CN106392402A - Self-adaptive control method for welding seam formation of automatic welding - Google Patents
Self-adaptive control method for welding seam formation of automatic welding Download PDFInfo
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- CN106392402A CN106392402A CN201611039665.9A CN201611039665A CN106392402A CN 106392402 A CN106392402 A CN 106392402A CN 201611039665 A CN201611039665 A CN 201611039665A CN 106392402 A CN106392402 A CN 106392402A
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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
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/02—Carriages for supporting the welding or cutting element
- B23K37/0252—Steering means
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Abstract
The invention discloses a self-adaptive control method for welding seam formation of automatic welding. According to the method, a laser scanning sensor device is mounted on welding equipment, characteristic quantities such as a groove gap, a stagger joint and a groove angle for real-time welding assembly are measured according to geometrical characteristics of an automatic welding groove; and process parameters such as a welding current and a wire feeding speed are subjected to feedback control and regulated through compensation operation realized by using an efficient algorithm so that welding seam formation of automatic welding is controlled. The method disclosed by the invention is high in measurement precision, control efficiency, response speed, regulating capacity and self-adaption ability and capable of realizing online real-time measurement and feedback control of automatic welding and overcoming control deviation for welding seam formation of automatic welding.
Description
Technical field
The present invention relates to carrier rocket tank automatic welding assembling manufacturing technical field, specifically a kind of automatic welding weld seam
Shape self-adaptation control method, the uniformity consistency being capable of thin-walled workpiece automatic welding appearance of weld controls.
Background technology
At present, traditional-handwork welding because even weld is poor, welding production efficiency is low, high labor intensive and progressively counted
Control special plane, robot etc. are replaced by the digitlization automatic welding equipment of representative, and adopt ac motor speed control by variable frequency in a large number
The advanced technologies such as technology, Servo Drive Technology's, PLC control technology and Numeric Control Technology, the automaticity of welding equipment and technology
Level has and significantly improves.
However, with violent thermograde and STRESS VARIATION, there is the welding deformation of real-time change, especially in welding process
It is thin-walled workpiece, welding stress deformation is more violent, automatic Arc Welding is difficult to itself and adjusts, be that automatic welding obtains
The bottleneck of high-quality weld seam.Produced using automatic welding appearance of weld self-adaptation control method, welding production can be improved
Efficiency, weld seam first-time qualification rate, meanwhile, welding deformation can be effectively improved.
Currently without the explanation finding technology similar to the present invention or report, also not yet collect the money being similar to both at home and abroad
Material.
Content of the invention
Control a difficult problem to solve carrier rocket tank thin-walled workpiece automatic Arc Welding appearance of weld, and welded
Journey assembles a groove geometric feature accurate measurement difficult problem, it is an object of the invention to it is adaptive to propose a kind of automatic welding appearance of weld
Answer control method.Using the present invention, can with high efficiency, in high precision, real-time measurement weldering before groove size geometric properties, by height
Effect operation method, automatically export welding condition, feedback control welding procedure, realize appearance of weld homogenization, one
Cause property shapes and controls.
The present invention is achieved through the following technical solutions：A kind of automatic welding appearance of weld self-adaptation control method, including
Following steps：
1）Using laser sensor scanning；
2）Carry out groove geometric properties measurement；
3）Carry out groove geometric properties parsing；
4）Appearance of weld feedback control computing；
5）Carry out welding current, the output of wire feed rate technological parameter；
6）Realize appearance of weld size Control.
Further, the certain distance in automatic welding welding gun front end for the described scanning laser sensor carries out geometric feature essence
Really measure, metering system is non-contact measurement.
This method, according to the design feature of thin-wall construction welding workpiece, designs future range and the peace of scanning laser sensor
Angle setting degree, the geometric feature being obtained by accurate measurement, carry out closed loop feedback control and run calculating, automatic soldering technique parameter
Output, carries out real-time processing by Special Automatic welding exploitation software, the technique such as compensation adjustment welding current, wire feed rate is joined
Number, realizes the Self Adaptive Control of automatic welding appearance of weld.
Brief description
A kind of automatic welding appearance of weld self-adaptation control method block diagram of Fig. 1 present invention.
Specific embodiment
Illustrate that the present invention's is embodied as example below in conjunction with the accompanying drawings.Following examples will be helpful to those skilled in the art
Member further understands the present invention, but the invention is not limited in any way.It should be pointed out that the ordinary skill people to this area
For member, without departing from the inventive concept of the premise, some deformation can also be made and improve.These broadly fall into the present invention's
Protection domain.
The present invention according to thin walled welds appearance of weld control feature, by scanning laser sensor at an angle and height
It is installed on the welding gun structure of automatic welding, scanning laser sensor is located at welding front end, and keep appropriate distance with welding gun,
Inject laser instrument camera lens in view of arc light, to adopting the impact causing as stability and definition, the setting angle of laser sensor
Control within 20 °.Automatic Arc Welding, positioned at the scanning laser sensor real time scan weld groove information of weldering front end, leads to
Cross medium filtering and average value filtering, with effective control because the reflective pixel causing fluctuates, and groove geometric properties can be passed through
The extraction of amount, the information such as the gap of calculating groove, unfitness of butt joint, bevel angle, by appearance of weld control algolithm, calculate weldering
Connect the compensation rate of technological parameter, real-time regulation welding process technological parameter, realize thin-wall construction automatic welding appearance of weld adaptive
Should control.
A kind of automatic welding appearance of weld self-adaptation control method of the embodiment of the present invention, comprises the following steps：
1）Using laser sensor scanning；
2）Carry out groove geometric properties measurement；
3）Carry out groove geometric properties parsing；
4）Appearance of weld feedback control computing；
5）Carry out welding current, the output of wire feed rate technological parameter；
6）Realize appearance of weld size Control.
Preferably, bevel for welding geometric properties are chosen and are comprised groove gap, unfitness of butt joint, bevel angle etc., wherein, laser essence
Close measurement is located at welding gun front end 3 ~ 12mm, and the arrangement angle of laser scanning surface sensor is determined by its measurement effect it is ensured that measuring essence
Degree, measurement efficiency.
Preferably, according to bevel for welding geometric properties, shaped using Special Automatic welded seam and control technique, by voluntarily
The feedback control algorithm of establishment, generates welding process technological parameter, for appearance of weld Self Adaptive Control.
Preferably, measurement apparatus adopt high-precision laser scanning sensor, are installed at welding gun 3 ~ 12mm, laser is swept
Retouch and belong to non-contact measurement, it is possible to achieve high speed accurate measurement, certainty of measurement is 50 m, senses frequency 20Hz；In weldering scarp slope
At mouthful, using scanning laser, measure the accurate distance of groove geometric distance sensor, build groove characteristic model, extract groove
The critical process information such as gap, unfitness of butt joint.
Preferably, using preposition Real-time Feedback compensation way, by the groove size measured data, by the feedback of establishment
Mathematical algorithm, is automatically obtained real-time operation, can be to welding process groove real-time change Self Adaptive Control.
Above the specific embodiment of the present invention is described.It is to be appreciated that the invention is not limited in above-mentioned
Particular implementation, those skilled in the art can make various modifications or modification within the scope of the claims, this not shadow
Ring the flesh and blood of the present invention.
Claims (7)
1. a kind of automatic welding appearance of weld self-adaptation control method is it is characterised in that comprise the following steps：
1）Using laser sensor scanning；
2）Carry out groove geometric properties measurement；
3）Carry out groove geometric properties parsing；
4）Appearance of weld feedback control computing；
5）Carry out welding current, the output of wire feed rate technological parameter；
6）Realize appearance of weld size Control.
2. automatic welding appearance of weld self-adaptation control method according to claim 1 is it is characterised in that described laser is swept
The certain distance retouching sensor in automatic welding welding gun front end carries out geometric feature accurate measurement, and metering system is contactless
Measurement.
3. automatic welding appearance of weld self-adaptation control method according to claim 1 and 2 is it is characterised in that described slope
Mouth geometric properties select groove gap, unfitness of butt joint, bevel angle.
4. automatic welding appearance of weld self-adaptation control method according to claim 2 is it is characterised in that described laser is swept
Retouch sensor and be installed at welding gun 3 ~ 12mm, certainty of measurement is 50 m, senses frequency 20Hz.
5. automatic welding appearance of weld self-adaptation control method according to claim 4 is it is characterised in that described laser is swept
Retouch at sensor groove before weldering, using scanning laser, measure the accurate distance of groove geometric distance sensor, build groove special
Levy model, extract groove gap, unfitness of butt joint, bevel angle.
6. automatic welding appearance of weld self-adaptation control method according to claim 2 is it is characterised in that described laser
Sensor is placed in welding gun front end, and measurement, parsing, feedback control complete appearance of weld control in real time.
7. automatic welding appearance of weld self-adaptation control method according to claim 2 is it is characterised in that described laser
The setting angle of sensor controls within 20 °.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611039665.9A CN106392402A (en) | 2016-11-22 | 2016-11-22 | Self-adaptive control method for welding seam formation of automatic welding |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611039665.9A CN106392402A (en) | 2016-11-22 | 2016-11-22 | Self-adaptive control method for welding seam formation of automatic welding |
Publications (1)
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| CN106392402A true CN106392402A (en) | 2017-02-15 |
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| CN201611039665.9A Pending CN106392402A (en) | 2016-11-22 | 2016-11-22 | Self-adaptive control method for welding seam formation of automatic welding |
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Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107570897A (en) * | 2017-08-30 | 2018-01-12 | 佛山市宏石激光技术有限公司 | A kind of wire filling laser welding wire feed rate control method, apparatus and system |
| CN108161183A (en) * | 2017-11-08 | 2018-06-15 | 上海锅炉厂有限公司 | A kind of container longitudinal joint of 1G downhand positions or circumferential weld composite tungsten electrode inert gas-shielded arc welding welding procedure |
| CN108971707A (en) * | 2018-09-28 | 2018-12-11 | 广船国际有限公司 | A kind of vertical butt welding method of slab |
| CN109514168A (en) * | 2018-12-28 | 2019-03-26 | 广州永胜钢铁制品有限公司 | A kind of stainless steel tube welding method |
| CN110026652A (en) * | 2019-04-26 | 2019-07-19 | 湖北文理学院 | A kind of pipeline welding parameter determines method, system and storage medium |
| CN110253123A (en) * | 2019-06-20 | 2019-09-20 | 中船澄西新荣船舶有限公司 | A kind of Plasma Welding technique of the two phase stainless steel 2507 of band bypass wire feed |
| CN110576242A (en) * | 2019-08-29 | 2019-12-17 | 成都长客新筑轨道交通装备有限公司 | Numerical control welding method for gap automatic compensation filling |
| CN111001967A (en) * | 2019-12-17 | 2020-04-14 | 苏州健雄职业技术学院 | Automatic welding tracking system for U-shaped workpiece based on lightning plug controller and working method |
| CN111037174A (en) * | 2019-12-09 | 2020-04-21 | 中建钢构有限公司 | Welding control method and welding control system |
| CN111037062A (en) * | 2018-10-12 | 2020-04-21 | 哈尔滨工业大学 | Adaptive control and automatic visual inspection method for GTAW weld forming |
| CN112091374A (en) * | 2020-09-11 | 2020-12-18 | 中国航发贵州黎阳航空动力有限公司 | Automatic argon arc welding method under dynamic change of welding gap |
| CN112589801A (en) * | 2020-12-12 | 2021-04-02 | 深圳市启玄科技有限公司 | Real-time control method, device, terminal and storage medium for robot and welding machine |
| CN113042886A (en) * | 2021-03-25 | 2021-06-29 | 南京航空航天大学 | Variable-gap pre-scanning laser self-melting and wire-filling interactive welding method |
| CN114227077A (en) * | 2021-12-31 | 2022-03-25 | 唐山松下产业机器有限公司 | Welding method, terminal and system |
| CN114700589A (en) * | 2022-04-21 | 2022-07-05 | 南京理工大学 | Aluminum alloy sheet butt weld reinforcement control device and method for compensating weld gap |
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| JPH08276268A (en) * | 1995-03-31 | 1996-10-22 | Nippon Steel Corp | Copy welding method |
| CN101214584A (en) * | 2008-01-21 | 2008-07-09 | 哈尔滨工业大学 | Middle and smallpower laser GMA electrical arc compound welding method appending with mechanical force |
| CN104057204A (en) * | 2014-06-11 | 2014-09-24 | 上海交通大学 | Adaptive welding method for laser filler wire welding of high-strength steel sheet |
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Cited By (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107570897A (en) * | 2017-08-30 | 2018-01-12 | 佛山市宏石激光技术有限公司 | A kind of wire filling laser welding wire feed rate control method, apparatus and system |
| CN108161183A (en) * | 2017-11-08 | 2018-06-15 | 上海锅炉厂有限公司 | A kind of container longitudinal joint of 1G downhand positions or circumferential weld composite tungsten electrode inert gas-shielded arc welding welding procedure |
| CN108971707A (en) * | 2018-09-28 | 2018-12-11 | 广船国际有限公司 | A kind of vertical butt welding method of slab |
| CN111037062A (en) * | 2018-10-12 | 2020-04-21 | 哈尔滨工业大学 | Adaptive control and automatic visual inspection method for GTAW weld forming |
| CN109514168A (en) * | 2018-12-28 | 2019-03-26 | 广州永胜钢铁制品有限公司 | A kind of stainless steel tube welding method |
| CN110026652A (en) * | 2019-04-26 | 2019-07-19 | 湖北文理学院 | A kind of pipeline welding parameter determines method, system and storage medium |
| CN110253123A (en) * | 2019-06-20 | 2019-09-20 | 中船澄西新荣船舶有限公司 | A kind of Plasma Welding technique of the two phase stainless steel 2507 of band bypass wire feed |
| CN110576242B (en) * | 2019-08-29 | 2021-04-02 | 成都长客新筑轨道交通装备有限公司 | Numerical control welding method for gap automatic compensation filling |
| CN110576242A (en) * | 2019-08-29 | 2019-12-17 | 成都长客新筑轨道交通装备有限公司 | Numerical control welding method for gap automatic compensation filling |
| CN111037174A (en) * | 2019-12-09 | 2020-04-21 | 中建钢构有限公司 | Welding control method and welding control system |
| CN111001967A (en) * | 2019-12-17 | 2020-04-14 | 苏州健雄职业技术学院 | Automatic welding tracking system for U-shaped workpiece based on lightning plug controller and working method |
| CN111001967B (en) * | 2019-12-17 | 2021-09-28 | 苏州健雄职业技术学院 | Automatic welding tracking system for U-shaped workpiece based on lightning plug controller and working method |
| CN112091374A (en) * | 2020-09-11 | 2020-12-18 | 中国航发贵州黎阳航空动力有限公司 | Automatic argon arc welding method under dynamic change of welding gap |
| CN112091374B (en) * | 2020-09-11 | 2022-03-22 | 中国航发贵州黎阳航空动力有限公司 | Automatic argon arc welding method under dynamic change of welding gap |
| CN112589801A (en) * | 2020-12-12 | 2021-04-02 | 深圳市启玄科技有限公司 | Real-time control method, device, terminal and storage medium for robot and welding machine |
| CN112589801B (en) * | 2020-12-12 | 2022-02-15 | 深圳市启玄科技有限公司 | Real-time control method, device, terminal and storage medium for robot and welding machine |
| CN113042886A (en) * | 2021-03-25 | 2021-06-29 | 南京航空航天大学 | Variable-gap pre-scanning laser self-melting and wire-filling interactive welding method |
| CN114227077A (en) * | 2021-12-31 | 2022-03-25 | 唐山松下产业机器有限公司 | Welding method, terminal and system |
| CN114700589A (en) * | 2022-04-21 | 2022-07-05 | 南京理工大学 | Aluminum alloy sheet butt weld reinforcement control device and method for compensating weld gap |
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Application publication date: 20170215 |
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