CN112756752A - Self-adaptive adjustable double-wire consumable electrode arc welding device and method - Google Patents

Self-adaptive adjustable double-wire consumable electrode arc welding device and method Download PDF

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CN112756752A
CN112756752A CN202011557022.XA CN202011557022A CN112756752A CN 112756752 A CN112756752 A CN 112756752A CN 202011557022 A CN202011557022 A CN 202011557022A CN 112756752 A CN112756752 A CN 112756752A
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welding
welding torch
groove
control system
welding gun
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CN112756752B (en
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杨东青
熊涵英
廖文健
彭勇
黄勇
王克鸿
王磊
王小伟
郑仁宗
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Nanjing University of Science and Technology
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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
    • 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
    • B23K9/235—Preliminary treatment
    • 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
    • B23K9/24—Features related to electrodes
    • B23K9/28—Supporting devices for electrodes
    • B23K9/287—Supporting devices for electrode holders
    • 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
    • B23K9/32—Accessories

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Abstract

本发明公开一种可自适应调节的双丝熔化极电弧焊接装置及方法。包括两把熔化极焊枪，行走机构，两个焊枪连接架，信息采集系统和控制系统；行走机构上设有Z向导轨，焊枪连接架对称设置在行走机构的两侧，且沿行走机构的Z向导轨上下移动；每个焊枪连接架均设置有一把熔化极焊枪，熔化极焊枪在两个焊枪所在的平面上绕焊枪连接架可转动；信息采集系统和控制系统连接，将采集的焊枪和焊缝的信息传递给控制系统。本发明可实现焊接过程的自动调节；形成的熔池熔深更大，同时双丝采用小电流，减小热输入，所获焊缝熔深不比单丝大电流焊接小，并且飞溅率较单丝更小。

Figure 202011557022

The invention discloses a self-adaptive adjustable double-wire melting electrode arc welding device and method. Including two melting electrode welding guns, traveling mechanism, two welding gun connecting frames, information acquisition system and control system; Z-direction guide rails are arranged on the traveling mechanism, and the welding gun connecting frames are symmetrically arranged on both sides of the traveling mechanism, and along the Z direction of the traveling mechanism Move up and down the guide rail; each welding gun connection frame is provided with a melting electrode welding gun, and the melting electrode welding gun can rotate around the welding gun connecting frame on the plane where the two welding guns are located; the information acquisition system is connected with the control system, and the collected welding gun and welding gun The information of the seam is passed to the control system. The invention can realize the automatic adjustment of the welding process; the formed molten pool has a larger penetration depth, and at the same time, the double wire adopts a small current to reduce the heat input, the obtained welding seam penetration is not smaller than that of the single wire high current welding, and the spatter rate is higher than that of the single wire. The wire is smaller.

Figure 202011557022

Description

Self-adaptive adjustable double-wire consumable electrode arc welding device and method
Technical Field
The invention belongs to the field of welding, and particularly relates to a self-adaptive adjustable double-wire consumable electrode arc welding device and method.
Background
High nitrogen steel is more and more widely concerned due to the unique advantages of high strength, good toughness, no magnetism, good corrosion resistance, low sensitivity to intergranular corrosion and the like, and is more connected by adopting a welding method in engineering application. Austenitic stainless steel with nitrogen content over 0.4% is generally called high nitrogen steel, but nitrogen as a strong austenite stabilizing element has different solubility in liquid and solid metals, which causes nitrogen in a molten pool and a high nitrogen steel welding wire to easily overflow during welding, so that molten drop transition is unstable, and defects such as air holes are formed.
When the single-wire consumable electrode arc welding process is adopted to weld high-nitrogen steel, in order to obtain larger penetration depth and good weld joint forming, large-current welding is generally adopted, and when a groove thick plate is welded, the accessibility of a welding wire is better, but larger heat input causes larger splashing, and the cladding rate of the welding wire is lower. When the twin-wire consumable electrode arc welding process is adopted to weld high-nitrogen steel, although the welding efficiency is higher, the size of a molten pool is larger, and the twin-wire welding parameters of a welding gun can be independently adjusted, small-current welding can be adopted, the penetration is not less than that of a single wire when the large current is obtained, and the welding spatter is also smaller. However, for the welding of a thick plate with a groove, when the last welding seam is welded, the welding bead gap may be smaller than the distance between the double wires, the deflection angle of the welding wire needs to be manually adjusted, the operation is complex, and the production efficiency is reduced to a certain extent. Meanwhile, due to the overlapping problem, the welding wire on one side is positioned on the welding seam on the previous welding seam, so that the electric arc voltage is reduced, the weld fusion width is reduced, a double-wire co-melting pool is not facilitated, and certain influence is caused on the forming quality of the welding seam.
Disclosure of Invention
The invention aims to provide a self-adaptive adjustable twin-wire consumable electrode arc welding device and a self-adaptive adjustable twin-wire consumable electrode arc welding method, namely, a twin-wire shunting mode is adopted, a larger molten pool and fusion depth are obtained by utilizing twin-wire welding, and meanwhile, the heat input can be effectively reduced by small current, and the splashing in the high-nitrogen steel welding process is reduced.
The technical solution for realizing the purpose of the invention is as follows: a self-adaptive adjustable double-wire consumable electrode arc welding device comprises two consumable electrode welding guns, a travelling mechanism, two welding gun connecting frames, an information acquisition system and a control system;
the welding gun connecting frames are symmetrically arranged on two sides of the traveling mechanism and move up and down along the Z-direction guide rails of the traveling mechanism;
each welding gun connecting frame is provided with a consumable electrode welding gun, and the consumable electrode welding guns can rotate around the welding gun connecting frames on the plane where the two welding guns are located, so that the distance between the outlets of the two consumable electrode welding guns can be adjusted;
the information acquisition system is connected with the control system and transmits the acquired information of the welding gun and the welding seam to the control system;
the control system is connected with the travelling mechanism, the welding gun connecting frame and the two consumable electrode welding guns and is used for controlling the travelling mechanism to travel, and the welding gun connecting frame moves up and down and the two consumable electrode welding guns rotate.
Furthermore, a gear is arranged in the middle of the welding gun connecting frame, and a rack matched with the gear is arranged on the Z-direction guide rail, so that the welding gun connecting frame can move up and down on the Z-direction guide rail of the traveling mechanism through the gear and the rack.
Furthermore, the consumable electrode welding gun is fixed on the welding gun connecting frame through a welding gun clamping mechanism, the welding gun clamping mechanism comprises a clamping part and a half gear part meshed with the welding gun connecting frame, a U-shaped opening is formed in the welding gun connecting frame, and a rack meshed with the half gear part is arranged at the bottom of the U-shaped opening;
the adjustment of the corner of the consumable electrode welding gun is realized through the meshing of the half gear part of the welding gun clamping mechanism and the rack of the welding gun connecting frame.
Furthermore, the information acquisition system is used for acquiring the distance between the grooves, the distance between the two consumable electrode welding guns, the angle of the consumable electrode welding guns and the height of the welding guns from the workpiece.
Furthermore, the information acquisition system comprises a laser vision sensor, two height sensors and two angle sensors;
the laser vision sensor is arranged on the symmetrical middle line of the two consumable electrode welding guns, is used for monitoring the relative positions of the welding guns and the welding bead in real time and transmitting the relative positions to the control system;
the height sensor is arranged at the lower side end of the welding gun connecting frame;
the angle sensor is mounted on the rotatable welding gun clamping mechanism.
Further, the laser vision sensor comprises a line structured laser and an analog camera;
the linear structure laser emits laser beams to irradiate the position of a welding seam on the surface of a welding workpiece to form a linear light spot, the analog camera images the position of the linear light spot, the imaged image is transmitted to a computer to be processed, data information of the welding seam is obtained and fed back to the control system, and the control system controls the travelling mechanism to move up and down and controls the welding gun clamping mechanism to rotate.
A method for welding by the device comprises the following steps:
step (1): pretreating a part to be welded of a high-nitrogen steel material;
step (2): welding the high-nitrogen steel material according to preset welding process parameters and a preset welding groove form;
and (3): scanning the surface of a plate in real time by adopting a laser vision sensor, irradiating laser beams emitted by a linear structure laser on the welding seam position on the surface of a welding workpiece to form a linear light spot, imaging the position of the linear light spot by utilizing a simulation camera, and imaging the imaged pictureThe image is transmitted to a computer for processing to obtain the groove interval L1A value;
and (4): the groove interval L1Distance L between welding gun and double wires2Performing a difference comparison if L1＜L2Then according to the formula theta ═ arcsin [ (L)2-L1)/2L3]L3 is the distance between a welding gun fixed point and the end of a welding gun, the value of a deflection angle theta is obtained, then an angle sensor monitors the deflection angle of the welding gun in real time, information is transmitted to a computer, the computer feeds back the information to a control system, and the control system controls a welding gun connecting frame gear to move, so that the welding gun rotates around the fixed point until the angle theta is reached;
and (5): the height of a welding gun from a base metal is adjusted, in the welding process, the height of the welding gun from a workpiece is possibly lower than a preset height due to overlapping, so that the actual welding voltage is lower than the preset voltage, the weld fusion width is reduced, and a double-wire common molten pool is not facilitated; when the actual height of the welding gun is lower than the preset height, the welding gun moves upwards, so that the actual welding voltage is stabilized within the preset welding voltage range; the height sensor feeds back the height information of the welding gun to the control system in real time, the control system controls the Z-direction guide rail inner gear to move, the welding gun reaches a preset height, and then the gears are meshed to fix the height of the welding gun;
and (6): after welding one welding seam, the position of the welding gun is restored to the original position, and the welding seam to be welded is cooled to a certain temperature to start the welding of the next welding seam until the groove is completely filled.
Further, the pretreatment in the step (1) comprises mechanical grinding and preheating of the welding groove;
the mechanical grinding of the groove is to clean oil stain, rust and water stain in the range of 20-30mm on the bevel face and the edge of the groove on both sides of the weldment by using an angle grinder to present metallic luster; the preheating is to heat the weldment to 150-200 ℃ before soldering.
Further, the welding process parameters in the step (2) are specifically as follows: welding current of 80-120A, welding voltage of 15-20V, welding speed of 3-6mm/s, wire feeding speed of 4-6m/min, and shielding gas of 93.5% Ar + 5% N2+1.5％O2The flow rate of the mixed gas is 15-20LMin; the groove forms mainly comprise a single V-shaped groove and a double V-shaped groove, wherein a plate with the plate thickness of less than 10mm adopts the single V-shaped groove, a plate with the plate thickness of more than 10mm adopts the double V-shaped groove, the groove angle is 45-60 degrees, the groove gap is 2-3mm, and the truncated edge is 1-1.5 mm.
Compared with the prior art, the invention has the remarkable advantages that:
according to the welding device and the welding method, the high-nitrogen steel material is welded through the double-wire consumable electrode arc welding device and the method, the welding seam information can be detected in the material increase process, the pose of the welding gun is adjusted, the accessibility of the welding gun is better, the manual adjustment process is eliminated, and the material increase efficiency is obviously improved; meanwhile, the method further reduces heat input in the welding process by adopting a double-wire small current welding mode by utilizing a double-wire shunting mode, effectively reduces splashing of high-nitrogen steel welding, improves the deposition rate in the welding process, and simultaneously ensures that gas in a welding seam has sufficient time to overflow when the high-nitrogen steel is welded by utilizing the large molten pool fusion depth formed by double-wire welding, thereby solving the problem of gas holes in the high-nitrogen steel welding to a certain extent; and the double-wire welding effectively avoids the incomplete penetration welding defect at the root of the welding line, improves the quality of the welding joint, and improves the welding efficiency by more than 50 percent compared with the single-wire welding.
Drawings
FIG. 1 is a schematic view of an arc welding apparatus according to the present invention.
FIG. 2 is a schematic view of a rotatable weld gun carriage of the present invention.
Fig. 3 is a schematic view of the welding gun rotating around a fixed point by an angle theta.
FIG. 4 is a single V-shaped groove form of a high-nitrogen steel plate with the thickness of less than 10 mm.
FIG. 5 is a double V-groove form of a high-nitrogen steel plate with the thickness of more than 10 mm.
Description of reference numerals:
the device comprises a walking mechanism, a 2-laser vision sensor, a 3-Z-direction guide rail, a 4-welding gun, a 5-welding gun connecting frame, a 6-line structure laser and a 7-analog camera.
Detailed Description
The present invention is described in further detail below with reference to the attached drawing figures.
As shown in fig. 1 to 5, an adaptive adjustable twin-wire consumable electrode arc welding apparatus for high nitrogen steel welding includes:
the welding gun comprises two consumable electrode welding guns 4 and a traveling mechanism 1 in the height direction, wherein a Z-direction guide rail 3 is arranged in the traveling mechanism 1, a welding gun connecting frame 5 is installed on the Z-direction guide rail 3, the welding guns 1 can be connected on the welding gun connecting frame 5 in a manner of rotating left and right in the horizontal plane and perpendicular to the welding direction, and a laser vision sensor, two height sensors and two angle sensors are respectively arranged at positions close to the welding guns 1.
The laser vision sensor is arranged on the symmetrical middle line of the two welding guns with the melting poles, the laser vision sensor is arranged at the position 300-350mm away from the bottom of the travelling mechanism 1, the relative position of the welding guns and the welding bead is monitored in real time, and the relative position is transmitted to a control system;
the height sensor is arranged at the lower side end of the welding gun connecting frame 5, and the double-wire consumable electrode welding is extremely sensitive to the distance from the welding gun to a workpiece, so that the height sensor is added in the height direction, the detection accuracy is ensured, and the welding quality is improved.
The laser vision sensor comprises a line-structured laser 6 and a simulation camera 7, wherein the line-structured laser 6 emits laser beams to irradiate the position of a weld joint on the surface of a welding workpiece to form a linear light spot, the simulation camera 7 images the position of the linear light spot and transmits the imaged image to a computer for processing, data information of the weld joint is obtained and fed back to a control system, and the control system controls the walking mechanism to move up and down and the connecting support to rotate.
The angle sensor is arranged on the rotatable welding gun connecting frame 5, and because the welding groove gap is smaller than the distance between the welding wires, the welding gun needs to adjust a certain angle, so that the angle sensor is additionally arranged on the welding connecting frame 5, and the detection accuracy and the safety are ensured.
An arc welding method of a double-wire consumable electrode capable of self-adaptively adjusting for high-nitrogen steel welding comprises the following specific steps:
step 1, preprocessing a part to be welded of a high-nitrogen steel material;
step 2, welding the high-nitrogen steel material according to preset welding process parameters and a preset welding groove form;
and 3, scanning the surface of the plate in real time by adopting a laser vision sensor. The linear structure laser 6 emits laser beams to irradiate the welding seam position on the surface of the welding workpiece to form linear light spots, the position of the linear light spots is imaged by the analog camera 7, the imaged image is transmitted to a computer for processing, and a groove spacing L1 value is obtained;
step 4, comparing the difference value between the groove distance L1 and the welding gun double-wire distance L2, if L1 is smaller than L2, obtaining the value of a deflection angle theta according to a formula theta which is arcsin [ (L2-L1)/2L3], wherein L3 is the distance between a welding gun fixed point and the end part of the welding gun, then monitoring the deflection angle of the welding gun in real time by an angle sensor, transmitting information to a computer, feeding the information back to a control system by the computer, and controlling the welding gun connecting frame gear to move by the control system so that the welding gun rotates around the fixed point until the angle theta is reached;
and 5, adjusting the height of the welding gun from the base metal. Height sensors are installed on the two welding guns, and in the welding process, due to the fact that the welding guns are overlapped, the distance between the welding guns and a workpiece is possibly lower than a preset height, the actual welding voltage is lower than a preset voltage, the weld fusion width is reduced, and double-wire co-melting pool is not facilitated. When the actual height of the welding gun is lower than the preset height, the welding gun moves upwards, so that the actual welding voltage is stabilized within the preset welding voltage range. The height sensor transmits the height information of the welding gun to the computer for processing in real time, the computer feeds the information back to the control system, the control system controls the Z-direction guide rail inner gear to move, the welding gun reaches a preset height, and then the gears are meshed to fix the height of the welding gun.
Step 6, after welding one welding seam, the position of the welding gun is restored to the original position, and the welding seam to be welded is cooled to a certain temperature to start the welding of the next welding seam until the groove is completely filled;
in the step (1), the pretreatment comprises mechanical grinding and preheating of the welding groove. The mechanical grinding of the groove is to clean up sundries such as oil stain, rust, water stain and the like in the range of 20-30mm on the bevel face at two sides of a weldment and the edge of the groove by using an angle grinder to present metallic luster; the preheating is to heat the weldment to 150-200 ℃ before welding;
in the step (2), the welding process parameters comprise welding current, welding voltage, welding speed, wire feeding speed, gas flow and the like, wherein the welding current is 80-120A, the welding voltage is 15-20V, the welding speed is 3-6mm/s, the wire feeding speed is 4-6m/min, the shielding gas adopts 93.5% Ar + 5% N2+ 1.5% O2 mixed gas, and the gas flow is 15-20L/min; the groove forms mainly comprise a single V-shaped groove and a double V-shaped groove, wherein a plate with the plate thickness of less than 10mm adopts the single V-shaped groove, a plate with the plate thickness of more than 10mm adopts the double V-shaped groove, the groove angle is 45-60 degrees, the groove gap is 2-3mm, and the truncated edge is 1-1.5 mm.

Claims (9)

1.一种可自适应调节的双丝熔化极电弧焊接装置，其特征在于，包括两把熔化极焊枪，行走机构，两个焊枪连接架，信息采集系统和控制系统；1. an adaptively adjustable twin-wire melting electrode arc welding device, is characterized in that, comprises two melting electrode welding guns, traveling mechanism, two welding gun connecting frames, information acquisition system and control system; 所述行走机构上设有Z向导轨，所述焊枪连接架对称设置在行走机构的两侧，且沿行走机构的Z向导轨上下移动；The traveling mechanism is provided with a Z-direction guide rail, and the welding torch connecting frame is symmetrically arranged on both sides of the traveling mechanism, and moves up and down along the Z-direction guide rail of the traveling mechanism; 每个焊枪连接架均设置有一把熔化极焊枪，熔化极焊枪在两个焊枪所在的平面上绕焊枪连接架可转动，从而使得两把熔化极焊枪的出口之间的距离可调；Each welding gun connecting frame is provided with a melting electrode welding gun, and the melting electrode welding gun can rotate around the welding gun connecting frame on the plane where the two welding guns are located, so that the distance between the outlets of the two melting electrode welding guns can be adjusted; 所述信息采集系统和控制系统连接，将采集的焊枪和焊缝的信息传递给控制系统；The information collection system is connected with the control system, and the collected information of the welding torch and the welding seam is transmitted to the control system; 所述控制系统和行走机构、焊枪连接架、两把熔化极焊枪连接，用于控制行走机构的行走，焊枪连接架上下移动以及两把熔化极焊枪的转动。The control system is connected with the traveling mechanism, the welding gun connecting frame and the two melting electrode welding guns, and is used to control the walking of the traveling mechanism, the up and down movement of the welding gun connecting frame and the rotation of the two melting electrode welding guns. 2.根据权利要求1所述的装置，其特征在于，所述焊枪连接架的中部设有齿轮，Z向导轨上设有与齿轮配合的齿条，使得焊枪连接架通过齿轮和齿条在行走机构的Z向导轨上上下移动。2. The device according to claim 1, characterized in that, a gear is provided in the middle of the welding torch connecting frame, and a rack that cooperates with the gear is arranged on the Z-direction guide rail, so that the welding torch connecting frame travels through the gear and the rack. The Z direction of the mechanism moves up and down on the guide rail. 3.根据权利要求2所述的装置，其特征在于，熔化极焊枪通过焊枪夹持机构固定在焊枪连接架上，焊枪夹持机构包括夹持部和与焊枪连接架啮合的半齿轮部，焊枪连接架上设有U型开口，U型开口的底部设有与半齿轮部啮合的齿条；3. The device according to claim 2, wherein the melting electrode welding torch is fixed on the welding torch connecting frame by the welding torch clamping mechanism, and the welding torch clamping mechanism comprises a clamping part and a half gear part engaged with the welding torch connecting frame, and the welding torch The connecting frame is provided with a U-shaped opening, and the bottom of the U-shaped opening is provided with a rack meshing with the half-gear part; 通过焊枪夹持机构的半齿轮部与焊枪连接架的齿条的啮合，实现熔化极焊枪转角的可调。Through the meshing of the half gear part of the welding torch clamping mechanism and the rack of the welding torch connecting frame, the adjustment of the rotation angle of the melting electrode welding torch is realized. 4.根据权利要求3所述的装置，其特征在于，所述信息采集系统用于采集坡口间距、两把熔化极焊枪的间距，熔化极焊枪的角度和焊枪距离工件的高度。4 . The device according to claim 3 , wherein the information collection system is used to collect the groove spacing, the spacing between two melting electrode welding guns, the angle of the melting electrode welding guns and the height of the welding guns from the workpiece. 5 . 5.根据权利要求4所述的装置，其特征在于，所述信息采集系统包括激光视觉传感器，两个高度传感器和两个角度传感器；5. The device according to claim 4, wherein the information collection system comprises a laser vision sensor, two height sensors and two angle sensors; 激光视觉传感器置于两熔化极焊枪对称中线上，用于实时监控焊枪与焊道的相对位置，并传输给控制系统；The laser vision sensor is placed on the symmetrical center line of the two-electrode welding torch, which is used to monitor the relative position of the welding torch and the welding bead in real time, and transmit it to the control system; 高度传感器安装在焊枪连接架的下侧端；The height sensor is installed on the lower end of the welding torch connection frame; 角度传感器安装在可转动的焊枪夹持机构上。The angle sensor is mounted on the rotatable torch clamping mechanism. 6.根据权利要求5所述的装置，其特征在于，所述激光视觉传感器包括线结构激光器和模拟相机；6. The device according to claim 5, wherein the laser vision sensor comprises a line structure laser and an analog camera; 线结构激光器发出激光束照射在焊接工件表面焊缝位置形成线性光斑，所述模拟相机对线性光斑所在位置进行成像，并将成像后的图像传输至计算机处理，得到焊缝的数据信息反馈给控制系统，由控制系统控制行走机构上下运动和焊枪夹持机构旋转运动。The line structure laser emits a laser beam to irradiate the position of the welding seam on the surface of the welding workpiece to form a linear light spot. The analog camera images the position of the linear light spot, and transmits the image after imaging to the computer for processing, and the data information of the welding seam is fed back to the control System, the control system controls the up and down movement of the walking mechanism and the rotational movement of the welding torch clamping mechanism. 7.一种利用权利要求6所述的装置进行焊接的方法，其特征在于，包括如下步骤：7. A method for welding utilizing the device of claim 6, characterized in that, comprising the steps of: 步骤(1)：对高氮钢材料待焊接部位进行预处理；Step (1): pretreating the part to be welded of the high nitrogen steel material; 步骤(2)：按照预设焊接工艺参数和预设焊接坡口形式对高氮钢材料进行焊接；Step (2): welding the high nitrogen steel material according to the preset welding process parameters and the preset welding groove form; 步骤(3)：采用激光视觉传感器实时扫描板材表面，线结构激光器发出激光束照射在焊接工件表面焊缝位置形成线性光斑，利用模拟相机对线性光斑所在位置进行成像，并将成像后的图像传输至计算机处理，得到坡口间距L1值；Step (3): use a laser vision sensor to scan the surface of the plate in real time, the line structure laser emits a laser beam to irradiate the position of the weld on the surface of the welding workpiece to form a linear spot, and use an analog camera to image the position of the linear spot, and transmit the image after imaging To computer processing, get groove spacing L 1 value; 步骤(4)：将坡口间距L1与焊枪双丝间距L2进行差值比较，若L1＜L2，则根据公式θ＝arcsin[(L2-L1)/2L3]，其中L3为焊枪固定点到焊枪端部距离，求得偏转角θ值大小，然后角度传感器实时监控焊枪偏转角度，将信息传递给计算机，计算机将信息反馈给控制系统，控制系统控制焊枪连接架齿轮运动，使焊枪绕固定点旋转，直至达到θ角；Step (4): compare the difference between the groove spacing L 1 and the welding torch double wire spacing L 2 , if L 1 <L 2 , then according to the formula θ=arcsin[(L 2 -L 1 )/2L 3 ], where L3 is the distance from the fixed point of the welding torch to the end of the welding torch, and the value of the deflection angle θ is obtained. Then the angle sensor monitors the deflection angle of the welding torch in real time, and transmits the information to the computer. The computer feeds back the information to the control system. , rotate the welding torch around the fixed point until it reaches the angle θ; 步骤(5)：调节焊枪距母材高度，在焊接过程中，由于搭接，焊枪距工件高度可能低于预设高度，导致焊接实际电压低于预设电压，使焊缝熔宽减小，不利于双丝共熔池；当实际焊枪高度低于预设高度时，焊枪将会向上移动，使实际焊接电压稳定在预设焊接电压范围内；高度传感器将焊枪的高度信息实时反馈给控制系统，控制系统控制Z向导轨内齿轮运动，使焊枪达到预定高度，然后齿轮啮合使焊枪高度固定；Step (5): Adjust the height of the welding torch from the base metal. During the welding process, due to overlapping, the height of the welding torch from the workpiece may be lower than the preset height, resulting in the actual welding voltage being lower than the preset voltage, so that the welding seam width is reduced. It is not conducive to the double-wire eutectic pool; when the actual welding torch height is lower than the preset height, the welding torch will move upward to stabilize the actual welding voltage within the preset welding voltage range; the height sensor feeds back the height information of the welding torch to the control system in real time , the control system controls the movement of the gear in the Z-direction guide rail to make the welding torch reach the predetermined height, and then the gear meshes to make the height of the welding torch fixed; 步骤(6)：焊完一道焊缝后，焊枪位置恢复原位，待焊缝冷却到一定温度开始下一道焊缝的焊接，直至完全填充坡口。Step (6): After welding a welding seam, the position of the welding torch is restored to its original position, and the welding of the next welding seam starts when the welding seam cools to a certain temperature until the groove is completely filled. 8.根据权利要求7所述的方法，其特征在于，所述步骤(1)中的预处理包括对焊接坡口的机械打磨和预热；8. The method according to claim 7, wherein the pretreatment in the step (1) comprises mechanical grinding and preheating of the welding groove; 对坡口的机械打磨是用角磨机将焊件两侧坡口面及坡口边缘各20-30mm范围内的油污、铁锈、水渍清除干净，呈现金属光泽；预热是在焊前将焊件加热到150-200℃。The mechanical grinding of the groove is to use an angle grinder to remove the oil, rust and water stains within 20-30mm of the groove surface on both sides of the weldment and the edge of the groove, showing a metallic luster. The weldment is heated to 150-200°C. 9.根据权利要求8所述的方法，其特征在于，所述步骤(2)中的焊接工艺参数具体为：焊接电流为80-120A、焊接电压为15-20V、焊接速度为3-6mm/s、送丝速度为4-6m/min、保护气采用93.5％Ar+5％N2+1.5％O2混合气体，气流量为15-20L/min；所述的坡口形式主要为单V型坡口和双V型坡口，其中板厚为10mm以下的板材采用单V型坡口，板厚为10mm以上的板材采用双V型坡口，坡口角度为45°-60°，坡口间隙为2-3mm，钝边1-1.5mm。9. The method according to claim 8, wherein the welding process parameters in the step (2) are specifically: welding current is 80-120A, welding voltage is 15-20V, and welding speed is 3-6mm/ s. The wire feeding speed is 4-6m/min, the shielding gas adopts 93.5% Ar+5% N 2 +1.5% O 2 mixed gas, and the gas flow rate is 15-20L/min; the groove form is mainly single V Type groove and double V-shaped groove, in which the plate with a thickness of less than 10mm adopts a single V-shaped groove, and the plate with a thickness of more than 10mm adopts a double V-shaped groove, and the groove angle is 45°-60°. The mouth gap is 2-3mm, and the blunt edge is 1-1.5mm.
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