CN108672893A - A kind of control method of asymmetry angle joint penetration form and fusion penetration - Google Patents
A kind of control method of asymmetry angle joint penetration form and fusion penetration Download PDFInfo
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- CN108672893A CN108672893A CN201810488858.5A CN201810488858A CN108672893A CN 108672893 A CN108672893 A CN 108672893A CN 201810488858 A CN201810488858 A CN 201810488858A CN 108672893 A CN108672893 A CN 108672893A
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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
- B23K9/095—Monitoring or automatic control of welding parameters
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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
- B23K9/167—Arc welding or cutting making use of shielding gas and of a non-consumable electrode
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Abstract
The invention discloses a kind of asymmetry angle joint penetration form and the control methods of fusion penetration, the penetration forming of asymmetry angle weld seam is controlled by adjusting angle of welding gun, the positive molten bath model of view-based access control model method identification, it realizes and depth of penetration is estimated and is controlled, since unsymmetric structure both side plate heat dissipation difference is big, penetration forming in both sides is caused to be difficult to control, the present invention proposes on the one hand to control Molten Pool Shape by control angle of welding gun, on the other hand instantaneous point heat source temperature field desorptiion equation and the heat source method of equal effect based on infinitely great body Green's function, it derives in finite size fillet weld workpiece temperature field desorptiion model, melt tank edge characteristic point is obtained by image procossing again to be corrected analytic modell analytical model, numerical computations are carried out using the analytic modell analytical model after correction, seek the maximum coordinates in depth direction melting temperature, depth of penetration can be realized and calculate solution.By this method, it can be achieved that the penetration to asymmetry angle weld seam shapes control, solve the problems, such as to improve and improve this special construction welding quality.
Description
Technical field
The invention belongs to welding automation field, it is directed primarily to the control of a kind of asymmetry angle joint penetration form and fusion penetration
Method processed, i.e., it is a kind of to control Molten Pool Shape and depth of penetration respectively to ensure the method for asymmetry angle weld seam welding quality.Tool
Body is to influence molten bath in the form of commissure by changing angle of welding gun, passes through the three-dimensional by front crater image Information revision
Temperature field analytic modell analytical model carries out the estimation of depth of penetration, and the two, which is combined, realizes penetration forming control.
Background technology
There are many not uniform thickness asymmetry angle weld seams at positions such as airframe, engine containers at present, this weld seam with
There are significant differences for the heat dispersal situations of symmetrical weld seam, influence welding penetration forming, especially structure root bottoming the most outstanding
Welding, becomes the key for restricting entire quality of weld joint.This class formation main problem present in welding is：(1) slab
Side is also easy to produce incomplete fusion defect.(root face height generally takes 1-2mm to the unsymmetric structure stitched due to angle root bead, and the other side is thick
Plate thickness is in 5mm or more, as shown in Figure 1), bevel side welding plate fusion penetration is big under the conditions of leading to same heat input, and plank side by
It is big in coefficient of heat transfer and fusion penetration is relatively shallower, lead to occur deviation between penetration center position and groove longitudinal direction, is also easy to produce
Incomplete fusion defect.(2) penetration stable formation is poor.Asymmetry angle weld seam both sides mother metal thickness gap is larger, with symmetrical welding line structure
On difference, penetration forming quality is more sensitive by random external interference effect in so that asymmetry angle is welded, penetration frequent occurrence
Wild effect is shaped, final welding product performance is caused to be greatly reduced.Therefore it to solve the above problems, realize under this operating mode
Automatic welding have very important significance.
Numerous studies were carried out for the penetration control problem of weld seam both at home and abroad in recent years, since penetration does not have direct survey
The characteristics of amount, the center of gravity and difficult point studied at present are to seek to establish the relationship between heat transfer agent and penetration feature, and synthesis is various
From the point of view of penetration sensing information, visual sensing contains much information, and positive Molten pool image gathering is convenient, by itself and crater image boundary position
Abundant temperature information is combined, and can improve the precision of models for temperature field, then by revised model in line computation penetration
The penetration control to asymmetry angle weld seam can be realized in the methods of depth information.
Invention content
The problem to be solved in the present invention is to provide a kind of asymmetry angle joint penetration form and the control method of fusion penetration, this side
Method solves the problems, such as relationship between front Molten Pool Shape and penetration forming, can effectively apply in the molten of asymmetric fillet weld seam
In terms of saturating quality control.The present invention is by the internal Molten Pool Shape of angle of welding gun control and by foundation and improved three dimensional temperature field desorptiion
The method that model solution fusion penetration is combined realizes penetration real-time control.
In order to solve the above technical problems, the technical solution adopted by the present invention is：A kind of asymmetry angle joint penetration form and
The control method of fusion penetration, includes the following steps：
Step (1) asymmetric fillet weld seam, by testing angle of welding gun pair different with the acquisition of the method for finite element modelling
Molten bath determines the angle of welding gun range of suitable weld seam full penetration, leads within the scope of this in the affecting laws of the form of commissure
Cross change angle of welding gun control Molten Pool Shape；
Since angle of welding gun variation changes fillet weld both sides heat input in welding process, cause on fillet weld different directions
Base material fusing amount is different, and Molten Pool Shape is made to change, and the angle of welding gun and slab side chooses 15 °~45 ° and carries out welding examination
It tests, the operations such as butt-welding fitting is cut, polished, polished and corroded put and take pictures under the microscope, by the result of gained and simulation institute
The Molten Pool Shape changing rule obtained compares；
Step (2) combines asymmetry angle root joint penetration to shape finite element modelling rule, derives finite size angle root bead seam
Workpiece temperature field desorptiion model, and carry out soldering test Optimized model, improve precision；
Show that equation is on finite size workpiece in infinitely great body temperature field equation by heat point source：
But the Green's function G of finite size workpiecefinSolve it is extremely difficult, therefore according to energy conservation principle by heat source etc.
Effect, models for temperature field is expressed as at this time：
The Gauss heat source suitable for asymmetry angle weld seam is selected to push over its equivalent heat source under finite size workpiece conditions
For：
By (3) formula bring into (2) further derive it is available under a length of L, width are B and thickness is D fixed coordinate system
The equivalent temperature field of finite size workpiece：
Wherein
Asymmetry angle weld seam bulk temperature field is obtained thus according to Fig. 8 and principle of stacking
T (x, y, z, t)=T1(x,y,z,t)+T2(x,y,z,t)-T0 (9)
In formula：T1(x, y, z, t) is riser temperature field, T2(x, y, z, t) is baseplate temp field, T0For workpiece initial temperature,
That is room temperature；
Step (3) acquires front crater image using camera, obtains the location information of molten bath boundary melting temperature；
In welding background current phase acquisition crater image, filtered, image enhancement, image segmentation processing extraction are more clear
Clear melt tank edge, melt tank edge have a common boundary for solid-liquid, and the temperature of the position is believed that metal material melting temperature, at image
Reason obtains the position coordinates of molten bath Geometry edge profile and tungsten electrode in crater image, obtains left and right sides limit extreme coordinates
And front end limit extreme coordinates.
Step (4) utilizes temperature Coordinate identification analytic modell analytical model Heat-Source Parameters, utilizes revised model solution melting temperature
Maximum coordinates realize being solved in line computation for depth of penetration.
In order to complete the on-line identification of two Gauss heat source distributed constant σ of side plate and bevel bottom plate, least square is utilized
Method defines as follows about melting temperature objective optimization function E：
In formula：Ti *For the measuring temperature of melt tank edge characteristic point, corresponding melting temperature；TiFor the calculated value of temperature measuring point；M is
Temperature measuring point number.
When object function E is minimum to get being distributed the optimal value of identified parameters σ to Gauss heat source.
Step (5) is automatic to change angle of welding gun and heat input parameter (voltage, electric current) under feedback regulation, and it is non-right to realize
Claim the real-time control of fillet weld seam.
The soldering test condition used for：It uses silk filling TIG welding methods and supply frequency is 2Hz, test material is
Q235, speed of welding 3mm/s, protective gas Ar；Non- bevel board size 170mm × 50mm × 6mm, bevel board size
170mm × 50mm × 6mm (60 ° of grooves, 2mm root faces)；Angle of welding gun β is set to the practical angle of welding gun and slab side, right
15 ° -45 ° of β value is tested.
The visual sensing system of use includes：The XVC-G types CCD camera of Canadian Xiris production, image pick-up card and
Centre wavelength is the spike filter of 650mm, and the image collected is transmitted directly to computer through power injector.It will collect
Image carry out a series of processing with matlab.
Due to the adoption of the above technical scheme, the angle of welding gun that on the one hand can find suitable asymmetric fillet weld seam, makes weldering
It sews molten bath to be coated with completely, avoids incomplete fusion defect.On the other hand depth of penetration is realized by three-dimensional temperature field analytic modell analytical model
Line solver changes heat input, the i.e. voltage and current parameter of electric welding machine through feedback regulation, you can realizes the control to depth of penetration
System.Two aspects are combined, and can solve the problems, such as that asymmetry angle weld seam is difficult to realize automatic welding.
The innovation of the present invention is：1, different by a given heat input both side plate penetration situation, it finds to change two
Side heat distribution can influence Molten Pool Shape, therefore propose to change the thinking of the internal Molten Pool Shape of angle of welding gun control.2, equivalent
Gauss plane heat source is chosen on the basis of heat source method, the three-dimensional temperature field analytic modell analytical model on finite size workpiece is pushed over out, into one
The respective temperature field of both side plate is superimposed by step, successfully obtains the bulk temperature field desorptiion model for unsymmetric structure fillet weld.
3, it finds that the temperature at crater image edge is base material fusing point, therefore takes characteristic point on edge, location coordinate information can be right
Temperature field analytic modell analytical model is modified, and achievees the purpose that improve model depth of penetration computational accuracy.
Description of the drawings
It is specifically described the present invention below with reference to attached drawing and in conjunction with example, advantages of the present invention and realization method will
More obvious, wherein content shown in attached drawing is only used for explanation of the present invention, without constituting to the present invention in all senses
On limitation, in the accompanying drawings：
Fig. 1 is the asymmetric fillet weld seam schematic diagram of the present invention.The normal problem in asymmetry angle weld seam welding process
It is that control is not easy to Molten Pool Shape, the case where incomplete fusion defect or weldering leakage at root face easily occurs, to influence welding quality.
Fig. 2 is experimental provision system structure schematic diagram one of the present invention.Bevel plate is reduced to thin plate in figure, and welding gun is perpendicular to water
Plane, both side plate is in 90 ° to be placed on weld holder, the adjustable angle between slab of movable welding gun.
Fig. 3 is experimental provision system structure schematic diagram two of the present invention.
Fig. 4 is influence schematic diagram of the angle of welding gun of the present invention to commissure Molten Pool Shape.As seen from the figure with angle of welding gun α
Variation, form of the molten bath in commissure change.
Fig. 5 is the molten bath center line of present invention experiment gained with changing rule figure β=15 ° of angle of welding gun.β be welding gun with
The angle of slab side, experiment find to increase with β, and molten bath center line also can it is molten to meet Fig. 4 schematic diagrames rotationally clockwise
The changing rule of pond form.
Fig. 6 is the molten bath center line of present invention experiment gained with changing rule figure β=30 ° of angle of welding gun.
Fig. 7 is the molten bath center line of present invention experiment gained with changing rule figure β=45 ° of angle of welding gun.
Fig. 8 is that fillet weld of the present invention founds side plate heat source and bevel bottom plate heat source coordinate system.
Fig. 9 is the crater image shot by CCD camera.
Figure 10 is the tungsten needle obtained after image procossing and melt tank edge.
Figure 11 is melt tank edge characteristic point schematic diagram.
Figure 12 is non-symmetric angle weld seam Fusion Control System figure.
In figure：
1, electric arc 2, molten bath 3, root face
4, welding gun 5, thin plate 6, slab
7, CCD camera 8, power injector 9, computer
Specific implementation mode
It is further discussed below the present invention with reference to embodiment and its attached drawing：
As shown in Figures 1 to 12,
Visual sensing system：XVC-G types CCD camera, image pick-up card and the middle cardiac wave produced by Canadian Xiris
The spike filter of a length of 650mm is constituted.The image collected is transmitted directly to computer through power injector.It will be collected
Image carries out a series of processing with matlab.
Experimental condition：Asymmetry angle weld seam soldering test uses epoch TDW4000 pulse TIG welding welding machine, using the TIG that fills silk
Welding method and supply frequency are 2Hz, test material Q235, speed of welding 3mm/s, protective gas Ar；Slope is not opened
Oralia size 170mm × 50mm × 6mm, bevel board size 170mm × 50mm × 6mm (60 ° of grooves, 2mm root faces)；Welding gun angle
Degree β is set to the practical angle of welding gun and slab side, tests 15 ° -45 ° of β value.
Specific implementation process is as follows：
Step (1) is tested and the method for finite element modelling obtains form of the different angle of welding gun to molten bath in commissure
Affecting laws.The angle of welding gun range of weld seam full penetration can be suitble to by finding, by changing angle of welding gun control within the scope of this
Molten Pool Shape.
As shown in figure 4, due in welding process angle of welding gun variation change fillet weld both sides heat input, lead to fillet weld
Base material fusing amount is different on different directions, so that Molten Pool Shape is changed, takes 15 °, 30 °, 45 ° to carry out welding examination β value respectively
It tests, the operations such as butt-welding fitting is cut, polished, polished, corroded put and take pictures under the microscope as shown in Figures 5 to 7.Gained
As a result meet the Molten Pool Shape changing rule of simulation gained.
Step (2) combines asymmetry angle root joint penetration to shape finite element modelling rule, derives finite size angle root bead seam
Workpiece temperature field desorptiion model, and carry out soldering test Optimized model, improve precision.
It is obtained on finite size workpiece in infinitely great body temperature field equation by heat point source and is
But the Green's function G of finite size workpiecefinSolve it is extremely difficult, therefore according to energy conservation principle by heat source etc.
Effect, models for temperature field is expressed as at this time
The Gauss heat source suitable for asymmetry angle weld seam is selected to push over its equivalent heat source under finite size workpiece conditions
For
By (3) formula bring into (2) further push over it is available under a length of L, width are B and thickness is D fixed coordinate system
The equivalent temperature field of finite size workpiece
Wherein
Asymmetry angle weld seam bulk temperature field is obtained thus according to Fig. 8 and principle of stacking
T (x, y, z, t)=T1(x,y,z,t)+T2(x,y,z,t)-T0 (9)
Step (3) acquires front crater image using camera, obtains the location information of molten bath boundary melting temperature.
In welding background current phase acquisition crater image, filtered, image enhancement, image segmentation processing extraction are more clear
Clear melt tank edge.Melt tank edge has a common boundary for solid-liquid, and the temperature of the position is believed that metal material melting temperature.Such as Figure 11 institutes
Show, the position coordinates P of molten bath Geometry edge profile and tungsten electrode in crater image is obtained by image procossing4, also can get
Left and right sides limit extreme coordinates P2,P3And front end limit extreme coordinates P1。
Step (4) recognizes analytic modell analytical model Heat-Source Parameters using temperature profile point coordinates, molten using revised model solution
Point maximum temperature coordinate realizes being solved in line computation for depth of penetration.
In order to complete the on-line identification of two Gauss heat source distributed constant σ of side plate and bevel bottom plate, least square is utilized
Method defines as follows about melting temperature objective optimization function E：
In formula：Ti *For the measuring temperature of melt tank edge characteristic point, corresponding melting temperature；TiFor the calculated value of temperature measuring point；M is
Temperature measuring point number.
When object function E is minimum to get being distributed the optimal value of identified parameters σ to Gauss heat source.
Step (5) is automatic to change angle of welding gun and heat input parameter (voltage, electric current) under feedback regulation, and it is non-right to realize
Claim the real-time control of fillet weld seam.
The whole asymmetry angle joint penetration control system based on energy distribution and heat input control is as shown in Figure 8.It is welding
Camera acquires crater image in real time in termination process, and reasonable model is shifted out when the welding gun position in molten bath or molten bath center line relatively
When enclosing, automatic welding device adjustment angle of welding gun is fed back to, so that it is restored normal Molten Pool Shape, heat input parameter brings temperature into
It spends field desorptiion model line solver depth of penetration not up to or is much larger than target depth, that is, full penetration is not implemented or leakage may be welded
When, the parameters such as automatic welding device adjustment welding current are fed back to, realize the full penetration of asymmetry angle weld seam.
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 construed as limiting the practical range of the present 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 (6)
1. the control method of a kind of asymmetry angle joint penetration form and fusion penetration, it is characterised in that：Include the following steps：
Step (1) asymmetric fillet weld seam, by testing angle of welding gun different with the acquisition of the method for finite element modelling to molten bath
In the affecting laws of the form of commissure, the angle of welding gun range of suitable weld seam full penetration is determined, by changing within the scope of this
Become angle of welding gun and controls Molten Pool Shape；
Step (2) combines asymmetry angle root joint penetration to shape finite element modelling rule, derives finite size angle root bead tailor's part
Temperature field analytic modell analytical model, and carry out soldering test Optimized model, improve precision；
Asymmetry angle weld seam bulk temperature field formula is：
T (x, y, z, t)=T1(x,y,z,t)+T2(x,y,z,t)-T0
In formula：T1(x, y, z, t) is riser temperature field, T2(x, y, z, t) is baseplate temp field, T0For workpiece initial temperature；
Step (3) acquires front crater image using camera, obtains the location information of molten bath boundary melting temperature；
Step (4) utilizes temperature Coordinate identification analytic modell analytical model Heat-Source Parameters, utilizes revised model solution melting temperature maximum
Coordinate realizes being solved in line computation for depth of penetration；
Step (5) is automatic to change angle of welding gun and heat input parameter under feedback regulation, realizes the reality of asymmetric fillet weld seam
When control.
2. the control method of asymmetry angle joint penetration form according to claim 1 and fusion penetration, it is characterised in that：In step
Suddenly welding gun and the angle of slab side choose 15 °~45 ° progress soldering tests in (1), and butt-welding fitting is cut, polished, polished
And etching operation, it puts and takes pictures under the microscope, the result of gained and the Molten Pool Shape changing rule of simulation gained are compared.
3. the control method of asymmetry angle joint penetration form according to claim 1 and fusion penetration, it is characterised in that：Step
(3) in, on welding background current phase acquisition crater image, filtered, image enhancement, image segmentation processing extraction molten bath side
Edge, melt tank edge have a common boundary for solid-liquid, and the temperature of the position is believed that metal material melting temperature, molten bath is obtained by image procossing
The position coordinates of Geometry edge profile and tungsten electrode in crater image obtain left and right sides limit extreme coordinates and front end pole
Limit extreme coordinates.
4. the control method of asymmetry angle joint penetration form according to claim 1 and fusion penetration, it is characterised in that：In step
Suddenly in (4), in order to complete the on-line identification of two Gauss heat source distributed constant σ of side plate and bevel bottom plate, least square is utilized
Method defines as follows about melting temperature objective optimization function E：
In formula：Ti *For the measuring temperature of melt tank edge characteristic point, corresponding melting temperature；TiFor the calculated value of temperature measuring point；M is thermometric
Point number, when object function E is minimum to get being distributed the optimal value of identified parameters σ to Gauss heat source.
5. the control method of asymmetry angle joint penetration form according to claim 1 and fusion penetration, it is characterised in that：We
The soldering test condition that method uses for：It uses silk filling TIG welding methods and supply frequency is 2Hz, test material Q235, weldering
It is 3mm/s, protective gas Ar to connect speed；Non- bevel board size 170mm × 50mm × 6mm, bevel board size 170mm ×
50mm × 6mm, 60 ° of grooves, 2mm root faces；Angle of welding gun β is set to the practical angle of welding gun and slab side, to 15 ° -45 ° of β
Value is tested.
6. the control method of asymmetry angle joint penetration form according to claim 1 and fusion penetration, it is characterised in that：We
Method use visual sensing system include：CCD camera, image pick-up card and centre wavelength are the spike filter of 650mm, are adopted
The image collected is transmitted directly to computer through power injector, by the image collected matlab processing.
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