CN102615390A - Swing arc-based multi-layer and multi-channel weld tracking system and identification method thereof - Google Patents
Swing arc-based multi-layer and multi-channel weld tracking system and identification method thereof Download PDFInfo
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Abstract
The invention discloses a swing arc-based multi-layer and multi-channel weld tracking system and an identification method thereof. The weld tracking system comprises a welding gun, a welding power supply, a wire feeder, a welding tractor, a swinger, a driver, a hall current sensor, a main carriage and the like, wherein the welding gun is used for performing oscillatory scanning on a weld groove when driven by the swinger in the welding process, the change of relative positions between the welding gun and a workpiece directly causes the change of arc length, and the change of the arc length causes the change of arc parameters such as arc current, arc voltage and the like; the hall current sensor is used for sending detected welding current signals and positioning pulse signals to the controller, automatically judging the weld shape according to certain operation rules, processing the weld shape by selecting corresponding weld deviation signal extraction schemes and acquiring weld deviation information; and the swinger is used for regulating weld deviation, automatically tracking welds and completing automatic welding.
Description
Technical field
The invention belongs to welding automatic control technology field, be specifically related to a kind of multi-pass welding seam tracking system and recognition methods based on swing arc.
Background technology
THE WELD SEAM TRACKING TECHNOLOGY is to realize the research direction of Automation of Welding.For the welding of the bevel of slab, because groove processing and influences such as fitted position and site error, adopting accurate THE WELD SEAM TRACKING TECHNOLOGY to carry out that multi-pass welding connects is the key of its welding quality of assurance.
THE WELD SEAM TRACKING TECHNOLOGY based on arc sensor and vision sensor is research at present and the main flow of using; In to the welding process that the one-pass weld workpiece is arranged, can reach good tracking effect; And for the multi-pass welding of slab, after the first road weld seam had welded, the welding point form had often changed; Weld seam deviation identification is a difficult point always, and its its domestic application can't reach gratifying degree at present.In American-European developed country, the weld joint tracking that is directed to thick plates adopts the vision track method based on ccd sensor (CCD imageing sensor) usually.Though adopt the ccd sensor control accuracy than higher, cost is also high, is subject to the arc light interference effect, also there are many difficulties in the image recognition processing that multi-pass welding is connect, can only be used to be out of shape little straight bead from motion tracking.
At present, based on the application of soldering joint automatic tracking technology in plate sheet welding of arc sensor comparative maturity, but do not appear in the newspapers with using to the thick-walled structure Study of Welding.The electric arc sensing technology comprises rotating the arc scanning and swing arc scanning dual mode: though rotary arc sensor does not need optional equipment; Control accuracy is than higher; But its volume is big, complex structure, and cost is higher; Being installed on welding robot or the welding tractor directly influences the flexibility that welding gun moves, and also limits the attitude and the possibility that arrives some station of welding gun to a certain extent; Its characteristics of swing arc sensing mode mainly are that the torch swinging sweep amplitude is easier to adjustment; The sensor construction compact; On the other hand, welding gun is swung in welding process, can increase weld width; Reduce layer thickness, help the mechanical property of improving the uneven weld seam of weld width, improving weld metal and promote welding bead surface aesthetic degree.For needs were swung welding and the various informative slab multi-pass welding of weld seam significantly, the swing arc sensor was realized more easily.
Summary of the invention
First purpose of the present invention is to the problem that is difficult to realize slab multi-pass welding soldering joint automatic tracking at present a kind of multi-pass welding seam tracking system based on swing arc to be provided.
First purpose of the present invention is to realize through following technical scheme: should be based on the multi-pass welding seam tracking system of swing arc; Be mainly used in the welding of slab double V-groove multi-pass welding, it comprises welding tractor, welding gun and the wire-feed motor that is connected with welding gun; It also comprises the vertical main carriage that is installed on the welding tractor, is installed on the incidence regulating mechanism on the main carriage, is installed on the incidence regulating mechanism and the wig-wag of welding gun is installed; Said wig-wag comprises left and right sides balladeur train and height adjusting slider; Left and right sides balladeur train is installed on the incidence regulating mechanism; The height adjusting slider is installed on the balladeur train of the left and right sides, and welding gun vertically is installed on the height adjusting slider, and horizontal left and right sides balladeur train and vertical height adjusting slider constitute crux; Hall element is connected between the mother metal to be welded and the source of welding current, and its signal output part is connected with controller; The source of welding current is connected with wire-feed motor, and controller is connected with driver, and driver is connected with the stepper motor that drives main carriage, left and right sides balladeur train and height adjusting slider, and driver also is connected with the motor of driving welding tractor and incidence regulating mechanism; The signal of telecommunication that controller transmits through Hall element is made calculation process and is tried to achieve weld seam deviation information, and sends the commands for controlling driver and drive each motor coordination action carrying out adjusting of welding gun, thereby realizes the soldering joint automatic tracking control of welding gun.
Further, said controller comprises that one is equipped with the single-chip microcomputer of seam tracking system software.
Second purpose of the present invention is to provide the recognition methods of above-mentioned multi-pass welding seam tracking system based on swing arc; This method is: after the welding beginning; At first under the driving of wig-wag; Welding gun carries out teeter scanning to the V-type bevel for welding, by Hall element detected welding current signal and position pulse signal is delivered to controller together and carries out software processes and computing, tries to achieve weld seam deviation information; Carry out the welding gun weld seam deviation by wig-wag and regulate, thereby realize the soldering joint automatic tracking welding.
More particularly, the said weld seam deviation information of trying to achieve at first is to adopt groove area comparison method butt welded seam shape to discern automatically, if left and right sides area is unequal, then incorrect weld profile is claimed, is judged as the r type weld seam of typical multi-pass welding; If left and right sides area equates; Then weld shape is symmetrical, is judged as
type weld seam of typical multi-pass welding; R type and two kinds of weld shapes of
type to after the automatic identification of weld shape adopt homonymy integration method and two kinds of weld seam deviation method for distilling of slope weighted product point-score more respectively.
Said homonymy integration method is:
Suppose that the welding gun original position is positioned at the torch swinging center; And begin flat pendulum to the right; In the first few oscillatory scanning cycle; Sensor is carried out averaging after the discrete integration computing after the output welding current value sampling of diverse location, this value is compared as a reference value and the current integration mean value of welding gun in the half period of the each reciprocating swing in oscillation center right side, can try to achieve welding gun deviation size and direction.
Said slope weighted product point-score is:
In the electric arc oscillatory scanning cycle; Weight by the sampled value of this current signal of order of magnitude decision of the slope
of
type weld seam side:
big more interval, welding current sampled value weight is big more; In a hunting period; The order of magnitude of the sampling of the left and right sides, Butt welding gun center current signal by
carries out asking difference again after the weighting, can obtain size and the direction of welding gun to
type weld seam centre deviation.
Welding gun of the present invention is installed on the wig-wag, and wig-wag is installed on the main carriage through incidence regulating mechanism.In welding process; Under the driving of wig-wag; Welding gun butt welded seam groove carries out oscillatory scanning, and the change of the relative position between welding gun and the workpiece will directly cause arc length to change, and the variation of arc length can cause that arc parameters such as arc current, arc voltage change.Hall element is delivered to controller together with detected welding current signal and position pulse signal and is carried out software processes and computing, tries to achieve weld seam deviation information, carries out weld seam deviation by wig-wag and regulates, and realizes soldering joint automatic tracking, accomplishes the automation welding.
The course of work of the present invention is following:
In the multi-pass welding welding process, the controller of seam tracking system drives the stepper motor on the balladeur train of the left and right sides, wig-wag is driven be installed in the welding gun on the height slide block, in welded joints the side along the left and right sides balladeur train direction carry out yaw.In the process of welding torch transverse swing scanning weld seam, by the controller of Hall current sensor output welding current signal to seam tracking system, controller carries out sampling analysis and processing to the welding current signal that changes, and accomplishes the extraction of butt welded seam deviation signal.For the weld seam deviation on the balladeur train direction of the left and right sides; Send the commands for controlling driver by the controller of seam tracking system and drive the adjusting of rectifying a deviation of stepper motor on the balladeur train of the left and right sides; Make welding gun all maintain the center of weld seam in the starting point of each yaw scan period, this process is called weld seam centering; Weld seam deviation for the welding gun central axis direction; Send the commands for controlling driver by the controller of seam tracking system and drive the adjusting of rectifying a deviation of stepper motor on the height slide block, make welding gun position along the suitable welding of welding gun central axis direction above the starting point of each yaw scan period all maintains weld seam.Left and right sides balladeur train and height slide block all are orthogonal to the welding of each road weld seam of multi-pass welding the time, and therefore also have another name called it " cross balladeur train ".
Comprehensively above-mentioned; In multi-pass welding; Controller is after having welded the per pass weld seam; According to the locus of following one weld seam, regulate wig-wag in the initial oscillation center of this weld seam through the stepper motor on the balladeur train of the control left and right sides, and regulate the initial distance of welding gun this weld seam through the stepper motor on the control main carriage; According to the needs of the soldering angle that descends one weld seam, regulate the angle between left and right sides balladeur train and the main carriage through the angular displacement of control incidence regulating mechanism.The adjusting of whole system executing agency is to send the commands for controlling driver through controller; Thereby the collaborative completion of motor of the motor of drive stepping motor, incidence regulating mechanism and the walking of control welding tractor, its collaborative work mode realizes through the software programming to controller.
Welding tracking with r type weld seam in the multi-pass welding is an example, because such weld seam can be considered angle welding, welding gun need be regulated certain angle and weld.This process is realized by incidence regulating mechanism.Because left and right sides balladeur train is installed on the incidence regulating mechanism; And incidence regulating mechanism is installed on the main carriage; Therefore; Controller sends the commands for controlling driver according to the needs of r type weld seam welding and drives incidence regulating mechanism, drives the rotation of whole cross balladeur train when it is rotated, and welding gun is therefore with respect to the change of vertical generation angle.Controller sends the commands for controlling driver according to the needs of the locus of different number of plies weld seam welding in the multi-pass welding and drives the stepper motor on the balladeur train of the left and right sides, thus the initial swing center of adjustment wig-wag when welding; Send the commands for controlling driver and drive the stepper motor on the main carriage, thus the elemental height of adjustment wig-wag when welding.
The present invention can effectively solve in the slab double V-groove multi-pass welding multi-form welding point is followed the tracks of difficult problem, and algorithm is simple and easy to be realized.
The invention has the beneficial effects as follows: the high and amplitude of oscillation adjustment flexible characteristics of accuracy of having utilized swing arc; And proposed a kind of groove area comparison method of automatic identification weld shape and the deviation recognition methods of two kinds of typical shape weld seams to the double V-groove multi-pass welding, improved the accuracy of double V-groove multi-pass welding weld seam scanning greatly.The actual welding engineer testing proves: weld joint tracking precision height of the present invention, stable and reliable operation, practical; Can be widely used in the arc welding robot of thick plates or in motion tracking special plane system, realize that for arc welding robot welding slab the soldering joint automatic tracking of multi-pass welding provides theoretical foundation simultaneously.
Description of drawings
Fig. 1 is the structural representation block diagram of seam tracking system of the present invention.
Fig. 2 is the theory structure schematic block diagram of Fig. 1.
Fig. 3 is the sectional view of the V-type weld seam after actual welds is simplified.
Fig. 4 is the sectional view of the r type weld seam after actual welds is simplified.
Fig. 5 is the sectional view of
type weld seam after actual welds is simplified.
Fig. 6 is the workflow block diagram of groove area comparison method.
Fig. 7, Fig. 8 are the calculating sketch mapes of homonymy integration method.
Fig. 9 is the calculating sketch map of slope weighted product point-score.
Figure 10 is the workflow block diagram of the application example of multi-pass welding weld joint recognition method of the present invention.
The specific embodiment
Below in conjunction with accompanying drawing and embodiment the present invention is described in further detail.
Referring to Fig. 1, present embodiment comprises the vertical main carriage 9 that is installed on the welding tractor 4, and incidence regulating mechanism 12 is installed on the main carriage 9, is installed on the incidence regulating mechanism 12 and the wig-wag 6 of welding gun 1 is installed.Wig-wag 6 is made up of left and right sides balladeur train 10 and height adjusting slider 11.Visible by figure, left and right sides balladeur train 10 is installed on the incidence regulating mechanism 12, and height adjusting slider 11 is installed on the left and right sides balladeur train 10, and welding gun 1 vertically is installed on the height adjusting slider 11, and horizontal left and right sides balladeur train 10 constitutes crux with vertical height adjusting slider 11.Hall element 5 is installed on being connected on the lead of the source of welding current 2 and mother metal 13 to be welded, and its signal output part is connected with controller 7, and the source of welding current 2 is connected with wire-feed motor 3, and wire-feed motor 3 is connected with welding gun 1, and welding wire 17 is housed on the welding gun 1.Controller 7 is connected with driver 8; Driver 8 is connected with the stepper motor 14, stepper motor 15, the stepper motor 16 that drive main carriage 9, left and right sides balladeur train 10 and height adjusting slider 11 respectively, and driver 8 also is connected with the motor of driving welding tractor 4 and inclination angle motor 12.In the present embodiment, controller 7 comprises a single-chip microcomputer that seam tracking system software is installed.Shown in Figure 2 is the theory structure schematic block diagram of seam tracking system of the present invention, and wherein, executing agency representes main carriage, incidence regulating mechanism, welding tractor and the motor that drives them.
Visible from Fig. 1, welding gun 1 is installed on the height adjusting slider 11 of wig-wag 6.The left and right sides balladeur train 10 of wig-wag 6 is installed on the incidence regulating mechanism 12; Incidence regulating mechanism 12 is installed on the main carriage 9; Main carriage 9 is fixed on the welding tractor 4; And the adjusting through incidence regulating mechanism 12 is scanning wig-wag 6 drive welding guns 1 all the time at level and vertical both direction butt welded seam groove, the arc current signal through Hall element 5 detection different scanning positions carries out software processes and computing with arc current signal input controller 7; After trying to achieve weld seam deviation information driver 8 is sent instruction; Drive wig-wag 6 by driver 8 and carry out the weld seam deviation adjusting, realize soldering joint automatic tracking, accomplish the automation welding with the stepper motor on the main carriage 9.
Referring to Fig. 2, during welding, welding tractor is along weld movement, and the welding gun of wig-wag drive simultaneously butt welded seam groove scans, and the relative position between welding gun and the workpiece can make arc length change, and the variation of arc length can cause that arc current changes.Hall element is handled detected welding current signal and position pulse signal through the hardware filtering circuit signal; Carry out software processes and computing with the interfering signal filtering and with being input to controller together after useful signal extraction and the amplification; Try to achieve weld seam deviation information; Controller, is carried out weld seam deviation by wig-wag with executing agency and is regulated to driver according to deviation information output control instruction, realizes soldering joint automatic tracking.Therefore, wig-wag is the important component part of seam tracking system.
In order to realize soldering joint automatic tracking based on the slab double V-groove multi-pass welding of swing arc; Need at first two kinds of typical weld shapes in the multi-pass welding to be discerned; After system judges weld shape automatically, select corresponding weld seam deviation signal extraction scheme again.
In order to discern this two kinds of different weld shapes; To the welding current waveform characteristics; In conjunction with robot welding bead planning; A kind of method of weld shape self-identifying has been proposed---groove area comparison method, and to r type and two kinds of weld seams of
type homonymy integration method and two kinds of weld seam deviation method for distilling of slope weighted product point-score have been proposed respectively.
In the welding process of thick-walled structure part, the first road weld seam is the V-type weld seam, and shown in Figure 3 is the sectional view of the V-type weld seam after actual welds is simplified, and the first road weld seam adopts single layer welding left and right sides integration differential method commonly used to realize the identification and the extraction of weld seam deviation signal.From the second road weld seam, later weld seam all adopts the shape of groove area comparison method butt welded seam to discern automatically, and shown in Figure 6 is the workflow block diagram of groove area comparison method.
This method basic principle is: aim at welding gun under the situation at
type weld seam center; With welding gun scanning center is the line of demarcation; If left and right sides current signal is carried out respectively asking difference after the discrete integration; Because
type weld seam is left-right symmetric in theory; And in one-period; The signal waveform of half period is approximate identical with the later half cycle before the welding current, so this difference is very little; Yet in the asymmetric r type of shape weld seam, in one-period, signal waveform and the later half cycle gap of half period are bigger before the welding current, if the difference of trying to achieve in the same way is bigger.Through judging the value of difference, can distinguish r type and these two kinds of weld seams of
type.Shown in Figure 4 is the sectional view of the r type weld seam after actual welds is simplified, and shown in Figure 5 is the sectional view of
type weld seam after actual welds is simplified.
Because r type weld seam is a kind of asymmetric joint form, can not directly use traditional left and right sides integration differential method and extract weld seam deviation, the present invention is directed to this weld seam form, to propose a kind of improved left and right sides integration differential method be the homonymy integration method.Referring to Fig. 7, Fig. 8; It is the calculating sketch map of homonymy integration method; Arc current signal curve when
among the figure do not have skew for welding gun centering;
and
is respectively welding gun right avertence and moves situation when moving with left avertence,
the current integration value in the half period before the swing of expression electric arc.
Arc current curvilinear characteristic according to r type weld seam can be found; In the preceding half period
; And it is interim in the second half of electric arc oscillatory scanning; Rule is opposite with the preceding half period; But contrast is distinct not as the preceding half period, is that current sample is interval so select the preceding half period.
The detection principle of homonymy integration method is: supposition welding gun original position is positioned at the torch swinging center, and begins flat pendulum to the right, in the first few oscillatory scanning cycle, to the output welding current value of sensor at diverse location
Carry out after the sampling averaging after the discrete integration computing, obtain
, this is worth as a reference value and the current integration mean value of welding gun in the half period of the each reciprocating swing in oscillation center right side
Im Compare, can try to achieve welding gun deviation size and direction.
The current integration formula of homonymy integration method can be represented to become:
In the formula; Current integration value summation in the half period before
expression oscillatory scanning; Current integration value summation in
expression oscillatory scanning cycle, the arc current value that
the individual point in
expression oscillatory scanning cycle is gathered.Welding gun left avertence during as
; Welding gun right avertence during as
; Show welding gun centering during as
.
Be in
type weld seam of curved surface at dual-side; Because more less away from the arc length rate of change of the position at weld seam center, corresponding welding current signal changes less.Its surface also is more vulnerable to thermal deformation etc. relatively some is difficult to the influence of predictive factors and deformation takes place in welding process.For signal extraction; Signal amplitude near the weld seam center is big, interference is little; Sampled data is more important relatively; Therefore, the present invention proposes the deviation signal extraction that a kind of slope weighted product point-score is used for
type weld seam.
The detection principle of slope weighted product point-score is: in the electric arc oscillatory scanning cycle, by
The slope of type weld seam side
The weight of sampled value of this current signal of order of magnitude decision:
Big more interval, welding current sampled value weight is big more, and shown in Figure 9 is the calculating sketch map of slope weighted product point-score, among the figure
i 1The point sampling value greater than
i 2The weight of point sampling value.In a hunting period; The order of magnitude of the sampling of the left and right sides, Butt welding gun center current signal by
carries out asking difference again after the weighting, can obtain size and the direction of welding gun to
type weld seam centre deviation.Because in
type weld seam; Usually the slope the closer to the sampled point institute respective side curved surface at weld seam center is big more; This method has increased the weight near the sampled data of weld seam center, has reduced the weight away from the sampled data of weld seam center.Can make the electric arc sensor-based system more accurately effective through this method to the extraction of this type of weld seam deviation signal.
The current integration formula of slope weighted product point-score can be represented to become:
In the formula; Current integration value summation in the half period of the right pendulum scanning of
expression welding gun; Current integration value summation in the half period of
expression welding gun left side pendulum scanning;
expression weld seam side is in the slope value of oscillatory scanning
individual collection point in the cycle, the arc current value that
the individual point in
expression oscillatory scanning cycle is gathered.Welding gun left avertence during as
; Welding gun right avertence during as
; Show welding gun centering during as
.
Below be the application example of multi-pass welding weld joint recognition method of the present invention:
In the multi-pass welding welding process of slab, seam tracking system carries out 128 location samplings to the welding current signal of sensor output in each hunting period, and accomplishes the analyzing and processing to sampled value by single-chip microcomputer.
Referring to Figure 10, be the workflow block diagram of method of identification and the extraction of this instance multi-pass welding weld seam deviation.Welding gun is centering before weldering, and after the welding beginning, the extraction of the deviation signal of the first road weld seam is carried out left and right sides integration differential method program by single-chip microcomputer and realized.
For per pass weld seam afterwards, single-chip microcomputer was at first carried out groove area comparison method subprogram and is differentiated the groove type before handling the welding arc signal.Welding gun is at one-period interscan weld seam; Obtain integrated value
and
of welding current respectively in the left and right sides, weld seam center; With
and
relatively; if
; Groove
type weld seam for symmetry is described, is then adopted slope weighted product point-score to carry out the differentiation of weld seam deviation; Carry out slope weighted integral method subprogram; if
; Explain that then groove is asymmetric r type weld seam; Adopt the homonymy integration method to carry out the differentiation of weld seam deviation, change over to and carry out homonymy integration method subprogram.
Because the scan frequency of swing arc scanning sensing mode is lower usually, in order to improve the precision of weld shape and weld seam deviation signal identification, several periodic sampling mean values compare before when adopting groove area comparison method, getting usually.
To
type weld seam: sampled respectively 64 times in the left and right sides of welding current signal; It is carried out suing for peace after the slope weighting; Be designated as
and
; Ask
and the difference of
, can try to achieve welding gun deviation size and direction.
Because in the process of actual welding; Weld shape receives welding error, thermal deformation and molten iron and melts influences such as deposited; The dual-side of weld seam generally can be strict not symmetrical; Therefore; It is 0 that difference e size to
with
can be regarded as weld seam deviation within the specific limits, establishes its value and is a.
Welding gun left avertence during promptly as
; Welding gun right avertence during as
; Show welding gun centering during as
.
To r type weld seam: with the mean value of the welding current signal of first three periodicity extraction as a reference value
; Compare with the current integration mean value of welding gun in the half period of the each reciprocating swing in oscillation center right side, can try to achieve welding gun deviation size and direction.
In the welding process, under the agonic situation of weld seam centering, preceding half period current integration mean value and a reference value
Comparatively approaching, therefore, right
Im With
The difference e size can be regarded as weld seam deviation within the specific limits be 0, establish its value and be b.
Welding gun left avertence during promptly as
; Welding gun right avertence during as
; Show welding gun centering during as
.
During the present invention is intended to simple in structure and multi-pass welding that the sensor seam tracking system based on the swing arc sensing technology that sensitivity and accuracy are high is applied in the slab double V-groove connect; Come the expensive vision sensor Weld Seam Tracking Control system of displacement cost, and be widely used in the arc welding robot of thick plates or in motion tracking special plane system.
Claims (6)
1. the multi-pass welding seam tracking system based on swing arc is mainly used in the welding of slab double V-groove multi-pass welding, and it comprises welding tractor, welding gun and the wire-feed motor that is connected with welding gun; It is characterized in that: it also comprises the vertical main carriage that is installed on the welding tractor, is installed on the incidence regulating mechanism on the main carriage, is installed on the incidence regulating mechanism and the wig-wag of welding gun is installed; Said wig-wag comprises left and right sides balladeur train and height adjusting slider; Left and right sides balladeur train is installed on the incidence regulating mechanism; The height adjusting slider is installed on the balladeur train of the left and right sides, and welding gun vertically is installed on the height adjusting slider, and horizontal left and right sides balladeur train and vertical height adjusting slider constitute crux; Hall element is connected between the mother metal to be welded and the source of welding current, and its signal output part is connected with controller; The source of welding current is connected with wire-feed motor, and controller is connected with driver, and driver is connected with the stepper motor that drives main carriage, left and right sides balladeur train and height adjusting slider, and driver also is connected with the motor of driving welding tractor and incidence regulating mechanism; The signal of telecommunication that controller transmits through Hall element is made calculation process and is tried to achieve weld seam deviation information, and sends the commands for controlling driver and drive each motor coordination action carrying out adjusting of welding gun, thereby realizes the soldering joint automatic tracking control of welding gun.
2. the multi-pass welding seam tracking system based on swing arc according to claim 1 is characterized in that: said controller comprises that one is equipped with the single-chip microcomputer of seam tracking system software.
3. one kind according to claim 1 based on the recognition methods of the multi-pass welding seam tracking system of swing arc; It is characterized in that: after the welding beginning, at first under the driving of wig-wag, welding gun carries out teeter scanning to the V-type bevel for welding; By Hall element detected welding current signal and position pulse signal are delivered to controller together and carry out software processes and computing; Try to achieve weld seam deviation information, carry out the welding gun weld seam deviation by wig-wag and regulate, thereby realize the soldering joint automatic tracking welding.
4. the recognition methods of the multi-pass welding seam tracking system based on swing arc according to claim 3; It is characterized in that: the said weld seam deviation information of trying to achieve at first is to adopt groove area comparison method butt welded seam shape to discern automatically; If left and right sides area is unequal; Then incorrect weld profile is claimed, is judged as the r type weld seam of typical multi-pass welding; If left and right sides area equates that then weld shape is symmetrical, be judged as the type weld seam of typical multi-pass welding; R type and two kinds of weld shapes of type to after the automatic identification of weld shape adopt homonymy integration method and two kinds of weld seam deviation method for distilling of slope weighted product point-score more respectively.
5. the recognition methods of the multi-pass welding seam tracking system based on swing arc according to claim 4, it is characterized in that: said homonymy integration method is:
Suppose that the welding gun original position is positioned at the torch swinging center; And begin flat pendulum to the right; In the first few oscillatory scanning cycle; Sensor is carried out averaging after the discrete integration computing after the output welding current value sampling of diverse location, this value is compared as a reference value and the current integration mean value of welding gun in the half period of the each reciprocating swing in oscillation center right side, can try to achieve welding gun deviation size and direction.
6. the recognition methods of the multi-pass welding seam tracking system based on swing arc according to claim 4, it is characterized in that: said slope weighted product point-score is:
In the electric arc oscillatory scanning cycle, by the weight of the sampled value of this current signal of order of magnitude decision of the slope of type weld seam side: big more interval, welding current sampled value weight is big more; In a hunting period; The order of magnitude of the sampling of the left and right sides, Butt welding gun center current signal by
carries out asking difference again after the weighting, can obtain size and the direction of welding gun to
type weld seam centre deviation.
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| CN102825365A (en) * | 2012-09-12 | 2012-12-19 | 湘潭大学 | Automatic tracking system and method of welding line based on capacitive transducer |
| CN102848052A (en) * | 2012-09-26 | 2013-01-02 | 湘潭大学 | Magnetic control rotating arc sensing real-time weld joint tracking system and method |
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