CN218135710U - Welding control apparatus - Google Patents
Welding control apparatus Download PDFInfo
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- CN218135710U CN218135710U CN202222029267.6U CN202222029267U CN218135710U CN 218135710 U CN218135710 U CN 218135710U CN 202222029267 U CN202222029267 U CN 202222029267U CN 218135710 U CN218135710 U CN 218135710U
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Abstract
The utility model relates to a welding field discloses a welding controlgear. The apparatus comprises: the electric welding mechanism is used for welding an object to be welded, the high-energy beam welding mechanism is used for welding a welding seam existing in the object to be welded after the electric welding mechanism is welded, the mounting rod penetrates through the plurality of adjusting mechanisms, the first adjusting mechanism is used for adjusting the position and the swing width of the electric welding mechanism, and the second adjusting mechanism is used for adjusting the relative position between the high-energy beam welding mechanism and the electric welding mechanism and the direction of the high-energy beam welding mechanism. Because the high-energy beam welding mechanism and the electric welding mechanism can move on the mounting rod through the adjusting mechanism, the device can realize two welding modes, can also adjust the heat input of an object to be welded, is favorable for improving the welding quality of the object to be welded and enhances the connection strength.
Description
Technical Field
The utility model relates to a welding field specifically relates to a welding control equipment.
Background
In the welding operation of industries such as engineering machinery, shipbuilding and the like, the accuracy of blanking and pre-welding assembly is difficult to ensure, so that the reserved gap of a welding line is overlarge. Or to ensure the overall dimensions of the structural member, thereby forming a large gap weld. In the prior art, there are welding apparatuses that can perform only arc welding, and welding apparatuses that can perform only laser welding. These two kinds of welding set can all realize welding alone small clearance, but when the clearance further enlarges, cladding metal's surface tension just can't overcome self gravity and still can produce the collapse, can't weld big clearance together. Moreover, both of these devices also do not satisfy the welding of closed structures, so that neither of the devices of the prior art is adaptable to welding operations for large gaps and closed structures.
SUMMERY OF THE UTILITY MODEL
The utility model aims to solve the technical problem that a can weld according to treating the clearance of treating difference between the welding object, improve the joint strength's of welding seam welding controlgear simultaneously is provided.
In order to realize the technical problem, an aspect of the present invention provides a welding control apparatus, including:
the electric welding mechanism is used for welding an object to be welded;
the high-energy beam welding mechanism is used for welding a welding seam of an object to be welded after the electric welding mechanism is used for welding;
the mounting rod penetrates through the plurality of adjusting mechanisms;
and the plurality of adjusting mechanisms at least comprise a first adjusting mechanism and a second adjusting mechanism, the first adjusting mechanism is used for adjusting the position and the swing width of the electric welding mechanism, and the second adjusting mechanism is used for adjusting the relative position between the high-energy beam welding mechanism and the electric welding mechanism and the direction of the high-energy beam welding mechanism.
In an embodiment of the present application, the first adjustment mechanism includes: the first rotating assembly is connected with the electric welding mechanism and is used for adjusting the direction and the swing width of the electric welding mechanism; first sliding assembly is connected with first rotating assembly, and first sliding assembly is used for adjusting the position of electric welding mechanism on the installation pole.
In an embodiment of the application, the apparatus further comprises a first fixing assembly for fixing the electric welding mechanism to the mounting rod.
In the embodiment of this application, first fixed subassembly is connected with first slip subassembly and first rotating assembly, and first slip subassembly passes through the position of first fixed subassembly regulation electric welding mechanism, and the first rotating assembly passes through the direction that first fixed subassembly adjusted electric welding mechanism.
In an embodiment of the present application, the second adjustment mechanism includes: and the second rotating assembly is connected with the high-energy beam welding mechanism and is used for adjusting the direction of the high-energy beam welding mechanism.
In an embodiment of the present application, the second adjustment mechanism further comprises: and the second sliding assembly is connected with the second rotating assembly and is used for adjusting the position of the high-energy beam welding mechanism on the mounting rod.
In an embodiment of the present application, the high-energy beam welding mechanism further includes a high-energy beam relative distance adjustment mechanism for adjusting a distance and an angle between the first beam and the second beam of the high-energy beam welding mechanism.
In an embodiment of the application, the apparatus further comprises tracking means, connected to the first sliding assembly, for detecting the sheet data and the gap data of the object to be welded.
In an embodiment of the application, the apparatus further comprises an infrared sensing device fixed to the mounting bar, and the infrared sensing device is located between the electric welding mechanism and the high-energy beam welding mechanism.
In an embodiment of the application, the apparatus further comprises a second fixing assembly for fixing the infrared sensing device to the mounting rod.
Through the technical scheme, the beneficial effects of the utility model are as follows: the adjusting mechanism on the mounting rod can flexibly adjust the positions and the directions of the electric welding mechanism and the high-energy beam welding mechanism on the mounting rod according to the actual requirements of the welding process, so that the molten metal in a molten pool can be prevented from collapsing due to overhigh temperature. And the electric welding mechanism and the high-energy beam welding mechanism are combined into an integral device, so that two different welding modes of electric arc welding and laser welding can be realized simultaneously. After the electric welding mechanism performs backing welding, the welding seam is remelted through the high-energy beam welding mechanism, so that the metal microstructure of the object to be welded can be effectively improved, and the welding quality of the object to be welded is improved.
Other features and advantages of the present invention will be described in detail in the detailed description which follows.
Drawings
The accompanying drawings, which are included to provide a further understanding of the embodiments of the disclosure and are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description serve to explain the embodiments of the disclosure, but are not intended to limit the embodiments of the disclosure. In the drawings:
fig. 1 is a block diagram schematically showing a configuration of a welding control apparatus applied to an embodiment of the present application;
fig. 2 is a block diagram schematically showing a configuration of a welding control apparatus applied to still another embodiment of the present application;
FIG. 3 schematically illustrates a schematic diagram of a welding control apparatus according to an embodiment of the present application;
FIG. 4 schematically illustrates a schematic view of a high energy beam welding mechanism according to an embodiment of the present application performing welding;
FIG. 5 schematically illustrates a schematic diagram of an electric welding mechanism according to an embodiment of the present application performing welding;
fig. 6 is a schematic flowchart illustrating a welding control method applied to a welding control apparatus provided in an embodiment of the present application;
fig. 7 is a schematic diagram showing steps of a welding control apparatus applied to the embodiment of the present application before a welding mechanism welds a last welding position;
fig. 8 schematically illustrates a step diagram after the electric welding mechanism finishes welding the current welding position, which is applied to the welding control apparatus provided in the embodiment of the present application.
Reference numerals
010-electric welding mechanism, 020-high energy beam welding mechanism, 030-mounting rod, 041-first rotating component, 042-second rotating component, 051-first sliding component, 052-second sliding component, 060-first fixing component, 070-high energy beam relative distance adjusting mechanism, 080-tracking device, 090-high energy beam welding mechanism, 100-second fixing component, 1-object to be welded, 2-welding gun, 3-welding wire, 4-molten drop and 5-laser beam.
Detailed Description
To make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it should be understood that the specific embodiments described herein are only used for illustrating and explaining the embodiments of the present application and are not used for limiting the embodiments of the present application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
In one embodiment, fig. 1 schematically shows a block diagram of a welding control apparatus applied to an embodiment of the present application, and in the embodiment of the present application, there is provided a welding control apparatus including:
the first welding device 102 comprises an electric welding mechanism for controlling the electric welding mechanism to weld the welding position of the object to be welded;
the second welding device 104 comprises a high-energy beam welding mechanism, the high-energy beam welding mechanism is connected with the electric welding mechanism, and the second welding device is used for controlling the high-energy beam welding mechanism to weld the welding seam at the current welding position of the first welding device;
a processor 106 for controlling the frequency of the welding operation by the first welding device to make the temperature of the weld pool lower than a critical temperature of the current welding position, and/or controlling the remelting operation by the second welding device, wherein the critical temperature of the current welding position is a temperature threshold value allowing welding for the current welding position.
The first welding device 102 may be a device that performs a backing welding operation on an object to be welded. Backing welding is welding of a backing weld bead performed at the root of a groove on the back side of a joint in order to prevent angular deformation or burn-through during subsequent welding when a groove pair on one side of a thick plate is welded. During the backing welding operation of the object to be welded, the processor may control the electric welding mechanism to perform the backing welding on the welding position of the object to be welded through the first welding device 102 provided with the electric welding mechanism. The first welding device 102 includes an electric welding mechanism, which may be a welding torch, that performs welding by arc welding. The principle of arc welding is that the heat generated by the arc discharge is used to melt the welding rod and the structural member together, which after condensation enables the gaps between the objects to be welded to be joined together. The object to be welded is a product to be welded in which a large gap exists between the structural members, and further, may be an integrated product composed of a plurality of products. The welding position refers to any position on the gap groove of the object to be welded for welding operation.
The second welding device 104 may be a device that performs a reflow operation on an object to be welded. The second welding device 104 includes a high energy beam welding mechanism, which may be a laser beam, electron beam, ion beam, electric spark, ultra high frequency induction impingement, solar power, synchrotron radiation, and the like. The high energy beam welding mechanism may be a device that is bombarded with a focused laser beam as an energy source to generate heat to a workpiece to perform a welding operation. Because the laser has optical properties such as refraction and focusing, the laser welding is very suitable for welding miniature parts and parts with poor accessibility. In addition, laser welding has low heat input and small welding deformation, and is not influenced by an electromagnetic field. The high-energy beam welding mechanism can be connected with the electric welding mechanism through a screw, and after the first welding device 102 performs backing welding operation on an object to be welded to form a welding seam, the high-energy beam welding mechanism can remelt the welding seam at the current welding position of the first welding device 102 to perform remelting welding. The current welding position of the first welding device 102 refers to a welding position at which the welder performs welding on an object to be welded at the current moment. The second welding device 104 can effectively reduce the number of blowholes by melting the weld formed after the welding operation has been performed. The welding seam and the side wall of the groove are fused, so that the connection strength of the welding seam can be effectively improved.
The molten pool is a liquid metal part with a certain shape formed on a weldment under the action of a heat source in the welding process of a welding device. When welding an object to be welded with a large gap, if the welding apparatus continues to weld the object to be welded, the temperature of the molten pool gradually increases. The critical temperature of the current weld location refers to a temperature threshold that allows welding for the current weld location. When the temperature of the molten pool exceeds the critical temperature of the current welding position, the molten metal in the molten pool can not overcome the self gravity to collapse, and therefore the welding quality of the objects to be welded is affected. Therefore, the weld quality of the object to be welded is inversely related to the weld pool temperature. In order to overcome the problem of molten metal collapse caused by over-high temperature of the molten pool in the welding process, by the device, the processor 106 can control the heat input of the object to be welded during welding by controlling the frequency of the welding operation, so that the condition that the deposited metal of the molten pool collapses is avoided. Further, processor 106 may also control second welding device 104 to perform a reflow operation that may reflow the weld at the current welding location of first welding device 102 to improve the metal microstructure of the weld. And the side wall remelting can also be carried out on a fine gap between the welding seam and the groove, so that the welding quality is effectively improved.
In one embodiment, fig. 2 schematically shows a block diagram of a welding control apparatus applied to another embodiment of the present application. Referring to fig. 2, the welding control apparatus further includes: the infrared sensing device 108 is configured to acquire the current temperature of the molten pool in real time; the processor 106 is further configured to: after the electric welding mechanism is controlled to weld the last welding position of the object to be welded, the electric welding mechanism is controlled to move from the last welding position to the current welding position; determining the critical temperature of the current welding position according to the welding data of the last welding position; under the condition that the current temperature is less than or equal to the critical temperature of the current welding position, controlling an electric welding mechanism to enter a welding state so as to weld the current welding position; and under the condition that the current temperature is higher than the critical temperature of the current welding position, controlling the electric welding mechanism to enter a standby state until the current temperature is lower than or equal to the critical temperature of the current welding position.
The infrared sensing device 108 may be an infrared camera or an infrared sensor. The infrared sensing device can utilize the thermal effect of infrared radiation to measure the temperature of an object without directly contacting the object to be measured. In particular, the infrared sensing device may be configured to acquire the current temperature of the molten bath in real time.
The last weld location is relative to the current weld location. And the electric welding mechanism is used for carrying out the welding position of the over-welding operation on the object to be welded. The processor 106 may control the electric welding mechanism to move from the last welding position to the current welding position after controlling the electric welding mechanism to complete welding for the last welding position of the object to be welded. Also, the process 106 may determine the critical temperature for the current weld location based on the weld data for the previous weld location. The welding data refers to controllable parameters capable of determining energy supply such as heating and pressurization of the electric welding mechanism and conversion conditions in the process of welding an object to be welded by the electric welding mechanism, and the controllable parameters comprise various data such as welding current, arc voltage, welding time, welding rod diameter and the like.
Further, the processor 106 may control the electric welding mechanism to enter the welding state to control the electric welding mechanism to perform the welding operation on the current welding location in case it is determined that the current temperature is less than or equal to the critical temperature of the current welding location based on the current temperature of the weld puddle. The electric welding mechanism enters a welding state, which can mean that when a welding gun performs electric arc welding, the welding gun enters an arc burning state to melt a welding rod and a welding position of an object to be welded for welding. In contrast, the standby state may refer to the welding torch entering an arc quenching state and stopping the welding operation. Therefore, in order to reduce the heat input to the object to be welded during the continuous welding operation, the processor 106 may control the electric welding mechanism to enter the standby state until the current temperature is less than or equal to the critical temperature of the current welding position, in case it is determined that the current temperature is greater than the critical temperature of the current welding position. Therefore, the processor can avoid the problem of metal collapse in a molten state in a molten pool caused by overhigh temperature in the process of controlling the electric welding mechanism to continuously perform backing welding operation.
In one embodiment, the infrared sensing device 108 is further configured to acquire a surface temperature of the weld at the current welding location; the welding control apparatus further includes: a tracking device 110 configured to acquire gap data of the weld and transmit the surface temperature and the gap data of the weld to the processor; the processor 106 is further configured to: after the electric welding mechanism finishes welding aiming at the current welding position, detecting whether a welding seam exists at the current welding position; under the condition that a welding seam exists at the current welding position, determining the remelting power of the high-energy beam welding mechanism, the relative position between the high-energy beam welding mechanism and the electric welding mechanism, the direction of the high-energy beam welding mechanism, and the distance and the angle between the first light beam and the second light beam according to the surface temperature and the gap data of the welding seam; and controlling the high-energy beam welding mechanism to weld the welding seam at the current welding position by remelting power.
Referring to fig. 2, the tracking device 110 may be a laser tracking device, where the laser tracking device irradiates a moving target with laser, controls the measurement system to point to the target direction according to a deviation angle between a laser signal reflected from the target and an optical axis of the measurement system, and may also obtain data information of the moving target according to the reflected laser signal. Specifically, the tracking device 110 may acquire gap data in real time during the welding process by the welding control apparatus. The gap data of the welding seam refers to data such as width, length, groove angle, strength, hardness, heat conductivity and the like between the welding seam and the side wall of the groove of the gap after welding operation is carried out on the gap of an object to be welded. Further, the tracking device 110 may transmit the acquired data to the processor 106, including the gap data of the weld, and the surface temperature of the weld acquired by the infrared sensing device 108. Based on the above functions, after the electric welding mechanism finishes welding for the current welding position, the processor 106 may detect whether there is a weld seam in the current welding position through the tracking device 110.
Further, in the case that it is determined that the weld exists at the current welding position, the processor 106 determines the remelting power of the high-energy-beam welding mechanism, the relative position between the high-energy-beam welding mechanism and the electric welding mechanism, the direction of the high-energy-beam welding mechanism, and the distance and the angle between the first light beam and the second light beam according to the acquired gap data of the surface temperature weld of the weld. Wherein, the remelting power refers to the energy of a laser beam of the high-energy beam welding mechanism, and the larger the remelting power is, the higher the energy of the laser beam is. In the case of a high surface temperature weld, the processor 106 needs to control the remelting power of the high-energy beam welding mechanism to avoid too high heat input to the laser beam to the object to be welded. The high-energy beam welding mechanism and the electric welding mechanism can be connected through the screw, and the smaller the relative distance between the high-energy beam welding mechanism and the electric welding mechanism is, the higher the heat input superposition of an object to be welded is. The processor 106 can adjust the heat input to the object to be welded by the welding control device by appropriately adjusting the relative position of the high-energy beam welding mechanism and the electric welding mechanism. The direction of the high energy beam welding means, i.e. the direction of the laser beam, is due to the fact that the welding control device is moved from the last welding position to the current welding position during the welding process. Accordingly, in the case where the tracking device 110 detects the existence of the weld, the high-energy-beam welding mechanism also needs to adjust the direction of the laser beam according to the displacement of the welding control device, so that the laser beam can be aligned with the weld or the gap between the weld and the sidewall for remelting welding. And the laser beam also comprises two beams of light which are a first beam and a second beam, and the two beams of light can respectively remelt the weld joint and the side walls of the grooves at the two sides. Because the gap groove is gradually welded in the welding process, the distance and the relative angle between the two beams of light need to be adjusted according to the welding condition so as to accurately carry out welding operation at the position needing to be welded. After the above parameters and configuration are adjusted accordingly, the processor 106 may control the high-energy beam welding mechanism to weld the weld at the current welding position with the remelting power.
In one embodiment, the first welding device further comprises a first adjustment mechanism configured to adjust the position, orientation, swing width of the electric welding mechanism.
In one embodiment, the first adjustment mechanism includes a first rotating assembly for adjusting the direction and swing width of the electric welding mechanism; the first sliding assembly is used for adjusting the position of the electric welding mechanism.
Specifically, referring to fig. 3, the first adjustment mechanism includes: the first rotating assembly 041 is connected to the electric welding mechanism 010, and is used for adjusting the direction and the swing width of the electric welding mechanism 010; a first sliding assembly 051 connected to the first rotating assembly 041, the first sliding assembly 051 is used to adjust the position of the electric welding mechanism 010 on the mounting rod 030. To adjust the orientation of the electric welding mechanism 010 and to allow the electric welding mechanism 010 to swing during welding, a first rotating assembly 041 is provided on the mounting rod. The first rotating assembly 041 may be one or more pendulums penetrating through the mounting rod 030, such that the electric welding mechanism 010 rotates around the mounting rod 030 centering on the mounting rod 030, and is connected to the electric welding mechanism 010, so as to drive the electric welding mechanism 010 to rotate around the mounting rod 030 to change the direction of the electric welding mechanism 010. Furthermore, the swing width of the electric welding mechanism swinging around the mounting rod 030 can be adjusted. The first sliding assembly 051 penetrates through the mounting rod 030 and is connected with the electric welding mechanism 010. The first sliding assembly 051 can slide on the mounting rod 030 to adjust the position of the electric welding mechanism 010 on the mounting rod 030.
In one embodiment, the second welding device 104 further comprises: a laser relative distance adjustment assembly configured to adjust a distance and an angle between a first beam and a second beam of the high energy beam welding mechanism; a second adjustment mechanism configured to adjust a relative position between the high energy beam welding mechanism and the electric welding mechanism, and an orientation of the high energy beam welding mechanism.
In one embodiment, the second adjustment mechanism further comprises: the second rotating assembly is used for adjusting the direction of the high-energy beam welding mechanism; and the second sliding assembly is used for adjusting the position of the high-energy beam welding mechanism.
The second welding device further includes a high-energy beam relative distance adjustment mechanism 070. Specifically, referring to fig. 3, the high-energy-beam welding mechanism 020 includes two lasers. The high-energy beam relative distance adjusting mechanism 070 can adjust the distance and the angle between the first light beam and the second light beam to adapt to the gap size and the groove angle of different gaps, so that the high-energy beam welding mechanism 020 can perform remelting welding on the welding position of the weld seam more accurately. The second adjustment mechanism includes: the second rotating assembly 042 is connected with the high-energy-beam welding mechanism 020, and the second rotating assembly 042 is used for adjusting the direction of the high-energy-beam welding mechanism 020; a second sliding assembly 052 coupled to the second rotating assembly 042, the second sliding assembly 052 being used to adjust the position of the high energy beam welding mechanism 020 on the mounting rod 030. To adjust the orientation of the high energy beam welding mechanism 020, a second rotating assembly 042 is provided on the mounting 030. Specifically, the second rotating assembly 042, which may be one or more oscillators, penetrates through the mounting rod 030 to enable the high energy beam welding mechanism 020 to rotate around the mounting rod 030 centering on the mounting rod 030 and is connected to the high energy beam welding mechanism 020, so as to drive the high energy beam welding mechanism 020 to rotate around the mounting rod 030 to change the direction of the high energy beam welding mechanism 020.
Referring to fig. 3, the present application generally provides a welding control apparatus comprising:
the electric welding mechanism 010 is used for welding an object to be welded;
the high-energy beam welding mechanism 020 is used for welding a welding seam existing in an object welded by the electric welding mechanism 010;
an installation rod 030 penetrating the plurality of adjustment mechanisms;
the plurality of adjusting mechanisms at least comprise a first adjusting mechanism and a second adjusting mechanism, the first adjusting mechanism is used for adjusting the position and the swing width of the electric welding mechanism 010, and the second adjusting mechanism is used for adjusting the relative position between the high-energy-beam welding mechanism 020 and the electric welding mechanism 010 and the direction of the high-energy-beam welding mechanism 020.
When the electric welding mechanism 010 welds an object to be welded, the position of the electric welding mechanism 010 may be adjusted by the first adjusting mechanism. Referring to fig. 4, in particular, the electric welding mechanism may be a welding gun 2. When a welding wire 3 on the welding gun 2 is used for welding an object to be welded, a molten drop 4 generated at the front end of the welding wire 3 falls into a molten pool of the gap. The electric welding mechanism 010 can move from one welding position to another welding position to perform welding during welding according to the welding condition of the object to be welded. The problem that molten metal collapses due to overhigh temperature of a molten pool because welding is continuously carried out aiming at a certain point in the welding process is avoided. The high energy beam of the high energy beam welding mechanism 020 can be laser beam, electron beam, ion beam, electric spark, ultrahigh frequency induction impact, solar energy, synchrotron radiation and the like. Referring to fig. 5, when the electric welding mechanism 010 welds an object to be welded, the laser beam of the high energy beam welding mechanism 020 can perform laser welding on the object to be welded 1 to remelt a weld seam generated by welding of the electric welding mechanism 010, so as to improve a weld seam metal microstructure and improve the weld seam strength.
Further, the electric welding mechanism 010 is connected with the mounting rod 030 in a sliding manner through a first adjusting mechanism, and the high-energy-beam welding mechanism 020 is connected with the mounting rod 030 in a sliding manner through a second adjusting mechanism. Mounting rod 030 may be a threaded rod or a sliding rail. Therefore, the electric welding mechanism 010 and the high-energy-beam welding mechanism 020 can flexibly adjust the positions of the electric welding mechanism 010 and the high-energy-beam welding mechanism 020 on the installation rod 030 according to the actual requirement of welding operation.
Referring to fig. 3, as an embodiment of the present application, a first adjustment mechanism in the present application includes: the first rotating assembly 041 is connected to the electric welding mechanism 010, and is used for adjusting the direction and the swing width of the electric welding mechanism 010; a first sliding assembly 051 connected to the first rotating assembly 041, the first sliding assembly 051 is used to adjust the position of the electric welding mechanism 010 on the mounting rod 030. To adjust the orientation of the electric welding mechanism 010 and to allow the electric welding mechanism 010 to swing during welding, a first rotating assembly 041 is provided on the mounting rod. The first rotating assembly 041 may be one or more pendulums penetrating through the mounting rod 030, such that the electric welding mechanism 010 rotates around the mounting rod 030 centering on the mounting rod 030, and is connected to the electric welding mechanism 010, so as to drive the electric welding mechanism 010 to rotate around the mounting rod 030 to change the direction of the electric welding mechanism 010. Furthermore, the swing width of the welding mechanism about the mounting rod 030 can be adjusted. The first sliding assembly 051 penetrates through the mounting rod 030 and is connected with the electric welding mechanism 010. First slide assembly 051 may be slid over mounting bar 030 to adjust the position of welding mechanism 010 on mounting bar 030.
Referring to fig. 3, the welding control apparatus of the present application further includes a first fixing assembly 060 for fixing the electric welding mechanism 010 to the first adjusting mechanism. In the process of adjusting the position, orientation and swing width of the electric welding mechanism 010, the first fixing assembly 060 can fix the electric welding mechanism at the first adjusting mechanism, increasing the stability between the structures.
Referring to fig. 3, the first fixing assembly 060 is connected with a first sliding assembly 051 and said first rotating assembly 041, the first sliding assembly 051 adjusts the position of the electric welding mechanism 010 through the first fixing assembly 060, and the first rotating assembly 041 adjusts the direction of the electric welding mechanism 010 through the first fixing assembly 060.
The first stationary members 060 are coupled to the first sliding members 051 and the first rotating members 041, respectively, and when the first sliding members 051 slide on the mounting rod 030, the first stationary members 060 may move together to move the position of the welding mechanism. The first rotating assembly 041, when rotated about mounting rod 030, may drive the first stationary assembly 060 to rotate about the mounting rod, thereby adjusting the orientation of the welding mechanism 010.
Referring to fig. 3, in one embodiment, the second adjustment mechanism of the present application comprises: and the second rotating assembly 042 is connected with the high-energy-beam welding mechanism 020, and the second rotating assembly 042 is used for adjusting the direction of the high-energy-beam welding mechanism 020.
Referring to fig. 3, in one embodiment, the second adjustment mechanism of the present application further comprises: a second sliding assembly 052 is coupled to the second rotating assembly 042, the second sliding assembly 052 being used to adjust the position of the high energy beam welding mechanism 020 on the mounting 030.
To adjust the orientation of the high energy beam welding mechanism 020, a second rotating assembly 042 is provided on the mounting rod 030. Specifically, the second rotating assembly 042, which may be one or more oscillators, penetrates through the mounting rod 030 to enable the high energy beam welding mechanism 020 to rotate around the mounting rod 030 centering on the mounting rod 030 and is connected to the high energy beam welding mechanism 020, so as to drive the high energy beam welding mechanism 020 to rotate around the mounting rod 030 to change the direction of the high energy beam welding mechanism 020. The second sliding component 052 is respectively connected with the second rotating component 042 and the high-energy beam welding mechanism 020, and when the second sliding component 052 can slide relatively to the mounting rod, the position of the second rotating component 042 also slides on the mounting rod along with the second sliding component 052. The second slide assembly 052 allows adjustment of the position of the high energy beam welding mechanism 020 on the mounting rod 030.
Referring to fig. 3, as an embodiment of the present application, the high energy beam welding mechanism 020 of the present application further includes a high energy beam relative distance adjusting mechanism 070. The high energy beam welding mechanism 020 comprises two high energy beams, which may be two lasers, for example. The high-energy beam relative distance adjusting mechanism 070 can adjust the distance and the angle between the first light beam and the second light beam to adapt to the gap size and the groove angle of different gaps, so that the weld joint can be subjected to remelting welding more accurately.
Referring to fig. 3, in one embodiment, the welding control apparatus of the present application further includes a tracking device 080 connected to the first slide assembly 051 for detecting plate data and gap data of an object to be welded. Specifically, the tracking device 080 may be a laser tracker to identify plate data and gap data of different objects to be welded, and gap data of a weld to improve the accuracy of welding.
Referring to fig. 3, in one embodiment, the welding control apparatus of the present application further includes an infrared sensing device 090 fixed to the mounting 030, the infrared sensing device 090 being located between the electric welding mechanism 010 and the high energy beam welding mechanism 020. Specifically, the infrared sensing device 090 may be an infrared camera or an infrared sensor. In the welding process, the temperature of a molten pool when the electric welding mechanism 010 carries out electric arc welding at the current welding position and the surface temperature of a welding seam when the rear high-energy-beam welding mechanism 020 carries out laser remelting welding can be detected in real time.
In addition, the welding control apparatus of the present application further includes a second fixing assembly 100 for fixing the infrared sensing device 090 to the mounting bar 030 to increase stability between structures.
Referring to fig. 1 to 3, the present application provides a welding control apparatus, as a most specific embodiment of the present application, including: the high-energy beam welding mechanism 020 is used for welding a welding seam of a product welded by the electric welding mechanism 010; an installation rod 030 penetrating the plurality of adjustment mechanisms; and the plurality of adjusting mechanisms at least comprise a first adjusting mechanism and a second adjusting mechanism, and the first adjusting mechanism is used for adjusting the position and the swing width of the electric welding mechanism 010. The first rotating assembly 041 of the first adjusting mechanism is connected to the electric welding mechanism 010, and the first rotating assembly 041 is used for adjusting the direction and the swing width of the electric welding mechanism 010; a first sliding assembly 051 connected to the first rotating assembly 041, the first sliding assembly 051 is used to adjust the position of the electric welding mechanism 010 on the mounting rod 030. A first fixing assembly 060 for fixing the electric welding mechanism 010 to the first adjusting mechanism. The first fixing component 060 is connected with the first sliding component 051 and the first rotating component 041, the first sliding component 051 adjusts the position of the electric welding mechanism 010 through the first fixing component 060, and the first rotating component 041 adjusts the direction of the electric welding mechanism 010 through the first fixing component 051. The second rotating assembly 042 of the second adjusting mechanism is connected with the high-energy beam welding mechanism 020, and the second rotating assembly 042 is used for adjusting the direction of the high-energy beam welding mechanism 020; a second sliding assembly 052 coupled to the second rotating assembly 042, the second sliding assembly 052 being used to adjust the position of the high energy beam welding mechanism 020 on the mounting rod 030. The second adjusting mechanism is used for adjusting the relative position between the high-energy-beam welding mechanism 020 and the electric welding mechanism 010 and the direction of the high-energy-beam welding mechanism 020; wherein, electric welding mechanism 010 passes through first adjustment mechanism and installation pole 030 sliding connection, and high energy beam welding mechanism 020 passes through second adjustment mechanism and installation pole 030 sliding connection. The high-energy beam welding mechanism 020 further comprises a high-energy beam relative distance adjusting mechanism 070. For adjusting the distance and angle between the first beam and the second beam of the high-energy-beam welding means 020. And the tracking device 080 is connected with the first sliding assembly 051 and is used for detecting the plate data and the gap data of the objects to be welded. The infrared sensing device 090 is fixed on the mounting rod 030, is located between the electric welding mechanism 010 and the high-energy-beam welding mechanism 020 and is used for detecting the temperature of a molten pool when the electric welding mechanism 010 in the front carries out electric arc welding and the surface temperature of a welding seam when the high-energy-beam welding mechanism 020 in the rear carries out laser remelting welding. And a second fixing member 100 for fixing the infrared sensor device 090 to the mounting rod 030.
It should be noted that, in addition to the connection modes mentioned in the above technical solutions and some specific embodiments, the connection modes between the components in the present application may be selected from bolt connections, and the bolt connections have the advantage of being convenient to detach and mount, and providing convenience for later-stage mounting and maintenance.
The welding control device of the present application is described above through the specific embodiment, and it can be understood that the structural body and the size of the welding control device of the present application are not limited to the specific structural form of the above embodiment, and may be other structural forms as long as it is satisfied that the electric welding mechanism 010 and the high energy beam welding mechanism 020 can adjust the relative position to simultaneously perform the arc welding and the laser welding, so as to weld the object to be welded, so as to improve the welding quality of the object to be welded and have better installation reliability.
Fig. 6 schematically illustrates a flowchart of a welding control method applied to the welding control apparatus provided in the embodiment of the present application. As shown in fig. 6, in an embodiment of the present application, there is provided a welding control method applied to a welding control apparatus, including:
and S602, after the electric welding mechanism finishes welding aiming at the last welding position of the object to be welded, controlling the electric welding mechanism to move from the last welding position to the current welding position.
And S604, determining the critical temperature of the current welding position according to the welding data of the last welding position.
And S606, acquiring the current temperature of the molten pool.
S608, judging whether the current temperature is less than or equal to the critical temperature of the current welding position, if so, executing S610; if not, go to S612.
And S610, controlling an electric welding mechanism to enter a welding state so as to weld the current welding position.
And S612, controlling the electric welding mechanism to enter a standby state until the current temperature is less than or equal to the critical temperature of the current welding position.
The object to be welded may be a product to be welded in which a large gap exists between the structural members, and further, may be an integrated product composed of a plurality of products. The welding position refers to any position on the gap groove of the object to be welded for welding operation. The front welding position refers to a welding position where the electric welding mechanism performs welding on an object to be welded at the current moment. The last welding position is a welding position at which the electric welding mechanism performs an over-welding operation on the object to be welded at the last time relative to the current time. After the electric welding mechanism finishes welding aiming at the last welding position of the object to be welded, the processor can control the electric welding mechanism to move from the last welding position to the current welding position. The processor may determine the critical temperature for the current weld location based on the weld data for the last weld location. The welding data refers to controllable parameters capable of determining energy supply such as heating and pressurization of the electric welding mechanism and conversion conditions in the process of welding an object to be welded by the electric welding mechanism, and comprises various data such as welding current, arc voltage, welding time, diameter of a welding rod and the like. The critical temperature of the current welding location refers to a temperature threshold that allows welding for the current welding location. When the temperature of the molten pool exceeds the critical temperature of the current welding position, the metal in the molten pool cannot overcome the self gravity to collapse, and the welding quality of the objects to be welded is affected. Therefore, the weld quality of the object to be welded is inversely related to the weld pool temperature. The processor can acquire the current temperature of the molten pool through the infrared sensing device after the electric welding mechanism finishes welding aiming at the last welding position of the object to be welded. And under the condition that the current temperature is determined to be less than or equal to the critical temperature of the current welding position, controlling the electric welding mechanism to enter a welding state so as to weld the current welding position. The electric welding mechanism enters a welding state, which may mean that when a welding gun performs electric arc welding, the welding gun enters an arc burning state to melt a welding rod and a welding position of an object to be welded for welding. In contrast, the standby state may refer to the state that the welding torch enters the arc quenching state and stops the welding operation. Therefore, in order to reduce the heat input to the object to be welded during the continuous welding work, the processor may control the electric welding mechanism to enter a standby state until the current temperature is less than or equal to the critical temperature of the current welding position, in case that it is determined that the current temperature is greater than the critical temperature of the current welding position. Therefore, the processor can avoid the problem of metal collapse in a molten state in a molten pool caused by overhigh temperature in the process of controlling the electric welding mechanism to continuously perform backing welding operation.
In one embodiment, the welding data includes a welding current for a previous weld location, and determining the critical temperature for the current weld location based on the welding data for the previous weld location includes: searching a welding speed matched with the welding current of the last welding position from a preset relation table, wherein the preset relation table is established according to the matching relation between the current and the speed determined by a plurality of historical welding data; determining the gravity of the molten drop at the previous welding position according to the welding time length and the welding speed of the previous welding position; and determining the critical temperature of the current welding position according to the self gravity of the molten drop and the gap data of the object to be welded.
Specifically, the welding data includes the welding current of the previous welding position, and the processor may look up the welding speed matching the welding current of the previous welding position from the preset relation table. The preset relation table is established according to the matching relation between the current and the speed determined by the plurality of historical welding data. For example, the corresponding welding speed can be found according to the welding current, and the gravity of the corresponding molten drop can be found according to the welding time length and the welding speed. The welding duration refers to the duration of the welding operation of the object to be welded after the electric welding mechanism enters the welding state. Fig. 4 schematically shows a schematic diagram of an electric welding mechanism for welding. Referring to fig. 4, the electric welding mechanism may be a welding gun 2. When the welding torch 2 performs arc welding, molten metal drops are formed from the end of the welding wire 3, and then the molten metal drops are transferred to the gap of the object to be welded to form a molten pool. The gravity of the molten drop is the mass of the molten drop metal. The gap data of the objects to be welded refers to data such as the width, length, and bevel angle of the gap in the objects to be welded or between the objects to be welded, which are required to be welded. The processor can determine the critical temperature of the current welding position by the gravity of the molten drop and the clearance data of the object to be welded.
In one embodiment, the gap data includes a gap size, and determining the critical temperature for the current weld location based on the gap data and the droplet data includes: when the size of the gap in the gap data is larger than the droplet diameter in the droplet data, calculating the critical temperature of the current welding position according to the formula (1):
wherein T is the critical temperature of the current welding position, a and b are empirical constants, and G is the gravity of the molten drop at the last welding position.
The gap dimension is the width between the two bevel surfaces in the gap. The droplet data includes droplet diameter and droplet self weight. And after the electric welding mechanism finishes welding aiming at the last welding position, controlling the electric welding mechanism to move to the current welding position from the last welding position. At this time, the processor can search the welding speed matched with the welding current of the last welding position in the preset relation table, and then the diameter of the molten drop and the gravity of the molten drop at the last welding position are searched according to the welding time and the welding speed.
For example, assume that the processor determines that the gap size of the current object to be welded is L. The processor can determine the droplet diameter d and the droplet gravity G of the droplet itself from a predetermined relationship table. The surface tension σ of the droplet then needs to be determined according to the current temperature of the droplet. Referring to FIG. 4, the droplet at the leading end of the wire either transitions into the gap to form a puddle, and the current temperature of the droplet is the current temperature of the puddle. Therefore, the surface tension of the droplet is calculated according to equation (3):
σ＝a(1-bT 1 ) (3)；
wherein σ is the surface tension of the droplet, T 1 A and b are empirical constants for the current temperature of the molten bath.
If the processor determines that the gap size L is larger than or equal to the diameter d of the molten drop at the last welding position, the molten drop can be subjected to two acting forces of the surface tension of the molten drop and the gravity of the molten drop. At the moment, the condition that the molten metal in the molten pool can overcome the self gravity without collapse needs to be met that the surface tension sigma of the molten drop and the self gravity G of the molten drop are balanced, namely the surface tension sigma of the molten drop is equal to the self gravity G of the molten drop. Therefore, when the processor determines that the gap size L > the droplet diameter d of the previous welding position, the current temperature of the molten pool is controlled not to exceed the critical temperature of the current welding position, and the welding operation of backing welding can be ensured to be completed. At this time, the processor may calculate the critical temperature of the current welding position for ensuring that the molten metal in the molten pool does not collapse, based on the above-mentioned gap size, the droplet diameter at the previous welding position, the surface tension of the molten pool, the current temperature of the molten pool, and the gravity of the droplet itself.
In one embodiment, the gap data further includes a bevel angle, and determining the critical temperature of the current weld location of the weld puddle from the gap data and the droplet data includes: when the size of the gap in the gap data is smaller than or equal to the droplet diameter in the droplet data, calculating the critical temperature of the current welding position of the molten pool temperature according to the formula (2):
wherein T is the critical temperature of the current welding position, a, b and k are empirical constants, G is the gravity of the molten drop at the last welding position, and theta is the bevel angle.
For example, assume that the processor determines that the size of the gap of the current object to be welded is L. The processor can determine the droplet diameter d and the gravity G of the droplet itself from the predetermined relationship table. The surface tension σ of the droplet then needs to be determined according to the current temperature of the droplet. Referring to FIG. 4, the droplet at the leading end of the wire either transitions into the gap to form a puddle, and the current temperature of the droplet is the current temperature of the puddle. Therefore, the surface tension of the droplet is calculated according to equation (3):
σ＝a(1-bT 1 ) (3)；
wherein σ is the surface tension of the droplet, T 1 A and b are empirical constants for the current temperature of the molten bath.
And under the condition that the processor determines that the gap size L is less than or equal to the diameter d of the molten drop at the last welding position, the molten drop can be subjected to the surface tension of the molten drop, the gravity of the molten drop and the acting force generated by the molten drop. At the moment, the balance among the surface tension sigma of the molten drop, the gravity G of the molten drop and the acting force F of the gap groove on the molten drop needs to be met, namely the sum of the surface tension sigma of the molten drop and the acting force F of the gap groove on the molten drop is equal to the sum of the acting force F of the gap groove on the molten drop and the gravity G of the molten drop, so that the molten metal in the molten pool can overcome the gravity of the molten metal without the collapse. Wherein, the acting force F of the gap groove to the molten drop can be calculated according to the formula (4):
F＝kGcosθ (4)；
wherein F is the acting force of the gap groove on the molten drop, G is the self gravity of the molten drop at the last welding position, theta is the groove angle, and k is an empirical constant.
Therefore, when the processor determines that the gap size L is not more than the droplet diameter d, the current temperature of the molten pool is controlled not to exceed the critical temperature of the current welding position, and the welding operation of backing welding can be guaranteed to be completed. At this time, the processor may calculate the critical temperature of the current welding position that ensures that the molten metal in the molten pool does not collapse, according to the above-mentioned gap size, the droplet diameter at the previous welding position, the molten pool surface tension, the molten pool temperature, the acting force of the gap groove on the droplet, and the mutual relationship of the gravity of the droplet at the previous welding position.
Fig. 7 schematically shows a schematic view of steps before an electric welding mechanism welds a last welding position, which is applied to a welding control apparatus provided in an embodiment of the present application. As shown in fig. 7, in an embodiment of the present application, the control method further includes:
s702, acquiring first gap data of the object to be welded before welding the last welding position and initial plate data of the object to be welded.
And S704, determining first welding data of the electric welding mechanism for welding at the last welding position according to the initial plate data and the first gap data.
And S706, controlling the electric welding mechanism to weld the last welding position according to the first welding data.
Before the welding mechanism welds for a last welding position of the object to be welded, the processor may acquire first gap data of the object to be welded before welding for the last welding position and initial plate data of the object to be welded. Before welding for the last welding position, the first gap data corresponding to the object to be welded comprises the gap size and the bevel angle. The initial sheet data of the object to be welded includes a sheet type, a sheet strength, a sheet thickness, and the like of the object to be welded. The gap data of the objects to be welded can change in the welding process, and the initial plate data is always fixed and cannot change due to the welding operation.
Further, the processor may determine first welding data of the electric welding mechanism when welding for the last welding position according to the gap size, the groove angle and the initial plate data of the object to be welded before controlling the electric welding mechanism to perform welding. The first weld data is for the last weld location. Wherein the first weld data includes a plurality of different types of parameters. Such as welding current, arc voltage, welding speed and wire (stick) diameter, current polarity, wire stick out, shielding gas flow, etc. of the welding gun during welding. At this time, the processor may control the electric welding mechanism to weld the last welding position according to the first welding data.
In one embodiment, the method further comprises: acquiring second gap data of an object to be welded after welding to the previous welding position; determining a first gap variation value of the welding seam according to the first gap data and the second gap data; determining second welding data of the electric welding mechanism aiming at the current welding position according to the first gap change value; and controlling the electric welding mechanism to weld the current welding position according to the second welding data.
The processor may control the electric welding mechanism to enter a welding state and move the electric welding mechanism from the previous welding position to the current welding position if the processor determines that the current temperature of the molten pool is less than or equal to the critical temperature of the current welding position after the electric welding mechanism finishes welding the previous welding position to the object to be welded. At this time, after the processor controls the electric welding mechanism to weld the object to be welded, a weld seam exists in the gap between the object to be welded. Meanwhile, the gap size and the bevel angle of the object to be welded may be deformed during the welding process. Then, when the corresponding electric welding mechanism performs the next welding, the welding data of the electric welding mechanism needs to be adjusted to adapt to the gap of the object to be welded after the change. Therefore, the processor may acquire the second gap data corresponding to the object to be welded before controlling the electric welding mechanism to weld the current welding position (i.e., after welding for the last welding position). Wherein the second gap data is relative to the first gap data, and the second gap data comprises a gap size and a bevel angle of the object to be welded.
Further, the processor may determine a first gap variation value of the object to be welded according to the first gap data and the second gap data. The first gap variation value refers to a difference value between the front and back of the gap size and a difference value between the front and back of the groove angle after the electric welding mechanism finishes welding aiming at the last welding position. The processor may determine second welding data for the electric welding mechanism for the current welding location based on the determined first gap variation value. Wherein the second weld data is relative to the first weld data and for the current weld location, the second weld data including a plurality of different types of parameters. Such as welding current, arc voltage, welding speed and wire (stick) diameter, current polarity, wire stick out, shielding gas flow, etc. of the torch during welding. At this time, the processor may control the electric welding mechanism to weld the current welding position according to the second welding data.
In one embodiment, the gap data includes a gap size, the method comprising: in the process of controlling an electric welding mechanism to weld the last welding position and/or the current welding position, determining the gap size of the last welding position in real time; controlling the electric welding mechanism not to swing under the condition that the gap size of the last welding position is smaller than or equal to the first width; controlling the electric welding mechanism to swing under the condition that the gap size of the last welding position is larger than the first width and smaller than or equal to the second width, wherein the swing width is a first preset swing width; under the condition that the gap size of the last welding position is larger than the second width, controlling the electric welding mechanism to swing, wherein the swing width is a second preset swing width; the first preset swing width is smaller than the second preset swing width, and the first width is smaller than the second width.
In the welding process, in order to improve the welding quality, the processor can control the electric welding mechanism to determine the gap size of the last welding position in real time to control the swing of the electric welding mechanism in the process of welding the last welding position and/or the current welding position, so that the problem that the swing of the electric welding mechanism increases the difficulty of controlling and forming a molten pool in the welding process is avoided. The gap size of the last welding position refers to the width of the gap before the object to be welded at the current time acquired by the processor during the welding process. Therefore, the processor can control the electric welding mechanism to swing to form a wider welding seam, so as to ensure better fusion of the welding seam and the base metal and discharge nitrogen, carbon monoxide and other gases in the molten pool, and further reduce the pore defects.
For example, assume that the processor can determine that the first width is 3mm, which is a critical width for controlling the gap size at which the electric welding mechanism initiates the swing operation. Under the condition that the gap size L of the last welding position is less than or equal to 3mm, the processor can control the electric welding mechanism not to swing. The processor can determine that the second width is 5mm, and the processor can control the electric welding mechanism to start the swing operation of the electric welding mechanism under the condition that the gap size of the last welding position is more than or equal to 3mm and less than or equal to L and less than or equal to 5 mm. And the processor can control the swing width of the electric welding mechanism to be a first preset swing width. Specifically, the processor may set the first preset weaving width to the gap size of the last welding position. The processor may further determine that the gap size of the first last welding position is larger than the second width, control the electric welding mechanism to perform the swing operation, and the swing width of the electric welding mechanism is the second preset swing width. Specifically, the processor may set the second preset swing width to the gap size L +1mm of the last welding position.
In one embodiment, the high energy beam welding mechanism is connected to the electric welding mechanism by a screw, the high energy beam welding mechanism comprises at least a first beam and a second beam, and the gap data comprises a gap size and a bevel angle. Fig. 8 schematically shows a schematic diagram of steps of the welding control device after the welding mechanism completes welding the current welding position, which is provided in the implementation of the present application. As shown in fig. 8, in an embodiment of the present application, the control method further includes:
s802, after the electric welding mechanism finishes welding aiming at the current welding position, determining whether a welding seam exists in the area below the high-energy beam welding mechanism, if so, executing S804, otherwise, executing S806.
S804, the surface temperature of the welding seam and the gap data of the welding seam at the current welding position are obtained.
And S806, controlling the high-energy beam welding mechanism not to be started.
And S808, determining the remelting power of the high-energy beam welding mechanism and the distance and the angle between the first beam and the second beam of the high-energy beam welding mechanism according to the surface temperature and the gap data of the welding seam.
And S810, controlling the high-energy beam welding mechanism to weld the welding seam at the remelting power.
Because the temperature of the molten pool is inversely related to the joint strength of the weld seam in the welding process, in industries with higher requirements on the weld seam strength, the joint strength of the weld seam needs to be strictly ensured, and the condition that the side walls cannot be welded and fused is avoided. Further, the laser welding is added on the basis of the arc welding. The high-energy beam welding mechanism is a device which uses a focused laser beam as an energy source for bombardment to generate heat to a welding piece so as to carry out welding operation. Because the laser has optical properties such as refraction and focusing, the laser welding is very suitable for welding miniature parts and parts with poor accessibility. In addition, laser welding also has low heat input and small welding deformation, and is not influenced by an electromagnetic field. And the electric welding mechanism can move from the last welding position to the current welding position in the welding process, and the high-energy beam welding mechanism is connected with the electric welding mechanism through a screw rod. Therefore, the high-energy-beam welding mechanism also moves together with the movement of the electric welding mechanism during welding.
After the electric welding mechanism performs welding operation, the processor can control the high-energy beam welding mechanism to perform laser remelting on a welding seam formed after the electric welding mechanism performs welding, so that the unfused side wall can be remelted, and the metal microstructure of the welding seam can be improved to improve the strength of the welding seam. After the electric welding mechanism finishes welding aiming at the current welding position, the processor can acquire the information whether the welding seam exists in the area below the high-energy beam welding mechanism. In the case where it is determined that the weld exists, the laser welding operation is performed. Specifically, since heat input is generated by the object to be welded during welding by the electric welding mechanism, the surface temperature of the weld bead also varies. The high-energy beam welding mechanism can also generate heat input to the welding seam when the laser remelting operation is carried out on the welding seam. Therefore, the problem that the connection strength of the welding seam is influenced due to the fact that the molten metal in a molten pool collapses caused by the fact that the heat input of an object to be welded is intensified because the surface temperature of the welding seam is too high in the laser welding process also needs to be avoided. Therefore, in the case where it is determined that the weld exists, the processor may acquire the surface temperature of the weld and the gap data of the weld at the current welding position of the high-energy-beam welding mechanism. The gap data of the welding seam is in terms of the process of simultaneously carrying out arc welding and laser welding on the object to be welded, and the gap data of the welding seam comprises a gap size and a groove angle.
Further, the processor may determine a remelting power of the high-energy-beam welding mechanism and a distance and an angle between the first beam and the second beam of the high-energy-beam welding mechanism based on the surface temperature and the gap data of the weld to control the high-energy-beam welding mechanism to weld the weld with the remelting power. The laser power can be determined from the weld data database obtained from the previous welding experience of the technician, based on the surface temperature, gap size, and groove angle of the weld. The high energy beam welding mechanism includes two beams, a first beam and a second beam. It will be appreciated that the first beam and the second beam are relative. After the welding equipment performs large-gap backing welding to form a welding seam, the first light beam and the second light beam of the high-energy beam welding mechanism are used for simultaneously performing laser remelting on two side walls of a gap of an object to be welded. Fig. 3 schematically shows a schematic view of a high energy beam welding mechanism for welding, with reference to fig. 3. The laser beam 5 can be adjusted to the changing gap conditions during the welding process by changing the distance and angle between the first beam and the second beam. Therefore, the processor can control the high-energy beam welding mechanism to determine the distance and the angle between the first light beam and the second light beam according to the gap data of the welding seam in the welding process so as to achieve more accurate welding of the welding seam, and the welding seam can achieve the required welding strength.
In one embodiment, determining the remelting power of the high energy beam welding mechanism and the distance and angle between the first beam and the second beam of the high energy beam welding mechanism based on the surface temperature and the gap data of the weld seam comprises: in the process of welding the welding seam at the current welding position, acquiring the surface temperature of the welding seam in real time; and under the condition that the surface temperature is higher than the surface critical temperature, controlling the high-energy beam welding mechanism to adjust the remelting power according to the surface temperature, so that the surface temperature is lower than or equal to the surface critical temperature when the high-energy beam welding mechanism with the remelting power correspondingly adjusted performs the weld welding on the weld seam.
Since laser welding also generates heat input to the weld joint, the heat input to the weld joint by the high-energy beam welding mechanism also needs to be controlled in the welding process of the high-energy beam welding mechanism so as to ensure the connection strength of the weld joint. In the process of controlling the welding of the welding seam at the current welding position, the surface temperature of the welding seam can change in real time in the welding process, so that the processor can acquire the surface temperature of the welding seam in real time through the infrared sensing device. In the case that it is determined that the surface temperature of the weld is greater than the surface critical temperature, the processor may control the high-energy beam welding mechanism to adjust the remelting power in accordance with the surface temperature. The surface critical temperature corresponds to the surface temperature of the welding seam when the high-energy beam welding mechanism welds the welding seam. If the surface temperature of the weld is too high, the molten pool temperature may be too high to cause molten metal in the molten pool to collapse during the simultaneous welding operation of the high energy beam welding mechanism and the electric welding mechanism due to the superposition of heat input from the laser welding and the electric arc welding. So to avoid this, a surface critical temperature of the weld surface temperature may be set. The technician builds a welding data database from past welding experience and the processor can determine the critical temperature of the surface from the parameter database based on the strength of the material of the object to be welded.
In one implementation, the method further comprises: in the process of welding the welding seam at the current welding position, acquiring the surface temperature of the welding seam in real time; determining the distance between the high-energy beam welding mechanism and the electric welding mechanism according to the surface temperature; and under the condition that the surface temperature is higher than the surface critical temperature, controlling the high-energy beam welding mechanism to be far away from the electric welding mechanism so that the surface temperature of the welding seam is lower than or equal to the surface critical temperature when the high-energy beam welding mechanism after the position adjustment is used for welding the welding seam at the current welding position.
In the process of controlling the welding of the welding seam at the current welding position, the surface temperature of the welding seam can change in real time in the welding process, so that the processor can acquire the surface temperature of the welding seam in real time through the infrared sensing device. In the process of simultaneously carrying out welding operation by the electric welding mechanism and the high-energy beam welding mechanism, the electric arc welding and the laser welding superpose the heat input of an object to be welded, so that the temperature of a molten pool is overhigh. When high-strength steel or special steel is welded, the requirement on the welding quality is high, and the influence of heat input on the welding quality needs to be reduced as much as possible. Therefore, under the condition that the infrared sensing device detects that the surface temperature of the welding seam is higher than the surface critical temperature, the processor can control the high-energy beam welding mechanism to be far away from the electric welding mechanism to control and reduce the superposition temperature between the electric arc and the laser, so that when the high-energy beam welding mechanism after adjusting the position welds the welding seam at the current welding position, the surface temperature of the welding seam is lower than or equal to the surface critical temperature. In the welding process, the distance between the high-energy beam welding mechanism and the electric welding mechanism is adjusted in real time to control and reduce the temperature superposition between an electric arc heat source and a laser heat source, so that the metal microstructure of a welding seam is improved, and the performance of the welding seam is improved.
In one embodiment, the gap data includes a gap size and a bevel angle, the method further comprising: in the process of controlling the high-energy beam welding mechanism to weld the welding seam at the current welding position by remelting power, detecting the gap data of the welding seam at the current welding position in real time, wherein the gap data of the welding seam comprises the gap size and the bevel angle of the welding seam at the current welding position; determining a change value of the gap size and a change value of the groove angle of the welding seam at the current welding position according to the gap data of the welding seam; and adjusting the width and the angle between the first light beam and the second light beam of the high-energy beam welding mechanism according to the change value of the gap size and the change value of the bevel angle, so that the change value of the width between the first light beam and the second light beam is equal to the change value of the gap size, and the change value of the angle between the first light beam and the second light beam is equal to the change value of the bevel angle.
In the process of controlling the high-energy beam welding mechanism to weld the welding seam at the current welding position by remelting power, the gap data of the object to be welded can be changed in real time. Therefore, when the first beam and the second beam of the high-energy beam welding mechanism perform laser remelting on the side wall of the welding seam, the width and the angle between the first beam and the second beam also need to be adjusted in real time. And the gap data of the welding seam comprises the gap size and the groove angle of the welding seam at the current welding position. Specifically, the change value of the gap size and the change value of the groove angle of the weld joint at the current welding position may be determined according to the real-time weld joint gap data of the weld joint at the current welding position. And adjusting the width and the angle between the first light beam and the second light beam of the high-energy beam welding mechanism according to the change value of the gap size and the change value of the bevel angle, so that the change value of the width between the first light beam and the second light beam is equal to the change value of the gap size, and the change value of the angle between the first light beam and the second light beam is equal to the change value of the bevel angle. For example, assuming gap data of the weldThe gap size may vary by a value a and the processor may control the high energy beam welding mechanism to vary the width between the first beam and the second beam by a value a. Suppose the groove angle of the gap data of the weld is theta 1 The processor may then control the high energy beam welding mechanism to vary the bevel angle between the first beam and the second beam by an amount equal to θ 1 . Therefore, the processor can control the specific gap size change value and the groove angle change value between the first light beam and the second light beam of the high-energy beam welding mechanism, so that the high-energy beam welding mechanism can weld a weld seam more finely, the risk that the side walls are not fused is effectively avoided, and an object to be welded with higher welding machine quality is obtained.
According to the technical scheme, the high-energy beam welding mechanism is connected with the electric welding mechanism, the electric welding mechanism is used for welding the welding position of the object to be welded, and the high-energy beam welding mechanism is used for welding the welding line of the current welding position of the high-energy beam welding mechanism. The first welding device and the second welding device are integrated, and backing welding and remelting welding can be simultaneously carried out on an object to be welded. After the electric welding mechanism finishes welding aiming at the last welding position of the object to be welded, the critical temperature of the current welding position of the molten pool can be accurately determined according to the molten drop data on the electric welding mechanism, the gap data of the object to be welded and the plate data. And the electric welding mechanism is dynamically controlled to execute the arc burning action to weld or execute the arc extinguishing action to wait for the temperature cooling according to the temperature of the molten pool while controlling the electric welding mechanism to move and swing. By controlling the temperature of the molten pool, the heat input of the object to be welded in the welding process can be effectively reduced. After the last welding position is welded, the electric welding mechanism is controlled to move from the last welding position of the object to be welded to the current welding position, so that the electric welding mechanism is controlled to perform welding operation on the current welding position, and the object to be welded can be repeatedly welded while heat input is controlled. And when the high-energy beam welding mechanism and the electric welding mechanism are used for welding at the same time, the laser tracking and infrared sensing device can acquire the gap data of the gap and the surface temperature of the welding seam in real time, so that the power of the high-energy beam welding mechanism and the distance between the high-energy beam welding mechanism and the electric welding mechanism are adjusted, and the heat input of the high-energy beam welding mechanism to the welding seam is accurately controlled. Therefore, the automatic welding operation of the object to be welded can be realized without presetting a gasket, and the problem that molten metal in a molten pool collapses due to overhigh temperature of the molten pool in the welding process can be avoided. In addition, the position and the direction of the high-energy beam welding mechanism and the angle and the distance of the laser beam can be controlled and adjusted, so that the high-energy beam welding mechanism can perform accurate laser remelting on a welding seam welded by the electric welding mechanism. The risk of sidewall unfusion can be effectively avoided, and the metal microstructure of the welding seam is improved, thereby effectively improving the welding quality.
FIG. 6 is a flow diagram illustrating a method for weld control in accordance with one embodiment. It should be understood that, although the steps in the flowchart of fig. 6 are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least some of the steps in fig. 6 may include multiple sub-steps or multiple stages that are not necessarily performed at the same time, but may be performed at different times, and the order of performing the sub-steps or stages is not necessarily sequential, but may be performed alternately or alternately with other steps or at least some of the sub-steps or stages of other steps.
The processor comprises a kernel, and the kernel calls the corresponding program unit from the memory. One or more than one kernel can be set, and the welding control method is realized by adjusting kernel parameters.
The memory may include volatile memory in a computer readable medium, random Access Memory (RAM) and/or nonvolatile memory such as Read Only Memory (ROM) or flash memory (flash RAM), and the memory includes at least one memory chip.
An embodiment of the present application provides a storage medium having a program stored thereon, which when executed by a processor implements the welding control method described above.
The embodiment of the application provides a processor, and the processor is used for running a program, wherein the program executes the welding control method when running.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrases "comprising a," "8230," "8230," or "comprising" does not exclude the presence of additional identical elements in the process, method, article, or apparatus comprising the element.
The above are merely examples of the present application and are not intended to limit the present application. Various modifications and changes may occur to those skilled in the art to which the present application pertains. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.
Claims (10)
1. A welding control apparatus, characterized in that the apparatus comprises:
the electric welding mechanism is used for welding an object to be welded;
the high-energy beam welding mechanism is used for welding a welding seam of an object to be welded after the electric welding mechanism is used for welding;
the mounting rod penetrates through the plurality of adjusting mechanisms;
the plurality of adjusting mechanisms at least comprise a first adjusting mechanism and a second adjusting mechanism, the first adjusting mechanism is used for adjusting the position and the swing width of the electric welding mechanism, and the second adjusting mechanism is used for adjusting the relative position between the high-energy beam welding mechanism and the electric welding mechanism and the direction of the high-energy beam welding mechanism.
2. The welding control apparatus of claim 1, wherein the first adjustment mechanism comprises:
the first rotating assembly is connected with the electric welding mechanism and is used for adjusting the direction and the swing width of the electric welding mechanism;
the first sliding assembly is connected with the first rotating assembly and used for adjusting the position of the electric welding mechanism on the mounting rod.
3. The welding control apparatus of claim 2, further comprising a first securing assembly for securing the electric welding mechanism to the mounting bar.
4. The welding control apparatus of claim 3, wherein the first stationary assembly is coupled to the first sliding assembly and the first rotating assembly, the first sliding assembly adjusting the position of the electric welding mechanism via the first stationary assembly, and the first rotating assembly adjusting the orientation of the electric welding mechanism via the first stationary assembly.
5. The welding control apparatus of claim 1, wherein the second adjustment mechanism comprises:
and the second rotating assembly is connected with the high-energy beam welding mechanism and is used for adjusting the direction of the high-energy beam welding mechanism.
6. The weld control apparatus of claim 5, wherein the second adjustment mechanism further comprises:
and the second sliding assembly is connected with the second rotating assembly and is used for adjusting the position of the high-energy beam welding mechanism on the mounting rod.
7. The welding control apparatus of claim 1, wherein the high energy beam welding mechanism further comprises a high energy beam relative distance adjustment mechanism for adjusting a distance and an angle between the first beam and the second beam of the high energy beam welding mechanism.
8. The welding control device of claim 2, further comprising a tracking device coupled to the first slide assembly for detecting sheet data and gap data of an object to be welded.
9. The welding control apparatus of claim 1, further comprising an infrared sensing device secured to the mounting rod, the infrared sensing device positioned between the electric welding mechanism and the high energy beam welding mechanism.
10. The weld control apparatus of claim 9, further comprising a second securing assembly to secure the infrared sensing device to the mounting rod.
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| CN202222029267.6U CN218135710U (en) | 2022-08-02 | 2022-08-02 | Welding control apparatus |
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| CN202222029267.6U CN218135710U (en) | 2022-08-02 | 2022-08-02 | Welding control apparatus |
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