CN107363376A - A kind of robot welds symmetrical transition mariages weld ripples prosecutor method - Google Patents
A kind of robot welds symmetrical transition mariages weld ripples prosecutor method Download PDFInfo
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- CN107363376A CN107363376A CN201611013507.6A CN201611013507A CN107363376A CN 107363376 A CN107363376 A CN 107363376A CN 201611013507 A CN201611013507 A CN 201611013507A CN 107363376 A CN107363376 A CN 107363376A
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- mariages
- transition
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- current
- robot
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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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- Physics & Mathematics (AREA)
- Plasma & Fusion (AREA)
- Mechanical Engineering (AREA)
- Arc Welding In General (AREA)
Abstract
The invention discloses a kind of robot to weld symmetrical transition mariages weld ripples prosecutor method, it is characterized in that increasing a transition stage when mariages current phase changes, impulse waveform is divided into peak segment, changeover portion and base value section three phases.This waveform controlling method adds three parameters than general impulse welding, that is, guides welding wire transition current, mariages length of intermediate phase, follows welding wire transition current.The magnitude relationship of this three is adjusted, generates the control waveform described in this welding waveform controlling method.A kind of robot of the present invention welds symmetrical transition mariages weld ripples prosecutor method due to the presence of symmetrical transition stage, make welding process more steady and controllable, contrast common Double-wire pulsed welding waveform controlling method, a kind of robot, which welds symmetrical transition mariages weld ripples prosecutor method, has the advantages of transition is steady, welding process energy utilization efficiency is improved, improves quality of weld seam molding.
Description
Technical field
The present invention relates to robot welding technology field, specially a kind of robot welds symmetrical transition mariages weld ripples prosecutor
Method.
Background technology
Double Wire Welding is because having the advantages that speed of welding is fast, welding wire deposition rate is high, appearance of weld is good, wide concerned domestic outside weld
Connect the concern of worker.Two root wires are placed in a specially designed welding gun by mariages welding technology by certain angle, two
Welding wire is independently-powered by respective power supply, mutually insulated, two power supplys is cooperated by cooperative control system.Double Wire Welding skill
The diameter of two root wires, material, can be different even with or without pulse in art, so can most preferably control electric arc,
On the premise of arc stability burning is ensured, two interfering for electric arc are preferably minimized.Wherein mariages pulse MIC welding is because of it
Excellent performance, application are more.The welding wire that row is gone before in mariages pulse MIC welding can be referred to as guiding welding wire, guide welding wire one
As electric current it is larger, realize weld seam bottoming increase fusion penetration, walk crying below and follow welding wire, follow welding wire whole realization capping improvement
The effect of shaping.Because welding gun is heavier and has very high speed of welding, so mariages Welding can only be in robot and automatic
It can be realized on weldering special plane.Particularly in robot welding, soldering angle flexibility is big, and speed is very high.Therefore root is needed
According to robot welding process characteristic, adaptable mariages waveform controlling method is studied, improves robot high-speed double-wire weldering quality.
D.Savu establish between mariages magnetic field force induced F12 calculation formula, it is believed that it is constant in other physical conditions
In the case of, the product size of mariages electric current determines the electromagnetic force between mariages.In guiding welding wire and welding wire electric current is followed with frequency
Under the synchronous mode of rate same-phase, for two electric arcs due to same phase, electromagnetic force is larger, interferes serious；If guide welding wire with
With the stochastic model that welding wire electric current is different frequency and phase, interfere problem of the electric arc with phase situation is equally existed, and by
It is difficult to control in the randomness of phase, the droplet transfer is not had rule, welding process is difficult to control；In guiding welding wire with following
Interaction force under the alternate mode of 180 ° of welding wire electric current same frequency phase difference between electric arc only has four points during common welding
One of it is even lower, the influence very little to the droplet transfer, can solve the problem that the problem of interfering.But electric current is suddenly from larger
Peak phase drops to the less base value stage, easily causes the unstable and current interruption phenomenon of welding process.Robot welding can add
Acute this wild effect.
The content of the invention
It is an object of the invention to provide a kind of robot to weld symmetrical transition mariages weld ripples prosecutor method, meets arc welding robot
The requirement of high-speed double-wire weldering, and solve the problems, such as to propose in above-mentioned background technology.
To achieve the above object, a kind of robot of the present invention welds symmetrical transition mariages weld ripples prosecutor method, it is characterized in that double
Increase a transition stage during silk current phase change, impulse waveform is divided into peak segment, changeover portion and base value section three phases.
This waveform controlling method adds three parameters than general impulse welding, that is, when guiding welding wire transition current, mariages transition stage
Between, follow welding wire transition current.The magnitude relationship of this three is adjusted, generates the controls ripple described in this welding waveform controlling method
Shape, realize robot double wire arc-welding.By adjusting the guiding welding wire transition current of the two root wires pulse current, following welding wire
The magnitude relationship of transition current, the size of electromagnetic force between two can be made close to the electromagnetic force of even less than rp state, it is double
Silk length of intermediate phase is identical.Guiding welding wire transition current can occur in rising edge, can also occur in trailing edge, with
Remained with welding wire transition current with guiding welding wire transition current while occurring.
Compared with prior art, the beneficial effects of the invention are as follows：
It is electric between two can be made by the magnitude relationship for adjusting guiding welding wire transition current, following welding wire transition current
The electromagnetic force of the close even less than rp state of the size of magnetic force, simultaneously because the presence of symmetrical transition stage, makes welding process
It is more steady and controllable, obtain good welding quality.It is base value rank because this waveform reduces guiding and follows welding wire
The duration of section, in peak point current, welding current is improved in the case that background current is constant, contributes to the further of welding efficiency
Improve.Common Double-wire pulsed welding waveform controlling method is contrasted, a kind of robot, which welds symmetrical transition mariages weld ripples prosecutor method, to be had
The advantages of steady is crossed, welding process energy utilization efficiency is improved, improves quality of weld seam molding.
Brief description of the drawings
Accompanying drawing 1 is the symmetrical transition current waveform diagram of Double Wire Welding of the invention.
The instantaneous electricity that accompanying drawing 2 is 2ms for symmetrical transit time for symmetrical transition waveform controlling method of the present invention
Flow waveform.
Accompanying drawing 3 is the instantaneous of 4.7ms for symmetrical transit time for symmetrical transition waveform controlling method of the present invention
Current waveform.
Accompanying drawing 4 is the instantaneous of 6.6ms for symmetrical transit time for symmetrical transition waveform controlling method of the present invention
Current waveform.
Description of reference numerals：1st, welding wire current waveform is guided；2nd, welding wire current waveform is followed；3rd, follow welding wire transition electric
Stream；4th, welding wire transition current is guided；5th, mariages length of intermediate phase.
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.
Accompanying drawing 1 welds the symmetrical transition current ripple of Double Wire Welding of symmetrical transition mariages weld ripples prosecutor method for a kind of robot of the present invention
Shape schematic diagram, it is characterized in that increasing a transition stage when mariages current phase changes, impulse waveform is divided into peak segment, mistake
Cross section and base value section three phases.This waveform controlling method adds three parameters than general impulse welding, that is, guides welding wire mistake
Cross electric current 4, mariages length of intermediate phase 5, follow welding wire transition current 3.The magnitude relationship of this three is adjusted, generates this welding ripple
Control waveform described in shape control method, realizes robot double wire arc-welding.
Then the present invention is carried out, implementation condition is：Welding wire peak point current 340A, background current 88A are guided, with
It is with welding wire peak point current 300A, background current 75A, front and rear silk same frequency, frequency 56Hz, dutycycle 30%, test specimen
Q235 steel, thick 8.0mm, welding wire use H08Mn2SiA, and a diameter of Φ 1.0mm, protective gas is straight argon.Gas flow 15L/
Min, dry extension of electrode 12.0mm, distance is 8.0mm between two root wire ends, disk diffusion method.Transient current ripple in embodiment
Shape figure is gathered by experiment porch, is directly preserved by computer, is imported after matlab carries out Wavelet packet filtering and is shown.
The instantaneous electricity that accompanying drawing 2 is 2ms for symmetrical transit time for symmetrical transition waveform controlling method of the present invention
Flow waveform.Shown waveform rule, there is obvious symmetrical transition stage, the generation without short-circuit current interruption phenomenon.In welding process
It is observed that arc length is consistent, in bell jar shape, do not splash, the sound and general mariages sent close to " drone " sound
Sound is different, be it is a kind of it is more soft between " drone " sound between " whistling ".
Accompanying drawing 3 is the instantaneous of 4.7ms for symmetrical transit time for symmetrical transition waveform controlling method of the present invention
Current waveform.Accompanying drawing 4 is the instantaneous of 6.6ms for symmetrical transit time for symmetrical transition waveform controlling method of the present invention
Current waveform.The transition stage of waveform shown in Fig. 2 to Fig. 4 is more and more obvious.It can be seen that each oscillogram totally all compares rule
It is whole.Transition stage duration wherein shown in Fig. 4 has been over peak phase, and welding process is still more stable.
These three embodiments also illustrate that a kind of robot of the present invention welds symmetrical transition mariages weld ripples prosecutor method and meets actual feelings
Condition, there is preferable actual application value, welding effect is excellent, and one is explored newly for high-speed double-wire robot weld ripples prosecutor method
Approach.
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 robot welds symmetrical transition mariages weld ripples prosecutor method, it is characterized in that increasing by one when mariages current phase changes
Transition stage, impulse waveform is divided into peak segment, changeover portion and base value section three phases.This waveform controlling method is than general arteries and veins
Rush weldering and add three parameters, that is, guide welding wire transition current, mariages length of intermediate phase, follow welding wire transition current.Regulation
The magnitude relationship of this three, the control waveform described in this welding waveform controlling method is generated, realizes robot double wire arc-welding.
2. a kind of robot according to claim 1 welds symmetrical transition mariages weld ripples prosecutor method, it is characterised in that passes through tune
Save the guiding welding wire transition current of the two root wires pulse current, follow the magnitude relationship of welding wire transition current, two can be made
Electromagnetic force of the size of electromagnetic force close to even less than rp state between silk.
3. a kind of robot according to claim 1 welds symmetrical transition mariages weld ripples prosecutor method, it is characterised in that described two
Root wire mariages length of intermediate phase is identical.
4. a kind of robot welds symmetrical transition mariages weld ripples prosecutor method according to claim 1, it is characterised in that the guiding
Welding wire transition current can occur in rising edge, can also occur in trailing edge, follow welding wire transition current to remain and draw
Lead welding wire transition current while occur.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611013507.6A CN107363376A (en) | 2016-11-10 | 2016-11-10 | A kind of robot welds symmetrical transition mariages weld ripples prosecutor method |
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| CN201611013507.6A CN107363376A (en) | 2016-11-10 | 2016-11-10 | A kind of robot welds symmetrical transition mariages weld ripples prosecutor method |
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| CN107363376A true CN107363376A (en) | 2017-11-21 |
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| CN201611013507.6A Pending CN107363376A (en) | 2016-11-10 | 2016-11-10 | A kind of robot welds symmetrical transition mariages weld ripples prosecutor method |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111515498A (en) * | 2019-02-05 | 2020-08-11 | 林肯环球股份有限公司 | Dual wire welding or additive manufacturing system |
| CN109262112B (en) * | 2018-09-20 | 2020-10-30 | 唐山松下产业机器有限公司 | Pulse welding machine |
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| CN101480747A (en) * | 2008-12-02 | 2009-07-15 | 上海沪工电焊机制造有限公司 | Double-wire bonding control method based on CAN bus |
| CN101486126A (en) * | 2009-02-13 | 2009-07-22 | 天津大学 | Anti-interference double-wire alternating current-direct current submerged arc welding method |
| CN102151946A (en) * | 2011-05-17 | 2011-08-17 | 太原市星云焊接设备有限公司 | Pulse gas shielded base-value current transition control method |
| CN105171196A (en) * | 2015-11-03 | 2015-12-23 | 石惟一 | Double-wire arc welding power supply system and control method thereof |
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2016
- 2016-11-10 CN CN201611013507.6A patent/CN107363376A/en active Pending
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| CN101480747A (en) * | 2008-12-02 | 2009-07-15 | 上海沪工电焊机制造有限公司 | Double-wire bonding control method based on CAN bus |
| CN101486126A (en) * | 2009-02-13 | 2009-07-22 | 天津大学 | Anti-interference double-wire alternating current-direct current submerged arc welding method |
| CN102151946A (en) * | 2011-05-17 | 2011-08-17 | 太原市星云焊接设备有限公司 | Pulse gas shielded base-value current transition control method |
| CN105171196A (en) * | 2015-11-03 | 2015-12-23 | 石惟一 | Double-wire arc welding power supply system and control method thereof |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109262112B (en) * | 2018-09-20 | 2020-10-30 | 唐山松下产业机器有限公司 | Pulse welding machine |
| CN111515498A (en) * | 2019-02-05 | 2020-08-11 | 林肯环球股份有限公司 | Dual wire welding or additive manufacturing system |
| CN111515498B (en) * | 2019-02-05 | 2022-05-27 | 林肯环球股份有限公司 | Dual wire welding or additive manufacturing system |
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Application publication date: 20171121 |