CN105149738A - Bidirectional magnetic control arc type welding seam tracking sensor - Google Patents
Bidirectional magnetic control arc type welding seam tracking sensor Download PDFInfo
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- CN105149738A CN105149738A CN201510593246.9A CN201510593246A CN105149738A CN 105149738 A CN105149738 A CN 105149738A CN 201510593246 A CN201510593246 A CN 201510593246A CN 105149738 A CN105149738 A CN 105149738A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/12—Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
- B23K9/127—Means for tracking lines during arc welding or cutting
- B23K9/1272—Geometry oriented, e.g. beam optical trading
- B23K9/1276—Using non-contact, electric or magnetic means, e.g. inductive means
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Abstract
The invention relates to a bidirectional magnetic control arc type welding seam tracking sensor which comprises a longitudinal magnetic field generating device, a horizontal magnetic field generating device, a longitudinal magnetic field and horizontal magnetic field detecting device, a space magnetic field self-diagnostic analysis system, a longitudinal magnetic field and horizontal magnetic field feed-back system, a magnetic field generating device position adjusting system and a control executing device, wherein the longitudinal magnetic field generating device is used for enhancing the lateral contraction degree and deflection of the arc; the horizontal magnetic field generating device is used for causing the arc to horizontally and regularly swing; the longitudinal magnetic field and horizontal magnetic field detecting device is used for detecting the strength of the longitudinal magnetic field and the horizontal magnetic field in real time; the space magnetic field self-diagnostic analysis system is used for analyzing and treating the magnetic field and then sending information to the longitudinal magnetic field and horizontal magnetic field feed-back system; the longitudinal magnetic field and horizontal magnetic field feed-back system is used for adjusting the longitudinal magnetic field and horizontal magnetic field in real time; the magnetic field generating device position adjusting system is used for adjusting the relative positions of the longitudinal magnetic field and the horizontal magnetic field according to the information about the welding environment and the space magnetic field.
Description
Technical field
The invention belongs to a kind of automatic welding auxiliary device, be specifically related to a kind of two-way magnetic control arc type weld seam tracking sensor.
Background technology
Electric arc is that a kind of gas is ionized and the phenomenon of discharging, and welding arc is made up of multiple different band charged particle, and welding arc at the move under influence of Lorentz force, therefore can utilize different magnetic field to reach the object affecting arc shape in magnetic field.Current externally-applied magnetic field controls arc method has three kinds: one to be outside Longitudinal Magnetic-field Has, and the outside Longitudinal Magnetic-field Has magnetic line of force is parallel to arc axis, and it can make arc shape change, and makes arc constriction be bell, and fusion penetration is deepened; Two is additional transverse magnetic fields, and the magnetic line of force of transverse magnetic field is perpendicular to arc axis, and it can control electric arc swing and carries out weld joint tracking and improve appearance of weld; Three is additional sharp magnetic fields, and it can change the shape of electric arc, can compress electric arc and widen.
Domestic and international present Research: have a lot of research institution to do a lot of work based on the effect of magnetic field to welding arc abroad, wherein: a bar institute of welding have studied the shrinkage character of low-tension arc plasma in magnetic field; Leeds, England university and Yale rotate the burning problems of arc electrodes under have studied magnetic fields; By research, Liverpool, UK university shows that the deflection of electric arc under magnetic fields strengthens, the rotary speed of electric arc also can increase greatly; The relation that under Hanoverian, Germany university research magnetic fields, the behavior of electric arc and molten bath are formed, and indicate the Different Effects of various forms of longitudinal magnetic field to MIG welding procedure; The longitudinal magnetic field that Boldyrew and Birzhev adopts transverse magnetic field components to be no more than the approaches uniformity of 3% finds, along with the increase of magnetic field intensity, the shrinkage degree of electric arc strengthens, and fusion penetration is deepened.At home: Tsing-Hua University, by the research to internal arctube energy balance, proposes the Approximate computing model of a Dynamic Arcs in Transverse Magnetic Field; Xi'an Communications University is by outside Longitudinal Magnetic-field Has, and along with the increase of magnetic field intensity, electric arc is at Lorentz force and under the effect of magnetic convergent force, occurred shrinkage phenomenon; TaiYuan Industry University utilizes double sharp magnetic field that electric arc is compressed into ellipse and is applied to obtain good effect in the weldering of perforation plasma; Beijing University of Technology is studied generation device of rotating magnetic field, and is applied to welding arc control and welding procedure improvement.Shenyang University of Technology has carried out numerical analysis and correlative study to low frequency magnetic control welding arc characteristic; In sum, Chinese scholars, at control arc shape, improves appearance of weld, etc. aspect done a large amount of work and achieved a lot of achievement, but magnetic control arc sensor magnetic control arc being applied to weld joint tracking field is also relatively less.
Summary of the invention
The object of the present invention is to provide a kind of two-way magnetic control arc type weld seam tracking sensor, this sensor by Space Double to Magnetic control welding arc, wherein act on welding arc by longitudinal magnetic field and transverse magnetic field, outside Longitudinal Magnetic-field Has makes arc constriction degree and stability strengthen simultaneously; Lateral magnetic field makes that welding arc is laterally regular to be swung, and the change of the current signal caused according to the change of electric arc arc length obtains more accurate weld information.
The object of the invention is to realize by the following technical solutions: this two-way magnetic control arc type weld seam tracking sensor comprises the part compositions such as transverse magnetic field generating means, longitudinal magnetic field generating means, longitudinal magnetic field checkout gear, transverse magnetic field checkout gear, space magnetic field self diagnosis analytical system, longitudinal magnetic field reponse system, transverse magnetic field reponse system and field generator for magnetic position adjustment.Transverse magnetic field and longitudinal magnetic field are acted on welding arc by this sensor simultaneously, wherein longitudinal magnetic field makes electric arc cross-direction shrinkage deflection strengthen, the swing that transverse magnetic field makes electric arc laterally regular, longitudinal magnetic field and transverse magnetic field act on welding arc simultaneously, thus make welding arc accurate scan workpiece grooves more, obtain weld information.The intensity in longitudinal magnetic field checkout gear and the transverse magnetic field checkout gear horizontal and vertical magnetic field in detection space magnetic field in real time, send horizontal and vertical magnetic field intensity information to space magnetic field self diagnosis analytical system, space magnetic field self diagnosis analytical system is to space magnetic field information analysis process, longitudinal magnetic field and transverse magnetic field information are transmitted in magnetic field feedback system, and magnetic field feedback system carries out real-time adjustment to vertical and horizontal magnetic field.Field generator for magnetic position automatic adjustment system carries out analyzing and processing according to space magnetic field self diagnosis analytical system to the result of space magnetic field analysis and real-time welding surroundings, automatically regulates the relative space position of longitudinal magnetic field generating means and transverse magnetic field generating means by controlling actuating unit.Above-mentioned magnetic control swing arc sensor parts system combines and produces metastable space magnetic field, longitudinal magnetic field and transverse magnetic field size and form is adjusted in real time, simultaneously by the spatial distribution of field generator for magnetic position automatic adjustment system adjustment longitudinal magnetic field and transverse magnetic field according to different welding surroundings.
Described space magnetic field self diagnosis analytical system calls self diagnosis analytical system database data according to different welding surroundings, self diagnosis analytical system database data is flowed to longitudinal magnetic field generating means and transverse magnetic field generating means, welding signal evaluation system is analyzed the welding tracking signal collected, judge whether current welding tracking signal meets tracer request, if meet tracer request, perform current magnetic field self diagnosis analytical system database data.If do not meet, enter self diagnosis analytical system Waveform Matching module, this module mates longitudinal magnetic field waveform generator and transverse magnetic field waveform generator input waveform signal again, and to longitudinal magnetic field T
zwith transverse magnetic field T
hagain mate, T
z=kT
hwherein: k>=0, data after adjustment are flowed to longitudinal magnetic field generating means and transverse magnetic field generating means, welding signal evaluation system is evaluated welding tracking signal again, if meet the demands, this coupling waveform and magnetic field data is write self diagnosis analytical system database as new database sample.The longitudinal magnetic field signal detected and transverse magnetic field signal are analyzed process with the data sample signal mated by space magnetic field self diagnosis analytical system, obtain longitudinal magnetic field deviation delta T
z1with transverse magnetic field deviation delta T
h1, then with presetting longitudinal magnetic field variance thresholds Δ T
zwith transverse magnetic field variance thresholds Δ T
hmultilevel iudge, if | Δ T
z1| > | Δ T
z|, | Δ T
h1| > | Δ T
h|, then respectively by longitudinal magnetic field deviation delta T
zwith transverse magnetic field deviation delta T
hsend magnetic field feedback system to.
Described field generator for magnetic position adjustment, it carries out analyzing and processing according to real-time welding surroundings and space magnetic field self diagnosis analytical system to the result of space magnetic field analysis, mainly obtain forming the distance L between transverse magnetic field two magnet exciting coils and the distance H between longitudinal magnetic field generating means and transverse magnetic field generating means, distance L and distance H is obtained by weighting method.H=a
1h+a
2h+a
3h+a
4h, wherein a
1, a
2, a
3, a
4, h is longitudinal magnetic field intensity weight, transverse field strength weight, welding current weight, weldingvoltage weight and transverse magnetic field generating means reference range respectively; L=b
1l+b
2l+b
3l+b
4l, wherein b
1, b
2, b
3, b
4, l is the reference range of spacing of longitudinal magnetic field intensity weight, transverse field strength weight, welding current weight, weldingvoltage weight and longitudinal magnetic field generating means and transverse magnetic field generating means respectively.According to the horizontal magnet exciting coil distance L preset
1and the distance H between longitudinal magnetic field generating means and transverse magnetic field generating means
1, obtain field generator for magnetic position adjustment deviation delta H and Δ L, and automatically regulate the relative space position of longitudinal magnetic field generating means and transverse magnetic field generating means by controlling actuating unit.
Described longitudinal magnetic field generation device is connected with longitudinal magnetic field field power supply, it is arranged on welding gun parallel with welding arc, longitudinal magnetic field field power supply provides required wave form by impulse generator, impulse generator is connected with power amplification circuit, longitudinal coil produces magnetic field, and the magnetic induction line direction of generation is parallel with welding gun direction.
Described transverse magnetic field generation device is connected with transverse magnetic field field power supply, transverse magnetic field field power supply produces required pulse form by impulse generator, impulse generator is connected with power amplification circuit, make transverse coil produce alternating magnetic field, welding arc swings under the effect of Lorentz force, does regular swing.
Described longitudinal magnetic field checkout gear is made up of longitudinal magnetic field sensor and relevant apparatus, longitudinal magnetic field sensor reasonable installation is in space magnetic field position, detection space longitudinal magnetic field intensity, then carries out respective handling by space longitudinal magnetic field strength signal and sends space magnetic field self diagnosis analytical system to.
Described transverse magnetic field checkout gear is made up of longitudinal magnetic field sensor and relevant apparatus, transverse magnetic field sensor reasonable installation is in space magnetic field position, detection space transverse field strength, then carries out respective handling by space transverse magnetic field signal and sends space magnetic field self diagnosis analytical system to.
The longitudinal magnetic field deviation information received from space magnetic field self diagnosis analytical system is carried out respective handling analysis by described longitudinal magnetic field reponse system, then the information after process is sent to longitudinal magnetic field impulse generator and power amplifier device, thus make longitudinal magnetic field impulse generator and power amplifier device make corresponding adjustment.
The transverse magnetic field deviation information received from space magnetic field analytical system is carried out respective handling analysis by described transverse magnetic field reponse system, then the information after process is sent to transverse magnetic field impulse generator and power amplifier device, thus make transverse magnetic field impulse generator and power amplifier device make corresponding adjustment.
Operation principle of the present invention and effect are:
The present invention utilizes the magnetic field being parallel to welding arc to have cross-direction shrinkage effect to welding arc, the deflection of electric arc and controllability are strengthened, as shown in Figure 4, by alternation transverse magnetic field, welding arc is swung simultaneously, the change of welding current caused according to the change of arc length regularity obtains weld information, thus realize more accurately weld seam from motion tracking.
The swing scheme of magnetic control arc sensor of the present invention adopts the magnetic field of lateral to control welding arc, it is made to swing to scan groove information, make to strengthen when welding arc stablility and the more additional single lateral magnetic field of controllability by additional longitudinal one direction magnetic field, the weld information obtained is also more accurate, more effectively can improve weldquality.
Longitudinal magnetic field generation device of the present invention is connected with longitudinal magnetic field field power supply, it is arranged on welding gun parallel with welding arc, longitudinal magnetic field field power supply provides required pulse form and size by impulse generator, impulse generator is connected with power amplification circuit, longitudinal coil produces magnetic field, wherein pulse frequency and power amplifier size adjustable, welding arc shrinkage in longitudinal magnetic field strengthens and controllability enhancing, thus improves the accuracy of swing arc.In addition, arc constriction makes the heat loss in welding process reduce, and welding energy utilization rate improves.Transverse magnetic field generation device of the present invention is connected with transverse magnetic field field power supply, transverse magnetic field field power supply produces required pulse by impulse generator, impulse generator is connected with power amplification circuit, and make transverse coil produce alternating magnetic field, under the effect of Lorentz force, electric arc swings.
Space magnetic field self diagnosis analytical system of the present invention is according to different welding surroundings, the longitudinal magnetic field strength signal received and transverse field strength signal are carried out analyzing and processing, obtain the deviation of longitudinal magnetic field deviation and transverse magnetic field, then send longitudinal magnetic field deviation and transverse magnetic field deviation to longitudinal magnetic field and transverse magnetic field reponse system respectively.
Magnetic control arc sensor of the present invention is improved the function of appearance of weld, and by outside Longitudinal Magnetic-field Has and lateral magnetic field, change the form of welding arc, dynamic arc to carrying out agitation molten pool, thus plays the effect improving Weld Performance.
Beneficial effect of the present invention is embodied in: (1) this sensor controls welding arc by bidirectional magnetic field, wherein act on welding arc by outside Longitudinal Magnetic-field Has, arc constriction and stability are strengthened, utilize lateral magnetic field that welding arc regularity is swung, longitudinal magnetic field and transverse magnetic field act on welding arc simultaneously, thus make the weld information of acquisition more accurate.(2) outside Longitudinal Magnetic-field Has has contraction very arc effect to electric arc, and enhance the controllability of electric arc, in welding process, the contraction of electric arc improves welding energy utilization rate.(3) the longitudinal magnetic field signal received and transverse magnetic field signal are carried out analyzing and processing according to different welding surroundings by space magnetic field self diagnosis analytical system, obtain the deviation of longitudinal magnetic field and transverse magnetic field, then vertical and horizontal field generator for magnetic is controlled in real time by magnetic field feedback system, thus space bidirectional magnetic field is kept relative stability, improve the accuracy of magnetic control arc sensor.(4) field generator for magnetic position adjustment, it carries out analyzing and processing according to real-time welding surroundings and space magnetic field self diagnosis analytical system to the result of space magnetic field analysis, locus between real-time adjustment longitudinal magnetic field generating means and transverse magnetic field generating means, enhances flexibility and the adjustable extent of this magnetic control arc sensor adjustment.(5) this two-way magnetic control arc type weld seam tracking sensor has living space magnetic field sensing system and Magnetic control reponse system, the closed-loop control of magnetic field feedback system to magnetic field generation device makes the stability of sensor, precision improves, for different welding surroundings, its stability and flexible reinforced.
Accompanying drawing explanation
Fig. 1 is two-way magnetic control arc type weld seam tracking sensor system flow schematic diagram of the present invention;
Fig. 2 is bidirectional magnetic field self diagnosis analytical system schematic flow sheet of the present invention;
Fig. 3 is embodiment of the present invention magnetic control arc sensor device schematic diagram;
Fig. 4 is the electric arc schematic diagram under longitudinal magnetic field of the present invention and transverse magnetic field effect.
Detailed description of the invention
The present embodiment, see Fig. 3, the present invention is a kind of two-way magnetic control arc type weld joint tracking magnetic control arc sensor.This sensor comprises the part compositions such as transverse magnetic field generating means, longitudinal magnetic field generating means, longitudinal magnetic field checkout gear, transverse magnetic field checkout gear, space magnetic field self diagnosis analytical system, longitudinal magnetic field reponse system, transverse magnetic field reponse system and field generator for magnetic position adjustment.Wherein: transverse magnetic field detecting sensor 1 detects transverse magnetic field signal, and be transferred to space magnetic field self diagnosis analytical system by transverse magnetic field checkout gear.Transverse magnetic field setting position adjustment motor 2, transverse magnetic field setting position adjustment motor 4, transverse magnetic field setting position adjustment motor 7, transverse magnetic field setting position adjustment motor 9, by transverse magnetic field setting position adjusting device cross balladeur train 3, cross balladeur train 8 and longitudinal magnetic field device adjusting device screw mandrel slide block 10, regulate the relative position between longitudinal magnetic field and transverse magnetic field according to longitudinal motor driver and cross motor driver.Longitudinal magnetic field generation device and transverse magnetic field generation device rely on fixture 5 to be fixed on welding gun by them, longitudinal magnetic field setting position adjustment motor 6 adjustable longitudinal magnetic field setting position.The intensity in longitudinal magnetic field checkout gear 11 and the transverse magnetic field checkout gear 1 horizontal and vertical magnetic field in detection space magnetic field in real time, send horizontal and vertical magnetic field intensity information to space magnetic field self diagnosis analytical system, space magnetic field self diagnosis analytical system is to space magnetic field information analysis process, longitudinal magnetic field and transverse magnetic field information are transmitted in magnetic field feedback system, and magnetic field feedback system carries out real-time adjustment to vertical and horizontal magnetic field.Field generator for magnetic position automatic adjustment system carries out analyzing and processing according to space magnetic field self diagnosis analytical system to the result of bidirectional magnetic field analysis and real-time welding surroundings, automatically regulates the relative space position of longitudinal magnetic field generating means and transverse magnetic field generating means by controlling actuating unit.Magnetic control swing arc sensor parts system combines and produces metastable space magnetic field, longitudinal magnetic field and transverse magnetic field size and form is adjusted in real time, simultaneously by the spatial distribution of field generator for magnetic position automatic adjustment system adjustment longitudinal magnetic field and transverse magnetic field according to different welding surroundings.
Claims (3)
1. a two-way magnetic control arc type weld seam tracking sensor, it comprises longitudinal magnetic field and transverse magnetic field generating means, longitudinal magnetic field and transverse magnetic field checkout gear, space magnetic field self diagnosis analytical system, longitudinal magnetic field reponse system and transverse magnetic field reponse system, the part such as field generator for magnetic position self-adapted adjustment system composition, it is characterized in that: the transverse magnetic field that wherein longitudinal magnetic field generating means generation longitudinal magnetic field and transverse magnetic field generating means produce acts on welding arc simultaneously, make electric arc cross-direction shrinkage, deflection strengthens, overcome the flexibility that electric arc swings, electric arc scanning workpiece grooves, obtain weld information accurately, the intensity in longitudinal magnetic field checkout gear and the transverse magnetic field checkout gear horizontal and vertical magnetic field in detection space magnetic field in real time, and by space magnetic field self diagnosis analytical system, analyzing and processing is carried out to space vertical and horizontal Magnetic Field, then send space longitudinal magnetic field and transverse magnetic field information to magnetic field feedback system, magnetic field feedback system carries out real-time adjustment to longitudinal magnetic field and transverse magnetic field, the result that field generator for magnetic position adjustment is analyzed space magnetic field according to space magnetic field self diagnosis analytical system and real-time welding surroundings, automatically regulate the relative space position of longitudinal magnetic field generating means and transverse magnetic field generating means by controlling actuating unit, thus improve stability and the accuracy of magnetic control arc sensor.
2. a kind of two-way magnetic control arc type weld seam tracking sensor according to claim 1, it is characterized in that: by space magnetic field self diagnosis analytical system, analyzing and processing is carried out to space longitudinal magnetic field and transverse magnetic field information, space magnetic field self diagnosis analytical system analyzing and processing draws longitudinal magnetic field and transverse field strength deviation information, then send longitudinal magnetic field information and transverse magnetic field information to magnetic field feedback system, magnetic field feedback system carries out real-time adjustment to longitudinal magnetic field and transverse field strength.
3. a kind of two-way magnetic control arc type weld seam tracking sensor according to claim 1, it is characterized in that: field generator for magnetic position adjustment, it carries out analyzing and processing according to space magnetic field self diagnosis analytical system to the result of space magnetic field information analysis and real-time welding surroundings, obtain the spatial relation information between longitudinal magnetic field generating means and transverse magnetic field generating means, and automatically regulate the relative space position of longitudinal magnetic field generating means and transverse magnetic field generating means by controlling actuating unit.
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| CN112059384A (en) * | 2020-08-14 | 2020-12-11 | 湘潭大学 | Self-adaptive control method for magnetic control plasma arc, wire end part and molten pool distance |
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| CN112792435A (en) * | 2021-01-11 | 2021-05-14 | 湘潭大学 | V-shaped groove weld joint tracking method for controlling TIG welding arc based on longitudinal magnetic field |
| CN112792435B (en) * | 2021-01-11 | 2022-07-08 | 湘潭大学 | V-shaped groove weld joint tracking method for controlling TIG welding arc based on longitudinal magnetic field |
| CN114393279A (en) * | 2022-01-19 | 2022-04-26 | 湘潭大学 | Magnetic control arc welding seam tracking sensing device adopting double MEMS magnetic field intensity sensors |
| CN114393279B (en) * | 2022-01-19 | 2023-11-14 | 湘潭大学 | Weld joint tracking and sensing system based on double MEMS magnetic field intensity sensors |
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