CN113977042A - Welding seam arc tracking method - Google Patents
Welding seam arc tracking method Download PDFInfo
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- CN113977042A CN113977042A CN202111627478.3A CN202111627478A CN113977042A CN 113977042 A CN113977042 A CN 113977042A CN 202111627478 A CN202111627478 A CN 202111627478A CN 113977042 A CN113977042 A CN 113977042A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/12—Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
- B23K9/127—Means for tracking lines during arc welding or cutting
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/12—Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
- B23K9/124—Circuits or methods for feeding welding wire
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Abstract
The invention relates to a welding seam arc tracking method, comprising S1, inputting the initial point coordinate of the welding seam, the terminal point coordinate and the initial welding gun advancing direction and controlling the welding gun to move; s2, inputting the width of the welding seam, and automatically generating welding process data; s3, starting a welding gun to start welding and sampling welding current; s4, filtering the acquired current data by a digital filter; and S5, the central control module compares the collected filtering data with the welding current change standard curve, and adjusts the swinging direction of the welding gun according to the comparison result. According to the invention, the moving direction of the welding gun is automatically adjusted by collecting the current change real-time curve when the welding gun is started, the welding gun is only required to be moved to the position of the welding gun which is disordered and accurately regulated and controlled around the welding seam before the welding seam is welded, the moving direction of the welding gun is adjusted by comparing the current change curves in the later period, the time for adjusting the position of the welding gun in the earlier period is reduced, and the welding speed is accelerated.
Description
Technical Field
The invention relates to the technical field of welding, in particular to a welding seam arc tracking method.
Background
The arc welding is that electric arc is used as a heat source, and the physical phenomenon of air discharge is utilized to convert electric energy into heat energy and mechanical energy required by welding so as to achieve the purpose of connecting metal; the main methods are shielded metal arc welding, submerged arc welding, gas shielded welding and the like, which are the most widely and important welding methods and account for more than 60 percent of the total welding production. Arc welding can be divided into manual arc welding, semi-automatic arc welding and automatic arc welding; the automatic arc welding is generally characterized in that a welding flux layer for protecting a welding position is covered in submerged arc automatic welding, a smooth welding wire made of filler metal is inserted into the welding flux layer to generate electric arc with welding metal, the electric arc is buried under the welding flux layer, heat generated by the electric arc melts the welding wire, the welding flux and base metal to form a welding seam, and the welding process is carried out automatically and belongs to a new welding technology. With the development of industrial automation and intellectualization, robots are applied more and more in various industries. The domestic robot starts late, and has a certain difference with the international brand. The current domestic robot is mainly limited to lack of a mature and stable tracking system in the field of electric arc welding; due to the limitation of the bottleneck, the application of the current domestic robot in the field of electric arc welding only can put higher requirements on the prefabrication and positioning ring of the workpiece, but the overhigh precision requirement is an excessive precision requirement on the welded workpiece, so that the larger waste is caused; the existing common tracking processes are arc tracking and laser tracking respectively, and the arc tracking has lower cost, so the popularization degree of the arc tracking is higher;
the laser-arc hybrid welding is a novel special welding technology, has great advantages compared with the traditional welding method, and is characterized in that the components of weld metal can be adjusted through a welding wire, so that the performance of a welding joint is improved; the allowance of the welding seam assembly clearance can be increased; the function of stabilizing welding arc is achieved; the effective utilization rate of arc heat is improved; the welding speed is high, and the penetration is large; the laser-electric arc hybrid welding method can reduce the formation of welding defects and the like, can realize the welding of carbon steel, alloy steel, stainless steel, aluminum alloy, copper alloy, cast iron, dissimilar metals and the like, and particularly shows a plurality of unique advantages in the field of medium and heavy plates such as ship manufacturing, petroleum equipment manufacturing and nuclear power equipment manufacturing.
In the prior art, the arc positioning and tracking early-stage positioning regulation and control consumes too much time, and the welding efficiency is low.
Disclosure of Invention
Therefore, the invention provides a welding line arc tracking method which is used for solving the problems that in the prior art, the arc positioning tracking early-stage positioning regulation and control consumes too much time and the welding efficiency is low.
To achieve the above object, the present invention provides a method for arc tracking of a weld, comprising,
s1, inputting the initial point coordinate of the welding seam, the end point coordinate and the initial welding gun advancing direction, and controlling the welding gun to move so that the welding gun can meet the welding seam position;
s2, inputting the width of a welding seam, automatically generating welding swing frequency, amplitude and speed, and generating a welding current change standard curve;
s3, starting a welding gun to start welding, enabling the initial swing direction of the welding gun to be leftward, and sampling welding current;
s4, filtering the acquired current data by the digital filter, and transmitting the filtered current change diagram to the central control module;
s5, the central control module compares the collected filtering data with the welding current change standard curve, and adjusts the swinging direction of the welding gun according to the comparison result;
when the welding seam arc tracking method is adopted for arc welding, a central control module is arranged, after the welding seam width, the welding seam material and the welding flux material are input into the central control module, the central control module automatically generates the welding swing frequency H, the amplitude F and the speed V of a welding gun according to a preset program and generates a welding current change standard curve Ab,
the digital filter filters the acquired current data and generates a current change real-time curve As, the central control module analyzes the current change real-time curve As to judge whether the direction of the welding gun deviates, and when the current change real-time curve As is analyzed alone and whether the welding gun deviates cannot be judged, the central control module compares the current change real-time curve As with a current change standard curve Ab, determines the deviation direction of the welding gun according to the comparison result and adjusts the moving direction of the welding gun.
Further, the central control module analyzes the current change real-time curve As after the trend is stabilized, the central control module obtains a first crest value B1 and a second crest value B2 in the current change real-time curve As, the central control module calculates an absolute value Δ B of a difference between the first crest value B1 and the second crest value B2, Δ B = | -B1-B2 |, a crest difference evaluation parameter Bz is set in the central control module, and the central control module compares the absolute value Δ B of the difference with the crest difference evaluation parameter Bz:
when delta B is larger than Bz, the central control module judges that the welding position of the welding gun deviates, and the central control module adjusts the operation of the welding gun according to the change trend of the current change real-time curve As;
when delta B is less than or equal to Bz, the central control module cannot independently judge whether the welding position of the welding gun deviates from the wave peak value difference value, and the central control module compares the current change real-time curve As with the current change standard curve Ab to determine whether the welding position of the welding gun deviates.
Further, when the central control module determines that the welding position of the welding gun deviates and B1 is greater than B2, the central control module determines that the welding position of the welding gun deviates to the left, the central control module controls the swinging central line of the welding gun to move to the right, the central control module determines a right movement amount C according to the absolute value delta B of the wave peak value difference, and C = delta B × C1, wherein C1 is a parameter for adjusting the right movement amount of the central line according to the absolute value delta B of the wave peak value difference.
Further, when the central control module determines that the welding position of the welding gun deviates and B1 is less than B2, the central control module determines that the welding position of the welding gun deviates to the right, the central control module controls the swinging central line of the welding gun to move to the left, the central control module determines a left movement amount C according to the absolute value delta B of the wave peak value difference, and C = delta B × C2, wherein C2 is a parameter for adjusting the left movement amount of the central line according to the absolute value delta B of the wave peak value difference.
Further, when the central control module cannot determine whether the welding position of the welding gun deviates from the wave peak value difference value alone, the central control module acquires the cycle period duration Tz of the curve Ab from the current change standard curve Ab and acquires the interval duration T1 of the first wave peak value B1 and the second wave peak value B2 from the current change real-time curve As, and the central control module calculates the ratio E between the cycle period duration Tz and the interval duration T1, wherein E = Tz/T1; the central control module judges the value E,
when E =1 +/-0.05, the central control module judges that the position of the swing center line of the welding gun is qualified;
when E =2 +/-0.1, the central control module judges that the swinging center line of the welding gun is seriously deviated, and the central control module adjusts the position of the welding gun according to the trend of the curve As.
Further, when the central control module determines that the swing center line of the welding gun deviates seriously and the curve As appears a wave valley after first appearing a wave peak, the central control module determines that the welding gun deviates seriously on the left side, the central control module controls the swing center line to move to the right side, when a new wave peak value B2 'appears between the first wave peak value B1 and the second wave peak value B2, the central control module calculates an absolute value delta B' of the difference value between the first wave peak value B1 and the new wave peak value B2 ', and the central control module calculates the right movement amount of the swing center line according to the absolute values delta B' and c 1.
Further, when the central control module determines that the swing center line of the welding gun deviates seriously and a peak appears after the curve As first appears in a trough, the central control module determines that the welding gun deviates seriously in the right direction, the central control module controls the swing center line to move left, and when a new peak value B2 'appears between the first peak value B1 and the second peak value B2, the central control module calculates an absolute value delta B' of a difference value between the first peak value B1 and the new peak value B2 ', and the central control module calculates the left movement amount of the swing center line according to the absolute values delta B' and c 2.
Further, when the central control module determines that the swing center line position of the welding gun is qualified, the central control module acquires the amplitude value Ws of the curve As and the amplitude value Wb of the curve Ab, the central control module calculates the ratio w of the amplitude value Ws to the amplitude value Wb, w = Ws/Wb, a first preset amplitude value ratio w1 and a second preset amplitude value ratio w2 are arranged in the central control module, the central control module compares w with the first preset amplitude value ratio w1 and the second preset amplitude value ratio w2,
when w is not more than w1, the central control module judges that the welding swing amplitude of the welding gun is insufficient;
when w is more than w1 and less than or equal to w2, the central control module determines that the welding swing amplitude of the welding gun is moderate;
and when w is larger than w2, the central control module judges that the welding swing amplitude of the welding gun is excessive.
Further, when the central control module determines that the welding swing amplitude of the welding gun is insufficient, the central control module increases the swing amplitude value of the welding gun to F1, F1= F + (Wb-Ws) xk 1, wherein k1 is an increase swing amplitude adjusting parameter.
Further, when the central control module determines that the welding swing amplitude of the welding gun is excessive, the central control module reduces the swing amplitude value of the welding gun to F2, F2= F- (Ws-Wb) xk 2, wherein k2 is a reduction swing amplitude adjustment parameter.
Compared with the prior art, the method has the advantages that the moving direction of the welding gun is automatically adjusted by collecting the current change real-time curve when the welding gun is started, the welding gun is only required to be moved to the position of the welding gun which is disorderly and accurately regulated and controlled around the welding seam before the welding seam is welded, the moving direction of the welding gun is adjusted by comparing the current change curves in the later period, the time for adjusting the position of the welding gun in the earlier period is reduced, and the welding speed is accelerated.
Further, the central control module analyzes the current change real-time curve As after the trend is stabilized, the central control module obtains a first crest value B1 and a second crest value B2 in the current change real-time curve As, the central control module calculates an absolute value Δ B of a difference between the first crest value B1 and the second crest value B2, Δ B = | -B1-B2 |, a crest difference evaluation parameter Bz is set in the central control module, and the central control module compares the absolute value Δ B of the difference with the crest difference evaluation parameter Bz: when delta B is larger than Bz, the central control module judges that the welding position of the welding gun deviates, the central control module adjusts the operation of the welding gun according to the variation trend of the current variation real-time curve As, the swinging welding gun begins to swing leftwards at first, when the swinging welding gun deviates leftwards, the swinging arc sensor approaches to the left edge firstly, so the current continues to increase at first, then swings towards the center of the welding material, the current is gradually reduced, when the swinging arc sensor swings leftwards at first, the swinging arc sensor crosses the center of the welding material firstly, and approaches to the left edge gradually, so the current is reduced firstly and then increased secondly. Meanwhile, two wave crests of welding current appear at the left limit and the right limit, when the left side is deviated, the current of the left wave crest is larger than that of the right wave crest, and conversely, when the right side is deviated, the current of the right wave crest is larger than that of the left wave crest. The left deviation and the right deviation of the welding gun are successively judged by observing the sizes of the two wave crests, so that the moving direction of the welding gun is determined, the left and right moving offset is determined according to the difference value of the wave crests, the comparison method is simple, the calculation is convenient, the welding efficiency is accelerated, and the welding quality is improved.
Further, when the central control module determines that the swing center line of the welding gun deviates seriously and the curve As appears a wave valley after first appearing a wave peak, the central control module determines that the welding gun deviates seriously on the left side, the central control module controls the swing center line to move to the right side, when a new wave peak value B2 'appears between the first wave peak value B1 and the second wave peak value B2, the central control module calculates an absolute value delta B' of the difference value between the first wave peak value B1 and the new wave peak value B2 ', and the central control module calculates the right movement amount of the swing center line according to the absolute values delta B' and c 1. When the central control module determines that the swing center line of the welding gun is seriously deviated and a wave crest appears after a wave trough appears first on the curve As, the central control module determines that the welding gun is seriously deviated in the right direction, the central control module controls the swing center line to move left, and when a new wave crest value B2 'appears between a first wave crest value B1 and a second wave crest value B2, the central control module calculates the absolute value delta B' of the difference value between the first wave crest value B1 and the new wave crest value B2 ', and the central control module calculates the left movement amount of the swing center line according to the absolute values delta B' and c 2. When welding, a welding gun normally passes through the center of a welding material, a wave peak is formed when the welding gun is deviated to the highest point leftwards, and another wave peak is formed when the welding gun is deviated to the highest point rightwards, so that two wave peaks can be formed in one welding cycle, but when the deviation is serious, an electric arc released by the swinging welding gun does not cross the center of the welding material all the time in the swinging process, a second wave peak is not formed, so that when the deviation reaches half of the swinging width, only one wave peak and one wave trough can be formed in one period, the wave peak is formed on one side closest to the edge, and the wave trough is formed at the position closest to the center of the welding material. Because the inspiration of the welding gun swings leftwards, the wave trough appears after the wave crest appears when the left deviation is serious, the wave trough appears when the right deviation is serious, whether the direction is seriously deviated or not is judged according to the circulation period and the trend of the current image at the beginning, the direction of the serious deviation is adjusted, the welding quality is enhanced, and the welding process level is improved.
Further, when the central control module determines that the swing center line position of the welding gun is qualified, the central control module acquires the amplitude value Ws of the curve As and the amplitude value Wb of the curve Ab, the central control module calculates the ratio w of the amplitude value Ws to the amplitude value Wb, w = Ws/Wb, a first preset amplitude value ratio w1 and a second preset amplitude value ratio w2 are arranged in the central control module, the central control module compares w with the first preset amplitude value ratio w1 and the second preset amplitude value ratio w2, when the welding swing amplitude of the welding gun is insufficient, the swing amplitude of the welding gun is increased, insufficient welding at a welding seam interface is prevented, mechanical strength is insufficient, sufficient welding at the welding seam is guaranteed by increasing the swing amplitude, and the quality of a welding process is improved. When the welding swing amplitude of the welding gun is excessive, the swing amplitude of the welding gun is reduced, excessive welding flux at a welding seam interface is prevented, meanwhile, the swing amplitude is reduced, the speed of a welding process is accelerated, and the welding speed is improved while the quality of the welding process is guaranteed.
Drawings
FIG. 1 is a schematic flow diagram of a weld arc tracking method according to the present invention;
FIG. 2 is a schematic view of Ab fluctuation of a standard curve of welding current variation according to the present invention;
FIG. 3 is a schematic view of the fluctuation of a current variation real-time curve As when the welding position of the welding gun deviates to the left according to the present invention;
FIG. 4 is a schematic view of the fluctuation of a current variation real-time curve As when the welding position of the welding gun deviates to the right according to the present invention;
FIG. 5 is a schematic view of the fluctuation of a current variation real-time curve As when the welding position of the welding gun is seriously deviated to the left;
FIG. 6 is a schematic view of the fluctuation of a current variation real-time curve As when the welding position of the welding gun is seriously deviated to the right.
Detailed Description
In order that the objects and advantages of the invention will be more clearly understood, the invention is further described below with reference to examples; it should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are only for explaining the technical principle of the present invention, and do not limit the scope of the present invention.
It should be noted that in the description of the present invention, the terms of direction or positional relationship indicated by the terms "upper", "lower", "left", "right", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, which are only for convenience of description, and do not indicate or imply that the device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.
Furthermore, it should be noted that, in the description of the present invention, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
Fig. 1 is a schematic flow chart of a welding seam arc tracking method according to the present invention; the invention relates to a welding seam arc tracking method, which comprises the following steps,
s1, inputting the initial point coordinate of the welding seam, the end point coordinate and the initial welding gun advancing direction, and controlling the welding gun to move so that the welding gun can meet the welding seam position;
s2, inputting the width of a welding seam, automatically generating welding swing frequency, amplitude and speed, and generating a welding current change standard curve;
s3, starting a welding gun to start welding, enabling the initial swing direction of the welding gun to be leftward, and sampling welding current;
s4, filtering the acquired current data by the digital filter, and transmitting the filtered current change diagram to the central control module;
and S5, the central control module compares the collected filtering data with the welding current change standard curve, and adjusts the swinging direction of the welding gun according to the comparison result.
Please refer to fig. 2, which is a schematic view of the variation of the standard Ab of the welding current according to the present invention.
When the welding seam arc tracking method is adopted for arc welding, a central control module is arranged, after the welding seam width, the welding seam material and the welding flux material are input into the central control module, the central control module automatically generates the welding swing frequency H, the amplitude F and the speed V of a welding gun according to a preset program and generates a welding current change standard curve Ab,
the digital filter filters the acquired current data and generates a current change real-time curve As, the central control module analyzes the current change real-time curve As to judge whether the direction of the welding gun deviates, and when the current change real-time curve As is analyzed alone and whether the welding gun deviates cannot be judged, the central control module compares the current change real-time curve As with a current change standard curve Ab, determines the deviation direction of the welding gun according to the comparison result and adjusts the moving direction of the welding gun.
According to the invention, the moving direction of the welding gun is automatically adjusted by collecting the current change real-time curve when the welding gun is started, the welding gun is only required to be moved to the position of the welding gun which is disordered and accurately regulated and controlled around the welding seam before the welding seam is welded, the moving direction of the welding gun is adjusted by comparing the current change curves in the later period, the time for adjusting the position of the welding gun in the earlier period is reduced, and the welding speed is accelerated.
The central control module analyzes the current change real-time curve As with stable transformation trend, the central control module obtains a first wave peak value B1 and a second wave peak value B2 in the current change real-time curve As, the central control module calculates an absolute value delta B of a difference value between the first wave peak value B1 and the second wave peak value B2, the delta B = | -B1-B2 |, a wave peak difference value evaluation parameter Bz is arranged in the central control module, and the central control module compares the absolute value delta B of the difference value with the wave peak difference value evaluation parameter Bz:
when delta B is larger than Bz, the central control module judges that the welding position of the welding gun deviates, and the central control module adjusts the operation of the welding gun according to the change trend of the current change real-time curve As;
when delta B is less than or equal to Bz, the central control module cannot independently judge whether the welding position of the welding gun deviates from the wave peak value difference value, and the central control module compares the current change real-time curve As with the current change standard curve Ab to determine whether the welding position of the welding gun deviates.
Please refer to fig. 3, which is a schematic diagram of the fluctuation of the current variation real-time curve As when the welding position of the welding gun is deviated to the left according to the present invention.
When the central control module judges that the welding position of the welding gun deviates and B1 is larger than B2, the central control module judges that the welding position of the welding gun deviates to the left, the central control module controls the swinging central line of the welding gun to move to the right, the central control module determines a right movement amount C, C = delta B multiplied by C1 according to the absolute value delta B of the wave peak value difference, wherein C1 is a parameter for adjusting the right movement amount of the central line according to the absolute value delta B of the wave peak value difference.
Please refer to fig. 4, which is a schematic diagram of the fluctuation of the current variation real-time curve As when the welding position of the welding gun deviates to the right according to the present invention.
When the central control module judges that the welding position of the welding gun deviates and B1 is less than B2, the central control module judges that the welding position of the welding gun deviates to the right, the central control module controls the swinging central line of the welding gun to move to the left, the central control module determines a left movement amount C, C = delta B multiplied by C2 according to the absolute value delta B of the wave peak value difference, wherein C2 is a parameter for adjusting the left movement amount of the central line by the absolute value delta B of the wave peak value difference.
Because the swinging welding gun begins to swing leftwards, when the swinging welding gun deviates leftwards, the swinging arc sensor firstly approaches to the left edge, so the current is continuously increased at the beginning, then the swinging welding gun swings towards the center of a welding material, the current is gradually reduced, and when the swinging welding gun deviates rightwards, the swinging arc sensor firstly swings leftwards, so the swinging arc sensor firstly crosses the center of the welding material and gradually approaches to the left edge, so the current is firstly reduced and then increased. Meanwhile, two wave crests of welding current appear at the left limit and the right limit, when the left side is deviated, the current of the left wave crest is larger than that of the right wave crest, and conversely, when the right side is deviated, the current of the right wave crest is larger than that of the left wave crest. The left deviation and the right deviation of the welding gun are successively judged by observing the sizes of the two wave crests, so that the moving direction of the welding gun is determined, the left and right moving offset is determined according to the difference value of the wave crests, the comparison method is simple, the calculation is convenient, the welding efficiency is accelerated, and the welding quality is improved.
When the central control module cannot determine whether the welding position of the welding gun deviates from the wave peak value difference value alone, the central control module acquires the cycle period duration Tz of a curve Ab from a current change standard curve Ab, acquires the interval duration T1 of a first wave peak value B1 and a second wave peak value B2 from a current change real-time curve As, and calculates the ratio E between the cycle period duration Tz and the interval duration T1, wherein E = Tz/T1; the central control module judges the value E,
when E =1 +/-0.05, the central control module judges that the position of the swing center line of the welding gun is qualified;
when E =2 +/-0.1, the central control module judges that the swinging center line of the welding gun is seriously deviated, and the central control module adjusts the position of the welding gun according to the trend of the curve As.
Please refer to fig. 5, which is a schematic diagram of the fluctuation of the current variation real-time curve As when the welding position of the welding gun is severely deviated to the left.
When the central control module determines that the swing center line of the welding gun deviates seriously and the curve As appears a wave valley after the wave peak appears first, the central control module determines that the welding gun deviates seriously at the left side, the central control module controls the swing center line to move to the right side, when a new wave peak value B2 'appears between a first wave peak value B1 and a second wave peak value B2, the central control module calculates the absolute value delta B' of the difference value between the first wave peak value B1 and the new wave peak value B2 ', and the central control module calculates the right movement amount of the swing center line according to the absolute values delta B' and c 1.
Please refer to fig. 6, which is a schematic diagram of the fluctuation of the current variation real-time curve As when the welding position of the welding gun is severely deviated to the right according to the present invention.
When the central control module determines that the swing center line of the welding gun is seriously deviated and a wave crest appears after a wave trough appears first on the curve As, the central control module determines that the welding gun is seriously deviated in the right direction, the central control module controls the swing center line to move left, and when a new wave crest value B2 'appears between a first wave crest value B1 and a second wave crest value B2, the central control module calculates the absolute value delta B' of the difference value between the first wave crest value B1 and the new wave crest value B2 ', and the central control module calculates the left movement amount of the swing center line according to the absolute values delta B' and c 2.
When welding, a welding gun normally passes through the center of a welding material, a wave peak is formed when the welding gun is deviated to the highest point leftwards, and another wave peak is formed when the welding gun is deviated to the highest point rightwards, so that two wave peaks can be formed in one welding cycle, but when the deviation is serious, an electric arc released by the swinging welding gun does not cross the center of the welding material all the time in the swinging process, a second wave peak is not formed, so that when the deviation reaches half of the swinging width, only one wave peak and one wave trough can be formed in one period, the wave peak is formed on one side closest to the edge, and the wave trough is formed at the position closest to the center of the welding material. Because the inspiration of the welding gun swings leftwards, the wave trough appears after the wave crest appears when the left deviation is serious, the wave trough appears when the right deviation is serious, whether the direction is seriously deviated or not is judged according to the circulation period and the trend of the current image at the beginning, the direction of the serious deviation is adjusted, the welding quality is enhanced, and the welding process level is improved.
When the central control module judges that the swing center line position of the welding gun is qualified, the central control module acquires the amplitude value Ws of the curve As and the amplitude value Wb of the curve Ab, the central control module calculates the ratio w of the amplitude value Ws to the amplitude value Wb, w = Ws/Wb, a first preset amplitude value ratio w1 and a second preset amplitude value ratio w2 are arranged in the central control module, the central control module compares w with the first preset amplitude value ratio w1 and the second preset amplitude value ratio w2,
when w is not more than w1, the central control module judges that the welding swing amplitude of the welding gun is insufficient;
when w is more than w1 and less than or equal to w2, the central control module determines that the welding swing amplitude of the welding gun is moderate;
and when w is larger than w2, the central control module judges that the welding swing amplitude of the welding gun is excessive.
When the central control module judges that the welding swing amplitude of the welding gun is insufficient, the central control module increases the swing amplitude value of the welding gun to F1, F1= F + (Wb-Ws) multiplied by k1, wherein k1 is an increasing swing amplitude adjusting parameter.
When the central control module determines that the welding swing amplitude of the welding gun is excessive, the central control module reduces the swing amplitude value of the welding gun to F2, F2= F- (Ws-Wb) xk 2, wherein k2 is a reduction swing amplitude adjusting parameter.
When welder's welding swing range is not enough, increase welder's swing range, prevent that the welding of welding seam kneck from not enough, mechanical strength is not enough, has ensured the sufficient welding of welding seam department through increasing swing range, has promoted welding process's quality. When the welding swing amplitude of the welding gun is excessive, the swing amplitude of the welding gun is reduced, excessive welding flux at a welding seam interface is prevented, meanwhile, the swing amplitude is reduced, the speed of a welding process is accelerated, and the welding speed is improved while the quality of the welding process is guaranteed.
So far, the technical solutions of the present invention have been described in connection with the preferred embodiments shown in the drawings, but it is easily understood by those skilled in the art that the scope of the present invention is obviously not limited to these specific embodiments. Equivalent changes or substitutions of related technical features can be made by those skilled in the art without departing from the principle of the invention, and the technical scheme after the changes or substitutions can fall into the protection scope of the invention.
Claims (10)
1. A welding seam arc tracking method is characterized by comprising the following steps,
s1, inputting the initial point coordinate of the welding seam, the end point coordinate and the initial welding gun advancing direction, and controlling the welding gun to move so that the welding gun can meet the welding seam position;
s2, inputting the width of a welding seam, automatically generating welding swing frequency, amplitude and speed, and generating a welding current change standard curve;
s3, starting a welding gun to start welding, enabling the initial swing direction of the welding gun to be leftward, and sampling welding current;
s4, filtering the acquired current data by the digital filter, and transmitting the filtered current change diagram to the central control module;
s5, the central control module compares the collected filtering data with the welding current change standard curve, and adjusts the swinging direction of the welding gun according to the comparison result;
when the welding seam arc tracking method is adopted for arc welding, a central control module is arranged, after the welding seam width, the welding seam material and the welding flux material are input into the central control module, the central control module automatically generates the welding swing frequency H, the amplitude F and the speed V of a welding gun according to a preset program and generates a welding current change standard curve Ab,
the digital filter filters the acquired current data and generates a current change real-time curve As, the central control module analyzes the current change real-time curve As to judge whether the direction of the welding gun deviates, and when the current change real-time curve As is analyzed alone and whether the welding gun deviates cannot be judged, the central control module compares the current change real-time curve As with a current change standard curve Ab, determines the deviation direction of the welding gun according to the comparison result and adjusts the moving direction of the welding gun.
2. The method for tracking the arc of the welding seam As recited in claim 1, wherein the central control module analyzes the current change real-time curve As after the trend is stabilized, the central control module obtains a first peak value B1 and a second peak value B2 in the current change real-time curve As, the central control module calculates an absolute value Δ B of a difference between the first peak value B1 and the second peak value B2, Δ B = | -B1-B2 |, a peak difference evaluation parameter Bz is set in the central control module, and the central control module compares the absolute value Δ B of the difference with the peak difference evaluation parameter Bz:
when delta B is larger than Bz, the central control module judges that the welding position of the welding gun deviates, and the central control module adjusts the operation of the welding gun according to the change trend of the current change real-time curve As;
when delta B is less than or equal to Bz, the central control module cannot independently judge whether the welding position of the welding gun deviates from the wave peak value difference value, and the central control module compares the current change real-time curve As with the current change standard curve Ab to determine whether the welding position of the welding gun deviates.
3. The welding seam arc tracking method according to claim 2, wherein when the central control module determines that the welding position of the welding gun deviates and B1 is greater than B2, the central control module determines that the welding position of the welding gun deviates to the left, the central control module controls the swing center line of the welding gun to move to the right, the central control module determines a right shift C according to the absolute value delta B of the wave peak value difference, C = delta B × C1, and C1 is a parameter for adjusting the right shift of the center line according to the absolute value delta B of the wave peak value difference.
4. The weld arc tracking method according to claim 3, wherein when the central control module determines that the welding position of the welding gun deviates and B1 < B2, the central control module determines that the welding position of the welding gun deviates to the right, the central control module controls the swinging central line of the welding gun to move to the left, and the central control module determines a left shift C according to the absolute value delta B of the wave peak value difference, wherein C = delta B x C2, and C2 is a parameter for adjusting the left shift of the central line according to the absolute value delta B of the wave peak value difference.
5. The weld arc tracking method according to claim 4, wherein when the central control module cannot determine whether the welding position of the welding gun deviates from the peak value difference value alone, the central control module acquires a cycle period duration Tz of a curve Ab from a current variation standard curve Ab and acquires an interval duration T1 of a first peak value B1 and a second peak value B2 from a current variation real-time curve As, and the central control module calculates a ratio E between the cycle period duration Tz and the interval duration T1, E = Tz/T1; the central control module judges the value E,
when E =1 +/-0.05, the central control module judges that the position of the swing center line of the welding gun is qualified;
when E =2 +/-0.1, the central control module judges that the swinging center line of the welding gun is seriously deviated, and the central control module adjusts the position of the welding gun according to the trend of the curve As.
6. The weld arc tracking method according to claim 5, wherein when the central control module determines that the swing center line of the welding torch is deviated seriously and the curve As appears a valley after the peak appears first, the central control module determines that the welding torch is deviated seriously to the left, the central control module controls the swing center line to move to the right, and when a new peak value B2 'appears between the first peak value B1 and the second peak value B2, the central control module calculates an absolute value Δ B' of a difference between the first peak value B1 and the new peak value B2 ', and the central control module calculates a right movement amount of the swing center line according to the absolute values Δ B' and c 1.
7. The weld arc tracking method according to claim 6, wherein when the central control module determines that the swing center line of the welding torch is deviated seriously and the curve As appears a peak after the valley appears first, the central control module determines that the welding torch is deviated seriously to the right, the central control module controls the swing center line to move to the left, and when a new peak value B2 'appears between the first peak value B1 and the second peak value B2, the central control module calculates an absolute value Δ B' of the difference between the first peak value B1 and the new peak value B2 ', and the central control module calculates the left movement amount of the swing center line according to the absolute values Δ B' and c 2.
8. The weld arc tracking method according to claim 7, wherein the central control module acquires the amplitude value Ws of the curve As and the amplitude value Wb of the curve Ab when the central control module determines that the swing center line position of the welding gun is acceptable, the central control module calculates a ratio w, w = Ws/Wb of the amplitude value Ws to the amplitude value Wb, a first preset amplitude value ratio w1 and a second preset amplitude value ratio w2 are provided in the central control module, the central control module compares w with the first preset amplitude value ratio w1 and the second preset amplitude value ratio w2,
when w is not more than w1, the central control module judges that the welding swing amplitude of the welding gun is insufficient;
when w is more than w1 and less than or equal to w2, the central control module determines that the welding swing amplitude of the welding gun is moderate;
and when w is larger than w2, the central control module judges that the welding swing amplitude of the welding gun is excessive.
9. The weld arc tracking method according to claim 8, wherein when the central control module determines that the welding swing amplitude of the welding torch is insufficient, the central control module increases the swing amplitude value of the welding torch to F1, F1= F + (Wb-Ws) × k1, wherein k1 is an increase swing amplitude adjustment parameter.
10. The weld arc tracking method according to claim 9, wherein when the center control module determines that the welding weaving amplitude of the welding torch is excessive, the center control module reduces the weaving amplitude of the welding torch to F2, F2= F- (Ws-Wb) x k2, wherein k2 is a reduction weaving amplitude adjustment parameter.
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