CN110744171B - Automatic welding equipment and method for externally applied magnetic field - Google Patents
Automatic welding equipment and method for externally applied magnetic field Download PDFInfo
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- CN110744171B CN110744171B CN201911190577.2A CN201911190577A CN110744171B CN 110744171 B CN110744171 B CN 110744171B CN 201911190577 A CN201911190577 A CN 201911190577A CN 110744171 B CN110744171 B CN 110744171B
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- 238000003466 welding Methods 0.000 title claims abstract description 83
- 238000000034 method Methods 0.000 title claims abstract description 13
- 230000007246 mechanism Effects 0.000 claims abstract description 95
- 230000006698 induction Effects 0.000 claims description 16
- 238000005096 rolling process Methods 0.000 claims description 10
- 230000005540 biological transmission Effects 0.000 claims description 9
- 230000035699 permeability Effects 0.000 claims description 3
- 230000015572 biosynthetic process Effects 0.000 abstract description 2
- 238000010891 electric arc Methods 0.000 abstract 1
- 230000006872 improvement Effects 0.000 description 9
- 230000000694 effects Effects 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000003756 stirring Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000002425 crystallisation Methods 0.000 description 1
- 230000008025 crystallization Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 150000002500 ions Chemical class 0.000 description 1
- 229910001338 liquidmetal Inorganic materials 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 239000002245 particle Substances 0.000 description 1
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
- B23K9/08—Arrangements or circuits for magnetic control of the arc
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- Engineering & Computer Science (AREA)
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- Plasma & Fusion (AREA)
- Mechanical Engineering (AREA)
- Arc Welding Control (AREA)
Abstract
The invention discloses an automatic welding device and a method for an externally applied magnetic field, wherein the automatic welding device comprises: the welding gun unit comprises a welding gun and a first driving piece which are connected, and the first driving piece is connected with a first end of the first position adjusting mechanism; the coil unit comprises a magnetic coil and a second driving piece which are connected, the second driving piece is connected with the second end of the first position adjusting mechanism, and the driving direction is parallel to the driving direction of the first driving piece; the second position adjusting mechanism is connected with the first position adjusting mechanism, and the adjusting direction of the second position adjusting mechanism is vertical to the first position adjusting mechanism; the third position adjusting mechanism is connected with the second position adjusting mechanism, and the adjusting direction of the third position adjusting mechanism is parallel to the first position adjusting mechanism and perpendicular to the second position adjusting mechanism. The invention improves the weld formation and the welding quality by controlling the electric arc through the magnetic field.
Description
Technical Field
The invention belongs to the technical field of welding equipment, and particularly relates to automatic welding equipment and method for an externally-applied magnetic field.
Background
The traditional thick plate welding needs to be provided with a large groove, so that the cost is high, and the welding seam with the large groove is easy to form stress concentration, so that the defects of cracks, air holes and the like are caused, and the welding quality is seriously influenced. In recent years, magnetic control welding derived from the connection of a magnetic field and a welding technology is paid attention to because the magnetic control welding technology can improve the mechanical property of a welding joint, the magnetic control welding technology introduces the magnetic field in welding, grains can be refined due to the stirring effect of the magnetic field, the mechanical property of the welding joint is improved, and the control of the magnetic field to arc swing can reasonably distribute welding heat input on the side wall and the bottom, so that a welding seam with good forming is obtained.
Disclosure of Invention
In order to solve the problems of overlarge groove and poor welding quality caused by overlarge welding material consumption in the traditional thick plate welding, the invention provides automatic welding equipment and method for an externally-applied magnetic field.
The technical aim is achieved, and the technical effects are achieved by the following technical scheme:
in a first aspect, the present invention provides an automated welding apparatus for externally applied magnetic fields, comprising:
A first position adjustment mechanism;
the welding gun unit comprises a welding gun and a first driving piece which are connected, and the first driving piece is connected with the first end of the first position adjusting mechanism;
The coil unit comprises a magnetic coil and a second driving piece which are connected, the second driving piece is connected with a second end which is arranged opposite to the first end on the first position adjusting mechanism, and the driving direction of the second driving piece is parallel to the driving direction of the first driving piece; the first position adjusting mechanism is used for adjusting the relative distance between the coil unit and the welding gun unit;
The second position adjusting mechanism is connected with the first position adjusting mechanism, and the adjusting direction of the second position adjusting mechanism is perpendicular to the first position adjusting mechanism;
The third position adjusting mechanism is connected with the second position adjusting mechanism; the adjusting direction is parallel to the first position adjusting mechanism and is perpendicular to the second position adjusting mechanism.
As a further improvement of the invention, the first position adjusting mechanism comprises a bottom plate, and a cam, a third driving piece, a first auxiliary piece and a second auxiliary piece which are arranged on the bottom plate; the third driving piece is connected with the cam, and the driving direction of the third driving piece is parallel to the driving directions of the first driving piece and the second driving piece;
One end of the first auxiliary piece and one end of the second auxiliary piece are respectively connected with two opposite sides of the cam, and the other end of the first auxiliary piece and the other end of the second auxiliary piece are respectively connected with the first driving piece and the second driving piece; when the cam is driven to move by the third driving piece, the first auxiliary piece and the second auxiliary piece move towards each other.
As a further improvement of the invention, the first auxiliary piece and the second auxiliary piece are identical in structure and comprise wheels, elastic rods and guide blocks;
the wheel is contacted with the side wall of the cam;
The guide block is arranged on the bottom plate;
One end of the elastic rod is connected with the guide block, and the other end of the elastic rod penetrates through the guide block and then is connected with the corresponding first driving piece or second driving piece;
When the cam is driven by the third driving member, the wheels in the first auxiliary member and the second auxiliary member move along the cam surface, so that the first driving member and the second driving member move in opposite directions.
As a further improvement of the invention, the first driving member and the second driving member are each air cylinders.
As a further improvement of the present invention, the adjustment direction of the second position adjustment mechanism is a horizontal direction, and the adjustment directions of the first position adjustment mechanism and the third position adjustment mechanism are vertical directions.
As a further improvement of the invention, the automatic welding equipment of the externally applied magnetic field further comprises a chassis and a driving device, wherein the first position adjusting mechanism is arranged on the chassis; the driving device comprises a power assembly, a rolling assembly and a force transmission assembly, and the power assembly is positioned on the chassis; the rolling assembly is rotatably connected with the chassis and is connected with the power assembly through the force transmission assembly, and the automatic welding equipment for driving the externally applied magnetic field is driven to move to a designated position.
As a further improvement of the invention, the power assembly comprises a first motor; the rolling assembly comprises four wheels, a first rotating shaft and a second rotating shaft, and the wheels are respectively and rotatably arranged at the bottom of the chassis; the two ends of the first rotating shaft and the second rotating shaft are respectively connected with corresponding wheels and are rotatably arranged at the bottom of the chassis; the force transmission assembly comprises a first gear, a second gear and a first belt, wherein the first gear is connected with an output shaft of the first motor, the second gear is connected with the first rotating shaft, and the first belt is connected with the first gear and the second gear.
In a second aspect, the present invention provides a welding method of an automatic welding apparatus based on the externally applied magnetic field of any one of the first aspects, characterized in that:
based on a calculation formula of total magnetic induction intensity at the welding seam, calculating position relation parameters of the welding seam position and the magnetic coil in the coil unit:
Based on the position relation parameters, the positions of the welding gun unit and the coil unit are adjusted by using the first position adjusting mechanism, the second position adjusting mechanism and the second position adjusting mechanism, so that the positions of the coil unit and the welding seam position are matched with the position relation parameters.
As a further improvement of the present invention, the calculation formula of the total magnetic induction intensity is:
Wherein, B r is radial magnetic induction intensity of any point in the space of the limited-length electromagnetic coil, B c is tangential magnetic induction intensity, and B z is axial magnetic induction intensity; Δh 1＝L-h,Δh2＝L-h;μ0 is the spatial permeability; i is the energizing current in the magnetic coil; r is the magnetic coil radius; r is the distance from the center of the magnetic coil section to the weld joint; l is the length of the magnetic coil, and h is the distance of the projection of the weld position in the length direction of the magnetic coil to the center of the length of the magnetic coil.
As a further improvement of the present invention, the step of adjusting the positions of the welding gun unit and the coil unit using the first position adjustment mechanism, the second position adjustment mechanism, and the second position adjustment mechanism based on the position parameter further includes, before:
and conveying the first position adjusting mechanism, the second position adjusting mechanism and the second position adjusting mechanism to a specified position by using a driving device, so that the welding part is positioned between the welding gun unit and the coil unit.
The invention has the beneficial effects that:
in the welding process, arc swinging is controlled by adjusting the magnetic induction intensity (in the welding arc, a large amount of charged particles are concentrated in an arc column brightness zone, the charged ions can receive Lorentz force in a magnetic field, and the swinging of the arc can be controlled by controlling the size and the direction of an external magnetic field), so that electromagnetic stirring effect is generated by the interaction of the alternating current magnetic field, the arc and a molten pool, the crystallization and heat transfer process of the molten pool liquid metal is changed, grains are thinned, and the mechanical property of the welding seam is improved.
The invention applies an alternating magnetic field on the basis of traditional arc welding, improves the weld formation and the welding quality by controlling the arc through the magnetic field, reasonably sets the magnetic field parameters, can be applied to the field of narrow-gap welding, and has strong application prospect.
Drawings
FIG. 1 is a schematic diagram of the overall structure of an automatic welding apparatus with externally applied magnetic fields according to an embodiment of the present invention;
FIG. 2 is a schematic view of a first position adjustment mechanism according to an embodiment of the present invention;
FIG. 3 is a schematic view of a third position adjustment mechanism according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of a driving device according to an embodiment of the present invention;
Wherein:
1-a first position adjustment mechanism; 101-a bottom plate; 102-cam, 103-third drive; 104-wheels; 105-an elastic rod; 106-a guide block; 2-a second position adjustment mechanism; 3-a third position adjustment mechanism; 4-a welding gun unit; 401-welding gun; 402-a first driver; a 5-coil unit; 501-magnetic coil; 502-a second driver; 6, a chassis; 7-a driving device; 701-a power assembly; 702-rolling assembly, 8-control box.
Detailed Description
The present invention will be described in further detail with reference to the following examples in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
The principle of application of the invention is described in detail below with reference to the accompanying drawings.
Example 1
The embodiment of the invention provides automatic welding equipment for an externally applied magnetic field, which comprises the following components:
A first position adjustment mechanism 1;
A welding gun unit 4, comprising a welding gun 401 and a first driving piece 402 which are connected, wherein the first driving piece 402 is connected with a first end of the first position adjusting mechanism 1;
A coil unit 5, including a magnetic coil 501 and a second driving member 502 connected to each other, where the second driving member 502 is connected to a second end of the first position adjusting mechanism 1 opposite to the first end, and a driving direction of the second driving member 502 is parallel to a driving direction of the first driving member 402; the first position adjusting mechanism 1 is used for adjusting the relative distance between the coil unit 5 and the welding gun unit 4;
A second position adjusting mechanism 2 connected to the first position adjusting mechanism 1, and having an adjusting direction perpendicular to the first position adjusting mechanism 1;
A third position adjustment mechanism 3 connected to the second position adjustment mechanism 2; the adjusting direction is parallel to the first position adjusting mechanism 1 and is perpendicular to the second position adjusting mechanism 2;
the control box 8, be equipped with the controller in the control box 8, the output of controller respectively with first position adjustment mechanism, second position adjustment mechanism, third position adjustment mechanism, welder unit and coil unit link to each other, control the operating condition of each electrical component.
In one embodiment of the present invention, the first position adjusting mechanism 1 includes a base plate 101, and a cam 102, a third driving member 103, a first auxiliary member, and a second auxiliary member provided on the base plate 101; the third driving member 103 is connected to the cam 102, and its driving direction is parallel to the driving directions of the first driving member 402 and the second driving member 502;
one end of the first auxiliary element and one end of the second auxiliary element are respectively connected with two opposite sides of the cam 102, and the other end of the first auxiliary element and the other end of the second auxiliary element are respectively connected with the first driving element 402 and the second driving element 502; when the cam 102 is driven to move by the third driving member 103, the first auxiliary member and the second auxiliary member move towards each other, and in particular, the third driving member 3 may be driven by a screw.
Specifically, the first auxiliary member and the second auxiliary member have the same structure and each comprise a wheel 104, an elastic rod 105 and a guide block 106;
the wheels 104 are in contact with the side walls of the cam 102;
the guide block 106 is arranged on the bottom plate 101;
one end of the elastic rod 105 is connected with the wheel 104, and the other end penetrates through the guide block 106 and then is connected with the corresponding first driving piece 402 or second driving piece 502;
when the cam 102 is driven by the third driving member 103, the wheels 104 of the first and second auxiliary members move along the surface of the cam 102, so that the first and second driving members 402 and 502 move toward each other.
In a specific implementation manner of the embodiment of the present invention, the first driving member 402 and the second driving member 502 are both cylinders, and are used for driving the corresponding welding gun 401 or the magnetic coil 501 to perform a linear motion.
In a specific implementation process, the adjusting direction of the second position adjusting mechanism 2 may be set to be a horizontal direction, and the adjusting direction of the third position adjusting mechanism 3 may be set to be a vertical direction.
Example 2
Based on example 1, the difference between the present invention and example 1 is:
the automatic welding equipment of the externally applied magnetic field further comprises a chassis 6 and a driving device 7, wherein the driving device 7 comprises a power assembly 701, a rolling assembly 702 and a force transmission assembly (not shown in the figure), and the power assembly 701 is connected with the chassis 6; the rolling assembly 702 is rotatably connected with the chassis 6 and is connected with the power assembly 701 through a force transmission assembly, so that the automatic welding equipment with an externally applied magnetic field is driven to move to a designated position.
In one embodiment of the present invention, the power assembly 701 includes a first motor; the rolling assembly 702 comprises four wheels, a first rotating shaft and a second rotating shaft, and each wheel is rotatably arranged at the bottom of the chassis 6; the two ends of the first rotating shaft and the second rotating shaft are respectively connected with corresponding wheels and are rotatably arranged at the bottom of the chassis 6; the force transmission assembly comprises a first gear, a second gear and a first belt, wherein the first gear is connected with an output shaft of the first motor, the second gear is connected with the first rotating shaft, and the first belt is connected with the first gear and the second gear.
Example 3
The invention provides a welding method of an automatic welding device based on an externally applied magnetic field in any one of the embodiments 1 or 2, comprising the following steps:
(1) Based on a calculation formula of the total magnetic induction intensity at the weld joint, the positional relationship parameter between the weld joint position and the magnetic coil 501 in the coil unit 5 is calculated:
(2) Based on the positional relationship parameters, the positions of the welding gun unit 4 and the coil unit 5 are adjusted by using the first position adjusting mechanism 1, the second position adjusting mechanism 2 and the second position adjusting mechanism 2, so that the positions of the coil unit 5 and the welding seam position are matched with the positional relationship parameters.
As a further improvement of the present invention, the calculation formula of the total magnetic induction intensity is:
Wherein, B r is radial magnetic induction intensity of any point in space of the limited-length electromagnetic coil 501, B c is tangential magnetic induction intensity, and B z is axial magnetic induction intensity; Δh 1＝L-h,Δh2＝L-h;μ0 is the spatial permeability; i is the energizing current in the magnetic coil 501; r is the magnetic coil 501 radius; r is the distance from the center of the cross section of the magnetic coil 501 to the weld joint; l is the length of the magnetic coil 501 and h is the distance of the projection of the weld position in the length direction of the magnetic coil 501 to the center of the length of the magnetic coil 501.
Further, the step of adjusting the positions of the welding gun unit 4 and the coil unit 5 by using the first position adjusting mechanism 1, the second position adjusting mechanism 2 and the second position adjusting mechanism 2 based on the position parameters further includes:
the first position adjustment mechanism 1, the second position adjustment mechanism 2, and the second position adjustment mechanism 2 are transported to a specified position by a driving device 7 so that a welding member is located between the welding gun unit 4 and the coil unit 5.
The foregoing has shown and described the basic principles and main features of the present invention and the advantages of the present invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and that the above embodiments and descriptions are merely illustrative of the principles of the present invention, and various changes and modifications may be made without departing from the spirit and scope of the invention, which is defined in the appended claims. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (7)
1. An automatic welding apparatus for externally applied magnetic fields, comprising:
A first position adjustment mechanism;
the welding gun unit comprises a welding gun and a first driving piece which are connected, and the first driving piece is connected with the first end of the first position adjusting mechanism;
The coil unit comprises a magnetic coil and a second driving piece which are connected, the second driving piece is connected with a second end which is arranged opposite to the first end on the first position adjusting mechanism, and the driving direction of the second driving piece is parallel to the driving direction of the first driving piece; the first position adjusting mechanism is used for adjusting the relative distance between the coil unit and the welding gun unit;
The second position adjusting mechanism is connected with the first position adjusting mechanism, and the adjusting direction of the second position adjusting mechanism is perpendicular to the first position adjusting mechanism;
the third position adjusting mechanism is connected with the second position adjusting mechanism, and the adjusting direction of the third position adjusting mechanism is parallel to the first position adjusting mechanism and is perpendicular to the second position adjusting mechanism;
The first position adjusting mechanism comprises a bottom plate, a cam, a third driving piece, a first auxiliary piece and a second auxiliary piece, wherein the cam, the third driving piece, the first auxiliary piece and the second auxiliary piece are arranged on the bottom plate; the third driving piece is connected with the cam, and the driving direction of the third driving piece is parallel to the driving directions of the first driving piece and the second driving piece;
One end of the first auxiliary piece and one end of the second auxiliary piece are respectively connected with two opposite sides of the cam, and the other end of the first auxiliary piece and the other end of the second auxiliary piece are respectively connected with the first driving piece and the second driving piece; when the cam is driven to move by the third driving piece, the first auxiliary piece and the second auxiliary piece move in opposite directions;
the first auxiliary piece and the second auxiliary piece have the same structure and comprise wheels, elastic rods and guide blocks;
the wheel is contacted with the side wall of the cam;
The guide block is arranged on the bottom plate;
One end of the elastic rod is connected with the wheel, and the other end of the elastic rod penetrates through the guide block and then is connected with the corresponding first driving piece or second driving piece;
When the cam is driven to move by the third driving piece, the wheels in the first auxiliary piece and the second auxiliary piece move along the cam surface, so that the first driving piece and the second driving piece do opposite movement;
The automatic welding equipment of the externally applied magnetic field further comprises a chassis and a driving device, and the first position adjusting mechanism is arranged on the chassis; the driving device comprises a power assembly, a rolling assembly and a force transmission assembly, and the power assembly is positioned on the chassis; the rolling assembly is rotatably connected with the chassis and is connected with the power assembly through the force transmission assembly, and the automatic welding equipment for driving the externally applied magnetic field is driven to move to a designated position.
2. An externally applied magnetic field automatic welding apparatus according to claim 1, wherein: the first driving piece and the second driving piece are both air cylinders.
3. An externally applied magnetic field automatic welding apparatus according to claim 1, wherein: the adjusting direction of the second position adjusting mechanism is a horizontal direction, and the adjusting directions of the first position adjusting mechanism and the third position adjusting mechanism are vertical directions.
4. An externally applied magnetic field automatic welding apparatus according to claim 1, wherein: the power assembly includes a first motor; the rolling assembly comprises four wheels, a first rotating shaft and a second rotating shaft, and the wheels are respectively and rotatably arranged at the bottom of the chassis; the two ends of the first rotating shaft and the second rotating shaft are respectively connected with corresponding wheels and are rotatably arranged at the bottom of the chassis; the force transmission assembly comprises a first gear, a second gear and a first belt, wherein the first gear is connected with an output shaft of the first motor, the second gear is connected with the first rotating shaft, and the first belt is connected with the first gear and the second gear.
5. A welding method of an automatic welding equipment based on an externally applied magnetic field according to any one of claims 1-4, characterized in that:
based on a calculation formula of total magnetic induction intensity at the welding seam, calculating position relation parameters of the welding seam position and the magnetic coil in the coil unit:
Based on the position relation parameters, the positions of the welding gun unit and the coil unit are adjusted by using the first position adjusting mechanism, the second position adjusting mechanism and the third position adjusting mechanism, so that the positions of the coil unit and the welding seam position are matched with the position relation parameters.
6. The method for automatically welding an externally applied magnetic field according to claim 5, wherein: the calculation formula of the total magnetic induction intensity is as follows:
Wherein, B r is radial magnetic induction intensity of any point in the space of the limited-length electromagnetic coil, B c is tangential magnetic induction intensity, and B z is axial magnetic induction intensity; Δh 1＝L-h,△h2＝L-h;μ0 is the spatial permeability; i is the energizing current in the magnetic coil; r is the magnetic coil radius; r is the distance from the center of the magnetic coil section to the weld joint; l is the length of the magnetic coil, and h is the distance of the projection of the weld position in the length direction of the magnetic coil to the center of the length of the magnetic coil.
7. The method for automatically welding an externally applied magnetic field according to claim 5, wherein: based on the positional relationship parameter, the step of adjusting the positions of the welding gun unit and the coil unit by using the first position adjusting mechanism, the second position adjusting mechanism and the third position adjusting mechanism further includes:
And conveying the first position adjusting mechanism, the second position adjusting mechanism and the third position adjusting mechanism to a specified position by using a driving device, so that the welding part is positioned between the welding gun unit and the coil unit.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201911190577.2A CN110744171B (en) | 2019-11-28 | 2019-11-28 | Automatic welding equipment and method for externally applied magnetic field |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201911190577.2A CN110744171B (en) | 2019-11-28 | 2019-11-28 | Automatic welding equipment and method for externally applied magnetic field |
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| CN110744171A CN110744171A (en) | 2020-02-04 |
| CN110744171B true CN110744171B (en) | 2024-05-14 |
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| CN2499166Y (en) * | 2001-10-17 | 2002-07-10 | 上海富士工器有限公司 | Mechanical curve welding seam tracing device |
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| CN104668847A (en) * | 2015-02-13 | 2015-06-03 | 杭州焊林科技有限公司 | Welding equipment |
| KR20180089278A (en) * | 2017-01-30 | 2018-08-08 | 가부시키가이샤 고베 세이코쇼 | Arc welding device, arc welding method, and magnetism control device for arc welding |
| CN108856973A (en) * | 2018-06-14 | 2018-11-23 | 温州大学 | A kind of arc welding system of adjustable externally-applied magnetic field |
| CN211072170U (en) * | 2019-11-28 | 2020-07-24 | 湖北文理学院 | Automatic welding equipment with external magnetic field |
-
2019
- 2019-11-28 CN CN201911190577.2A patent/CN110744171B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2499166Y (en) * | 2001-10-17 | 2002-07-10 | 上海富士工器有限公司 | Mechanical curve welding seam tracing device |
| CN101474733A (en) * | 2009-01-16 | 2009-07-08 | 山东科技大学 | Method for welding shipping container top reinforcing plate and welding robot |
| CN104668847A (en) * | 2015-02-13 | 2015-06-03 | 杭州焊林科技有限公司 | Welding equipment |
| KR20180089278A (en) * | 2017-01-30 | 2018-08-08 | 가부시키가이샤 고베 세이코쇼 | Arc welding device, arc welding method, and magnetism control device for arc welding |
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