter of the next arc section to continuously implement welding till completing welding of all n arc sections. The adaptive welding method can save welding materials, improve the welding efficiency, improve the seam forming efficiency and improve the welding qualification rate and the like, is greatly convenient for most users, and is particularly suitable for welding thick-wall pipes and thick plates.
Description
[technical field]
The present invention relates to the gas flame welding; be particularly related to the gas shielded arc welding of circumferential slots; relate in particular to for self adaptation welding method pipe-plate circumferential weld, the segmentation setup parameter, the invention still further relates to for pipe-plate circumferential weld, the self adaptation arc welding equipment segmentation setup parameter.
[background technology]
The prior art automatic welding device comprises a kind of arc welding equipment for pipe-plate circumferential weld, is usually used in boiler industry.During pipe-plate circumference soldering, it should be different that each segmental arc of circumference is welded the parameters such as required electric current, voltage and speed of welding, and high, the good forming effect of this arc welding equipment of guarantee welding efficiency when the pipe-plate circumference soldering and solder yield are high like this; The electric current and the voltage that as downhand welding, need are maximum, and speed of welding should be also the fastest; And electric current and voltage that overhead welding needs are minimum, speed of welding is correspondingly the slowest, and the required parameters such as electric current, voltage and speed of welding of vertical position welding are between downhand welding and overhead welding; When guarantee welds like this, molten bath (molten iron) can down not trickle, and because molten bath has gravity, when each segmental arc welding of circumference, if the parameters such as the electric current of this segmental arc, voltage and speed of welding are improper, can cause molten bath down to trickle.And the arc welding equipment of prior art pipe-plate circumferential weld adopts unique parameter to carry out automatic welding when pipe-plate being carried out to each segmental arc welding of circumference, when being set, this unique parameter comprises following several situation:
Parameter setting when 1, if this unique parameter adopts overhead welding, welding efficiency is low, molding effect is poor and solder yield is low;
Parameter setting when 2, if this unique parameter adopts vertical position welding, although welding efficiency increases, welding efficiency is still lower, and molding effect is bad not high with solder yield yet yet; And, when overhead welding, molten bath (molten iron) be trickling down, makes face of weld can't reach forming requirements, can have influence on the quality of welding;
Parameter setting when 3, if this unique parameter adopts downhand welding,, when overhead welding and vertical position welding, molten bath (molten iron) be trickling down, also makes face of weld can't reach forming requirements, also can have influence on the quality of welding.
Therefore, while how to guarantee that automatic welding gun is used for pipe-plate circumferential weld, to weld the parameters such as required electric current, voltage and speed of welding suitable for each segmental arc of circumference, is the problem that those skilled in the art need to solve.
[summary of the invention]
The technical problem to be solved in the present invention is to avoid above-mentioned the deficiencies in the prior art part and proposes a kind of for self adaptation welding method pipe-plate circumferential weld, the segmentation setup parameter, the present invention also proposes a kind of for pipe-plate circumferential weld, the self adaptation arc welding equipment segmentation setup parameter, apply this self adaptation welding method and use this self adaptation arc welding equipment, can save wlding, improve welding efficiency, improve the appearance of weld effect and improve solder yield etc., be very easy to users, especially be applicable to the welding of thick-wall tube with slab.
The technical scheme that the present invention solve the technical problem employing is:
Propose a kind ofly for self adaptation welding method pipe-plate circumferential weld, the segmentation setup parameter, comprise the steps:
A, the circumferential weld of welded piece pipe-plate is divided into to the n segmental arc, n is integer, and 20>=n>=2, by each segmental arc different geometric positions of living in, the different process requirement is arranged, and presets the welding parameter W of each segmental arc
j={ I
j, U
j, β
j, j=1 is to n, I in formula
j, U
jand β
jit is respectively the angular displacement that on described circumferential weld, welding gun corresponding to the desired welding current of j segmental arc welding process, weldingvoltage and this segmental arc weld seam arc length rotates;
B, will implement the predefined n bond pads parameter { W of previous step A
1, W
2..., W
nbe stored in nonvolatile memory, and give respectively different addresses to each group parameter;
C, described welding gun being placed on described circumferential weld to the position of wanting to start welding, can be the initial point of j=k segmental arc, in formula, be the k integer, and 1≤k≤n, resets the welding direction for clockwise or counter clockwise direction, so, from j=k, k+1, k+2 ..., n, 1,2 ..., k-1, or, k-1, k-2, ..., 1, n, n-1, k+1, the welding parameter of each segmental arc, by central processing unit CPU management, will be by successively for welding;
D, connect the source of welding current, start the driving mechanism of described welding gun, under described central processing unit CPU is controlled, described welding parameter is removed as set-point and provides the welding current that meets technological requirement I for controlling the described source of welding current from described memory
jwith weldingvoltage U
j, and control described welding gun striking, arcing and rotate the angular displacement beta of covering described set-point
j;
E, described welding gun complete the welding of j=k segmental arc, then according to selected direction, take the welding parameter continuation welding of j=k+1 or j=k-1 segmental arc, until complete the welding of whole n segmental arcs.
When implementing described steps A, preset the welding parameter W of each segmental arc
jalso comprise the angular displacement speed parameter V that described welding gun rotates
j, i.e. W
j={ I
j, U
j, β
j, V
j.
When implementing described steps A, relate to the segmental arc of wanting downhand welding, its welding parameter should be chosen maximum welding current, the highest weldingvoltage and the fastest welding gun rotational displacement speed, relate to and want the segmental arc of vertical position welding to take second place, relate to the segmental arc that will weld in the overhead position and select minimum welding current, minimum weldingvoltage and the slowest welding gun rotational displacement speed.
When implementing described step B, the non-volatility memorizer of selecting comprises electricallyerasable ROM (EEROM) E
2rOM and/or be flash media Flash Memory.
When implementing described step C, optionally be chosen for a group in many bond pads parameter that same segmental arc sets.
In the welding process, optionally can artificially revise at any time and carry out and be about to each welding parameter of carrying out.
The present invention also proposes a kind of for pipe-plate circumferential weld, the self adaptation arc welding equipment segmentation setup parameter, be applicable to the welding of the circumferential weld of pipe-plate, comprise welding gun and the driving mechanism that drives this welding gun to rotate along welded piece pipe-plate circumferential weld, and weld power is supplied with and the control device of welding gun angular displacement speed for controlling, described control device comprises source of welding current module.
Described control device also comprises that central processing unit CPU, memory, digital comparator, pulse counter, outside default control module, welding start module, control the D/A module I of welding current, the D/A module ii of controlling weldingvoltage and the angular displacement sensor of welding gun.The angular displacement sensor of described welding gun is arranged on the end of the drive motors of described driving mechanism, and in this angular displacement sensor output pulse string, the number of pulse is proportional to the accumulative total number of turns of drive motors output shaft rotation.
The circumferential weld of welded piece pipe-plate is divided into to the n segmental arc, and n is natural number, and 20>=n>1, by each segmental arc different geometric positions of living in, the different process requirement is arranged, and presets the welding parameter W of each segmental arc
j={ I
j, U
j, β
j, j=1 is to n, I in formula
j, U
jand β
jbe respectively the angular displacement that on described circumferential weld, welding gun corresponding to the desired welding current of j segmental arc welding process, weldingvoltage and this segmental arc weld seam arc length rotates, also this angular displacement can be scaled to the number of turns that the drive motors of driving mechanism need to rotate, by described outside default control module by predefined n bond pads parameter { W
1, W
2..., W
nall be stored in described memory, and give respectively different addresses to each group parameter, by given address code, call, while starting described arc welding equipment, described central processing unit CPU provides the welding enabling signal, starts described source of welding current module by described welding startup module and presents weld power to described welding gun, described central processing unit CPU reads the welding parameter of wanting to start welding position on described welding gun welded piece pipe of living in-plate circumferential weld by described given address code to the electing property of data be stored in described memory, described central processing unit CPU, by the welding current parameter of this segmental arc, is transformed to analog signal through the D/A of described control welding current module I, is sent to described source of welding current module, described central processing unit CPU, by the weldingvoltage parameter of this section, is transformed to analog signal through the D/A of described control weldingvoltage module ii, is sent to described source of welding current module, described central processing unit CPU from described memory read the angular displacement of this segmental arc count value that is converted into the accumulative total number of turns that described drive motors output shaft need to rotate send to described digital comparator, or, in advance the angular displacement of this segmental arc is scaled to the count value of the accumulative total number of turns that described drive motors output shaft need to rotate, this count value directly is stored in described memory, directly from described memory, recall and send to described digital comparator by described central processing unit CPU, i.e. β now
jthe count value of the accumulative total number of turns that is angular displacement that on described circumferential weld, welding gun corresponding to the desired weld seam arc length of j segmental arc welding process rotates through being scaled described drive motors output shaft and need to rotating of representative, along described pipe-plate circumferential weld, according to the welding direction of setting, welding current and the weldingvoltage by this segmental arc starts to weld described welding gun, described angular displacement sensor transmitted string is to described pulse counter simultaneously, be connected on the actual displacement angle amount that starts to count described welding gun namely, the counting of described pulse counter gained and the count value of described digital comparator are relatively, when equal to the two, described pulse counter zero clearing, described digital comparator feeds back to described central processing unit CPU by this information, the welding parameter that described central processing unit CPU is taken next segmental arc continues welding, so repeatedly, until complete the welding of whole n segmental arcs.
The central processing unit CPU that described control device comprises, memory, digital comparator and pulse counter, be actually and be integrated into chip piece, is included in described central processing unit CPU.
Described control device also comprises mode of operation display driver circuit and display screen, and this display screen can be used LCDs; Read the welding parameter W of each segmental arc to being stored in electing property of data in described memory by described given address code by described central processing unit CPU
jafter, can be at the welding parameter W of described this segmental arc of demonstration screen display by described mode of operation display driver circuit
j, the welder, in when welding welding parameter of observation post's welding arc section at any time just, prevents from makeing mistakes like this.
Described control device also comprises that each parameter presets display driver circuit; Welding parameter W by predefined each segmental arc of described outside default control module
jafter, by the default display driver circuit of described each parameter can be on described display screen instant playback just at the welding parameter W of predefined each segmental arc
j, the convenient predefined data of personnel's immediate observation of setting welding parameter, prevent from makeing mistakes.
Described control device also comprises the D/A module ii I of control welding gun angular displacement speed and the adjustment module of welding gun angular displacement speed; The described welding parameter W that presets each segmental arc
jalso comprise the angular displacement speed parameter V that described welding gun rotates
j, i.e. W
j={ I
j, U
j, β
j, V
j; To preset the described welding gun rotational displacement speed parameter V of each segmental arc by described outside default control module
jbe stored in described memory, when described central processing unit CPU sends the described weldingvoltage and welding current parameter of described pipe-a certain segmental arc of plate circumferential weld, also from described memory, read the described welding gun rotational displacement speed parameter V of this segmental arc
jd/A module ii I through described control welding gun angular displacement speed is transformed to analog signal, be sent to the adjustment module of described welding gun angular displacement speed, regulated supply voltage or the frequency of supply of the drive motors of described driving mechanism by the adjustment module of this welding gun angular displacement speed, described drive motors reduced or improve rotating speed, thereby coordinating the angular displacement speed welding required with each segmental arc of described welding gun.
Compared with the existing technology, the present invention is for pipe-plate circumferential weld, the self adaptation welding method segmentation setup parameter and the beneficial effect of arc welding equipment:
1, self adaptation welding method of the present invention and arc welding equipment, can realize a minute segmental arc welding to the circumferential weld of welded piece pipe-plate, adopt the welding parameters such as weldingvoltage, welding current and speed of welding separately during each segmental arc welding, the any segmental arc when pipe-plate circumferential weld no matter, can down not trickle in molten bath (molten iron), thereby saved welding material, improved welding efficiency, improved the appearance of weld effect and improved solder yield etc., be very easy to users;
2, self adaptation welding method of the present invention and arc welding equipment are when the circumferential weld to welded piece pipe-plate welds, the welding parameters such as weldingvoltage, welding current and speed of welding that each segmental arc welding adopts can arrange according to actual conditions, therefore be suitable for the welding of tubing with the sheet material of different-thickness of different-thickness, especially applicable thick-wall tube is with the welding of slab.
[accompanying drawing explanation]
Fig. 1 is that the present invention is for electric principle logic diagram pipe-plate circumferential weld, the self adaptation arc welding equipment segmentation setup parameter;
Fig. 2 is that the present invention is divided into the circumferential weld of welded piece pipe-plate the principle schematic of n segmental arc for self adaptation welding method pipe-plate circumferential weld, the segmentation setup parameter;
The master that angular displacement sensor 19 embodiment mono-of the welding gun that Fig. 3 is described self adaptation arc welding equipment are arranged on the drive motors 220 of described driving mechanism looks schematic diagram;
The master that angular displacement sensor 19 embodiment bis-of the welding gun that Fig. 4 is described self adaptation arc welding equipment are arranged on the drive motors 220 of described driving mechanism looks schematic diagram;
The schematic flow sheet that Fig. 5 is self adaptation welding method specific embodiment of the present invention;
The circuit diagram of the central processing unit CPU specific embodiment of the control device that Fig. 6 is described self adaptation arc welding equipment;
The circuit diagram of the D/A module ii specific embodiment of the D/A module I of the control welding current of the control device that Fig. 7 is described self adaptation arc welding equipment and control weldingvoltage;
The circuit diagram of specific embodiment is controlled in the startup of the control device that Fig. 8 is described self adaptation arc welding equipment;
The circuit diagram of the detent mechanism control module specific embodiment of the control device that Fig. 9 is described self adaptation arc welding equipment;
The welding of the control device that Figure 10 is described self adaptation arc welding equipment starts the circuit diagram of module specific embodiment;
The welding gun of the control device that Figure 11 is described self adaptation arc welding equipment returns to the circuit diagram of control module specific embodiment;
Figure 12 is the axonometric projection schematic diagram of the frame for movement specific embodiment of described self adaptation arc welding equipment;
Figure 13 is the axonometric projection schematic diagram after Figure 12 decomposes, and does not draw welding gun in figure.
[specific embodiment]
Below in conjunction with accompanying drawing, the present invention is described in further detail.
Referring to Fig. 1 and Fig. 2, the present invention relates to a kind ofly for self adaptation welding method pipe-plate circumferential weld, the segmentation setup parameter, comprise the steps:
A, the circumferential weld of welded piece pipe-plate is divided into to the n segmental arc, n is integer, and 20>=n>=2, by each segmental arc different geometric positions of living in, the different process requirement is arranged, and presets the welding parameter W of each segmental arc
j={ I
j, U
j, β
j, j=1 is to n, I in formula
j, U
jand β
jit is respectively the angular displacement that on described circumferential weld, welding gun corresponding to the desired welding current of j segmental arc welding process, weldingvoltage and this segmental arc weld seam arc length rotates;
B, will implement the predefined n bond pads parameter { W of previous step A
1, W
2..., W
nbe stored in nonvolatile memory, and give respectively different addresses to each group parameter;
C, described welding gun being placed on described circumferential weld to the position of wanting to start welding, can be the initial point of j=k segmental arc, in formula, be the k integer, and 1≤k≤n, resets the welding direction for clockwise or counter clockwise direction, so, from j=k, k+1, k+2 ..., n, 1,2 ..., k-1, or, k-1, k-2, ..., 1, n, n-1, k+1, the welding parameter of each segmental arc, by central processing unit CPU management, will be by successively for welding;
D, connect the source of welding current, start the driving mechanism of described welding gun, under described central processing unit CPU is controlled, described welding parameter is removed as set-point and provides the welding current that meets technological requirement I for controlling the described source of welding current from described memory
jwith weldingvoltage U
j, and control described welding gun striking, arcing and rotate the angular displacement beta of covering described set-point
j;
E, described welding gun complete the welding of j=k segmental arc, then according to selected direction, take the welding parameter continuation welding of j=k+1 or j=k-1 segmental arc, until complete the welding of whole n segmental arcs.
When implementing described steps A, preset the welding parameter W of each segmental arc
jalso comprise the angular displacement speed parameter V that described welding gun rotates
j, i.e. W
j={ I
j, U
j, β
j, V
j.
When implementing described steps A, relate to the segmental arc of wanting downhand welding, its welding parameter should be chosen maximum welding current, the highest weldingvoltage and the fastest welding gun rotational displacement speed, relate to and want the segmental arc of vertical position welding to take second place, relate to the segmental arc that will weld in the overhead position and select minimum welding current, minimum weldingvoltage and the slowest welding gun rotational displacement speed.
When implementing described step B, the non-volatility memorizer of selecting comprises electricallyerasable ROM (EEROM) E
2rOM and/or be flash media Flash Memory.
When implementing described step C, optionally be chosen for a group in many bond pads parameter that same segmental arc sets.
In the welding process, optionally can artificially revise at any time and carry out and be about to each welding parameter of carrying out.
Referring to Fig. 1 and Fig. 2, the invention still further relates to a kind of for pipe-plate circumferential weld, the self adaptation arc welding equipment segmentation setup parameter, be applicable to the welding of the circumferential weld of pipe-plate, comprise welding gun and the driving mechanism that drives this welding gun to rotate along welded piece pipe-plate circumferential weld, and weld power is supplied with and the control device 10 of welding gun angular displacement speed for controlling, described control device 10 comprises source of welding current module 25.
Described control device 10 also comprises that central processing unit CPU 11, memory 12, digital comparator 13, pulse counter 14, outside default control module 15, welding start module 16, control the D/A module I 17 of welding current, the D/A module ii 18 of controlling weldingvoltage and the angular displacement sensor 19 of welding gun.The angular displacement sensor 19 of described welding gun is arranged on the end of the drive motors 220 of described driving mechanism, and in these angular displacement sensor 19 output pulse strings, the number of pulse is proportional to the accumulative total number of turns of drive motors 220 output shaft rotations.
The circumferential weld of welded piece pipe-plate is divided into to the n segmental arc, and n is natural number, and 20>=n>1, by each segmental arc different geometric positions of living in, the different process requirement is arranged, and presets the welding parameter W of each segmental arc
j={ I
j, U
j, β
j, j=1 is to n, I in formula
j, U
jand β
jbe respectively the angular displacement that on described circumferential weld, welding gun corresponding to the desired welding current of j segmental arc welding process, weldingvoltage and this segmental arc weld seam arc length rotates, also this angular displacement can be scaled to the number of turns that the drive motors of driving mechanism need to rotate, by described outside default control module 15 by predefined n bond pads parameter { W
1, W
2..., W
nall be stored in described memory 12, and give respectively different addresses to each group parameter, by given address code, call, while starting described arc welding equipment, described central processing unit CPU 11 provides the welding enabling signal, starts the described source of welding current module 25 of module 16 startup by described welding and presents weld power to described welding gun, described central processing unit CPU 11 reads the welding parameter of wanting to start welding position on described welding gun welded piece pipe of living in-plate circumferential weld by described given address code to the electing property of data be stored in described memory 12, described central processing unit CPU 11 is by the welding current parameter of this segmental arc, be transformed to analog signal through the D/A of described control welding current module I 17, be sent to described source of welding current module 25, described source of welding current module 25 is supplied to described welding gun by the predefined welding current of this segmental arc, described central processing unit CPU 11 is by the weldingvoltage parameter of this section, be transformed to analog signal through the D/A of described control weldingvoltage module ii 18, be sent to described source of welding current module 25, described source of welding current module 25 is supplied to described welding gun by the predefined weldingvoltage of this segmental arc, described central processing unit CPU 11 from described memory 12 read the angular displacement of this segmental arc count value that is converted into the accumulative total number of turns that described drive motors 220 output shafts need to rotate send to described digital comparator 13, or, in advance the angular displacement of this segmental arc is scaled to the count value of the accumulative total number of turns that described drive motors 220 output shafts need to rotate, this count value directly is stored in described memory 12, directly from described memory 12, recall and send to described digital comparator 13 by described central processing unit CPU 11, i.e. β now
jthe count value of the accumulative total number of turns that is angular displacement that on described circumferential weld, welding gun corresponding to the desired weld seam arc length of j segmental arc welding process rotates through being scaled described drive motors 220 output shafts and need to rotating of representative, along described pipe-plate circumferential weld, according to the welding direction of setting, welding current and the weldingvoltage by this segmental arc starts to weld described welding gun, described angular displacement sensor 19 transmitted strings are to described pulse counter 14 simultaneously, be connected on the actual displacement angle amount that starts to count described welding gun namely, the counting of described pulse counter 14 gained and the count value of described digital comparator 13 are relatively, when equal to the two, described pulse counter 14 zero clearings, described digital comparator 13 feeds back to described central processing unit CPU 11 by this information, the welding parameter that described central processing unit CPU 11 is taken next segmental arc continues welding, so repeatedly, until complete the welding of whole n segmental arcs.
The central processing unit CPU 11 that described control device 10 comprises, memory 12, digital comparator 13 and pulse counter 14, be actually and be integrated into chip piece, is included in described central processing unit CPU 11.
Referring to Fig. 1, described control device 10 also comprises mode of operation display driver circuit 20 and display screen 21, and this display screen 21 can be used LCDs; Read the welding parameter W of each segmental arc to being stored in electing property of data in described memory 12 by described given address code by described central processing unit CPU 11
jafter, can on described display screen 21, show the welding parameter W of this segmental arc by described mode of operation display driver circuit 20
j, the welder, in when welding welding parameter of observation post's welding arc section at any time just, prevents from makeing mistakes like this.
Referring to Fig. 1, described control device 10 also comprises that each parameter presets display driver circuit 22; Welding parameter W by described outside default control module 15 predefined each segmental arcs
jafter, by the default display driver circuit 21 of described each parameter can be on described display screen 21 instant playback just at the welding parameter W of predefined each segmental arc
j, the convenient predefined data of personnel's immediate observation of setting welding parameter, prevent from makeing mistakes.
Referring to Fig. 1, described control device 10 also comprises that described welding gun completes after the welding of described welded piece pipe-plate circumferential weld the welding gun that automatically returns to original position and returns to control module 26; After described welding gun completes the welding of described welded piece pipe-plate circumferential weld, the described welding gun of described central processing unit CPU 11 control returns to control module 26 and sends the drive motors 220 of control signal to described driving mechanism, by described drive motors 220, drives described welding gun to automatically return to original position.
Referring to Fig. 1, described control device 10 also comprises the detent mechanism control module 27 of being controlled by described central processing unit CPU 11.The present invention is for detent mechanism pipe-plate circumferential weld, that the self adaptation arc welding equipment segmentation setup parameter also comprises the pipe material inner wall that is fixed in welded piece pipe-plate revocablely, as the detent mechanism 100 in Figure 12 and Figure 13, after this detent mechanism inserts the pipe material inner wall of welded piece pipe-plate, send instruction to described detent mechanism control module 27 by described central processing unit CPU 11, described detent mechanism control module 27 forces described detent mechanism action, makes it be fixed in the pipe material inner wall of described welded piece pipe-plate; After described welding gun completes the welding of described welded piece pipe-plate circumferential weld, send instruction to described detent mechanism control module 27 by described central processing unit CPU 11, described detent mechanism control module 27 forces described detent mechanism action, the pipe material inner wall of itself and described welded piece pipe-plate is broken away from, cancel positioning states.
Referring to Fig. 1, described control device 10 also comprises the D/A module ii I23 of control welding gun angular displacement speed and the adjustment module 24 of welding gun angular displacement speed; The described welding parameter W that presets each segmental arc
jalso comprise the angular displacement speed parameter V that described welding gun rotates
j, i.e. W
j={ I
j, U
j, β
j, V
j; To preset the described welding gun rotational displacement speed parameter V of each segmental arc by described outside default control module 15
jbe stored in described memory 12, when described central processing unit CPU 11 sends the described weldingvoltage and welding current parameter of described pipe-a certain segmental arc of plate circumferential weld, also from described memory 12, read the described welding gun rotational displacement speed parameter V of this segmental arc
jd/A module ii I23 through described control welding gun angular displacement speed is transformed to analog signal, be sent to the adjustment module 24 of described welding gun angular displacement speed, regulated supply voltage or the frequency of supply of the drive motors 220 of described driving mechanism by the adjustment module 24 of this welding gun angular displacement speed, make described drive motors 220 reduce or improve rotating speed, thereby coordinate the angular displacement speed welding required with each segmental arc of described welding gun.
Referring to Fig. 1 and Fig. 3, the angular displacement sensor 19 of described welding gun generally is arranged on the end of the drive motors 220 of described driving mechanism, this angular displacement sensor 19 can be a kind of optical code disk, comprise and be fixed on the motionless a pair of light-emitting tube 191 in drive motors 220 ends and light receiving tube 192, and be fixed on drive motors 220 output shafts 222, together rotate thereupon and transmit and receive from light the light barriers 194 that pass through in the middle of pipe 191,192; When starting described self adaptation arc welding equipment, drive motors 220 rotates, drive motors 220 often turns around, light barrier 194 all can once pass through in the middle of light-emitting tube 191 and light receiving tube 192, the light that now light barrier 194 will blocking light transmitting tube 191 sends is mapped to light receiving tube 192, in the time of when light barrier 194 leaves light-emitting tube 191 and light receiving tube 192 with drive motors 220 output shafts 222 rotations in the middle of, the light that light-emitting tube 191 sends is mapped to light receiving tube 192 again; Drive motors 220 often turns around like this, and light barrier 194 will pass through once in the middle of light-emitting tube 191 and light receiving tube 192, and described angular displacement sensor 19 just sends a pulse and arrives the link of accumulative total angular displacement sensor output quantity as pulse counter 14; This angular displacement sensor 19 can be electrically connected to control device 10 by conductor wire.
Referring to Fig. 1 and Fig. 4, angular displacement sensor 19 another embodiment as described welding gun, the angular displacement sensor 19 that is arranged on drive motors 220 ends of described driving mechanism is a kind of approach switch devices, comprise and be fixed on a motionless ultrasonic oscillator 196 of drive motors 220 ends, and the sheet metal 198 that is fixed on drive motors 220 output shafts 222, together rotates and cross from ultrasonic oscillator 196 oscillator coil end veneers thereupon; The every veneer of sheet metal 198 is crossed once, and the eddy current of wherein inducting just forces ultrasonic oscillator 196 failure of oscillations in a flash, thereby make angular displacement sensor 19 send a pulse, arrives the link of accumulative total angular displacement sensor output quantity as pulse counter 14.
Can be referring to Fig. 5 for specific embodiment pipe-plate circumferential weld, the self adaptation welding method segmentation setup parameter.
The specific embodiment for the central processing unit CPU 11 of the control device 10 of pipe-plate circumferential weld, the self adaptation arc welding equipment segmentation setup parameter can be referring to Fig. 6, integrated circuit U8 in this circuit diagram is exactly described central processing unit CPU 11, model is ADUC841, manufacturer is a U.S. Analog Devices, Inc company; Integrated circuit U11 in this figure carries out the module of serial communication with computer, for downloading applications into described central processing unit CPU 11.
The specific embodiment for the D/A module ii 18 of the D/A module I 17 of the control welding current of the control device 10 of pipe-plate circumferential weld, the self adaptation arc welding equipment segmentation setup parameter and control weldingvoltage can be referring to Fig. 7, the pin WELD_I of the resistance R 14 in this Fig. 7 is electrically connected on the pin 10 of Central Processing Unit CPU11 among Fig. 6, be the DAC1 pin, the electric connection point of the D/A module I 17 of described control welding current and central processing unit CPU 11 namely; The pin WELD-V of the resistance R 15 in this Fig. 7 is electrically connected on the pin 9 of Central Processing Unit CPU11 among Fig. 6, i.e. DAC0 pin, the namely electric connection point of the D/A module ii 18 of described control weldingvoltage and central processing unit CPU 11.
The specific embodiment for the startup gauge tap of the control device 10 of pipe-plate circumferential weld, the self adaptation arc welding equipment segmentation setup parameter can be referring to Fig. 8, be and start the circuit diagram of controlling the central processing unit CPU specific embodiment, comprise three gauge taps, be followed successively by from top to bottom the startup gauge tap of detent mechanism control module 27, the startup gauge tap of welding startup module 16 and the startup that angular displacement sensor 19 returns feedback signal and control.
The specific embodiment for the detent mechanism control module 27 of the control device 10 of pipe-plate circumferential weld, the self adaptation arc welding equipment segmentation setup parameter can be referring to Fig. 9, the pin P3.3 of the resistance R 38 of this Fig. 9 is electrically connected on the pin 19 of Central Processing Unit CPU11 among Fig. 6, i.e. the P3.3 pin, as Fig. 6, Fig. 8, Fig. 9, shown in Figure 12 and Figure 13, after detent mechanism 100 inserts the pipe material inner wall of welded piece pipe-plate, press the startup gauge tap of described detent mechanism control module 27, described central processing unit CPU 11 is opened the gas circuit valve after the photoelectrical coupler U10A isolation of described detent mechanism control module 27, make cylinder 110 inflations of described detent mechanism 100, after described cylinder 110 inflations, the piston rod 111 of described cylinder 110 is contractile motion back, thereby each locating detent 130 that makes described detent mechanism 100 evenly is close to the inwall of described welded tubing and is realized location fast, make described detent mechanism be fixed in the pipe material inner wall of described welded piece pipe-plate, after described welding gun completes the welding of described welded piece pipe-plate circumferential weld, click again the startup gauge tap of described detent mechanism control module 27, described central processing unit CPU 11 sends instruction to described detent mechanism control module 27, described detent mechanism control module 27 forces cylinder 110 venting of described detent mechanism, the piston rod 111 of described cylinder 110 is pushed ahead motion and is stretched out forward, make each locating detent 130 of described detent mechanism 100 shrink back initial position, described detent mechanism 100 and the pipe material inner wall of described welded piece pipe-plate are broken away from, cancel positioning states.
The specific embodiment for the welding startup module 16 of the control device 10 of pipe-plate circumferential weld, the self adaptation arc welding equipment segmentation setup parameter can be referring to Figure 10, the pin P3.5 of the resistance R 41 of this Figure 10 is electrically connected on the pin 23 of Central Processing Unit CPU11 among Fig. 6, i.e. the P3.5 pin; Open relay k2 after the photoelectrical coupler U10B isolation that described central processing unit CPU 11 starts module 16 through described welding and start described source of welding current module 25.
A specific embodiment that returns to control module 26 for the welding gun of the control device 10 of pipe-plate circumferential weld, the self adaptation arc welding equipment segmentation setup parameter can be referring to Figure 11, the pin P3.2 of the resistance R 37 of this Figure 11 is electrically connected on the pin 18 of Central Processing Unit CPU11 among Fig. 6, i.e. the P3.2 pin; After described welding gun completes the welding of described welded piece pipe-plate circumferential weld, open the drive motors 220 that relay k1 controls described driving mechanism after the photoelectrical coupler U2 isolation that described central processing unit CPU 11 returns to control module 26 through described welding gun, by described drive motors 220, drive described welding gun to automatically return to original position.
The specific embodiment for the frame for movement of pipe-plate circumferential weld, the self adaptation arc welding equipment segmentation setup parameter can be referring to Figure 12 and Figure 13, in this Figure 12 and Figure 13, label 100 means detent mechanism, label 110 means cylinder, label 111 means the piston rod of cylinder, and label 130 means each locating detent; Label 200 means described driving mechanism, the drive motors in the motor reduction gearbox of the described driving mechanism of label 220 expression; Label 310 means described welding gun; Label 700 means electricity or air cock mechanism, be self adaptation arc welding equipment of the present invention control device 10 respectively start gauge tap, wherein label 710 means the startup gauge tap button of described detent mechanism control module 27, and label 720 means that described welding starts the startup gauge tap button of module 16; The frame for movement of this specific embodiment and annexation can be referring to the applicant on October 19th, 2009, application number is 200920205935.8, name is called the utility application file of " for the automatic welding gun of pipe-plate circumference soldering ", and therefore not to repeat here.
The above embodiment has only expressed the preferred embodiment of the present invention, and it describes comparatively concrete and detailed, but can not therefore be interpreted as the restriction to the scope of the claims of the present invention; It should be pointed out that for the person of ordinary skill of the art, without departing from the inventive concept of the premise, can also make some distortion and improvement, these all belong to protection scope of the present invention; Therefore, all equivalents and modifications of doing with the claims in the present invention scope, all should belong to the covering scope of the claims in the present invention.
Claims (13)
1. one kind for self adaptation welding method pipe-plate circumferential weld, the segmentation setup parameter, it is characterized in that, comprises the steps:
A, the circumferential weld of welded piece pipe-plate is divided into to the n segmental arc, n is integer, and 20>=n>=2, by each segmental arc different geometric positions of living in, the different process requirement is arranged, and presets the welding parameter W of each segmental arc
j={ I
j, U
j, β
j, j=1 is to n, I in formula
j, U
jand β
jit is respectively the angular displacement that on described circumferential weld, welding gun corresponding to the desired welding current of j segmental arc welding process, weldingvoltage and this segmental arc weld seam arc length rotates;
B, will implement the predefined n bond pads parameter { W of previous step A
1, W
2..., W
nbe stored in nonvolatile memory, and give respectively different addresses to each group parameter;
C, described welding gun being placed on described circumferential weld to the position of wanting to start welding, is the initial point of j=k segmental arc, and k≤n in formula resets the welding direction for clockwise or counterclockwise, so, from j=k, k+1, k+2 ..., n, 1,2 ..., k-1, or, k-1, k-2, ..., 1, n, n-1, k+1, the welding parameter of each segmental arc, by central processing unit CPU management, will be by successively for welding;
D, connect the source of welding current, start the driving mechanism of described welding gun, under described central processing unit CPU is controlled, described welding parameter is removed as set-point and provides the welding current that meets technological requirement I for controlling the described source of welding current from described memory
jwith weldingvoltage U
j, and control described welding gun striking, arcing and rotate the angular displacement beta of covering described set-point
j;
E, described welding gun complete the welding of j=k segmental arc, then according to selected direction, take the welding parameter continuation welding of j=k+1 or j=k-1 segmental arc, until complete the welding of whole n segmental arcs.
2. according to claim 1 for self adaptation welding method pipe-plate circumferential weld, the segmentation setup parameter, it is characterized in that:
When implementing described steps A, preset the welding parameter W of each segmental arc
jalso comprise the angular displacement speed parameter V that described welding gun rotates
j, i.e. W
j={ I
j, U
j, β
j, V
j.
3. according to claim 2 for self adaptation welding method pipe-plate circumferential weld, the segmentation setup parameter, it is characterized in that:
When implementing described steps A, relate to the segmental arc of wanting downhand welding, its welding parameter should be chosen maximum welding current, the highest weldingvoltage and the fastest welding gun rotational displacement speed, relate to and want the segmental arc of vertical position welding to take second place, relate to the segmental arc that will weld in the overhead position and select minimum welding current, minimum weldingvoltage and the slowest welding gun rotational displacement speed.
4. according to claim 1 for self adaptation welding method pipe-plate circumferential weld, the segmentation setup parameter, it is characterized in that:
When implementing described step B, the non-volatility memorizer of selecting comprises electricallyerasable ROM (EEROM) E
2rOM and/or be flash media Flash Memory.
5. according to claim 1 for self adaptation welding method pipe-plate circumferential weld, the segmentation setup parameter, it is characterized in that:
When implementing described step C, optionally be chosen for a group in many bond pads parameter that same segmental arc sets.
6. described for self adaptation welding method pipe-plate circumferential weld, the segmentation setup parameter according to claim 1 to 5 any one, it is characterized in that:
In the welding process, optionally can artificially revise at any time and carry out and be about to each welding parameter of carrying out.
7. one kind for pipe-plate circumferential weld, the self adaptation arc welding equipment segmentation setup parameter, be applicable to the welding of the circumferential weld of pipe-plate, comprise welding gun and the driving mechanism that drives this welding gun to rotate along welded piece pipe-plate circumferential weld, and weld power is supplied with and the control device (10) of welding gun angular displacement speed for controlling, described control device (10) comprises source of welding current module (25); It is characterized in that:
Described control device (10) also comprises that central processing unit CPU (11), memory (12), digital comparator (13), pulse counter (14), outside default control module (15), welding start module (16), control the D/A module I (17) of welding current, the D/A module ii (18) of controlling weldingvoltage and the angular displacement sensor (19) of welding gun; Described angular displacement sensor (19) is arranged on the end of the drive motors (220) of described driving mechanism, and in this angular displacement sensor (19) output pulse string, the number of pulse is proportional to the accumulative total number of turns of described drive motors (220) output shaft rotation;
The circumferential weld of welded piece pipe-plate is divided into to the n segmental arc, and n is integer, and 20>=n>=2, by each segmental arc different geometric positions of living in, the different process requirement is arranged, and presets the welding parameter W of each segmental arc
j={ I
j, U
j, β
j, j=1 is to n, I in formula
j, U
jand β
jit is respectively the angular displacement that on described circumferential weld, welding gun corresponding to the desired welding current of j segmental arc welding process, weldingvoltage and this segmental arc weld seam arc length rotates; By described outside default control module (15) by predefined n bond pads parameter { W
1, W
2..., W
nall be stored in described memory (12), and give respectively different addresses to each group parameter, by given address code, call; While starting described arc welding equipment, described central processing unit CPU (11) provides the welding enabling signal, starts described source of welding current module (25) by described welding startup module (16) and presents weld power to described welding gun; Described central processing unit CPU (11) reads the welding parameter of wanting to start welding position on described welding gun welded piece pipe of living in-plate circumferential weld by described given address code to the electing property of data be stored in described memory (12); Described central processing unit CPU (11), by the welding current parameter of this segmental arc, is transformed to analog signal through the D/A of described control welding current module I (17), is sent to described source of welding current module (25); Described central processing unit CPU (11), by the weldingvoltage parameter of this section, is transformed to analog signal through the D/A of described control weldingvoltage module ii (18), is sent to described source of welding current module (25); Described central processing unit CPU (11) from described memory (12) read the angular displacement of this segmental arc count value that is converted into the accumulative total number of turns that described drive motors (220) output shaft need to rotate send to described digital comparator (13); Along described pipe-plate circumferential weld, according to the welding direction of setting, welding current and the weldingvoltage by this segmental arc starts to weld described welding gun, described angular displacement sensor (19) transmitted string is to described pulse counter (14) simultaneously, the counting of described pulse counter (14) gained and the count value of described digital comparator (13) are relatively, when equal to the two, described pulse counter (14) zero clearing, described digital comparator (13) feeds back to described central processing unit CPU (11) by this information, and the welding parameter that described central processing unit CPU (11) is taken next segmental arc continues welding; So repeatedly, until complete the welding of whole n segmental arcs.
8. according to claim 7 for pipe-plate circumferential weld, the self adaptation arc welding equipment segmentation setup parameter, it is characterized in that:
The central processing unit CPU (11) that described control device (10) comprises, memory (12), digital comparator (13) and pulse counter (14), be actually and be integrated into chip piece, be included in described central processing unit CPU (11).
9. according to claim 7 for pipe-plate circumferential weld, the self adaptation arc welding equipment segmentation setup parameter, it is characterized in that:
Described control device (10) also comprises mode of operation display driver circuit (20) and display screen (21); Read the welding parameter W of each segmental arc to being stored in electing property of data in described memory (12) by described given address code by described central processing unit CPU (11)
jafter, can be at the upper welding parameter W that shows this segmental arc of described display screen (21) by described mode of operation display driver circuit (20)
j.
10. according to claim 9 for pipe-plate circumferential weld, the self adaptation arc welding equipment segmentation setup parameter, it is characterized in that:
Described control device (10) also comprises that each parameter presets display driver circuit (22); Welding parameter W by predefined each segmental arc of described outside default control module (15)
jafter, can be in the upper instant playback of described display screen (21) just at the welding parameter W of predefined each segmental arc by the default display driver circuit (22) of described each parameter
j.
11. according to claim 7 for pipe-plate circumferential weld, the self adaptation arc welding equipment segmentation setup parameter, it is characterized in that:
Described control device (10) also comprises that described welding gun completes after the welding of described welded piece pipe-plate circumferential weld the welding gun that automatically returns to original position and returns to control module (26); After described welding gun completes the welding of described welded piece pipe-plate circumferential weld, described central processing unit CPU (11) is controlled described welding gun and is returned to control module (26) and send control signal to the drive motors (220) of described driving mechanism, by described drive motors (220), drives described welding gun to automatically return to original position.
12. according to claim 7 for pipe-plate circumferential weld, the self adaptation arc welding equipment segmentation setup parameter, it is characterized in that:
Described control device (10) also comprises the detent mechanism control module (27) of being controlled by described central processing unit CPU (11).
13. described for pipe-plate circumferential weld, the self adaptation arc welding equipment segmentation setup parameter according to claim 7 to 12 any one, it is characterized in that:
Described control device (10) also comprises the D/A module ii I (23) of control welding gun angular displacement speed and the adjustment module (24) of welding gun angular displacement speed, the described welding parameter W that presets each segmental arc
jalso comprise the angular displacement speed parameter V that described welding gun rotates
j, i.e. W
j={ I
j, U
j, β
j, V
j, to preset the described welding gun rotational displacement speed parameter V of each segmental arc by described outside default control module (15)
jbe stored in described memory (12), when described central processing unit CPU (11) sends the described weldingvoltage and welding current parameter of described pipe-a certain segmental arc of plate circumferential weld, also from described memory (12), read the described welding gun rotational displacement speed parameter of this segmental arc, D/A module ii I (23) through described control welding gun angular displacement speed is transformed to analog signal, be sent to the adjustment module (24) of described welding gun angular displacement speed, regulated supply voltage or the frequency of supply of the drive motors (220) of described driving mechanism by the adjustment module (24) of this welding gun angular displacement speed, described drive motors (220) is reduced or improve rotating speed, thereby coordinate the angular displacement speed welding required with each segmental arc of described welding gun.
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|---|---|---|---|
| CN2009101895380A CN102069273B (en) | 2009-11-25 | 2009-11-25 | Adaptive welding method for pipe-plate circumference welding and subsection parameter setting and arc welding equipment |
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| CN2009101895380A CN102069273B (en) | 2009-11-25 | 2009-11-25 | Adaptive welding method for pipe-plate circumference welding and subsection parameter setting and arc welding equipment |
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| CN102581437B (en) * | 2011-08-24 | 2015-01-07 | 唐山松下产业机器有限公司 | Welder and system capable of managing welding operation |
| CN103170767B (en) * | 2011-12-20 | 2015-01-21 | 徐州工程学院 | Welding robot control method |
| CN104416305B (en) * | 2013-08-30 | 2016-08-10 | 中国石油天然气集团公司 | Pipeline Multipoint synchronous automatic welding prescan formula seam laser tracking and device |
| CN110773913A (en) * | 2019-11-04 | 2020-02-11 | 内蒙古世星新材料科技有限公司 | Parameter segmentation design method and system for bipolar double-station welding equipment |
| CN111922548B (en) * | 2020-09-24 | 2021-01-15 | 山东海德智能科技有限公司 | 3D weld scanning system based on weld three-dimensional shape detection |
| CN112475682B (en) * | 2020-11-24 | 2023-05-16 | 唐山松下产业机器有限公司 | Welding machine power supply control method and welding equipment based on pipeline welding |
| CN114012231B (en) * | 2021-11-12 | 2023-06-06 | 沈阳航天新光集团有限公司 | Electron beam welding method of electric explosion valve |
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