CN112792435B - V-shaped groove weld joint tracking method for controlling TIG welding arc based on longitudinal magnetic field - Google Patents
V-shaped groove weld joint tracking method for controlling TIG welding arc based on longitudinal magnetic field Download PDFInfo
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- CN112792435B CN112792435B CN202110028177.2A CN202110028177A CN112792435B CN 112792435 B CN112792435 B CN 112792435B CN 202110028177 A CN202110028177 A CN 202110028177A CN 112792435 B CN112792435 B CN 112792435B
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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
- B23K9/32—Accessories
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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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- 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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Abstract
The invention relates to a V-shaped groove weld joint tracking method for controlling TIG welding arc based on a longitudinal magnetic field. The method is characterized in that: the system generates a required magnetic field by a longitudinal magnetic field generating device, and the magnetic field generating device provides stable exciting current for an exciting coil by a direct current power supply, so that charged particles in welding arc rotate at high speed, the path traveled by the electric arc conduction current is increased, and the electric arc voltage is increased along with the increase of the magnetic induction intensity of an external longitudinal magnetic field. The input voltage is amplified by a common emitter amplifying circuit to obtain a voltage signal, wherein one end of the voltage sensor is connected to the welding gun, and the other end of the voltage sensor is connected to the workpiece. The voltage signal of the electric arc after amplification is extracted by the voltage sensor, and the position of the welding gun is continuously adjusted by the analysis and processing of the computer, so that the welding gun is aligned to the center position of the welding seam. The whole welding seam tracking system is simple in structure, strong in operability, simpler than a traditional welding seam tracking system, and simpler in system data processing.
Description
Technical Field
The invention relates to the technical field of welding automation, in particular to a welding seam tracking method based on a longitudinal magnetic field, a voltage sensor and a common emitter amplifying circuit.
Background
In the field of mechanical manufacturing technology, welding technology has been an important field of research. The welding technology process has higher requirements on welding quality and welding economic benefits in the development process, and the welding process is developing towards specialization and automation. The welding automation technology belongs to the combination of the traditional mechanical technology and the modern scientific technology, and strict supervision and control are required in the welding process, so that the welding quality can be guaranteed. Along with the gradual trend of the welding technology towards intelligent and automatic development. Along with the improvement to welding quality and efficiency requirement, improvement of manual welding cost is high, and welding robot becomes the most common industrial robot of practical application, and the demand of each trade to welding robot is very high, has also proposed higher requirement to welding robot adaptation environment's ability and degree of automation simultaneously.
The external magnetic field welding technology is a novel welding technology developed in recent years, and the motion form of charged particles in an electric arc and the shape of the electric arc are influenced by applying an external magnetic field on the electric arc in the welding process. The magnetic field has the characteristics of simple accessory device, low investment cost, high efficiency, low energy consumption and the like, and can obviously improve the quality of a welding joint, so the control of the welding process by utilizing the external magnetic field has wide application prospect and important research value.
In conclusion, the longitudinal magnetic field accurate control can be adopted, the welding seam tracking system and the welding seam tracking method are perfected to realize the automatic welding seam tracking of the welding robot, and the welding seam tracking accuracy is improved.
Disclosure of Invention
The invention aims to control the rotation of charged particles by controlling a longitudinal magnetic field and acquire the deviation between a welding gun and a welding seam by comparing voltage values. The method is simple to operate and accurate in weld joint tracking. The system comprises a welding gun, a bracket, an excitation coil, a voltage sensor, a computer, a sensor protection device and a common emitter amplification circuit device. Simple structure, the welding seam tracking precision is high.
A V-shaped groove weld joint tracking method based on longitudinal magnetic field control TIG welding electric arc is characterized in that: the system generates a required magnetic field by a longitudinal magnetic field generating device, and the magnetic field generating device provides stable exciting current for an exciting coil by a direct current power supply. The voltage signal is amplified by a common emitter amplification circuit. One end of the voltage sensor is connected to the welding gun, and the other end of the voltage sensor is connected to the workpiece. The amplified arc voltage signal is extracted by the voltage sensor, and the position of the welding gun is continuously adjusted through computer analysis and processing, so that the welding gun is aligned to the center position of the welding seam.
The specific method comprises the following steps:
the device is fixed by a bracketA sensor protection device is arranged near the voltage sensor to avoid damage to the detection device caused by sparks, splashing and the like in the welding process. The direct current power supply provides stable exciting current for the exciting coil, and the exciting coil at the left end of the upper part of the bracket is electrified, so that a longitudinal magnetic field is generated. And then the excitation coil at the left end of the lower part of the bracket is electrified, and besides the magnetic induction lines generated by the excitation coil, a part of the magnetic induction lines pass through the workpiece from the excitation coil at the left end of the upper part of the bracket to the excitation coil at the left end of the lower part of the bracket. Thereby generating a longitudinal magnetic field across the left half of the TIG welding arc. Amplifying the voltage signal by a common emitter amplifying circuit, and acquiring an arc voltage value U according to a voltage sensor1. Similarly, the excitation coil at the right end of the upper part of the bracket is electrified, the excitation coil at the right end of the lower part of the bracket is electrified, and a part of magnetic induction lines pass through the workpiece from the excitation coil at the right end of the upper part of the bracket to the excitation coil at the right end of the lower part of the bracket except the magnetic induction lines generated by the excitation coil. Thereby creating a longitudinal magnetic field across the right half of the arc. Amplifying the voltage signal by a common emitter amplifying circuit, and acquiring an arc voltage value U according to a voltage sensor2. Aiming at the shape of the V-shaped groove, and then, adding a U1And U2And (4) inputting the values into a computer, obtaining left and right deviation of the weld joint according to the comparison between the sizes of U1 and U2, adjusting the position of the welding gun, and realizing real-time weld joint tracking.
The invention has the advantages that: the whole welding seam tracking system is simple in structure, strong in operability, simpler than a traditional welding seam tracking system, and simpler in system data processing, the longitudinal magnetic fields on the left side and the right side of an electric arc are independently controlled on the basis of the longitudinal magnetic fields, and accurate tracking of the welding seam is achieved on the basis of signal amplification of a common emitter circuit, signal extraction of a voltage sensor and computer signal processing.
Drawings
FIG. 1 is an overall architecture diagram of the present invention;
FIG. 2 is a diagram of a welding arc with no longitudinal magnetic field applied to the V-groove;
FIG. 3 is a welding arc diagram with a longitudinal magnetic field applied to the right side of the arc on the left side of a V-groove weld;
FIG. 4 is a welding arc diagram with a longitudinal magnetic field applied to the left side of the arc on the left side of the V-groove weld;
FIG. 5 is a diagram of a welding arc with a longitudinal magnetic field applied to the right side of the arc at the right side of the V-groove weld;
FIG. 6 is a welding arc diagram with a longitudinal magnetic field applied to the left side of the arc on the right side of a V-groove weld;
FIG. 7 is a functional diagram of the present invention for processing voltage signals to effect weld tracking according to a computer;
fig. 8 shows a common emitter amplifier circuit.
In fig. 1: the device comprises a support 1, a magnet exciting coil 2, a welding gun 3, a workpiece 4, a common emitter amplification circuit 5, a voltage sensor 6 and a computer 7.
In FIG. 8, C1-input capacitor, C2-output capacitor, VT-transistor, RB-base bias resistor, RC-collector load resistor.
Detailed Description
In order to better express the technical scheme and the beneficial results of the invention, the invention is further described in detail with reference to the accompanying drawings and embodiments.
The system mechanism diagram of the V-shaped groove weld joint tracking method based on the longitudinal magnetic field control TIG welding electric arc is shown in figure 1, and mainly solves the problems of complex structure, inaccurate positioning and the like of a weld joint tracking system. The system is characterized by comprising a bracket, a welding gun, an excitation coil, a sensor protection device, a voltage sensor, a common emitter circuit device and a computer. The welding gun and the magnet exciting coil are fixed together through the support, so that the welding gun can move along with the position of a welding seam, and the surface of a workpiece can be scanned. One end of the voltage sensor is connected with the welding gun, and the other end of the voltage sensor is connected with the workpiece, so that a welding seam voltage signal can be conveniently extracted. The voltage sensor is connected with the computer, so that voltage signals can be conveniently processed, and welding line deviation can be extracted. The invention separately controls the longitudinal magnetic fields at the left side and the right side of the electric arc, so that the welding seam tracking effect is more accurate, and the system structure is simpler and more efficient.
In the absence of an external magnetic field, the charged particles in the arc are acted by a longitudinal electric field, a transverse electric field and a diffusion motion field generated by concentration difference. The electrons in the arc produce directional motion due to the combined action of the above force fields, resulting in an arc morphology as shown in fig. 2. The arc morphology changes when a constant longitudinal magnetic field is applied. In the longitudinal magnetic field, the charged particles rotate under the action of Lorentz force, and under the action of the rotation, the centrifugal force generated by the rotation drives the whole arc plasma flow to deviate from the center of the arc, so that the bell-jar type hollow arc is formed.
When an external constant longitudinal magnetic field is applied, the high speed drift rotation increases the path traveled by the arc conducting current, which in practice corresponds to an increase in the arc length, due to the high speed rotation of the charged particles in the welding arc. Thus, as the magnetic induction of the applied longitudinal magnetic field increases, the arc voltage will increase. Under the action of an external constant longitudinal magnetic field, the welding arc rotates at a high speed, so that the cooling effect of surrounding gas media on the arc is enhanced, the electric field intensity of an arc column is increased, and the arc voltage is also increased.
For a common emitter emission circuit, as shown in fig. 8, terminals 1 and 3 are inputs and terminals 2 and 3 are outputs. The 3 ends are common points. The triode is used for realizing current amplification. The collector load resistor RC can convert the change of the collector current of the triode into the voltage change to realize the voltage amplification. The base biasing resistor RB may provide a quiescent operating point for the amplification circuit. The coupling capacitors C1 and C2 may block direct current flow.
Example (b): as shown in fig. 1, 3, 4, 5, 6, and 7, the welding torch attitude adjustment process will be specifically described.
A direct current power supply provides stable exciting current for the exciting coil, the exciting coil at the left end of the upper part of the bracket is electrified, and a longitudinal magnetic field is generated at the moment. And then the excitation coil at the left end of the lower part of the bracket is electrified, and besides the magnetic induction lines generated by the excitation coil, a part of the magnetic induction lines pass through the workpiece from the excitation coil at the left end of the upper part of the bracket to the excitation coil at the left end of the lower part of the bracket, so that a longitudinal magnetic field passing through the left half part of the electric arc is generated. Similarly, the excitation coil at the right end of the upper part of the bracket is electrified, the excitation coil at the right end of the lower part of the bracket is electrified, and a part of magnetic induction lines pass through the workpiece from the excitation coil at the right end of the upper part of the bracket to the excitation coil at the right end of the lower part of the bracket except the magnetic induction lines generated by the excitation coil. Thereby creating a longitudinal magnetic field through the right half of the arc.
Applying a longitudinal magnetic field to the left arc part of the welding gun, amplifying a voltage signal by a common emitter amplifying circuit, and acquiring an amplified arc voltage value U according to a voltage sensor1. Then, a longitudinal magnetic field is applied to the right arc part of the welding gun, a voltage signal is amplified through a common emitter amplification circuit, and an arc voltage U is obtained according to a voltage sensor2. Will U1And U2Comparison, if U1<U2The torch is on the left side of the weld as shown in fig. 3 and 4, where the arc particle motion trajectory on the right side is longer and therefore the voltage on the right side of the arc is greater. Wherein 3 is the change generated by applying the arc with the longitudinal magnetic field to the arc at the right side of the welding gun, and the broken line part is the arc shape when the longitudinal magnetic field is not applied. 4 is the change produced by applying a longitudinal magnetic field arc to the left arc of the torch. If U is present1>U2And the welding gun is positioned at the right side of the welding seam, as shown in fig. 5 and 6, the movement track of the arc particles at the left side of the arc is longer, and the generated voltage is larger. Wherein 5 is the change generated by applying the arc with the longitudinal magnetic field to the arc at the right side of the welding gun, and 6 is the change generated by applying the arc with the longitudinal magnetic field to the arc at the left side of the welding gun.
When U is turned1<U2And the welding gun is positioned on the left side of the welding seam, and the welding gun needs to be moved to the right at the moment. When U is turned1>U2In the process, the welding gun is positioned on the right side of the welding line, and the welding gun needs to be moved to the left at the moment. Measured U after each movement1And U2The voltage on the two sides of the arc is continuously adjusted to be equal as shown in fig. 7. When U is turned1＝U2At the moment, the working point of the welding gun is optimal, and the welding seam forming effect is optimal.
Claims (1)
1. The utility model provides a V type groove weld joint tracking method based on vertical magnetic field control TIG welds electric arc, mainly used for solving the complicated, the inaccurate problem of location of system structure in the weld joint tracking, its characterized in that: the welding seam tracking system comprises a welding gun, a support, excitation coils, a voltage sensor, a computer, a sensor protection device and a common emitter circuit device, wherein the welding gun and the excitation coils are fixed together through the support and are convenient to move along with the position of a welding seam so as to scan the surface of a workpiece; the method comprises the steps of respectively generating longitudinal magnetic fields passing through the left side and the right side of a TIG welding arc by independently controlling excitation coils on the two sides of a welding gun, enabling the excitation coils on the two sides of the welding gun to be opened at intervals, applying a magnetic field to the left side of the welding gun, amplifying an arc voltage signal through a common emitter amplifying circuit, then obtaining a voltage value U1 on the left side of the arc according to a voltage sensor, then applying a longitudinal magnetic field to the arc part on the right side of the welding gun, amplifying the voltage value through the common emitter amplifying circuit, obtaining U2 through the voltage sensor, inputting the obtained voltage value into a computer for data analysis, comparing U1 with U2, enabling the welding gun to be located on the left side of a welding seam if U1 is less than U2, moving the welding gun to the right, enabling the welding gun to be located on the right side of the welding seam when U1 is larger than U2, enabling the welding gun to be moved to the left, enabling the welding gun to be moved when U1 is equal to the U2, enabling the working point of the welding gun to be optimal, and enabling the welding seam forming effect to be optimal.
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| CN112792435B true CN112792435B (en) | 2022-07-08 |
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Citations (7)
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|---|---|---|---|---|
| US2971079A (en) * | 1959-02-12 | 1961-02-07 | Welding Research Inc | Seam tracking transducer |
| DD105407A1 (en) * | 1973-06-14 | 1974-04-20 | ||
| CN101224520A (en) * | 2007-01-17 | 2008-07-23 | 湘潭大学 | Magnetic controlling arc sensor welding line automatic tracking and controlling method |
| CN102825364A (en) * | 2012-09-12 | 2012-12-19 | 湘潭大学 | Magnetic-control arc sensor device applied in seam tracking |
| CN105149738A (en) * | 2015-09-17 | 2015-12-16 | 湘潭大学 | Bidirectional magnetic control arc type welding seam tracking sensor |
| CN107008999A (en) * | 2017-04-26 | 2017-08-04 | 湘潭大学 | A kind of electricity, the weld seam tracking sensor of magnetic field dual control electric arc |
| CN107999930A (en) * | 2018-01-05 | 2018-05-08 | 湘潭大学 | A kind of vision sensing equipment for weld joint tracking |
-
2021
- 2021-01-11 CN CN202110028177.2A patent/CN112792435B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US2971079A (en) * | 1959-02-12 | 1961-02-07 | Welding Research Inc | Seam tracking transducer |
| DD105407A1 (en) * | 1973-06-14 | 1974-04-20 | ||
| CN101224520A (en) * | 2007-01-17 | 2008-07-23 | 湘潭大学 | Magnetic controlling arc sensor welding line automatic tracking and controlling method |
| CN102825364A (en) * | 2012-09-12 | 2012-12-19 | 湘潭大学 | Magnetic-control arc sensor device applied in seam tracking |
| CN105149738A (en) * | 2015-09-17 | 2015-12-16 | 湘潭大学 | Bidirectional magnetic control arc type welding seam tracking sensor |
| CN107008999A (en) * | 2017-04-26 | 2017-08-04 | 湘潭大学 | A kind of electricity, the weld seam tracking sensor of magnetic field dual control electric arc |
| CN107999930A (en) * | 2018-01-05 | 2018-05-08 | 湘潭大学 | A kind of vision sensing equipment for weld joint tracking |
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Inventor after: Li Xiangwen Inventor after: Wang Lu Inventor after: Zheng Xuejun Inventor after: Qin Zihao Inventor after: Huang Hongliang Inventor after: Liu Jianke Inventor after: Luo Quan Inventor before: Li Xiangwen Inventor before: Wang Lu Inventor before: Qin Zihao Inventor before: Huang Hongliang Inventor before: Liu Jianke Inventor before: Luo Quan |
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