CN107363375A - A kind of high-speed double-wire robot welds multifrequency modulating wave prosecutor method - Google Patents
A kind of high-speed double-wire robot welds multifrequency modulating wave prosecutor method Download PDFInfo
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- CN107363375A CN107363375A CN201611013172.8A CN201611013172A CN107363375A CN 107363375 A CN107363375 A CN 107363375A CN 201611013172 A CN201611013172 A CN 201611013172A CN 107363375 A CN107363375 A CN 107363375A
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- 238000000034 method Methods 0.000 title claims abstract description 31
- 238000003466 welding Methods 0.000 claims abstract description 83
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- 238000010891 electric arc Methods 0.000 description 6
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Classifications
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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
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- Plasma & Fusion (AREA)
- Mechanical Engineering (AREA)
- Arc Welding Control (AREA)
- Arc Welding In General (AREA)
Abstract
The invention discloses a kind of high-speed double-wire robot to weld multifrequency modulating wave prosecutor method, robot arc welding process condition is specifically determined according to welding object first, it is later determined that welding wire is guided in Double Wire Welding and follows the respective average current of welding wire, next the base frequency and dutycycle of two root wire pulse currents are determined, on this basis according to mother metal feature, welding robot working range determines peak point current and background current, determine to follow the pulse modulation frequency and dutycycle of welding wire peak current stage again, the trigger condition of two-way current peak base value switching is finally set, generate the current control waveform described in a kind of high-speed double-wire robot weldering multifrequency modulating wave prosecutor method, realize the Current Waveform Control of robot high-speed double-wire arc-welding.A kind of high-speed double-wire robot weldering multifrequency modulating wave prosecutor method of the present invention improves welding process energy utilization efficiency, improves quality of weld seam molding, reduces stomata and be inclined to, improves robot high-speed double-wire arc-welding quality.
Description
Technical field
The present invention relates to welding technology field, specially a kind of high-speed double-wire robot weldering multifrequency modulating wave prosecutor method.
Background technology
In order to improve efficiency, avoid the occurrence of high current and make the situation of weldquality variation, researcher has carried out double
The research of silk gas metal-arc welding.Mariages welding technology is proposed in nineteen fifties Welder author.Double Wire Welding
Two root wires are placed in a specially designed welding gun by technology by certain angle, and two root wires are independently supplied by respective power supply
Electricity, mutually insulated, two power supplys are made to cooperate by cooperative control system.The diameter of two root wires, material in mariages welding technology
Matter, can be different even with or without pulse, so can most preferably control electric arc, before arc stability burning is ensured
Put, two interfering for electric arc are preferably minimized.The welding wire that row is gone before in Double Wire Welding can be referred to as guiding welding wire, draw
It is larger to lead the general electric current of welding wire, realizes that weld seam bottoming increases fusion penetration, walks crying below and follow welding wire, follow welding wire whole realization
Capping improves the effect of shaping.Because welding gun is heavier and has very high speed of welding, so mariages Welding can only be in machine
It can be realized on people and automatic welding special plane.Particularly in robot welding, soldering angle flexibility is big, and speed is very high.Cause
This needs, according to robot welding process characteristic, to study adaptable mariages waveform controlling method, and it is double at a high speed to improve robot
Wire bond quality.In addition, influencing each other for electromagnetic force be present between Double-wire pulsed welding two-way electric arc, to reduce the effect of electromagnetic force,
The alternate mode frequently with 180 ° of same frequency phase difference is passed through in mariages waveform control at present, now the interaction force between electric arc
A quarter when only commonly welding is even lower.Influence very little to the droplet transfer, it also can solve the problem that what is interfered asks
Topic.But because in general, peak phase should not be persistently long, globular transfer otherwise can be caused, the droplet transfer is irregular etc.
Phenomenon, cause welding process unstable.So there is longer period of time to be in the base value stage, and when mariages is base value, energy
Less, phenomena such as easily causing current interruption is inputted, can equally cause the unstable of signal.Every road how is controlled therefore, it is also desirable to study
Frequency coordination relation between the current waveform and two-way electric arc of electric arc, to effectively improve welding process stability.
The content of the invention
It is an object of the invention to provide a kind of high-speed double-wire robot to weld multifrequency modulating wave prosecutor method, meets arc-welding machine
The requirement of people's high-speed double-wire weldering, and solve the problems, such as to propose in above-mentioned background technology.
To achieve the above object, the present invention provides following technical scheme, specifically comprises the following steps：
(1) robot arc welding process condition is determined according to welding object；
(2) determine to guide welding wire in Double Wire Welding and follow the respective average current of welding wire；
(3) base frequency and dutycycle of two root wire pulse currents are determined；
(4) according to mother metal feature, welding robot working range determine peak point current and background current then determine again with
With the pulse modulation frequency and dutycycle of welding wire peak current stage；
(5) trigger condition of two-way current peak base value switching, generation multifrequency modulation welding waveform controlling method institute are set
The control waveform stated, realize robot high-speed double-wire arc-welding.
Compared with prior art, the beneficial effects of the invention are as follows：
The present invention is a kind of extension process of Double-wire pulsed welding, and its process characteristic is in Double Wire Welding pulse fundamental frequency
On, then to following a current waveform frequency modulation(PFM) of progress more for welding wire, the intensity for making to follow welding wire peak phase pulse is strong
And it is weak between periodically switch, obtain periodically variable low-and high-frequency impulse train.High frequency be in order to realize the good droplet transfer,
And low frequency is to control molten bath, i.e. a low-frequency cycle forms a molten bath, then just forms fine and closely woven scalelike mark.It is simultaneously every
The individual low-frequency cycle can produce certain stirring action to molten bath, promote the gas in molten bath to discharge.Contrast common mariages arteries and veins
Punching weldering waveform controlling method, this high-speed double-wire robot weldering multifrequency modulating wave prosecutor method improve welding process energy utilization effect
Rate, quality of weld seam molding is improved, stomata is reduced and is inclined to.
Brief description of the drawings
Accompanying drawing 1 is FB(flow block) of the invention.
Accompanying drawing 2 is Double Wire Welding current waveform schematic diagram of the invention.
Accompanying drawing 3 is the transient current waveform of the embodiment of the present invention 1.
Accompanying drawing 4 is to carry out welding resulting weld seam using the Current Waveform Control of the embodiment of the present invention 1.
Accompanying drawing 5 is the transient current waveform of the embodiment of the present invention 2.
Accompanying drawing 6 is to carry out welding resulting weld seam using the Current Waveform Control of the embodiment of the present invention 2.
Description of reference numerals：1st, leading welding wire current waveform；2nd, welding wire current waveform is followed；3rd, welding wire peak phase is followed
Frequency modulation(PFM) waveform.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, rather than whole embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other under the premise of creative work is not made
Embodiment, belong to the scope of protection of the invention.
Fig. 1 is the FB(flow block) that a kind of high-speed double-wire robot of the present invention welds multifrequency modulating wave prosecutor method, specifically include as
Lower step：
(1) robot arc welding process condition is determined according to welding object；
(2) determine to guide welding wire in Double Wire Welding and follow the respective average current of welding wire；
(3) base frequency and dutycycle of two root wire pulse currents are determined；
(4) according to mother metal feature, welding robot working range determine peak point current and background current then determine again with
With the pulse modulation frequency and dutycycle of welding wire peak current stage；
(5) trigger condition of two-way current peak base value switching, generation multifrequency modulation welding waveform controlling method institute are set
The control waveform stated, realize robot high-speed double-wire arc-welding.
Fig. 2 is the Double Wire Welding current waveform schematic diagram of the present invention, and mark 1 is leading welding wire current waveform in figure, and mark 2 is
Follow welding wire current waveform, in Fig. 2, the phase of mark 1 and 2 difference 180 degree, follow welding wire peak phase to carry out frequency modulation(PFM),
Modulation effect is as shown in mark 3.
Transient current oscillogram is gathered by experiment porch in embodiment, is directly preserved by computer, and it is small to import matlab progress
Shown after the filtering of ripple bag.Fig. 3 is the transient current oscillogram in embodiment 1, and Fig. 5 is the transient current ripple in embodiment 2
Shape figure, it can be seen that in embodiment 1, pulse number is 3, and welding current is more stable, and welding waveform is regular.Embodiment 2
The similarly regularity of transient current oscillogram 4.
Fig. 4 and Fig. 6 is weld seam corresponding to embodiment 1 and embodiment 2, it can be seen that welding effect is good, and surface is smooth flat
It is whole, there is fine and closely woven scalelike mark.
The two embodiments also illustrate that a kind of high-speed double-wire robot weldering multifrequency modulating wave prosecutor method of the present invention meets reality
Situation, there is preferable actual application value, welding effect is excellent, welds multifrequency harmonic prosecutor method for high-speed double-wire robot and opens up
One new way.
Although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
A variety of changes, modification can be carried out to these embodiments, replace without departing from the principles and spirit of the present invention by understanding
And modification, the scope of the present invention is defined by the appended.
Claims (4)
1. a kind of high-speed double-wire robot welds multifrequency modulating wave prosecutor method, it is characterised in that determines machine according to welding object first
People's arc welding process condition, it is then determined that guiding welding wire in Double Wire Welding and following the respective average current of welding wire, next determine two
The base frequency and dutycycle of root wire pulse current, it is true according to mother metal feature, welding robot working range on this basis
Determine peak point current and background current, then determine to follow the pulse modulation frequency and dutycycle of welding wire peak current stage again, most
The trigger condition of two-way current peak base value switching is set afterwards, generates the control waveform described in this welding waveform controlling method, it is real
Existing robot double wire arc-welding.
2. a kind of high-speed double-wire robot weldering multifrequency modulating wave prosecutor method according to claim 1, it is characterised in that described
The base frequency of two root wire pulse currents can be with identical with dutycycle, can also be different, but in general, the identical meeting of frequency
Obtain preferable welding effect.
3. a kind of high-speed double-wire robot weldering multifrequency modulating wave prosecutor method according to claim 1, it is characterised in that described
The phase of two root wire pulse currents is usually to differ 180 degree.
A kind of 4. high-speed double-wire robot weldering multifrequency modulating wave prosecutor method according to claim 1, it is characterised in that it is described with
With the pulse modulation frequency of welding wire peak current stage welding wire base frequency is followed more than or equal to Double Wire Welding.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611013172.8A CN107363375B (en) | 2016-11-09 | 2016-11-09 | Multi-frequency modulation wave control method for high-speed double-wire robot welding |
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| CN201611013172.8A CN107363375B (en) | 2016-11-09 | 2016-11-09 | Multi-frequency modulation wave control method for high-speed double-wire robot welding |
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| CN107363375A true CN107363375A (en) | 2017-11-21 |
| CN107363375B CN107363375B (en) | 2020-06-02 |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111843115A (en) * | 2020-06-19 | 2020-10-30 | 渤海造船厂集团有限公司 | Adjustable synchronous trigger welding current control method for arc welding robot |
| CN111975173A (en) * | 2020-07-15 | 2020-11-24 | 华南理工大学 | SiC-based double-wire composite ultrahigh-frequency pulse MIG welding power supply system and control method |
| CN112388118A (en) * | 2020-10-29 | 2021-02-23 | 唐山松下产业机器有限公司 | Current control method and device for double-wire pulse welding, electronic equipment and storage medium |
| CN113305398A (en) * | 2021-05-25 | 2021-08-27 | 唐山松下产业机器有限公司 | Pulse double-wire welding phase control method, system, equipment and storage medium |
| CN114789285A (en) * | 2022-04-22 | 2022-07-26 | 深圳市爱达思技术有限公司 | Welding waveform generation method, device, equipment and storage medium |
| CN116475532A (en) * | 2023-05-09 | 2023-07-25 | 广东开放大学（广东理工职业学院） | Aluminum alloy material double-wire heterogeneous pulse group welding method, system, device and medium |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111843115A (en) * | 2020-06-19 | 2020-10-30 | 渤海造船厂集团有限公司 | Adjustable synchronous trigger welding current control method for arc welding robot |
| CN111975173A (en) * | 2020-07-15 | 2020-11-24 | 华南理工大学 | SiC-based double-wire composite ultrahigh-frequency pulse MIG welding power supply system and control method |
| CN112388118A (en) * | 2020-10-29 | 2021-02-23 | 唐山松下产业机器有限公司 | Current control method and device for double-wire pulse welding, electronic equipment and storage medium |
| CN113305398A (en) * | 2021-05-25 | 2021-08-27 | 唐山松下产业机器有限公司 | Pulse double-wire welding phase control method, system, equipment and storage medium |
| CN113305398B (en) * | 2021-05-25 | 2022-09-23 | 唐山松下产业机器有限公司 | Pulse double-wire welding phase control method, system, equipment and storage medium |
| CN114789285A (en) * | 2022-04-22 | 2022-07-26 | 深圳市爱达思技术有限公司 | Welding waveform generation method, device, equipment and storage medium |
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| CN116475532A (en) * | 2023-05-09 | 2023-07-25 | 广东开放大学（广东理工职业学院） | Aluminum alloy material double-wire heterogeneous pulse group welding method, system, device and medium |
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