CN103223545A - Control method for automatic flat welding device for welding rods - Google Patents
Control method for automatic flat welding device for welding rods Download PDFInfo
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- CN103223545A CN103223545A CN2013101625960A CN201310162596A CN103223545A CN 103223545 A CN103223545 A CN 103223545A CN 2013101625960 A CN2013101625960 A CN 2013101625960A CN 201310162596 A CN201310162596 A CN 201310162596A CN 103223545 A CN103223545 A CN 103223545A
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Abstract
The invention discloses a control method for an automatic flat welding device for welding rods. In the method, the automatic flat welding device is used for control through a control system, wherein the automatic flat welding device comprises a machine frame, a welding rod clamping tool, a position adjusting support, a welding rod vertical movement mechanism, a workpiece placement table, and a horizontal two-dimensional motion platform and the control system is mainly composed of an PLC, a welding rod short circuit pumpback circuit and an arc voltage feedback circuit. After the adoption of the technical scheme, manual shielded metal arc welding at a flat welding position can be replaced, shielded metal arc welding process test can be performed in high voltage and radiation environment occasions where personnel is prevented from entering, and the control method is used for process study to shielded metal arc welding under special environment.
Description
Technical field
The present invention relates to welding technology field, more particularly, relate to the control method of the automatic downhand welding device of a kind of welding rod.
Background technology
SMAW is industrial the most widely used a kind of welding manner, and equipment is simple, and is with low cost.SMAW is the method for metal working that welds of manual manipulation welding rod normally.Welding rod connects the source of welding current one utmost point by the electrode holders clamping, and workpiece connects another utmost point of the source of welding current by lead, and striking and arc burning are to carry out between electrode tip and workpiece.It is process as a kind of economy that connects material and fast, is applied to more and more widely during each industrial department makes, and the various engineer testings of corresponding SMAW are also more and more.Yet the engineer testing of some SMAW need be carried out in environment such as high pressure and radiation, because the experimenter can not enter this dangerous situation and operate, needs to use the Special Equipment that welding rod is welded automatically to replace craft.To carry out SMAW in order being implemented under the hazardous environments such as the inaccessiable high pressure of experimenter, radiation, must to develop a cover and can make the welding rod Special Equipment of welding automatically, be used for the technical study of SMAW under the particular surroundings.
Summary of the invention
The objective of the invention is to overcome the deficiencies in the prior art, extremely control method of the automatic downhand welding equipment of a kind of welding rod is provided, to replace the manual SMAW that carries out the downhand position, be used for carrying out the SMAW engineer testing, be used for the technical study of SMAW under the particular surroundings in the inaccessiable occasion of personnel such as high pressure and radiation environment.
Purpose of the present invention is achieved by following technical proposals:
The automatic downhand welding device of a kind of welding rod comprises mainly by frame, welding rod anchor clamps, position adjustments support, welding rod vertical movement mechanism, workpiece and lays mechanical motion mechanism and the main control system of being made up of PLC, welding rod short circuit pumpback circuit and arc voltage feedback circuit that platform, horizontal two-dimension motion platform are formed:
In described mechanical motion mechanism, described welding rod vertical movement mechanism is connected the top of described frame, and described position adjustments support is connected on the welding rod vertical movement mechanism, and described welding rod anchor clamps are connected the lower end of position adjustments support; Described workpiece is laid platform and is fixed on the horizontal two-dimension motion platform, to be implemented in moving of horizontal plane.
Each all adopts lead screw transmission described welding rod vertical movement mechanism and horizontal two-dimension motion platform, and to realize the accuracy height, highly sensitive, move the position of the three-dimensional of good stability.
Described position adjustments support both can have been regulated welding rod and workpiece relative position in vertical direction, can also regulate the angle of welding rod and workpiece, and welding rod leans forward and hypsokinesis when being used to realize automatic downhand welding.
When using, for testing crew easy to operate, use relative motion principle, the employing welding rod is fixed, the mode of workpiece motion s is welded, the horizontal two-dimension motion platform is realized the motion of workpiece on horizontal X, Y direction, and the welding rod vertical movement mechanism realizes sending in vertical direction or the pumpback welding rod.
In described control system, described PLC is used to control and coordinate the motion of horizontal two-dimension motion platform and welding rod vertical movement mechanism; Described welding rod short circuit pumpback circuit is used for the welding rod striking; Described arc voltage feedback circuit is used for the feed rate that welding process is regulated welding rod, wherein
Described welding rod short circuit pumpback circuit detects relay by arc voltage, the time-delay energising type time relay and directional contactor are formed, press the welding start button, welding rod is sent to downwards, not before the contact workpiece, weldingvoltage is a floating voltage, floating voltage is about 76V, this moment the voltage-stabiliser tube reverse-conducting, arc voltage detects the relay coil energising, the normally-closed contact that arc voltage detects relay is in off-state, and when the moment that welding rod contacts with workpiece, weldingvoltage becomes about 0V, the normally-closed contact coil blackout, arc voltage detects the normally-closed contact closure of relay, the time-delay energising type time relay and directional contactor coil electricity, and throw over relay makes the motor backward rotation of sending welding rod to, the pumpback striking, after reaching the time delay of setting, the normally-closed contact of the time-delay energising type time relay disconnects, the outage of time-delay energising type time relay coil, the motor of sending welding rod to returns to forward rotation, and system is adjusted to the arc voltage feedback circuit automatically and sends welding rod downwards to; When welding rod contacts moment with workpiece, when arc voltage detected the relay coil outage, arc voltage detected another contact of relay and gives input signal of PLC, starts platform motion, and when realizing short-circuit arc, workpiece moves with respect to welding rod.
Be used to control the arc voltage feedback circuit of welding rod feed rate, under the reference voltage of determining, when the arc value of measuring greater than reference voltage, it is elongated to the distance of workpiece to reflect the welding rod front end, this moment, control system was accelerated motor speed, thereby accelerated to send to the speed of welding rod, and welding rod front end to the distance of workpiece is shortened, return to the reference value of expection, vice versa.
The method of utilizing the automatic downhand welding device of welding rod of the present invention to weld, carry out according to following step:
(1) step 1, before beginning welding, welding rod is manually assembled at the place at the welding rod anchor clamps, utilizes position adjustments support and welding rod vertical movement mechanism to regulate the vertical range and the angle of welding rod and workpiece, utilizes the horizontal two-dimension motion platform to regulate the relative position of welding rod front end and weld seam;
(2) step 2 after adjust the welding position, is opened the source of welding current, and workpiece motion s direction and speed of welding are set on the PLC switch board;
(3) step 3, press the welding start button, welding rod is slowly sent to downwards, behind welding rod and the workpiece contact short circuit, welding rod short circuit pumpback circuit is given input signal of PLC, starts the motion of horizontal two-dimension motion platform, when realizing short-circuit arc, make workpiece move with respect to welding rod, welding rod carries out downhand welding along bead direction;
(4) step 4, in the downhand welding process, adopt arc voltage feedback circuit control welding rod feed rate, under the reference voltage of determining, when the arc value of measuring greater than reference voltage, it is elongated to the distance of workpiece to reflect the welding rod front end, this moment, control system was accelerated motor speed, thereby accelerated to send to the speed of welding rod, and welding rod front end to the distance of workpiece is shortened, return to the reference value of expection, vice versa.
Compared with prior art, the technical program has following beneficial effect:
1. the present invention replaces craft for SMAW provides a kind of automatic downhand welding equipment, is used for carrying out the SMAW engineer testing in the inaccessiable occasion of personnel such as high pressure and radiation environment, is used for the technical study of SMAW under the particular surroundings.
2. each of motion spool all adopts lead screw transmission, and the accuracy height is highly sensitive, good stability.
3. this welding rod welds device automatically and uses relative motion principle, and process of the test employing welding rod is fixed, the mode of workpiece motion s is welded, for operating personnel provide convenience.
4. welding rod short circuit pumpback circuit and arc voltage feedback circuit, can replace manual realize welding rod pumpback striking and normal welding, the flexibility of these two circuit controls, operating personnel are to the control of welding rod, for the technical study of SMAW under the particular surroundings is provided convenience when having simulated manual electric arc welding dramatically.
5. the position adjustments support can be regulated the angle of welding rod and workpiece, and the leaning forward and hypsokinesis of welding rod when being used to realize automatic downhand welding can be satisfied the demand of different process research.
Description of drawings
Fig. 1 is the structural representation of the automatic downhand welding device of welding rod of the present invention, wherein 1 is frame, 2 is the welding rod anchor clamps, 3 is the position adjustments support, and 4 is the welding rod vertical movement mechanism, and 5 lay platform for workpiece, 6 is horizontal two-dimension motion platform directions X, 7 is horizontal two-dimension motion platform Y direction, and 8 is workpiece, and 9 is welding rod.
Fig. 2 utilizes the automatic downhand welding device of welding rod of the present invention to carry out the automatic downhand welding workflow diagram of welding rod.
Fig. 3 is the welding rod short circuit pumpback circuit diagram in the control system of the automatic downhand welding device of welding rod of the present invention.
Fig. 4 is the schematic diagram that the welding rod feed rate circuit in the control system of the automatic downhand welding device of welding rod of the present invention switches.
Fig. 5 is the voltage feedback circuit theory diagram in the control system of the automatic downhand welding device of welding rod of the present invention.
Fig. 6 is the underhand weld shaping surface pattern that utilizes technical scheme of the present invention to weld.
Fig. 7 is the welding point cross section macro morphology that utilizes technical scheme of the present invention to weld.
The specific embodiment
Below in conjunction with specific embodiment technical solution of the present invention is done detailed further specifying.
As shown in Figure 1, the automatic downhand welding device of welding rod mainly by frame (1), welding rod anchor clamps (2), position adjustments support (3), welding rod vertical movement mechanism (4), workpiece lay platform (5), horizontal two-dimension motion platform (6,7) is formed.Described welding rod vertical movement mechanism is connected the top of described frame, and described position adjustments support is connected on the welding rod vertical movement mechanism, and described welding rod anchor clamps are connected the lower end of position adjustments support; Described workpiece is laid platform and is fixed on the horizontal two-dimension motion platform, to be implemented in moving of horizontal plane.Each all adopts lead screw transmission described welding rod vertical movement mechanism and horizontal two-dimension motion platform, and to realize the accuracy height, highly sensitive, move the position of the three-dimensional of good stability.
Position adjustments support (3) on the automatic downhand welding device of described welding rod both can have been regulated welding rod and workpiece relative position in vertical direction, can also regulate the angle of welding rod (9) and workpiece (8), welding rod (9) leans forward and hypsokinesis when being used to realize automatic downhand welding.
Locate the naked core wire of welding rod (9) afterbody is fixed at welding rod anchor clamps (2), welding rod (9) is fixing downwards; For testing crew easy to operate, use relative motion principle, process adopts the mode that welding rod (9) is fixing, workpiece (8) moves to weld, levelling bench drives the relative welding rod (9) of workpiece (8) and moves, horizontal two-dimension motion platform (6,7) is realized the motion of workpiece on horizontal X, Y direction, and welding rod vertical movement mechanism (4) realizes sending in vertical direction or pumpback welding rod (9).
The control system of the automatic downhand welding device of described welding rod is the control core with PLC, form jointly by welding rod short circuit pumpback circuit, arc voltage feedback circuit, PLC is used for control and coordinates the motion of horizontal two-dimension motion platform (6,7), welding rod vertical movement mechanism (4), welding rod short circuit pumpback circuit is used for the welding rod striking, and the arc voltage feedback circuit is used for the feed rate that welding process is regulated welding rod.Wherein the welding rod pumpback time adjustable, send the speed of welding rod after the striking downwards to and regulate in real time according to arc voltage by the arc voltage feedback circuit, its velocity amplitude and arc voltage value of feedback, arc voltage feedback scope can be preset, to satisfy the demand of research welding procedure.
Welding rod vertical movement mechanism (3) is responsible for sending welding rod to the speed of 1mm/s downwards, when welding rod is adjusted to the pumpback circuit automatically with system after workpiece contacts, the pumpback welding rod, this moment, electric arc ignited, and the time relay picks up counting, when the pumpback time reach the time delay that the time relay sets (general optional be made as 0.4-0.5s) after, system is adjusted to the arc voltage feedback circuit automatically and sends welding rod downwards to, begins welding.The speed of not sending welding rod under the short circuit contact forward direction to is different with the speed of sending welding rod after the striking downwards to, the speed of sending welding rod under the short circuit contact forward direction to is not fixed, its velocity amplitude can be preset, and the speed of sending welding rod after the striking downwards to is regulated according to arc voltage in real time by the arc voltage feedback circuit, its velocity amplitude and arc voltage value of feedback, arc voltage feedback scope can be preset, to satisfy the demand of research SMAW welding procedure.
By shown in Figure 3, whole welding rod short circuit pumpback circuit is operation like this: U+, U-take over the both positive and negative polarity of worker's source of welding current respectively among the figure, K0, K1 and K2 are respectively arc voltage and detect relay, time-delay the energising type time relay and directional contactor, can adopt the MY4N-J(that adopts Omron (OMRON) respectively as K0), the ST3PA-A(of FUJI is as K1) and the LS-GMR-4D(of LG as K2).K0-1 and K1-1 are respectively the normally-closed contact of K0 and the normally-closed contact of K1.DZ is the 52V voltage-stabiliser tube, and SB0-1 is the normally opened contact of welding start button SB0.The rotating of directional contactor K2 control motor, during the K2 coil blackout, motor just changes, and sends welding rod to; During the K2 coil electricity, motor counter-rotating, pumpback welding rod.Press welding start button SB0, welding rod is sent to downwards with the speed of 1mm/s, and before the contact workpiece, weldingvoltage is not a floating voltage, floating voltage is about 76V, this moment the voltage-stabiliser tube reverse-conducting, the K0 coil electricity, K0-1 is in off-state, when the moment that welding rod (9) contacts with workpiece (8), weldingvoltage becomes about 0V, K0 coil blackout, K0-1 closure, K1, the K2 coil electricity, throw over relay makes the motor backward rotation of sending welding rod (9) to, the pumpback striking, reach the time delay of setting after, K1-1 disconnects, the K2 coil blackout, the motor of sending welding rod to returns to forward rotation, and system is adjusted to the arc voltage feedback circuit automatically and sends welding rod downwards to.When welding rod (9) contacts moment with workpiece (8), during the K0 coil blackout, input signal of PLC is given in another contact of K0, starts platform motion, and when realizing short-circuit arc, workpiece moves with respect to welding rod.During normal the welding, weldingvoltage is all the time less than 52V, and the K0 coil is in off-position all the time.
The schematic diagram that Fig. 4 switches for welding rod feed rate circuit before and after the striking, K0-3 is one group of normally-open normally-close contact of K0, and 38,128,129 is three joints that (adopt day APZ1901-D1 circuit control panel of weldering electric welding machine Manufacturing Co., Ltd production) on the APZ1901-D1 circuit control panel.When-15V inserted, circuit control motor was sent welding rod to the speed of 1mm/s, and when+15V inserted, circuit switched to the arc voltage feedback circuit, and the control motor is regulated the speed of sending welding rod in real time according to arc voltage.When weldingvoltage is a floating voltage, floating voltage is about 76V, this moment the voltage-stabiliser tube reverse-conducting, K0 coil electricity, K0-3 make-the 15V place in circuit, circuit control motor is sent welding rod to the speed of 1mm/s, when the moment that welding rod (9) contacts with workpiece (8), weldingvoltage becomes about 0V, the K0 coil blackout, K0-3 makes+the 15V place in circuit, and circuit switches to the arc voltage feedback circuit.
Be used to control the arc voltage feedback circuit of welding rod feed rate, adopt day APZ1901-D1 circuit control panel of weldering electric welding machine Manufacturing Co., Ltd production, its concrete function: under the reference voltage of determining, when the arc value of measuring greater than reference voltage, it is elongated to the distance of workpiece to reflect the welding rod front end, this moment, control system was accelerated motor speed, thereby accelerate to send to the speed of welding rod, welding rod front end to the distance of workpiece is shortened, return to the reference value of expection, vice versa.
The course of work of the present invention is by shown in Figure 2, before beginning welding, locate manually to assemble welding rod (9) at welding rod anchor clamps (2), utilize position adjustments support (3), welding rod vertical movement mechanism (4) is regulated the vertical range and the angle of welding rod (9) and workpiece (8), utilize horizontal two-dimension motion platform (6,7) relative position of adjusting welding rod front end and weld seam, after adjust the welding position, open the source of welding current, on switch board, select the workpiece motion s direction, speed of welding, press the welding start button, welding rod is slowly sent to downwards, pumpback striking behind welding rod and the workpiece contact short circuit, meanwhile the horizontal two-dimension motion platform (6,7) make workpiece (8) and welding rod (9) that relative motion take place, welding rod carries out downhand welding along bead direction.
Adopt KemppiMaster2850 type manual welding power supply; Adopting the E36 steel is test plate (panel), and test plate (panel) thickness is 16mm, and length is 250mm, and width is 100mm; Adopt two test plate (panel) butt welding, the welding line joint bevel angle is 60 °; Welding current is 120A, and weldingvoltage is 26-27V, and speed of welding is 3.0mm/s.Use Broco welding rod butt welded seam joint to carry out multi-pass welding, descend welding together after every weldering is all cleaned out welding slag together again.Be respectively appearance of weld macro morphology and welding point cross section macro morphology shown in accompanying drawing 6 and 7, the welding overall process is stable, does not have current interruption phenomenon midway, and appearance of weld is attractive in appearance, and weldquality is good.
More than the present invention has been done exemplary description; should be noted that; under the situation that does not break away from core of the present invention, the replacement that is equal to that any simple distortion, modification or other those skilled in the art can not spend creative work all falls into protection scope of the present invention.
Claims (4)
1. the control method of the automatic downhand welding device of welding rod, it is characterized in that the automatic downhand welding device of the welding rod of utilization comprises mainly by frame, welding rod anchor clamps, position adjustments support, welding rod vertical movement mechanism, workpiece lays mechanical motion mechanism and the main control system of being made up of PLC, welding rod short circuit pumpback circuit and arc voltage feedback circuit that platform, horizontal two-dimension motion platform are formed:
In described mechanical motion mechanism, described welding rod vertical movement mechanism is connected the top of described frame, and described position adjustments support is connected on the welding rod vertical movement mechanism, and described welding rod anchor clamps are connected the lower end of position adjustments support; Described workpiece is laid platform and is fixed on the horizontal two-dimension motion platform, to be implemented in moving of horizontal plane;
In described control system, described PLC is used to control and coordinate the motion of horizontal two-dimension motion platform and welding rod vertical movement mechanism; Described welding rod short circuit pumpback circuit is used for the welding rod striking; Described arc voltage feedback circuit is used for the feed rate that welding process is regulated welding rod;
When carrying out automatic downhand welding, carry out according to following step:
(1) step 1, before beginning welding, welding rod is manually assembled at the place at the welding rod anchor clamps, utilizes position adjustments support and welding rod vertical movement mechanism to regulate the vertical range and the angle of welding rod and workpiece, utilizes the horizontal two-dimension motion platform to regulate the relative position of welding rod front end and weld seam;
(2) step 2 after adjust the welding position, is opened the source of welding current, and workpiece motion s direction and speed of welding are set on the PLC switch board;
(3) step 3, press the welding start button, welding rod is slowly sent to downwards, behind welding rod and the workpiece contact short circuit, welding rod short circuit pumpback circuit is given input signal of PLC, starts the motion of horizontal two-dimension motion platform, when realizing short-circuit arc, make workpiece move with respect to welding rod, welding rod carries out downhand welding along bead direction;
(4) step 4, in the downhand welding process, adopt arc voltage feedback circuit control welding rod feed rate, under the reference voltage of determining, when the arc value of measuring greater than reference voltage, it is elongated to the distance of workpiece to reflect the welding rod front end, this moment, control system was accelerated motor speed, thereby accelerated to send to the speed of welding rod, and welding rod front end to the distance of workpiece is shortened, return to the reference value of expection, vice versa.
2. the control method of the automatic downhand welding device of a kind of welding rod according to claim 1 is characterized in that each all adopts lead screw transmission described welding rod vertical movement mechanism and horizontal two-dimension motion platform.
3. the control method of the automatic downhand welding device of a kind of welding rod according to claim 1, it is characterized in that, described position adjustments support both can have been regulated welding rod and workpiece relative position in vertical direction, can also regulate the angle of welding rod and workpiece, welding rod leans forward and hypsokinesis when being used to realize automatic downhand welding.
4. the control method of the automatic downhand welding device of a kind of welding rod according to claim 1, it is characterized in that, described welding rod short circuit pumpback circuit detects relay by arc voltage, the time-delay energising type time relay and directional contactor are formed, press the welding start button, welding rod is sent to downwards, not before the contact workpiece, weldingvoltage is a floating voltage, this moment the voltage-stabiliser tube reverse-conducting, arc voltage detects the relay coil energising, the normally-closed contact that arc voltage detects relay is in off-state, when the moment that welding rod contacts with workpiece, weldingvoltage becomes about 0V, the normally-closed contact coil blackout, arc voltage detects the normally-closed contact closure of relay, the time-delay energising type time relay and directional contactor coil electricity, throw over relay makes the motor backward rotation of sending welding rod to, the pumpback striking, after reaching the time delay of setting, the normally-closed contact of the time-delay energising type time relay disconnects, the outage of time-delay energising type time relay coil, the motor of sending welding rod to returns to forward rotation, and system is adjusted to the arc voltage feedback circuit automatically and sends welding rod downwards to; When welding rod contacts moment with workpiece, when arc voltage detected the relay coil outage, arc voltage detected another contact of relay and gives input signal of PLC, starts platform motion, and when realizing short-circuit arc, workpiece moves with respect to welding rod.
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| CN103447659A (en) * | 2013-08-19 | 2013-12-18 | 天津大学 | Automatic flat welding device capable of shooting underwater arc and simulating different water depths |
| CN105345226A (en) * | 2015-12-08 | 2016-02-24 | 哈尔滨工业大学（威海） | Automatic welding system for welding rod and automatic welding method |
| CN107107241A (en) * | 2015-02-02 | 2017-08-29 | 株式会社达谊恒 | Arc welding control method |
| CN108274091A (en) * | 2017-01-05 | 2018-07-13 | 中国人民解放军军械工程学院 | A kind of wet method is under water without electric welding connection device |
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| CN103223545B (en) | 2015-06-17 |
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