CN106825953A - A kind of hybrid Laser-Arc Welding real-time monitoring system and its regulation and control method - Google Patents
A kind of hybrid Laser-Arc Welding real-time monitoring system and its regulation and control method Download PDFInfo
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- CN106825953A CN106825953A CN201710047084.8A CN201710047084A CN106825953A CN 106825953 A CN106825953 A CN 106825953A CN 201710047084 A CN201710047084 A CN 201710047084A CN 106825953 A CN106825953 A CN 106825953A
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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
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/70—Auxiliary operations or equipment
- B23K26/702—Auxiliary equipment
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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
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/346—Working by laser beam, e.g. welding, cutting or boring in combination with welding or cutting covered by groups B23K5/00 - B23K25/00, e.g. in combination with resistance welding
- B23K26/348—Working by laser beam, e.g. welding, cutting or boring in combination with welding or cutting covered by groups B23K5/00 - B23K25/00, e.g. in combination with resistance welding in combination with arc heating, e.g. TIG [tungsten inert gas], MIG [metal inert gas] or plasma welding
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Abstract
The invention discloses a kind of hybrid Laser-Arc Welding real-time monitoring system and its regulation and control method, described regulator control system, including hybrid Laser-Arc Welding heat source system, sensor-based system, welding data collecting system, control unit, control signal output system and electroplating equipment wielding machine kinetic control system.The present invention carries out information gathering by sensor-based system, and it is input to welding data collecting system, these information are changed into respective data signal to be input in the data acquisition module of control unit, it is entered into human-computer interaction module by classification, it is the relative variable signal for referring to by simple digital signal transition, row is calculated in being then input to intelligent object, when the result data for calculating deviate from the setting range of intelligent object, then to arc current, the parameter such as laser energy and movement velocity carries out real-time monitoring, and then welding comprehensive evaluation value is come back within setting range, so as to reach stabilized welding process, improve the purpose of welding quality.
Description
Technical field
The invention belongs to field of material engineering technology, and in particular to a kind of real-time control of laser-arc hybrid welding in industry method
Technology processed, the more particularly to intelligent control technology of composite welding process.
Background technology
Laser-arc hybrid welding in industry is a kind of new complex welding method, with this welding method development its should
Gradually extended with scope.Field is manufactured in Aero-Space, track traffic and resource equipment in recent years, part manufacture shape is more multiple
Miscellaneous, the manufacturing cycle is gradually shortened, workmanship requirement constantly lifting, and active demand is proposed to high-end welding manufacture technology.Big
During the laser-arc hybrid welding in industry of type complex structural member, using conventional welding parameter method to set up, although can realize
The welding manufacture of partial component, but can not yet give full play to the compound action effect of laser and electric arc, it is impossible to meet structural member
High-quality efficient welding demand.It is crucial in particular with the change of the aspects such as welding manufacture structural member shape, thickness, length
The high-performance welding of structure not only needs to set the composite welding parameter of rational laser and electric arc, while will in welding process
Quick judgement, response, regulation in real time are carried out according to the feature welding parameters of welding piece and control.It is this quick in real time
Response and the earliest application in electric arc automatic Arc Welding of control are originating primarily from by the measurement of arc voltage to adjust argon
Arc length in arc welding process, so as to reduce due to the influence that welding structure surface wave brings.It is continuous however as structural member
Develop to direction is complicated, simple arc voltage regulation and control have been difficult to meet actual manufacturing demand.By thermal source sheet
The influence of body characteristic, single electric arc welding energy density and energy gradient cannot be changed in welding process, therefore it is solved
Certainly the energy of problem is relatively limited in automatic welding manufacturing process.Laser-electric arc composite heat source has heat-source energy and pattern
Accurate adjustable characteristics, for produced problem in welding process, (gap length, different-thickness, weld industry, welding are stung
Side controls) rational solution can be provided, this provides premise to realize the quick response and Based Intelligent Control of welding process
And basis.
In intelligent welding manufacture system aspects, Germany, the U.S. and Japan and other countries successively develop welding manufacture
Expert control system, it is characterized in that the thickness and material welding parameters according to material are automatically adjusted accordingly, so that
Reach and improve welding manufacture efficiency, the method for improving welding quality, the exploitation of this expert system is for current welding equipment
Intellectuality serves positive facilitation, but it still cannot replace artificial welding method during actual welding,
This welding expert system be mainly by give sheet material determine corresponding welding parameter scope, can not be in welding process
Regulated and controled again.Germany's welding research worker takes the lead in proposing the welding manufacture system based on artificial intelligence on this basis
System, will experience and method of the people during welding manufacture be digitized and the conversion that be engineered so that welding equipment oneself
Body has the intellectual determination and intelligentized parameter regulation to welding manufacturing process, complete so as to be realized in complicated structure
Automatic welding manufacture production.Current domestic relevant unit is carrying out the research of related Intelligent welding technology, and has opened
Send the welding equipment with welding expert system, but have not yet to see associated welds process quick response and control intelligence system and
The open report of welding manufacture equipment.Although having formd the welding manufacture system for being based partially on artificial intelligence in the world,
It is to be concentrated mainly at present in single electric arc welding manufacturing process.
The fast development of modern automatic welding welding manufacture system so that automatic welding manufacture is via traditional simple
The single electric arc low speed welding of structure gradually welds fast-developing to labyrinth high speed multi-heat source.Laser-arc hybrid welding in industry
A kind of high-performance welding method in being welded as multi-heat source, has become one of main method of labyrinth high-speed welding.
When labyrinth high-speed welding is carried out using laser-arc hybrid welding in industry, increased by weld seam complicated shape, panel length,
Butt-joint clearance change and many factors such as sheet material Local warping influence, easily produce burn, incomplete fusion and the welding such as lack of penetration
Defect, significantly affects welding quality and welding stability, therefore need badly around the exploitation of laser-electric arc composite high speed welding process
Intelligent control technology, realization is precisely controlled to welding process, and then meets the highly reliable high steady of labyrinth high-speed welding
Demand is made in customization.
The content of the invention
To solve the above mentioned problem that prior art is present, the present invention will design a kind of laser-arc hybrid welding in industry and adjust in real time
Control system and its regulation and control method, to realize the accuracy controlling to labyrinth high-speed welding process, solve to be produced in welding process
Burn-through, incomplete fusion, the weld defect such as lack of penetration, have high-performance high so as in high speed labyrinth welding process, obtain
The welding point of quality.
To achieve these goals, technical scheme is as follows：A kind of laser-arc hybrid welding in industry real-time monitoring system
System, including laser-arc hybrid welding in industry heat source system, sensor-based system, welding data collecting system, control unit, control signal
Output system and electroplating equipment wielding machine kinetic control system；
Described sensor-based system includes welding arc voltage current sensor, the vision sensor of welding process and laser letter
Number sensor, described sensor-based system receives laser-arc hybrid welding in industry heat source system, electroplating equipment wielding machine kinetic control system, molten
The information of pond form, welding structure shape, and by welding data collecting system to control unit output information；
Described control unit includes human-computer interaction module, intelligent object, data acquisition module and control signal output mould
Block；Control unit moves control to laser-arc hybrid welding in industry heat source system and electroplating equipment wielding machine respectively through control signal output system
System output information processed；
Described laser-arc hybrid welding in industry heat source system, for realizing laser-arc hybrid welding in industry；In welding process
The energy state of middle real-time regulation laser and electric arc, obtains the heat with predetermined energy density and gradient under different conditions
Source；
Described welding arc voltage current sensor, the arc voltage for gathering laser-arc hybrid welding in industry process
And electric current；
The vision sensor of described welding process, for realizing the vision collecting to welding process molten bath state；
Described Laser signal transducer, the real-time status signal for gathering laser；
Described control unit obtains the parameter information of user input by human-computer interaction module, forms basic welding ginseng
, then be input to the data message of data collecting module collected during actual welding in intelligent object by number；By intelligent mould
Be given in real time after the analysis of block welding it is all during welding parameter, control strategy and control parameter to control signal export
Module, is regulated and controled, butt welding machine tool by control signal output module to the laser energy of composite welding process, Current Voltage
Kinetic control system is controlled.
A kind of regulation and control method of laser-arc hybrid welding in industry real-time monitoring system, comprises the following steps：
A, design welding process path
Before welding, position while welding is judged, according to Weld pipe mill and the optimal path of welding of welding structure feature selecting；
B, regulation laser energy and arc voltage electric current
In welding process, according to the analysis result of Mathematical Modeling in intelligent object to laser output power, the electricity of electric arc
Stream or voltage parameter carry out real-time monitoring, obtain brand-new welding heat source, and then realize welding process molten bath state and temperature
Control, realizes the regulation and control of Welded Joints tissue and performance；
C, control speed of welding
In welding process, speed of welding is finely adjusted as needed, for regulating and controlling welding pool shape together with thermal source
Shape, temperature and welding forming is regulated and controled by speed of welding；
D, control welding process swing effect
Due to the change of path of welding, in welding process, welding heat source is set to occur to be transported perpendicular to the reciprocally swinging of weld seam
Dynamic regulation, to swing the change that effect keeps relative position with weld seam；
E, implementation closed loop intelligentized control method and regulation and control
By in the information conveyance of step A-D to signal output module, control will be needed by control signal module respectively
Signal is transported in the laser-arc hybrid welding system and mechanical movement control system, i.e., according to actual welding shape
State realizes closed loop intelligentized control method and regulation and control to welding process.
Compared with prior art, the invention has the advantages that：
1st, it is of the invention to be combined welding engineer's analysis, welding pool and welding arc analysis, it is that one kind has manually
Intelligence identification, analysis, judge and execution feature intelligent welding manufacture system.Welded in laser-electric arc composite high speed
Under the conditions of, by pre-stage test, to key signals such as the electric arc under the conditions of optimal welding interval, voltage, speed and molten bath states
Be acquired, be core founding mathematical models with above-mentioned parameter, the Mathematical Modeling is a kind of fuzzy control equation, by this
Equation being capable of the relatively accurate impact effect for describing each welding parameter welding quality.During actual welding, by group
Knit and shape influence when, Real-time Collection to actual welding parameter can change therewith, the actual welding parameter that these are gathered
It is input in Mathematical Modeling, the end value interval with optimal parameter is produced deviation by the final result that it is calculated, by right
Regulation laser, electric arc or the motion state parameterses answered, will be such that the math equation result of calculation of real-time parameter revert to again most preferably
In the scope of parameter interval, then now think that its welding effect also returns to the ideal effect in optimal parameter interval range, therefore this
Invention it is critical only that the fuzzy control mathematical analysis software in the system of utilization, realize the intelligent analysis and closed loop of welding parameters
Regulation and control, so as to ensure the stability and reliability of labyrinth high-speed welding, improve the overall performance of welding point and obtain good
Good appearance of weld.
2nd, the welding artificial intelligence welding manufacture system with existing electric arc of the invention has in overall theoretical system and cuts
Right different feature.The Intelligent welding of electric arc welding process be using welder welding parameter and control process as reference, will weld
Work operating characteristics is converted to the electric current and voltage of electric arc welding, realizes the Based Intelligent Control to welding process.And it is proposed by the present invention
Laser-arc hybrid welding in industry intelligent control method, is not welded as reference, but obtain by real time signal aquisition with welder
Data carry out what mathematics model analysis were obtained.It is fully to grasp laser and electric arc combined mistake that the foundation key of Mathematical Modeling is
For energy density and energy gradient controllable characteristics in journey, brand-new weldering can be built by the regulation and control to laser and arc energy
Thermal source system is connect, and then the single laser of breakthrough or electric arc welding energy density are single, the certain crucial problem of energy gradient is built
Be based on fuzzy control theory laser-arc hybrid welding in industry parameter mathematical analysis relational model, using the Mathematical Modeling describe
The interval welding effect of preferable welding parameter, and the result of calculation of real-time parameter is corrected, then realize welding by feedback control
Intelligent Process Control, reaches the basic goal for improving welding quality.
Brief description of the drawings
Fig. 1 is the composition structure and controlling mechanism of a whole set of laser-arc hybrid welding in industry intelligence control system.
Fig. 2 is the straight weld schematic diagram irregular long of near linear.
Fig. 3 is simple asymmetric curved surface seam schematic diagram.
Fig. 4 is T junction component laser-arc hybrid welding in industry sketch.
Specific embodiment
The present invention is further described specifically in conjunction with accompanying drawing.
The present invention passes through arc voltage, electric current, motion state, weldering of the sensor-based system to laser-arc hybrid welding in industry process
The information such as binding structure and molten bath state is acquired, and is then input to welding data collecting system, and these information are changed into
Respective data signal is input in the data acquisition module of control unit, and people is entered into by data acquisition module block sort
It is the relative variable signal for referring to by simple digital signal transition in machine interactive module, is then input in intelligent object,
Arc parameters, laser parameter, opposed configuration position and space motion state are calculated using the Mathematical Modeling set up, works as meter
When the result data for calculating deviate from the setting range of intelligent object, then arc current, laser energy and movement velocity etc. are joined
Number carries out real-time monitoring, and then welding comprehensive evaluation value is come back within setting range, so as to reach stabilized welding process,
Improve the purpose of welding quality.
Example 1：Irregular linear structure welding
The straight weld irregular long of near linear is illustrated in figure 2, in substantial amounts of engineering structure, with actual knot
The increase of structure length, straight bead embodies obvious scrambling during welding manufacture, and because test specimen is larger in reality
Welding efficiency significantly affects using the method for similar machine people's pilot teaching in the engineering manufacture on border.Regarding to the issue above, with this
The vision sensor of the welding process of invention tentatively obtains the macrostructure of actual test specimen first, is adopted in real-time welding process
Collect test specimen planform to be welded, rational path of welding is determined to gap according to actual sheet material group, because sheet material has gap
Larger, single use weld joint tracking can not effectively solve the problems, such as that gap is larger, and control unit of the invention is according to obtaining
Position and welding parameter are unfolded as follows setting to different welding structures：
1. curved path, according to the Curve Machining track that the interstitial structure feature-set for collecting before welding is optimal；
2. speed of welding, in gap large area slowed down, in the less region in gap accelerate etc. it is approximate artificial
The technical method of operation eliminates above mentioned problem；
3. laser and arc parameters, according to clearance features, set corresponding laser energy and arc current, it is ensured that welded
Sheet material is fused comprehensively in journey；
4. effect is swung, reliable laser and arc signal is constantly gathered in motion process, adjusted in welding process
Laser and the cooperation position of electric arc, realize the small size swing of laser heat source or electric arc thermal source, reach optimal welding procedure state,
It is effective to improve welding quality and welding manufacture efficiency.
Example 2：Complicated Spatial Structure is welded
Complicated ellipse space curved surface structure is illustrated in figure 3, it is basic using segmentation during traditional welding manufacture
The method of welding is manufactured, and discontinuous weld seam have impact on welding manufacture efficiency and quality to a certain extent.And want reality
The now continuous welding of the structure needs test specimen to be also carried out routing motion in itself, and its welding process is rotary motion and the welding gun of test specimen
Curvilinear motion be combined, because actual component is not complete symmetrical, therefore in the manufacturing process of curve welding gun
Linear velocity can also be changed with the motion of test specimen, to realize welding the association between curve, speed in actual welding
Regulation and control system.Moreover, in actual welding, the angle between Laser-Arc Hybrid Welding rifle and test specimen is also required to certain tune
It is whole, therefore to make to realize organically coordinating control between speed of welding, angle of welding gun, welding track three.The present invention is for upper
The demand emphasis of stating carries out the regulation and control of several respects：
1. curved path fitting, carries out the fitting of path of welding and movement locus based on practical work piece structure, it is ensured that
Electric arc and laser action position is constant in welding process；
2. speed of welding, according to the non-plane motion linear velocity of actual welding piece, adjusts speed of welding, it is ensured that welded
Constant airspeed in journey；
3. welding heat source parameter, gathers the configuration state that arc voltage judges welding gun and test specimen, while passing through intelligent object
Middle setting composite welding parameter, Collaborative Control is carried out to three, so as to ensure the continuous-stable welding of test specimen, welding manufacture efficiency
It is enhanced about more than once compared with traditional welding method.
Example 3：T junction component penetrates welding
Titanium alloy T type structure (as shown in Figure 4) is that the welding that penetrates of wallboard and reinforcing rib structure initially mainly uses electric arc
Welding, single electric arc welding current is very big in welding process, and welding structural element produces substantially deformation, weld seam under the conditions of high heat-input
Tissue is thick, performance is brought and is significantly affected.The present invention changes laser-electric arc by adjusting the angle between laser and electric arc
Between angle [alpha] can change the energy state of the thermal source formed between laser and electric arc, and then it is overall to significantly improve thermal source
Penetrability.The present invention is for electric arc welding process welding penetration energy difference, speed is slow, deform big problem, below study emphasis
The regulation and control of several respects：
1. welding heat source, according to wall panel thickness, regulates and controls the angle between laser and thermal source, laser energy and arc current,
Optimal laser and electric arc matching effect are obtained, realizes increasing welding penetration, improve the purpose of welding manufacture speed.
2. speed of welding, wallboard according to actual welding piece and, adjust speed of welding, it is ensured that the speed in welding process
Degree is constant.
The present invention is not limited to the present embodiment, any equivalent concepts in the technical scope of present disclosure or changes
Become, be classified as protection scope of the present invention.
Claims (2)
1. a kind of laser-arc hybrid welding in industry real-time monitoring system, it is characterised in that：Including laser-arc hybrid welding in industry thermal source
System, sensor-based system, welding data collecting system, control unit, control signal output system and electroplating equipment wielding machine motion control system
System；
Described sensor-based system includes that welding arc voltage current sensor, the vision sensor of welding process and laser signal are passed
Sensor, described sensor-based system receives laser-arc hybrid welding in industry heat source system, electroplating equipment wielding machine kinetic control system, molten bath shape
The information of state, welding structure shape, and by welding data collecting system to control unit output information；
Described control unit includes human-computer interaction module, intelligent object, data acquisition module and control signal output module；Control
Unit processed is through control signal output system respectively to laser-arc hybrid welding in industry heat source system and electroplating equipment wielding machine kinetic control system
Output information；
Described laser-arc hybrid welding in industry heat source system, for realizing laser-arc hybrid welding in industry；It is real in welding process
When regulation laser and electric arc energy state, the thermal source with predetermined energy density and gradient is obtained under different conditions；
Described welding arc voltage current sensor, arc voltage and electricity for gathering laser-arc hybrid welding in industry process
Stream；
The vision sensor of described welding process, for realizing the vision collecting to welding process molten bath state；
Described Laser signal transducer, the real-time status signal for gathering laser；
Described control unit obtains the parameter information of user input by human-computer interaction module, forms basic welding parameter,
Then the data message of data collecting module collected during actual welding is input in intelligent object；By intelligent object
Be given in real time after analysis welding it is all during welding parameter, control strategy and control parameter to control signal output mould
Block, is regulated and controled by control signal output module to the laser energy of composite welding process, Current Voltage, butt welding machine tool fortune
Autocontrol system is controlled.
2. a kind of regulation and control method of laser-arc hybrid welding in industry real-time monitoring system, it is characterised in that：Comprise the following steps：
A, design welding process path
Before welding, position while welding is judged, according to Weld pipe mill and the optimal path of welding of welding structure feature selecting；
B, regulation laser energy and arc voltage electric current
In welding process, according to Mathematical Modeling in intelligent object analysis result to laser output power, the electric current of electric arc or
Voltage parameter carries out real-time monitoring, the brand-new welding heat source of acquisition, and then realizes the control of welding process molten bath state and temperature,
Realize the regulation and control of Welded Joints tissue and performance；
C, control speed of welding
In welding process, speed of welding is finely adjusted as needed, for regulating and controlling weld pool shape, temperature together with thermal source
Spend and welding forming is regulated and controled by speed of welding；
D, control welding process swing effect
Due to the change of path of welding, in welding process, welding heat source is set to occur to be adjusted perpendicular to the oscillating traverse motion of weld seam
Section, to swing the change that effect keeps relative position with weld seam；
E, implementation closed loop intelligentized control method and regulation and control
By in the information conveyance of step A-D to signal output module, the signal of control will be needed by control signal module respectively
It is transported in the laser-arc hybrid welding system and mechanical movement control system, i.e., according to actual welded condition pair
Welding process realizes closed loop intelligentized control method and regulation and control.
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| 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 |
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