CN114393280B - Large-curvature weld joint deviation recognition method based on asymmetric longitudinal magnetic field sensing - Google Patents
Large-curvature weld joint deviation recognition method based on asymmetric longitudinal magnetic field sensing Download PDFInfo
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- CN114393280B CN114393280B CN202210233413.9A CN202210233413A CN114393280B CN 114393280 B CN114393280 B CN 114393280B CN 202210233413 A CN202210233413 A CN 202210233413A CN 114393280 B CN114393280 B CN 114393280B
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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
- B23K9/16—Arc welding or cutting making use of shielding gas
- B23K9/167—Arc welding or cutting making use of shielding gas and of a non-consumable electrode
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- 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
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Abstract
The invention discloses a large curvature weld deviation recognition method based on asymmetric longitudinal magnetic field sensing. The magnetic induction coil is wound on the supporting sleeve, a longitudinal magnetic field is generated in the middle of the magnetic induction coil and is overlapped with the longitudinal magnetic fields generated by two sides in turn to generate an asymmetric longitudinal magnetic field, the supporting sleeve on two sides rotates by taking the middle supporting sleeve as an axis to reach three different positions, so that an arc scans a welding line, each position on each side is sampled 10 times, deviation is judged, curvature is recognized, welding paths and welding parameters are regulated in real time through data processing, and tracking of the welding line with a large curvature and a narrow gap is realized. The advantages are that: the electric arc can be burned stably, the electric arc information can be extracted effectively, and the rotating support sleeve enables the molten pool to be stirred more fully.
Description
Technical field:
the invention relates to a composite longitudinal magnetic field generated by superposition of two longitudinal magnetic fields, which realizes the identification of the weld deviation with large curvature and narrow gap and simultaneously achieves the aim of improving the weld quality.
Technical background:
TIG welding is a modern welding method that has found widespread use in recent years. The welding method has the advantages of stable welding arc, good welding quality (small heat affected zone, no impurity in welding seam, beautiful formation), small splashing and the like. The welding machine is suitable for welding almost all sheet alloys or metals such as aluminum alloy, nickel alloy, titanium alloy and the like, and is widely applied to the fields with high welding quality requirements such as automobiles, ships, aerospace, petrochemical industry and the like. In the welding process, the arc is easy to blow, the weld penetration is shallow, the melting pool cladding efficiency is low, and the welding speed is low in industrial production. These disadvantages result in TIG welding being only suitable for sheet welding, low production efficiency and limited application range.
Through many years of research, the problems of arc blow, welding depth, low cladding efficiency, low welding speed and the like can be solved by applying different types of magnetic fields in the welding process. Because the arc column region is a plasma composed of free electrons and ions of positive and negative charge. The electric arc welding device has the characteristics of conductivity, electric neutrality, interaction with a magnetic field and the like, so that the position, the shape and the running working state of an electric arc can be controlled by an externally applied magnetic field, and the welding technology process is improved. During gas shielded welding, a large amount of highly ionized gas (plasma) is present in the arc. When an external magnetic field acts on the arc, the shape and movement of the arc are affected, thereby affecting the welding process. Therefore, the arc behavior of the TIG welding is controlled by using the externally applied magnetic field, and the arc behavior of the high-efficiency TIG welding under the control of the magnetic field is researched, so that the method has important significance.
Most of the research at the present stage is to apply a magnetic field to the welding process, perform technological analysis on joint performance, welding structure, weld quality and the like, and rarely apply the magnetic field to the field of weld tracking.
The invention comprises the following steps:
the invention aims to provide a weld deviation identification method under a large curvature narrow gap, wherein a direct current power supply is supplied to a coil in the middle of the weld deviation identification method under an asymmetric longitudinal magnetic field to generate a stable longitudinal magnetic field, a rectangular alternating current power supply is respectively supplied to coils at two sides of the weld deviation identification method, the asymmetric longitudinal magnetic fields are generated by superposition, the magnetic fields are offset, and each coil is respectively scanned at three different positions by rotating the coils at two sides, so that an arc is drawn to swing and scan a weld.
The two side support sleeves rotate by taking the middle support sleeve as an axis to reach three different positions, so that an arc scans a welding line, each position on each side is sampled for 10 times, arc information is extracted at 6 different positions through a sampling device, and the position deviation of a welding gun is judged by calculating the current-voltage value difference value of the two symmetrical positions; the curvature of the welding line is identified by continuously extracting the positions of the welding gun in four periods, so that the welding parameters are adjusted, and the tracking of the welding line with large curvature and narrow gap is realized. The advantages are that: the electric arc can be burned stably, the electric arc information can be extracted effectively under the constraint of an asymmetric longitudinal magnetic field, and the rotating support sleeve enables the stirring of a molten pool to be more sufficient.
The specific method comprises the following steps:
the system mainly comprises a mountain-shaped supporting sleeve, a signal generator, a power amplification plate, an electric arc signal acquisition device, an asymmetric longitudinal magnetic field sensor controller and a magnetic induction coil. The longitudinal magnetic field generated by the middle coil is overlapped with the longitudinal magnetic field generated by the coils at the two sides in turn to form an asymmetric longitudinal magnetic field, so that the magnetic field is offset. The transmission device is added to drive the support sleeves at two sides to rotate, the accurate positions reached by each rotation are determined through the position sensors, the support sleeves at two sides respectively scan three different positions, the traction arc is regularly offset, the Hall sensors receive arc parameter changes at different positions during welding, corresponding data are obtained, after the data are processed, the data are input into the data analysis system to be analyzed to obtain corresponding welding parameters, the corresponding welding parameters are fed back to the adjusting mechanism, and the adjusting mechanism adjusts the welding path and the welding parameters according to the obtained data, so that automatic tracking of welding seams is realized.
The periphery of the middle support sleeve of the mountain-shaped support sleeve is perforated and fixed by screws. And the outer part of the mountain-shaped supporting sleeve is sleeved with a shell, so that a certain interference shielding effect is achieved.
The magnetic field generating device of the invention is to generate a longitudinal magnetic field by energizing a magnetic induction coil wound on a supporting sleeve by a magnetic field excitation power supply.
The magnetic field excitation power supply is provided by the signal generator and the power amplification plate, and the size of the input current can be adjusted according to the condition of the welding seam so as to change the size of the magnetic field and further change the contraction degree of the electric arc.
The invention generates magnetic field by alternately electrifying the coils at two sides, rotates the coils at two sides, and respectively scans three different positions of each coil, and generates composite longitudinal magnetic field by overlapping with the magnetic field in the middle, so that the magnetic field is deviated.
The invention adds the transmission device to drive the support sleeves at two sides to rotate, and determines the accurate position reached by each rotation through the position sensor, and in the process of electrifying one side, the transmission device controls the support sleeve at the side to respectively reach three different positions, thereby regularly shifting the traction arc.
The working principle and the function of the invention are as follows:
when only the middle magnetic field acts, the arc after the tungsten electrode is started scans the position and the shape of the welding seam under the action of the symmetrical magnetic field, and at the moment, the magnetic fields at the left side and the right side are in a symmetrical state. And a transmission device is added on the two communicated supporting sleeves to drive the supporting sleeves on the two sides to rotate, the accurate position reached by each rotation is determined through a position sensor, and in the process of electrifying one side, the transmission device controls the supporting sleeve on the side to respectively reach three different positions, so that the traction arc regularly deviates.
In the arc swinging period, current voltage values measured by coils at the two sides at three positions are taken, when the maximum current voltage value at the left side is larger than the maximum current voltage value at the right side, namely, the position of the welding gun is far to the right, the distance of the arc scanning leftwards reaches the maximum value, and similarly, when the maximum current voltage value at the right side is larger than the maximum current voltage value at the left side, namely, the position of the welding gun is far to the left, the distance of the arc scanning rightwards reaches the maximum value. The maximum offset distance corresponding to the difference of the current and the voltage at the two sides corresponds to the maximum distance of the arc scanning welding line. Arc information is extracted at 6 different positions, and the position deviation of the welding gun is judged by calculating the current-voltage value difference value of the two symmetrical positions; the curvature of the welding line is identified by continuously extracting the positions of the welding gun in four periods, so that the welding parameters are adjusted, and the tracking of the welding line with large curvature and narrow gap is realized.
The invention has the advantages that: the tungsten electrode of the welding gun does not move in one period, the electric arc can be burnt stably, and the electric arc can not diverge due to inertia under the constraint of the composite longitudinal magnetic field, so that the effect of arc offset can be achieved, and the information of the electric arc can be extracted effectively for arc tracking. Meanwhile, the asymmetric longitudinal magnetic field overlapped by the coils rotating at two sides can enable the molten pool to be stirred more fully, so that the weld joint structure is finer and the mechanical property is better.
Drawings
FIG. 1 is a schematic view of the structure of the present invention
FIG. 2 is a schematic view of a position sensor identification support sleeve according to the present invention
FIG. 3 is an arc diagram of a V-groove when only the intermediate magnetically permeable coil is energized to form a magnetic field
FIG. 4 is an arc diagram of the magnetic induction coil in the middle and right of the V-groove when energized to form a magnetic field
FIG. 5 is an arc diagram of the magnetic induction coil in the middle and left of the V-groove when energized to form a magnetic field
FIG. 6 is a three-dimensional view of an actual welding process according to the present invention
In fig. 1: the welding machine comprises a 1-signal generator, a 2-power amplifying plate, a 3-transmission device, a 4-positioning device, a 5-TIG welding gun, a 6-mountain-shaped supporting sleeve, a 7-asymmetric longitudinal magnetic field sensor controller, an 8-arc signal acquisition device and 9-large-curvature narrow-weld workpieces.
In fig. 2: a. b, c, a ', b ', c ' -position sensor, d-support sleeve on both sides.
The specific implementation method comprises the following steps:
the invention is described in further detail below with reference to the drawings and examples. Referring to fig. 1, the apparatus for performing automatic scan tracking according to the present embodiment controls the movement of an arc by an offset magnetic field, and includes: the device comprises a mountain-shaped supporting sleeve, a signal generator, a power amplifying plate, a magnetic induction coil and the like. The magnetic field excitation power supply outputs specific direct current to the middle magnetic induction coils to generate a magnetic field, the magnetic induction coils on two sides are electrified in turn to generate a magnetic field through rectangular alternating current processed by the inverter and the digital circuit controller, the traction arc regularly performs welding seam scanning movement, the Hall sensor receives corresponding data from the change of welding current when the arc movement is performed, the data are input into the data analysis system to be analyzed, corresponding welding position parameters are obtained, the parameters are input into the adjusting mechanism, and the adjusting mechanism adjusts the position of the welding gun according to the obtained data, so that automatic tracking of the welding seam is realized. The theoretical formula required for the automatic scanning of the arc is as follows:
in the above formula, R is the radius of the electron doing circular motion in the magnetic field, m is the mass of the electron, v is the transverse velocity of the electron, q is the charge quantity carried by the electron, and B is the magnitude of the induced magnetic field.
Referring to fig. 2, a transmission device is added on the two communicated support sleeves to drive the two support sleeves to rotate, the accurate position reached by each rotation is determined through a position sensor, and when the left magnetic induction coil is electrified, the transmission device controls the left support sleeve to respectively reach the positions a, b and c (when the right support sleeve respectively reaches the positions c ', b and a') and to be overlapped with the middle magnetic field, and at the moment, the transmission device is in the process of electrifying the left magnetic induction coil. Then, the right magnetic induction coil is electrified, and the transmission device controls the right support sleeve to respectively reach the positions a ', b ', c ' (at the moment, the left support sleeve respectively reaches the positions c, b and a) to be overlapped with the middle magnetic field, and at the moment, the right support sleeve is all in the process of electrifying the right magnetic induction coil. The above process is continuously circulated, and the traction arc is regularly deviated.
In the embodiment, referring to fig. 3, fig. 4 and fig. 5, fig. 3 shows that when only the middle magnetic induction coil is electrified to form a magnetic field, the arc after the tungsten electrode is started scans the position and form of the welding seam under the action of a symmetrical magnetic field, fig. 4 shows that when the middle magnetic induction coil and the right magnetic induction coil are electrified to form a magnetic field, the arc is under the action of an asymmetrical magnetic field, the magnetic field intensity of the left side of the tungsten electrode is smaller than that of the right side of the tungsten electrode, so that the rotating radius of electrons in the arc of the left side of the tungsten electrode is larger than that of electrons in the arc of the right side of the tungsten electrode, the arc width of the left side of the tungsten electrode is smaller than that of the arc of the right side of the tungsten electrode, the welding seam on the right side of a welding piece is scanned, and the hall sensor collects current voltage signals on the right side. FIG. 5 shows that when the middle and left magnetic induction coils are energized to form a magnetic field, the arc is under the action of an asymmetric magnetic field, the magnetic field strength at the left side of the tungsten electrode is larger than that at the right side of the tungsten electrode, so that the rotating radius of electrons in the left side of the tungsten electrode is smaller than that of electrons in the right side of the tungsten electrode, the width of the arc at the left side of the tungsten electrode is larger than that of the right side of the tungsten electrode, a welding line at the left side of a welding piece is scanned, and a Hall sensor acquires a current voltage signal at the left side.
In the arc rotation swing period, each coil scans three different positions respectively by rotating the coils at two sides, relevant arc parameters are extracted by a Hall sensor, 10 corresponding welding parameters are corresponding to each position in the magnetic head rotation process, and the position deviation of a welding gun is judged by calculating the current-voltage value difference value of the two symmetrical positions; the curvature of the welding line is identified by continuously extracting the positions of the welding gun in four periods, so that the welding parameters are adjusted, and the tracking of the welding line with large curvature and narrow gap is realized.
Claims (1)
1. A large curvature weld deviation recognition method based on asymmetric longitudinal magnetic field sensing is used for solving the weld tracking of narrow-gap and large curvature complex tracks, and is characterized in that: the system consists of a mountain-shaped supporting sleeve, a signal generator, a power amplification plate, an electric arc signal acquisition device, an asymmetric longitudinal magnetic field sensor controller and a magnetic induction coil; the mountain-shaped supporting sleeve is characterized in that holes are drilled in the periphery of the middle supporting sleeve, the holes are fixed through screws, and a transmission device is added to the supporting sleeves on two sides to drive the supporting sleeves to rotate by taking the middle supporting sleeve as a shaft; the asymmetric longitudinal magnetic field is formed by overlapping a longitudinal magnetic field generated by a middle coil and a longitudinal magnetic field generated by coils at two sides in turn; when the left coil is electrified, a longitudinal magnetic field generated by the left coil is overlapped with a longitudinal magnetic field generated by the middle constant current coil to generate an asymmetric longitudinal magnetic field, the left magnetic induction intensity of the welding gun is larger than that of the right coil, so that the left arc width is larger than that of the right arc width, and the Hall sensor acquires a left current and voltage signal; similarly, when the coil on the right side is electrified, the magnetic induction intensity on the left side of the welding gun is smaller than that on the right side, so that the width of an arc on the left side is smaller than that on the right side, and a Hall sensor acquires a current and voltage signal on the right side; the method for identifying the large-curvature welding seam deviation is characterized in that in the single-side electrifying process, a supporting sleeve on one side is controlled to rotate to three different positions respectively, an arc deflects and scans the welding seam due to the addition of an asymmetric longitudinal magnetic field, 10 times of sampling are carried out at 6 different positions, arc information is extracted, the position deviation of a welding gun is judged by calculating the current-voltage value difference value of two symmetrical positions, the position of the welding gun in four periods is continuously extracted, the curvature of the welding seam is identified, and then welding parameters are adjusted, so that tracking of the large-curvature narrow-gap welding seam is realized.
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| JPH0263684A (en) * | 1988-08-29 | 1990-03-02 | Mitsubishi Heavy Ind Ltd | Method for profiling weld line |
| CN101224520B (en) * | 2007-01-17 | 2012-06-06 | 湘潭大学 | Automatic tracking and controlling method for welding line by magnetic controlling arc sensor |
| CN105798429B (en) * | 2016-05-12 | 2018-01-12 | 湘潭大学 | A kind of magnetic control weld seam tracking sensor for narrow-clearance submerged arc welding |
| CN105817735B (en) * | 2016-05-20 | 2018-02-06 | 湘潭大学 | A kind of magneto-strain welding oscillator with welding line tracking function |
| CN109530864B (en) * | 2019-01-03 | 2021-03-26 | 湘潭大学 | Welding seam tracking sensor for controlling TIG electric arc by magnetic field |
| CN111168198B (en) * | 2020-01-08 | 2021-09-28 | 湘潭大学 | Welding seam tracking sensor for controlling double-tungsten-electrode arc swing by magnetic field |
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| 洪波 ; 魏复理 ; 来鑫 ; 潘际銮 ; 尹力 ; .一种用于焊缝跟踪的磁控电弧传感器.焊接学报.2008,(第05期), * |
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