CN114535757A - Multipolar magnetic control GTAW arc sensor with self-adaptation calibration function - Google Patents
Multipolar magnetic control GTAW arc sensor with self-adaptation calibration function Download PDFInfo
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- CN114535757A CN114535757A CN202210316324.0A CN202210316324A CN114535757A CN 114535757 A CN114535757 A CN 114535757A CN 202210316324 A CN202210316324 A CN 202210316324A CN 114535757 A CN114535757 A CN 114535757A
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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
- B23K9/1272—Geometry oriented, e.g. beam optical trading
- B23K9/1276—Using non-contact, electric or magnetic means, e.g. inductive means
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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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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P10/00—Technologies related to metal processing
- Y02P10/25—Process efficiency
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Abstract
The invention relates to a multi-pole magnetic control GTAW arc sensor with a self-adaptive calibration function. The invention provides a multi-pole magnetic control GTAW arc sensor with a self-adaptive calibration function, which aims to solve the problems that a magnetic control arc welding seam tracking sensor cannot self-adaptively identify the relative position of a magnetic conducting pole and a tungsten pole, a magnetic field cannot self-adapt to the change of arc length in the tracking process, the magnetic conducting pole cannot self-adapt to the distance between an arc and the like. In the welding process, the relative position between the magnetic control arc sensor and the tungsten electrode and between the magnetic control arc sensor and the electric arc is self-adapted by a method of magnetic pole-tungsten needle-electric arc composite perception, and the self-adaptive control of the position of the magnetic control arc sensor is realized by utilizing a self-adaptive control method of the position of the magnetic control arc sensor. And self-adapting the distance between the magnetic pole and the electric arc by using a magnetic pole arc temperature sensing method.
Description
Technical Field
The invention relates to the field of weld joint tracking, in particular to a multi-pole magnetic control GTAW arc sensor with a self-adaptive calibration function.
Technical Field
GTAW (gas shielded arc welding) is widely applied to the fields of aerospace, marine equipment, nuclear power construction and the like, is mainly completed by manual welding of welding workers at present, severely limits the welding efficiency and quality, and is an effective way for improving the welding efficiency and quality to realize automatic welding. The real-time tracking technology of the welding seam is a key technology for realizing automatic welding. The magnetic control swing arc welding seam tracking method has the advantages of non-contact, good real-time performance, flexible arc swing and the like, and more researches are carried out on scholars at home and abroad aiming at the magnetic control swing arc welding seam tracking sensor, but more difficulties still exist to influence the development of the magnetic control swing welding seam tracking technology.
In the GTAW process, the tungsten electrode is a vulnerable part, and when the tungsten electrode is replaced, the relative position of the tungsten electrode and the magnetic control arc sensor can change; meanwhile, the arc length changes in real time, which causes the relative position of the magnetic control arc sensor and the arc to change, and the relative position of the magnetic control arc sensor and the arc changes, which all affect the accuracy of the swing amplitude of the arc and further affect the accuracy of the welding seam tracking. When the welding current changes, the diameter of the electric arc can change, the magnetic pole is easily burnt out due to the undersized magnetic pole distance, and the magnetic field intensity can be influenced due to the oversized magnetic pole distance. Aiming at the problems, the invention discloses a multi-pole magnetic control GTAW arc sensor with a self-adaptive calibration function.
Disclosure of Invention
A multipolar magnetic control GTAW arc sensor with a self-adaptive calibration function is used for self-adaptive calibration of the position of a magnetic control arc welding seam tracking sensor in the welding seam tracking process, and is characterized in that: in the welding process, the relative position between the magnetic control arc sensor and the tungsten electrode and between the magnetic control arc sensor and the electric arc is calibrated in a self-adaptive mode through a magnetic pole-tungsten needle-electric arc composite sensing method, the distance between the magnetic pole and the electric arc is self-adapted through a magnetic pole arc temperature sensing method, and self-adaptive control over the position of the magnetic control arc sensor is achieved through a magnetic control arc sensor position self-adaptive control method.
The multipole magnetic control GTAW arc sensor with the self-adaptive calibration function consists of a multipole magnetic field generator mounting base, 4 magnetic field generator moving shafts, 4 magnetic field generators, 4 magnetic poles, 4 magnetic pole moving shafts, 4 pairs of multipole arc temperature sensors and a multipole magnetic control GTAW arc sensor controller; one end of the mounting base of the multi-pole magnetic field generator is fixedly connected with a GTAW welding gun, and the other end of the mounting base of the multi-pole magnetic field generator is fixedly connected with a moving shaft of the magnetic field generator; the moving shaft of the magnetic field generator is fixedly connected with the magnetic field generator and used for controlling the multi-pole magnetic field generator to move in the direction of the welding gun; the magnetic field generator can generate regular magnetic fields according to regular exciting currents; one end of the magnetic pole moving shaft is fixedly connected with the magnetic field generator, and the other end of the magnetic pole moving shaft is fixedly connected with the magnetic pole and used for controlling the magnetic pole to move in the direction vertical to the GTAW welding gun; the magnetic conductive pole is used for conducting a magnetic field; the multi-pole arc temperature sensor is fixedly connected with the magnetic conductive pole and used for detecting the arc temperature at the magnetic conductive pole, and further the distance between the magnetic conductive pole and the arc is adaptively controlled.
The four-point ladder sensing method is characterized in that the relative positions of the tungsten electrode and the magnetic conductive electrode are calibrated in a self-adaptive manner by a four-point ladder sensing method, and the four magnetic conductive electrodes are in contact with the positions of the sensing tungsten needle in different height directions; and determining the length of the arc by using the arc voltage so as to calibrate the position of the magnetic pole in the height direction of the arc.
The magnetic pole arc temperature sensing utilizes a multi-pole arc temperature sensor fixedly connected with the magnetic pole to acquire the temperature of the magnetic pole in real time and utilizes a magnetic control arc sensor position self-adaptive control method to respectively self-adapt to the distance between the magnetic pole and the arc through a magnetic pole moving shaft.
The position self-adaptive control method of the magnetic control arc sensor utilizes the variation and the variation rate of the arc height to self-adaptively control the height position of the magnetic control arc sensor and utilizes the variation and the variation rate of the arc temperature perception of the magnetic pole to self-adapt to the horizontal positions of the magnetic pole and the arc.
The invention has the beneficial effects that:
the invention relates to a multi-pole magnetic control GTAW arc sensor with a self-adaptive calibration function. In the GTAW process, the tungsten electrode is a vulnerable part, and when the tungsten electrode is replaced, the relative position of the tungsten electrode and the magnetic control arc sensor can change; meanwhile, the arc length changes in real time, which causes the relative position of the magnetic control arc sensor and the arc to change, and the relative position of the magnetic control arc sensor and the arc changes, which all affect the accuracy of the swing amplitude of the arc and further affect the accuracy of the welding seam tracking. When the welding current changes, the diameter of the electric arc can change, the magnetic pole is easily burnt out due to the undersized magnetic pole distance, and the magnetic field intensity can be influenced due to the oversized magnetic pole distance. The invention provides a multi-pole magnetic control GTAW arc sensor with a self-adaptive calibration function, which solves the problems that a tungsten electrode and a magnetic control arc sensor cannot be calibrated in a self-adaptive manner, the length of the magnetic control arc sensor and an arc cannot be calibrated in a self-adaptive manner, and the distance between a magnetic pole and the arc cannot be calibrated in a self-adaptive manner in a GTAW process.
Drawings
FIG. 1 is a diagram of a multi-pole magnetically controlled GTAW arc sensor system with adaptive calibration.
In the figure: the device comprises a 1-magnetic pole, a 2-magnetic pole moving shaft, a 3-multipole arc temperature sensor, a 4-tungsten pole, a 5-multipole magnetic field generator, a 6-magnetic field generator moving shaft, a 7-multipole magnetic field generator mounting base, an 8-GTAW welding gun, a 9-control bus and a 10-multipole magnetic control GTAW arc sensing controller.
FIG. 2 is a schematic diagram of the magnetically conductive pole-tungsten needle adaptive calibration.
In the figure: 1-multipole magnetic field generator, 2-magnetic pole moving shaft, 3-magnetic pole 2, 4-magnetic pole 4, 5-magnetic pole 1, 6-magnetic pole 3, 7-tungsten needle.
Fig. 3 is an electrical schematic diagram of the magnetic pole-tungsten needle adaptive calibration.
Detailed Description
In order to better express the technical scheme and the beneficial effects of the whole invention, the invention is further described in detail with reference to the accompanying drawings and the implementation examples. Embodiments of the present invention are not limited thereto.
Step 1: and calibrating the positions of the magnetic control arc sensor and the tungsten electrode.
The tungsten electrode is a quick-wear part, when the tungsten electrode is replaced, the relative position of the tungsten electrode and the magnetic control arc sensor changes, and in order to ensure the accuracy of the magnetic field control arc motion trail, the relative position of the magnetic control arc sensor and the tungsten needle needs to be calibrated in a self-adaptive mode before welding starts. When the relative position of the magnetron arc sensor and the tungsten needle is calibrated in a self-adaptive manner, the multipole magnetron GTAW arc sensor in the figure 1 controls the magnetic field generator to be arranged in an equal gradient manner in the welding gun direction through the moving shaft of the magnetic field generator (as shown in figure 2). In fig. 3, the adaptive calibration controller for tungsten electrode-magnetic conductive electrode outputs signals 1-4 to output control signals (controlling the magnetic conductive electrodes 1-4 to be connected to a high level and the tungsten needle to be connected to a low level), and at the same time, the controller for multi-pole magnetic control GTAW arc sensor controls the magnetic conductive electrode to move along the direction close to the tungsten electrode in the direction perpendicular to the welding gun through the magnetic conductive electrode moving shaft; when the magnetic pole touches the tungsten needle, the input signal corresponding to the magnetic pole touching the tungsten needle in the input signals 1-4 in fig. 3 sends a signal to the tungsten pole-magnetic pole adaptive calibration controller through the data bus; and then the position of the tungsten needle is determined by utilizing the position of the magnetic poles which are arranged in an equal gradient and touch the magnetic pole at the lowest part of the tungsten pole.
Step 2: and calibrating the position of the magnetic pole in the height direction of the electric arc.
In the welding process, the GTAW arc length is changed in real time, so that the relative position of the magnetic control arc sensor and an arc is changed, and the change can influence the accuracy of the swing amplitude of the arc and further influence the accuracy of seam tracking. The invention discloses a self-adaptive calibration method of a magnetic pole in the height direction of an electric arc. Monitoring the welding voltage in real time by using a voltage sensor in the welding process, and transmitting a voltage signal to a multi-pole magnetic control GTAW arc sensor controller in the figure 1; the controller of the multi-pole magnetic control GTAW arc sensor converts an analog signal of the voltage sensor into a digital signal through A/D sampling, and simultaneously controls (by a PID control method) the positions of the 4 multi-pole magnetic field generators in the direction of the welding gun through the variation and the variation rate of the voltage signal, so that the same swing amplitude is ensured when the length of the arc changes.
And 3, step 3: and the distance between the magnetic conductive pole and the electric arc is self-adapted.
During GTAW, the welding process parameters are not invariably adjusted according to the welding process requirements. When the welding current changes, the diameter of the electric arc can change, the magnetic pole is easily burnt out due to the undersized magnetic pole distance, and the magnetic field intensity can be influenced due to the oversized magnetic pole distance. The invention discloses a method for self-adapting the distance between a magnetic conductive pole and an electric arc. In the welding process, the multi-pole magnetic control GTAW arc sensor controls the arc to move regularly, when the arc is controlled to move to the middle position, the multi-pole magnetic control GTAW arc sensor controller in figure 1 controls the multi-pole arc temperature sensor to acquire the arc temperature near the magnetic poles, and the distances from 4 magnetic poles to the arc are respectively controlled through the magnetic pole moving shaft according to the variation and the variation rate (PID control method) of the arc temperature.
Claims (5)
1. A multipolar magnetic control GTAW arc sensor with a self-adaptive calibration function is used for self-adaptive calibration of the position of a magnetic control arc welding seam tracking sensor in the welding seam tracking process, and is characterized in that: in the welding process, the relative position between the magnetic control arc sensor and the tungsten electrode and between the magnetic control arc sensor and the electric arc is calibrated in a self-adaptive mode through a magnetic pole-tungsten needle-electric arc composite sensing method, the distance between the magnetic pole and the electric arc is self-adapted through a magnetic pole arc temperature sensing method, and self-adaptive control over the position of the magnetic control arc sensor is achieved through a magnetic control arc sensor position self-adaptive control method.
2. The multi-pole magnetically controlled GTAW arc sensor with adaptive calibration function as claimed in claim 1, wherein: the multipole magnetic control GTAW arc sensor with the self-adaptive calibration function consists of a multipole magnetic field generator mounting base, 4 magnetic field generator moving shafts, 4 magnetic field generators, 4 magnetic poles, 4 magnetic pole moving shafts, 4 pairs of multipole arc temperature sensors and a multipole magnetic control GTAW arc sensor controller; one end of the mounting base of the multi-pole magnetic field generator is fixedly connected with a GTAW welding gun, and the other end of the mounting base of the multi-pole magnetic field generator is fixedly connected with a moving shaft of the magnetic field generator; the moving shaft of the magnetic field generator is fixedly connected with the magnetic field generator and used for controlling the multi-pole magnetic field generator to move in the direction of the welding gun; the magnetic field generator can generate regular magnetic fields according to regular exciting currents; one end of the magnetic pole moving shaft is fixedly connected with the magnetic field generator, and the other end of the magnetic pole moving shaft is fixedly connected with the magnetic pole and used for controlling the magnetic pole to move in the direction vertical to the GTAW welding gun; the magnetic conductive pole is used for conducting a magnetic field; the multi-pole arc temperature sensor is fixedly connected with the magnetic conductive pole and used for detecting the arc temperature at the magnetic conductive pole, and further the distance between the magnetic conductive pole and the arc is adaptively controlled.
3. The multi-pole magnetically controlled GTAW arc sensor with adaptive calibration function as claimed in claim 1, wherein: the relative positions of the tungsten electrode and the magnetic conductive electrode are calibrated in a self-adaptive manner by a four-point step sensing method, wherein the four-point step sensing method is to sense the position of the tungsten electrode by the simultaneous contact of four magnetic conductive electrodes in different height directions; and determining the length of the arc by using the arc voltage so as to calibrate the position of the magnetic pole in the height direction of the arc.
4. The multi-pole magnetically controlled GTAW arc sensor with adaptive calibration function as claimed in claim 1, wherein: the magnetic pole arc temperature sensing utilizes a multi-pole arc temperature sensor fixedly connected with the magnetic pole to acquire the temperature of the magnetic pole in real time and utilizes a magnetic control arc sensor position self-adaptive control method to respectively self-adapt to the distance between the magnetic pole and the arc through a magnetic pole moving shaft.
5. The multi-pole magnetically controlled GTAW arc sensor with adaptive calibration function as claimed in claim 1, wherein: the position self-adaptive control method of the magnetic control arc sensor utilizes the variation and the variation rate of the arc height to self-adaptively control the height position of the magnetic control arc sensor and utilizes the variation and the variation rate of the arc temperature perception of the magnetic pole to self-adapt to the horizontal positions of the magnetic pole and the arc.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115055788A (en) * | 2022-07-11 | 2022-09-16 | 湘潭大学 | Arc oscillation amplitude control method based on magnetic control GTAW arc sensing |
| CN115121912A (en) * | 2022-06-27 | 2022-09-30 | 湘潭大学 | Excitation current calibration method for multi-pole magnetic control GTAW arc sensor |
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2022
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115121912A (en) * | 2022-06-27 | 2022-09-30 | 湘潭大学 | Excitation current calibration method for multi-pole magnetic control GTAW arc sensor |
| CN115121912B (en) * | 2022-06-27 | 2023-08-22 | 湘潭大学 | Excitation current calibration method for multipole magnetic control GTAW arc sensor |
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| CN115055788B (en) * | 2022-07-11 | 2023-08-25 | 湘潭大学 | Arc swing amplitude control method based on magnetic control GTAW arc sensing |
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