CN105312738A - Full-automatic TIP TIG vertical seam welding control method for liquefied natural gas (LNG) storage tank - Google Patents

Full-automatic TIP TIG vertical seam welding control method for liquefied natural gas (LNG) storage tank Download PDF

Info

Publication number
CN105312738A
CN105312738A CN201510575903.7A CN201510575903A CN105312738A CN 105312738 A CN105312738 A CN 105312738A CN 201510575903 A CN201510575903 A CN 201510575903A CN 105312738 A CN105312738 A CN 105312738A
Authority
CN
China
Prior art keywords
welding
control method
full
storage tank
current
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201510575903.7A
Other languages
Chinese (zh)
Inventor
付伟
许家忠
尤波
李东洁
黄玲
张宇
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Harbin University of Science and Technology
Original Assignee
Harbin University of Science and Technology
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Harbin University of Science and Technology filed Critical Harbin University of Science and Technology
Priority to CN201510575903.7A priority Critical patent/CN105312738A/en
Publication of CN105312738A publication Critical patent/CN105312738A/en
Pending legal-status Critical Current

Links

Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K9/00Arc welding or cutting
    • B23K9/16Arc welding or cutting making use of shielding gas
    • B23K9/167Arc welding or cutting making use of shielding gas and of a non-consumable electrode

Abstract

The invention relates to a full-automatic TIP TIG vertical seam welding control method for a liquefied natural gas (LNG) storage tank and belongs to the field of welding automation. Welding comprises the following steps that 1, parameter sets for each layer and each pass of welding are input through a human-machine interface and are stored; 2, a welding seam center is identified by scanning welding grooves through laser to make a tungsten electrode aim at the center of the welding seam; 3, welding technological parameters are called, a welding tractor runs, an oscillator is in pulse fit with the welding current, stirring and wire feeding are started, the welding arc voltage height is adjusted, the preheating temperature of welding wires are controlled, the grooves are scanned through laser in real time to calibrate the welding seam center, and welding is complete. According to the full-automatic TIP TIG vertical seam welding control method for the LNG storage tank, good welding seam forming can be achieved, the welding efficiency is high, and the welding seam quality is more stable.

Description

The full-automatic vertical welding control method of LNG storage tank TIP TIG
Technical field
The present invention relates to a kind of LNG storage tank TIPTIG full-automatic welding system and welding method, the construction of main application and LNG tank.
Background technology
Liquefied natural gas is more and more favored as a kind of energy that is clean, efficient, environmental protection, along with the adjustment of China's energy resource structure, China is implementing LNG(LiquefiedNaturalGas, being called for short LNG) import diversified strategies is as the important component part of national energy strategy, and the solder technology of LNG storage tank 9%Ni steel is the emphasis of technology today exploitation.9Ni steel mainly relies on manual electric arc welding (SMAW) or argon tungsten-arc welding (GTAW) in the welding of wallboard vertical position welding weld seam.Wherein the welding job amount of manual argon arc welding is large, and welding efficiency is low, and working condition is poor, intensity is high, welding quality not easily ensures, develops than the traditional SMAW 9%Ni steel welding technology of high-efficiency high-quality and reliable control method more, will bring huge future in engineering applications and economic benefit.TIPTIG welding machine develops dynamic heated filament full-automatic feeding silk TIG welding system, for the exploitation of 9%Ni steel inside panel automatic argon arc weld technique (be called for short TT Welding) and control provide necessary condition.
Pulse TIG welding is the welding method of a kind of advanced person.Along with the continuous maturation of power inverting power technology, pulse TIG welding technology is to the new stage.Pulse TIG welding mainly adopts low frequency to regulate base value and peak point current according to certain frequency cyclically-varying, when flowing through peak point current constantly, weldment just forms a point-like molten bath, when flowing through background current, point-like electric arc maintains burning by background current, molten bath and condensation, when again there is peak point current, form a new point-like molten bath.Rational regulating impulse electric current coordinates with swing, and making has certain overlapped amount between adjacent two solder joints, just can obtain a tight weld.During welding, by peak value and background current size, amplitude of fluctuation, the adjustment of the end points time of staying, just can control thermal weld stress amount, thus controls weld size and quality.
Summary of the invention
The object of the invention is to: situation about falling behind for prior art manual welding, propose a kind ofly can meet the high-quality and efficient a kind of LNG storage tank TIPTIG Full-automatic welding of tank skin in LNG and control method, thus meet the Production requirement of LNG storage tank.The present invention includes following steps:
Step one: welding process is included in HMI interface and inputs every layer of per pass welding parameter group and store;
Step 2: by laser scanning weld groove identification Weld pipe mill, makes tungsten electrode aim at Weld pipe mill;
Step 3: call welding condition, wig-wag coordinates with welding current pulse, starts to stir wire feed, and adjustment welding arc voltage height, controls welding wire preheat temperature, and laser real time scan groove calibration Weld pipe mill position completes welding.
As technical scheme of the present invention, described laser scanning bevel for welding information control method, high-precision laser range-finding sensor is adopted to scan weld groove at the groove upper vertical of workpiece in workpiece, obtain sensor swing displacement and to go forward side by side line number Data preprocess apart from the data two-dimensional curve of workpiece distance, thus obtain the information of groove.Weld joint tracking process need ensure that the welding gun moment aims at the center of groove.
As technical scheme of the present invention, described heater current feeds back to a reference voltage level by wire feed rate and controls heater current set-point.
As technical scheme of the present invention, described employing arc length automatic regulating apparatus, the control method of arc length adjuster is: if the absolute value of difference is greater than arc voltage precision set value and needs to regulate between the true arc voltage value detected and the arc voltage value of setting; Once arc voltage error is less than precision set value, then do not make adjustments.
As technical scheme of the present invention, in described tungsten electrode swing process, welding machine is to pulse background current, and when tungsten electrode end points stops, welding machine is to pulse peak current, realizes tungsten electrode weave control system and tungsten argon arc pulse current with frequency, homophase, control mode with pulsewidth.
As technical solution of the present invention, take relative welding direction to adopt rear to insert the dither automatic feeding of the mode of welding wire during described wire feed, greatly can improve deposition rate.After welding terminates, need to reel off raw silk from cocoons to welding wire.
As technical scheme of the present invention, described in there is the actual wire feed rate checkout gear of welding wire, the wire feed rate detected compares with given wire feed rate and compensates wire feed rate, and wire feed rate is stablized.
The advantage of welding of the present invention and control method has:
The wire-feed motor used in the market is without the checkout gear of wire feed rate, in welding process, wire feed instability directly affects welding quality, this welding system adopts controller to export pwm pulse and controls wire feeding motor motion, welding wire driven rotary encoder is to the wire feed actual speed of reality, by regulating wire feeding motor to export with comparing of given wire feed rate, wire feed rate is stablized.
Owing to there is error in the thermal deformation of workpiece and installation process in welding process of the present invention, devise laser real time scan bevel for welding information control mode.Continuous oscillatory scanning weld groove in high-precision laser range-finding sensor welding process, thus the information obtaining groove.The center that the welding gun moment aims at groove can be realized.Thus achieve the Automated condtrol not needing manual-alignment weld seam.
Welding method of the present invention can realize the control of TIG welding process pulse current, dynamically wire feed FREQUENCY CONTROL, wire feed rate compensates and the control of heater current, thus in welding process, realize weldment control heat input and pool size, arc energy concentrates and deflection is high, welding piece distortion is little, accurately control heat input and pool size, and uniform fusion penetration can be obtained, and dynamically heated filament has strong stirring action to molten pool metal, some impurity can be made to separate out, substantially increase welding quality and speed of welding.
Accompanying drawing explanation
Fig. 1 is laser sensor scanning motion schematic diagram of the present invention.
Wherein, 1, laser range sensor, 2, on the left of workpiece to be welded, 3, on the right side of workpiece to be welded, 4, bevel for welding left end marginal position, 5, bevel for welding right-hand member marginal position, 6, swing
Fig. 2 is scan-data establishment of coordinate system schematic diagram of the present invention.
Detailed description of the invention
As shown in Figure 1, the present invention discloses LNG storage tank TIPTIG Full-automatic welding and control method, and it comprises the following steps:
Step one: welding process is included in HMI interface and inputs every layer of per pass welding parameter group and store;
Step 2: obtain Weld pipe mill position by laser identification weld seam, calibration tungsten electrode centering.As shown in Figure 1, laser range sensor 1 is swung to the right by straight line slide unit, and at the scanning overhead perpendicular to weldment, sensor can measure the actual range of distance workpiece; Record the distance of sensor apart from workpiece in real time; When sensor 1 from workpiece 2 surface scanned groove 4 point from left to right, continue scanning groove again and arrive workpiece 3 place on the surface through 5, the range data swung to the right by data and the sensor 1 of pick-up transducers 1 measuring distance sets up rectangular coordinate system during this section, as shown in Figure 2.Setting sensor 1 workpiece 2 on the surface scan start point be set up coordinate origin O, be x-axis perpendicular to welding work pieces sensor 1 swaying direction, with sensor 1 swaying direction perpendicular alignmnet workpiece to be welded be y-axis; Process collecting the data led and analyze, the information such as the groove width of groove between the start offset of x-axis and off-centring, workpiece root gap width, bevel for welding left end 4 to right-hand member 5 can be obtained.
Step 3: call welding condition, wig-wag coordinates with welding current pulse, starts to stir wire feed, and adjustment welding arc voltage height, controls welding wire preheat temperature, and laser real time scan groove calibration Weld pipe mill position completes welding.
Welding procedure setting parameter and welding process flow
Supply gas the time (s) in advance 3s Source of welding current start-up study (s) 1s Welding tractor walking time delay (s) 2s
Wire feed trigger (s) 1s Current arc ignition time (s) 2s Current rise time (s) 2s
Welding wire pumpback time (s) 2s Welding terminates tungsten electrode raising height (mm) 5mm Welding current fall time (s) 4s
Welding current holds time (s) 2s Wire feed stops delay time (s) 1s Welding machine stops delay time (s) 2s
Welding tractor stops delay time (s) 2s The delayed delay time (s) of gas 8s Deviation voltage setting (V) 0.3V
Welding gun tungsten electrode weld seam, to after alignment, transfers welding condition formula according to welding procedure, and welding starts front preflow and is about 3s; remove residual air in pipe; protective gas is the argon gas of purity 99.99%, needs protective gas at back of weld, and gas flow is 10-22L/Min.Time delay 1s after the source of welding current starts, starts striking, current arc ignition time delay 2s, judge that whether striking is successful, after striking electric current success welding tractor walking movement time delay 2s, high frequency stirs wire feed to start, and takes relative welding direction to adopt rear to insert the mode of welding wire during wire feed.Wig-wag starts to swing, and in tungsten electrode swing process, welding machine is to pulse background current, and when tungsten electrode end points stops, welding machine is to pulse peak current, realizes same frequency that tungsten electrode weave control system and tungsten argon arc pulse current match, homophase, control mode with pulsewidth.Arc length automatic regulating apparatus Butt welding gun height regulates, and control accuracy is 0.3V.Heater current feeds back to a reference voltage level by wire feed rate and controls heater current set-point.The actual wire feed rate checkout gear of welding wire, the wire feed rate detected compares with given wire feed rate and compensates wire feed rate, and wire feed rate is stablized.Weld heat input controls at 45Kj/cm once, generally conventional 7-35Kj/cm.Welding stops, and time delay 1s stops wire feed and pumpback welding wire 2s, welding machine time delay 2s stop, and out of service after welding tractor time delay 2, wig-wag swings go back to center, and welding gun lifts 5mm automatically, and after the delayed 8s of protective gas, welding terminates.

Claims (7)

  1. The full-automatic vertical welding control method of 1.LNG storage tank TIPTIG, it is characterized in that: control method with the use of can Full-automatic welding be realized, comprise HMI interface input parameter, laser scanning bevel for welding, arc length adjust automatically, analog quantity voltage signal controls that heater supply electric current exports, pwm pulse controls wire feeding motor, tungsten electrode weave control.
  2. 2. the full-automatic vertical welding control method of LNG storage tank TIPTIG according to claim 1, its feature in:
    Described HMI interface input parameter have speed of welding set, weldingvoltage setting, peak point current setting, background current setting, wire feed rate setting, swing the time setting, the amplitude that swings setting, the left and right end points time of staying setting.
  3. 3. the full-automatic vertical welding control method of LNG storage tank TIPTIG according to claim 1, it is characterized in that: described laser scanning bevel for welding information control method, high-precision laser range-finding sensor is adopted to scan weld groove at the groove upper vertical of workpiece in workpiece, obtain sensor swing displacement and to go forward side by side line number Data preprocess apart from the data two-dimensional curve of workpiece distance, thus obtaining the information of groove, weld joint tracking process is ensured, and the center of groove aimed at by welding gun.
  4. 4. the full-automatic vertical welding control method of LNG storage tank TIPTIG according to claim 1; it is characterized in that: described arc length automatically adjusts and adopts arc length automatic regulating apparatus, and the control method of arc length adjuster is: if the absolute value of difference is greater than arc voltage precision set value and needs to regulate between the true arc voltage value detected and the arc voltage value of setting; Once arc voltage error is less than precision set value, then do not make adjustments.
  5. 5. the full-automatic vertical welding control method of LNG storage tank TIPTIG according to claim 1, its feature is exported with the output controlling heater supply electric current in: described analog quantity voltage signal by controller analog module, heater current exports the wire feed rate being fed back to controller reality by wire feed testing circuit, and controller adjusts heater current value according to the relation of wire feed rate and heater current.
  6. 6. the full-automatic vertical welding control method of LNG storage tank TIPTIG according to claim 1, its feature exports to control wire feeding motor in: described pwm pulse by controller and moves, welding wire driven rotary encoder is to the wire feed actual speed of reality, by regulating wire feeding motor to export with comparing of given wire feed rate, wire feed rate is stablized.
  7. 7. the full-automatic vertical welding control method of LNG storage tank TIPTIG according to claim 1, its feature is in described tungsten electrode weave control, in tungsten electrode swing process, welding machine is to pulse background current, when tungsten electrode end points stops, welding machine, to pulse peak current, realizes tungsten electrode weave control system and tungsten argon arc pulse current with frequency, homophase, control mode with pulsewidth .
CN201510575903.7A 2015-12-11 2015-12-11 Full-automatic TIP TIG vertical seam welding control method for liquefied natural gas (LNG) storage tank Pending CN105312738A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201510575903.7A CN105312738A (en) 2015-12-11 2015-12-11 Full-automatic TIP TIG vertical seam welding control method for liquefied natural gas (LNG) storage tank

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201510575903.7A CN105312738A (en) 2015-12-11 2015-12-11 Full-automatic TIP TIG vertical seam welding control method for liquefied natural gas (LNG) storage tank

Publications (1)

Publication Number Publication Date
CN105312738A true CN105312738A (en) 2016-02-10

Family

ID=55241588

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201510575903.7A Pending CN105312738A (en) 2015-12-11 2015-12-11 Full-automatic TIP TIG vertical seam welding control method for liquefied natural gas (LNG) storage tank

Country Status (1)

Country Link
CN (1) CN105312738A (en)

Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105537818A (en) * 2016-03-07 2016-05-04 成都亨通兆业精密机械有限公司 Automatic part welding system
CN106238946A (en) * 2016-08-31 2016-12-21 武汉法利莱切焊系统工程有限公司 Wire filling laser welding quality on-line checking and dimension feedback system and method
CN107081504A (en) * 2017-06-19 2017-08-22 江西洪都航空工业集团有限责任公司 The human-computer interface control system of the autonomous special welding machine of circular weld
CN108213658A (en) * 2017-12-15 2018-06-29 中国核工业第五建设有限公司 A kind of backing weld method
CN109434252A (en) * 2018-10-12 2019-03-08 中船澄西船舶修造有限公司 A kind of welding wire deposited metal test plate (panel) automatic soldering device and welding method
CN109475963A (en) * 2016-07-27 2019-03-15 株式会社神户制钢所 Welder
CN111702304A (en) * 2020-06-23 2020-09-25 中交第三航务工程局有限公司 Control system and method for automatic positioning of contact tip for submerged arc welding
CN112775522A (en) * 2020-12-23 2021-05-11 唐山松下产业机器有限公司 High-efficiency TIG wire feeding method and welding equipment
CN113333914A (en) * 2021-05-28 2021-09-03 天津中车唐车轨道车辆有限公司 Double-pulse MAG welding stainless steel vertical upward fillet weld welding process
WO2021223432A1 (en) * 2020-10-15 2021-11-11 中广核工程有限公司 Automatic welding control method and system

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS6431578A (en) * 1987-07-28 1989-02-01 Mitsubishi Heavy Ind Ltd Arc welding method
AT4598U1 (en) * 2000-07-28 2001-09-25 Siegfried Ing Plasch WELDING TORCH WITH INTEGRATED WIRE INLET
CN101219498A (en) * 2007-01-10 2008-07-16 李云峰 Welding line auto-tracking and controlling device of video frequency image sensor TIG weld
CN102500883A (en) * 2012-01-04 2012-06-20 长春轨道客车股份有限公司 Wire-filling and self-melting compound welding method
CN203124922U (en) * 2012-12-06 2013-08-14 长安大学 Welded joint tracker
CN103338889A (en) * 2011-01-28 2013-10-02 埃克森美孚上游研究公司 High toughness weld metals with superior ductile tearing resistance

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS6431578A (en) * 1987-07-28 1989-02-01 Mitsubishi Heavy Ind Ltd Arc welding method
AT4598U1 (en) * 2000-07-28 2001-09-25 Siegfried Ing Plasch WELDING TORCH WITH INTEGRATED WIRE INLET
CN101219498A (en) * 2007-01-10 2008-07-16 李云峰 Welding line auto-tracking and controlling device of video frequency image sensor TIG weld
CN103338889A (en) * 2011-01-28 2013-10-02 埃克森美孚上游研究公司 High toughness weld metals with superior ductile tearing resistance
CN102500883A (en) * 2012-01-04 2012-06-20 长春轨道客车股份有限公司 Wire-filling and self-melting compound welding method
CN203124922U (en) * 2012-12-06 2013-08-14 长安大学 Welded joint tracker

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
陈哲等: "LNG项目超低温服役不锈钢的TIPTIG焊接工艺", 《焊接技术》 *

Cited By (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105537818A (en) * 2016-03-07 2016-05-04 成都亨通兆业精密机械有限公司 Automatic part welding system
CN109475963A (en) * 2016-07-27 2019-03-15 株式会社神户制钢所 Welder
CN109475963B (en) * 2016-07-27 2020-12-01 株式会社神户制钢所 Welding device
US10843285B2 (en) 2016-07-27 2020-11-24 Kobe Steel, Ltd. Welding device
CN106238946B (en) * 2016-08-31 2019-04-19 武汉法利莱切焊系统工程有限公司 Wire filling laser welding quality on-line checking and dimension feedback system and method
CN106238946A (en) * 2016-08-31 2016-12-21 武汉法利莱切焊系统工程有限公司 Wire filling laser welding quality on-line checking and dimension feedback system and method
CN107081504A (en) * 2017-06-19 2017-08-22 江西洪都航空工业集团有限责任公司 The human-computer interface control system of the autonomous special welding machine of circular weld
CN108213658A (en) * 2017-12-15 2018-06-29 中国核工业第五建设有限公司 A kind of backing weld method
CN109434252A (en) * 2018-10-12 2019-03-08 中船澄西船舶修造有限公司 A kind of welding wire deposited metal test plate (panel) automatic soldering device and welding method
CN109434252B (en) * 2018-10-12 2020-10-30 中船澄西船舶修造有限公司 Automatic welding device and welding method for welding wire deposited metal test plate
CN111702304A (en) * 2020-06-23 2020-09-25 中交第三航务工程局有限公司 Control system and method for automatic positioning of contact tip for submerged arc welding
CN111702304B (en) * 2020-06-23 2022-04-05 中交第三航务工程局有限公司 Control system and method for automatic positioning of contact tip for submerged arc welding
WO2021223432A1 (en) * 2020-10-15 2021-11-11 中广核工程有限公司 Automatic welding control method and system
CN112775522A (en) * 2020-12-23 2021-05-11 唐山松下产业机器有限公司 High-efficiency TIG wire feeding method and welding equipment
CN113333914A (en) * 2021-05-28 2021-09-03 天津中车唐车轨道车辆有限公司 Double-pulse MAG welding stainless steel vertical upward fillet weld welding process

Similar Documents

Publication Publication Date Title
CN105312738A (en) Full-automatic TIP TIG vertical seam welding control method for liquefied natural gas (LNG) storage tank
CN105312741A (en) TIP TIG welding method of LNG storage tanks
US10888944B2 (en) Method and system of using consumable with weld puddle
KR101678306B1 (en) Automatic welding apparatus for pressure vessel and steel pipe
KR101678307B1 (en) Welding method of automatic welding apparatus for pressure vessel and steel pipe
CN105033419A (en) Moving type welding robot device based on weld pool image welding line tracking
CN102186624A (en) System and method for controlling a hybrid welding process
US10105780B2 (en) Method and system of using a consumable and a heat source with a weld puddle
CN104014933A (en) Laser-TOPTIG hybrid welding method
CN104551344A (en) Automatic welding method of loop-weld structured but joints
CN108296603A (en) The two-sided double arc vertical position welding fusion penetration control devices of one kind and its welding method
CN105397249A (en) Low-heat-input double-DC (Direct Current) pulse hybrid electric arc welding device and welding method
JP5990784B2 (en) Arc welding method and arc welding apparatus
CN104772554B (en) The pulsed tungsten argon arc weld(ing) arc voltage sensing penetration control method of stepping electric arc welding type
CN209664581U (en) A kind of band weld joint tracking rail mounted composite welding apparatus
CN106563870A (en) Twin-tungsten-electrode electronic swing arc (ESA) argon arc welding
CN109963679A (en) The detection method of offset in electric arc tracking welding
US20160339533A1 (en) Robotically controlled gas tungsten arc welder and method for operating the same
CN105171234A (en) Device and method for automatic adjustment of defocusing amount during robot laser welding
CN104722921A (en) Laser filler wire welding technique
CN104475925A (en) Argon-arc welding intelligent current control method for attitude-control engine
CN109483021B (en) Double-tungsten-electrode pulse TIG welding method
CN102179604B (en) Automation welding system method of hollow stationary blades of steam turbine
CN104084705A (en) Gas filling bottle welding swinging frame and working method thereof
CN103639597A (en) Laser double-wire welding technology for aluminum alloy vehicle body part

Legal Events

Date Code Title Description
C06 Publication
PB01 Publication
C10 Entry into substantive examination
SE01 Entry into force of request for substantive examination
WD01 Invention patent application deemed withdrawn after publication

Application publication date: 20160210

WD01 Invention patent application deemed withdrawn after publication