CN108188545B - A kind of narrow gap pulse MAG welding arc sensing three-dimensional welding seam tracking method - Google Patents
A kind of narrow gap pulse MAG welding arc sensing three-dimensional welding seam tracking method Download PDFInfo
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- CN108188545B CN108188545B CN201810125944.XA CN201810125944A CN108188545B CN 108188545 B CN108188545 B CN 108188545B CN 201810125944 A CN201810125944 A CN 201810125944A CN 108188545 B CN108188545 B CN 108188545B
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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
- B23K9/12—Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
- B23K9/127—Means for tracking lines during arc welding or cutting
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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
- B23K9/09—Arrangements or circuits for arc welding with pulsed current or voltage
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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
- B23K9/16—Arc welding or cutting making use of shielding gas
- B23K9/173—Arc welding or cutting making use of shielding gas and of a consumable electrode
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Abstract
The invention discloses a kind of narrow gap pulse MAG welding arc sensing three-dimensional welding seam tracking methods, and the narrow gap welding suitable for bevel angle less than 10 ° passes through current sensor sampled current value；Peak point current, the background current of each pulse period are extracted from the current signal after mean filter, the average value of peak-current signal is calculated at the end of a swing period, compared with the average value of previous cycle peak-current signal, it is converted to welding gun elevation information and is sent to welding gun height control module, driving stepper motor rotation adjusts welding gun height；The start recording background current signal when welding gun reaches sidewall locations, the difference of two side walls background current is calculated at the end of one swing period and is converted to deviation and is sent to welding gun horizontal swing control module, and driving stepper motor rotation adjusts the oscillation center of welding gun.The present invention takes full advantage of the characteristics of Narrow sloping-glot and pulse MAG welding, effectively increases the sensitivity of narrow gap pulse MAG welding termination process arc sensing.
Description
Technical field
The invention belongs to machine automatization control technology fields, more particularly, to a kind of narrow gap pulse MAG welding arc sensing
Three-dimensional welding seam tracking method.
Background technique
In torch swinging or rotary course, the distance of ignition tip to workpiece is influenced by bevel shape and position,
The variation of length Development pattern.This variation can be reflected by the variation of arc signal and be used to that weldering to be monitored and controlled
Rifle position is set, and here it is the THE WELD SEAM TRACKING TECHNOLOGYs based on arc sensing.
Weld Seam Tracking Control includes that the information of two aspects of height and centering of Butt welding gun is sensed and controlled.Electric arc passes
Sensor is used for the technical solution of weld joint tracking first by German Aachen polytechnical university EichhornF and Platz J proposition, still
Due to the stability problem of welding arc, arc sensing weld joint tracking is never widely used.
With being constantly progressive for source of welding current technology, welding process is more stable, and arc sensor has been successfully applied
In V-arrangement, T junction Weld Seam Tracking Control in-the FD-WD arc sensor precision of OTC can achieve ± 1mm；ABB
Weldguid III can not only realize height and centering tracking, but also be able to achieve become groove width tracing control.
But narrow gap welding sidewall fusion is difficult, fusion while in order to guarantee two side walls needs higher weld seam
Tracking accuracy, existing commercial sensor can't be directly used in narrow gap weld seam tracking.Although U.S. CRC and France
Arc sensor has been successfully applied in the pipeline narrow gap welding equipment of its exploitation by Serimax, and CRC's is automatic
Soldering equipment has been completed the welding mileage more than 10000 kilometers, but its arc sensor still has and adapts to different grooves
The poor problem with process conditions ability not only needs strict control groove and assembling precision and in radix saposhnikoviae when using these equipment
Welding is completed in canopy, and very professional welder is needed to operate, and limits the promotion and application of equipment.
Aiming at the problem that narrow gap welding arc sensing precision, many scholars have carried out extensive research.Li Wenhang et al.
Multilayer single track narrow gap MAG is welded using support vector machines and the method for rough set and carries out deviation identification, it is intended to from statistics
Angle improve in arc signal extract weld seam deviation precision.Baek D establishes arc signal using the method for neural network
Relationship between sidewall locations adaptive, self-organizing and solves arc signal the characteristics of real-time learning using neural network
Non-linear relation between position while welding.Hyeong-Soon is filtered using the method for moving average, devises a narrow groove
Double-torch robot welding system.The studies above is the spirit for attempting to improve arc sensing from the angle of signal processing and control method
Sensitivity so improve tracing control precision, do not revert to narrow gap welding physical process substantially to narrow gap welding shadow
The reason of ringing arc sensing precision is analysed in depth.
Summary of the invention
The problem to be solved in the present invention is to provide one kind, to effectively improve narrow gap pulse MAG welding termination process arc sensing sensitive
The narrow gap pulse MAG welding arc sensing three-dimensional welding seam tracking method of degree.
In order to solve the above technical problems, the technical solution adopted by the present invention is that: a kind of narrow gap pulse MAG welding arc sensing
Three-dimensional welding seam tracking method, comprising the following steps: following steps are suitable for narrow gap welding of the workpiece grooves angle less than 10 °,
(1) technological parameter is arranged, and selects welding machine pulse MAG welding mode, and the technological parameters such as setting wire feed rate, the amplitude of oscillation guarantee
Sidewall fusion avoids short circuiting transfer as far as possible；Amplitude of fluctuation is set according to Narrow sloping-glot width, welding wire is respectively protected with left and right sides wall
Stay 1mm；Welding current is 120A~150A；
(2) activation system, welding gun starts swing, machine initial arc, by current sensor according to sample frequency sample rate current
Value；
(3) peak point current, the background current of each pulse period are extracted from the current signal after mean filter；
(4) peak-current signal for recording each pulse period calculates peak point current at the end of a swing period
The average value of signal, and compared with the average value of previous cycle peak-current signal, it is converted to welding gun elevation information and is sent to weldering
Rifle height control module, so that stepper motor be driven to rotate certain angular adjustment welding gun height；
The welding gun height control module includes stepper motor and ball-screw, and stepper motor both forward and reverse directions rotate through ball
Lead screw drives welding gun to carry out short transverse adjusting, and welding gun rises when stepper motor rotates forward, and welding gun declines when stepper motor inverts, from
And stepper motor is driven to rotate certain angular adjustment welding gun height；
(5) start recording several background current signals when welding gun reaches sidewall locations, at the end of a swing period
It calculates the difference of two side walls background current and is converted to deviation and be sent to welding gun horizontal swing control module, to drive step
The oscillation center of certain angular adjustment welding gun is rotated into motor；
Welding gun horizontal swing control module includes stepper motor and ball-screw, and stepper motor is according to setting hunting frequency
Welding gun reciprocally swinging is driven, after welding gun horizontal swing control module receives deviation, control stepper motor adjustment welding gun pendulum
Dynamic center, realizes left and right directions Weld Seam Tracking Control；
(6) stop, welding machine blow-out stops acquisition, welding gun recurrence oscillation center.
In step (2), the current sensor is Hall current sensor, and is sampled by AD7606.
In step (3), in order to which continuous sampled point is distinguished by the pulse period, the method for use is: when even
The continuous current value sampled three times thinks a pulse period when being more than 400A, when the electric current continuously sampled three times
Value thinks that stage pulse terminates when being less than 400A, and first arteries and veins is thought when the current value of continuous sampling three times is more than 400A again
End cycle is rushed, second pulse period starts；The maximum value of stage pulse electric current is as peak point current, from a upper pulse rank
Section terminated to the next pulse stage, and the average value of all sample rate currents is as background current in the process.
Due to the adoption of the above technical scheme, the present invention passes through special in one of narrow gap pulse MAG welding termination process
The analysis of arc physics phenomenon proposes a kind of method of new arc sensing weld joint tracking, takes full advantage of Narrow sloping-glot
The characteristics of with pulse MAG welding, effectively increase the sensitivity of narrow gap pulse MAG welding termination process arc sensing.
Detailed description of the invention
It is specifically described the present invention below with reference to attached drawing and in conjunction with example, advantages of the present invention and implementation will
It is more obvious, wherein content only for the purpose of explanation of the present invention shown in attached drawing, without constitute to it is of the invention in all senses
On limitation, in the accompanying drawings:
Fig. 1 is narrow gap welding electric arc " jumping wall " phenomenon
Fig. 2 is base value arc signal sensing centering information
Fig. 3 is peak value arc signal sensing elevation information
Specific embodiment
The present invention is further discussed below below with reference to embodiment and its attached drawing:
Jump wall phenomenon: when being less than it at a distance from welding wire end is between side wall at a distance from groove bottom, according to minimum electricity
Principle is pressed to consume the smallest requirement of energy to electric arc, electric arc should be established between welding wire end and side wall, but due to welding wire and side
Wall is close in parallel, and peak phase current density increases rapidly, arc constriction, and straight and upright property enhancing, electric arc can creep downwards along side wall
To groove bottom, electric arc jumps back to side wall again after peak phase, this phenomenon by pulse frequency high speed, it is reciprocal occur, such as Fig. 1
It is shown.When " jumping wall " phenomenon occurs, base value stage arc channel is established between welding wire end and groove side wall, and reflection is only
It is distance of the welding wire to side wall；The arc channel of peak phase is established in welding wire end and weld pool surface, reflects torch height, such as
Shown in Fig. 2 and Fig. 3.
Electricity according to traditional arc sensing method, when acquiring torch swinging respectively or rotating to left and right side walls position
Signal and calculating difference are adjusted according to the centering that the difference carries out welding gun；Acquire one swing or swing circle in it is all
Current value find out average current, and compared with the average current being calculated in previous cycle, welding gun is carried out according to difference
Height adjustment.
This method is suitable for common V-arrangement, T shape, lap joint, the method for being also applied for direct current welding.For narrow
In sidewall locations " jumping wall " phenomenon occurs for the welding of gap pulse MAG, electric arc, and background current at this time does not reflect that welding gun height is believed
Breath only reflects welding gun centering information, at this time if will reduce the spirit of sensing using average current sensing welding gun elevation information
Sensitivity；Peak point current is based on arc blow and reflects centering information to a certain extent, also not as good as individually using background current sensing pair
Middle information is more accurate.
Therefore, the present invention is directed to narrow gap pulse MAG welding termination process, according to " jumping wall " phenomenon, proposes a kind of using peak
It is worth current sense elevation information, background current sensing centering information, thus the method for improving arc sensing sensitivity.
A kind of narrow gap pulse MAG welding arc sensing three-dimensional welding seam tracking method, comprising the following steps: following steps are applicable in
In narrow gap welding of the workpiece grooves angle less than 10 °.
(1) technological parameter is arranged, and selects welding machine pulse MAG welding mode, and the setting of welding parameter will guarantee sidewall fusion；Root
Amplitude of fluctuation is set according to Narrow sloping-glot width, welding wire and left and right sides wall respectively retain 1mm；Welding current is 120A~150A；
(2) activation system, welding gun starts swing, machine initial arc, by Hall current sensor, and by AD7606 with one
Fixed sample frequency sampled current value；
(3) peak point current, the background current of each pulse period are extracted from the current signal after mean filter；
In order to which continuous sampled point is distinguished by the pulse period, the method for use is: when continuous 3 times sample obtained current value
A pulse period is thought when more than 400A, is sampled when obtained current value is less than 400A when continuous 3 times and is thought pulse rank
Section terminates, and thinks that first pulse period terminates when continuous sampling 3 times current values are more than 400A again, second pulse week
Phase starts；The maximum value of stage pulse electric current terminates from a upper stage pulse to the next pulse stage as peak point current
Start, the average value of all sample rate currents is as background current in the process；
(4) peak-current signal for recording each pulse period calculates peak point current at the end of a swing period
The average value of signal, and compared with the average value of previous cycle peak-current signal, it is converted to welding gun elevation information and is sent to weldering
Rifle height control module, the welding gun height control module include stepper motor and ball-screw, the rotation of stepper motor both forward and reverse directions
Short transverse adjusting is carried out by ball-screw driving welding gun, welding gun rises when stepper motor rotates forward, and stepper motor welds when inverting
Rifle decline, so that stepper motor be driven to rotate certain angular adjustment welding gun height；
(5) 5 background current signals of start recording when welding gun reaches sidewall locations, calculate at the end of a swing period
The difference of two side walls background current and be converted to deviation be sent to welding gun horizontal swing control module, the welding gun horizontal swing
Control module includes stepper motor and ball-screw, and stepper motor drives welding gun reciprocally swinging according to setting hunting frequency, works as weldering
After rifle horizontal swing control module receives deviation, control stepper motor adjusts torch swinging center, realizes left and right directions weldering
Stitch tracing control；
(6) stop button is pressed, welding machine blow-out stops acquisition, welding gun recurrence oscillation center.
The present invention is mentioned by the analysis in the special arc physics phenomenon of one of narrow gap pulse MAG welding termination process
A kind of method for having gone out new arc sensing weld joint tracking takes full advantage of the characteristics of Narrow sloping-glot and pulse MAG weld, has
Effect improves the sensitivity of narrow gap pulse MAG welding termination process arc sensing.
The embodiments of the present invention have been described in detail above, but content is only the preferred embodiment of the present invention,
It should not be considered as limiting the scope of the invention.All changes and improvements made in accordance with the scope of the present invention, should all
It still belongs within this patent covering scope.
Claims (1)
1. a kind of narrow gap pulse MAG welding arc sensing three-dimensional welding seam tracking method, it is characterised in that: the following steps are included: with
Lower step is suitable for narrow gap welding of the workpiece grooves angle less than 10 °,
(1) technological parameter is arranged, and selects welding machine pulse MAG welding mode, and the technological parameter that the amplitude of oscillation is arranged guarantees sidewall fusion；
(2) activation system, welding gun starts swing, machine initial arc, by current sensor according to sample frequency sampled current value；
(3) peak point current, the background current of each pulse period are extracted from the current signal after mean filter；
(4) peak-current signal for recording each pulse period calculates peak-current signal at the end of a swing period
Average value be converted to welding gun elevation information and be sent to welding gun height and compared with the average value of previous cycle peak-current signal
Control module is spent, so that stepper motor rotational angle be driven to adjust welding gun height；
(5) start recording several background current signals when welding gun reaches sidewall locations calculate at the end of one swing period
The difference of two side walls background current is simultaneously converted to deviation and is sent to welding gun horizontal swing control module, to drive stepping electric
The oscillation center of machine rotational angle adjusting welding gun；
(6) stop, welding machine blow-out stops acquisition, welding gun recurrence oscillation center；
In step (1), the amplitude of oscillation is arranged according to Narrow sloping-glot width, and welding wire and left and right sides wall respectively retain 1mm；Welding
Electric current is 120A~150A；
In step (2), the current sensor is Hall current sensor, and is sampled by AD7606；
In step (3), in order to which continuous sampled point is distinguished by the pulse period, the method for use is: when continuous three
Secondary sample when obtained current value is more than 400A thinks a pulse period, when the current value continuously sampled three times is small
Think that stage pulse terminates when 400A, first pulse week is thought when the current value of continuous sampling three times is more than 400A again
Phase terminates, and second pulse period starts；The maximum value of stage pulse electric current is as peak point current, from a upper stage pulse knot
Beam is to the next pulse stage, and the average value of all sample rate currents is as background current in the process；
In step (4), the welding gun height control module includes stepper motor and ball-screw, the positive negative side of stepper motor
Short transverse adjusting is carried out to ball-screw driving welding gun is rotated through, welding gun rises when stepper motor rotates forward, and stepper motor is anti-
Welding gun declines when turning；
In step (5), welding gun horizontal swing control module includes stepper motor and ball-screw, and stepper motor is according to setting
Fixed pendulum dynamic frequency drives welding gun reciprocally swinging, after welding gun horizontal swing control module receives deviation, controls stepper motor
Torch swinging center is adjusted, realizes left and right directions Weld Seam Tracking Control.
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| CN109848524B (en) * | 2019-02-02 | 2020-12-01 | 浙江师范大学 | Narrow-gap gas metal arc vertical welding seam tracking method |
| CN112658444B (en) * | 2020-12-15 | 2022-03-25 | 唐山松下产业机器有限公司 | Arc sensing control method and system for welding robot |
| CN112643170A (en) * | 2020-12-30 | 2021-04-13 | 北京配天技术有限公司 | Arc pressure welding seam tracking method, robot control cabinet and storage medium |
| CN114309887A (en) * | 2021-12-27 | 2022-04-12 | 唐山松下产业机器有限公司 | Control method and control device of inverter welding machine |
| CN114406408B (en) * | 2021-12-27 | 2023-10-03 | 武汉纳瑞格智能设备有限公司 | Two side wall fusion control device for automatic welding of narrow-gap MAG/MIG |
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| JPS55161571A (en) * | 1979-06-04 | 1980-12-16 | Nippon Kokan Kk <Nkk> | Automatic controlling method of welding condition in narrow groove welding |
| JP2001232471A (en) * | 2000-02-23 | 2001-08-28 | Babcock Hitachi Kk | Method for detecting abnormality of arc rocking amplitude in narrow groove gma welding |
| CN101514886B (en) * | 2009-03-10 | 2010-09-15 | 东南大学 | Method for extracting arc sensor welding gun position deviation information |
| CN103447662B (en) * | 2013-08-20 | 2015-04-15 | 江苏科技大学 | Pulse electric arc sensing detection method for narrow gap welding line deviation |
| CN104439620B (en) * | 2014-12-09 | 2016-04-13 | 江苏科技大学 | The adaptive control method of narrow gap welding electric arc shake and device |
| CN105834554B (en) * | 2016-04-08 | 2018-10-23 | 湘潭大学 | A kind of self-adapting detecting control method of narrow gap welding molten wide |
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