RU2278770C1 - Apparatus for automatic control of welding torch position - Google Patents

Abstract

FIELD: welding processes and equipment in different branches of machine engineering, namely automatic control of welding head position, automatic electric arc gas-shield welding and welding under flux of dressed and angular seams.

SUBSTANCE: outlet terminal of electric arc power source is connected to second inlet of first disconnection device whose outlet is connected to shunt of welding circuit. Outlet of said shunt is connected to welding torch and to inlets of welding current pickup whose outlet is connected to inlets of first and second comparators and to third inlet of analog switching device. Outlet of first comparator is connected to first inlets of first and second flip-flops. Outlet of second comparator is connected to first inlet of analog switching device. Outlets of analog switching device are connected to first, second, third, fourth, fifth, sixth, seventh, eighth, ninth, tenth, eleventh analog memories whose outlets are connected to first inlets of first, second, third, fourth, fifth, sixth, seventh, eighth, ninth, tenth, eleventh comparing units. Second inlets of said comparing units are connected to outlets of first, second, third, fourth, fifth, sixth, seventh, eight, ninth, tenth, eleventh read-only analog memories. Outlet of first, second, third, fourth, fifth comparing units are connected to inlets of first adder. Outlet of sixth comparing unit is connected to inlet of amplifier of height control drive system. Outlets of seventh, ninth, tenth, eleventh comparing units are connected to inlets of second adder. Outlet of first adder is connected to second inlet of twelfth comparing unit and to second inlet of third adder. First inlet of third adder and first inlet of twelve comparing unit are connected to outlets of second adder. Outlet of third adder is connected to inlet of first multiplier and to first inlet of controlled amplifier of electrode oscillation amplitude whose second inlet is connected to second outlet of electrode oscillation setter. First outlet of electrode oscillation setter is connected to second inlet of analog switching device. Outlet of controlled amplifier of electrode oscillation amplitude is connected to first inlet of fourth adder. Outlet of fourth adder is connected to inlets of third and fourth comparators and to first inlet of first analog switch. Outlet of third comparator is connected to second inlet of first flip-flop and to third inlet of second flip-flop. Outlet of fourth comparator is connected to third inlet of first flip-flop and to second inlet of second flip-flop. Outlet of first flip-flop is connected to second inlet of first analog switch. Outlet of second flip-flop is connected to second inlet of second analog switch. First inlet of second analog switch is connected to outlet of first analog switch. Outlet of second analog switch is connected to its first inlet by means of drive unit of torch motion across butt. Outlet of second multiplier is connected to second inlet of fifth adder. Outlet of amplifier of drive unit for controlling height is connected to inlet of third multiplier and to first inlet of drive unit for controlling height. Outlet of third multiplier is connected to first inlet of fifth adder whose outlet is connected to first inlet of second disconnection device and to second inlet of first disconnection device. Drive units power source is connected to second inlet of second disconnection device. Outlet of second disconnection device is connected to second inlet of drive unit for moving torch across butt and to second inlet of drive unit for controlling height. Welding torch movement is controlled by means of drive unit for controlling height and drive unit for moving torch across butt.

EFFECT: improved quality of welded joint.

1 dwg

Description

The invention relates to the field of automation of welding processes, more precisely, to automation of electric arc welding of cut and fillet welds in a shielding gas environment and submerged arc. It can find application in mechanical engineering and instrument making.

Until now, most of the processes of electric arc welding are carried out manually, require a highly skilled welder and can be automated in mass production only under the condition of high-quality cutting of seams and high accuracy of installation of parts in relation to the welding stand. This is due to the fact that to obtain a high-quality weld, all other things being equal, continuous alignment of the axis of the burner with the middle of the joint is necessary. Thus, this combination is a prerequisite for the automation of the electric welding process.

There are a number of devices for pointing the electrode to the joint of the welded edges using the arc as a sensing element (see Timchenko VA and other Systems of automatic guidance of the electrode on the connection line using the arc as a sensor // Automatic welding. - 1981. - N 6, p. 59-64).

A device for controlling the movement of a welding torch relative to the axis of a joint during a mechanized welding process, comprising a welding current sensor, an arc deflection sign sensor, analog integrators, a control circuit, a welding torch moving drive across the joint and a control circuit for this drive (FRG patent No. 2533448, published January 27, 2011. 77 g., IPC ⁵ V 23 K 9/10).

The disadvantage of this device is that the measurement of the electric parameters of the arc is carried out during one period of its swing across the junction and, therefore, its result depends on fluctuations in current or voltage characteristic of the electric welding process, which reduces the quality of the resulting weld.

The closest in technical essence is a device containing an arc power source, a shunt in the welding circuit, a welding torch, a welding current sensor, an analog switch, an analog memory, a comparison device, a constant analog memory, the first and second adders, comparators, analog switches, an amplifier height control drive, height control drive, welding torch movement drive across the joint (RF patent No. 2240903 of November 27, 2004).

The disadvantage of this device is that it has an increased inertia due to the use of filters.

The objective of the invention is to improve the quality of the welded joint.

This goal is achieved by the fact that in a known device containing an arc power source, a shunt in the welding circuit, a welding torch, a welding current sensor, a first analog switch, a first, second, third, fourth, fifth, sixth, seventh, eighth, ninth, tenth, eleventh analog memory, first, second, third, fourth, fifth, sixth, seventh, eighth, ninth, tenth, eleventh, twelfth comparison device, first, second, third, fourth, fifth, sixth, seventh, eighth, ninth, tenth eleven permanent analog memory, first and second adders, first, second and third comparators, first and second analog keys, height control drive amplifier, height control drive, welding torch movement drive across the joint, the first and second disconnecting devices, the third, fourth are introduced and a fifth adder, an adjustable electrode amplitude amplifier, an oscillator, fourth and fifth comparators, first and second triggers, first, second and third multipliers, a scaling amplifier, a source to drive power, and the output of the arc power source is connected to the second input of the first disconnecting device, the output of which is connected to a shunt in the welding circuit, the output of which is connected to the welding torch and connected to the inputs of the welding current sensor, the output of which is connected to the inputs of the first and second comparators and the third input of the analog switch, the output of the first comparator is connected to the first inputs of the first and second triggers, the output of the second comparator is connected to the first input of the analog switch, outputs analog switch connected to the first, second, third, fourth, fifth, sixth, seventh, eighth, ninth, tenth, eleventh analog memory, the outputs of which are connected to the first inputs of the first, second, third, fourth, fifth, sixth, seventh, eighth, the ninth, tenth, eleventh comparison device, to the second inputs of which the outputs of the first, second, third, fourth, fifth, sixth, seventh, eighth, ninth, tenth, eleventh permanent analog memory are connected, the outputs of the first, second, third, fourth oh, the fifth comparison device is connected to the inputs of the first adder, the output of the sixth comparison device is connected to the input of the height control amplifier, the outputs of the seventh, eighth, ninth, tenth, eleventh comparison devices are connected to the inputs of the second adder, the output of the first adder is connected to the second input of the twelfth device comparison and the second input of the third adder, to the first input of the third adder and the first input of the twelfth comparison device connected to the output of the second adder, the output of the third the matator is connected to the input of the first multiplier and to the first input of the adjustable amplifier of the amplitude of oscillation of the electrode, the second input of which is connected to the second output of the oscillator, the first output of which is connected to the second input of the analog switch, the output of the adjustable amplifier of amplitude of oscillation of the electrode is connected to the first input of the fourth adder, output the first multiplier is connected to the third input of the fifth adder, the output of the twelfth comparison device is connected to the input of the scaling amplifier, the output of which it is connected to the input of the second multiplier and the second input of the fourth adder, the output of the fourth adder is connected to the inputs of the third and fourth comparators and the first input of the first analog key, the output of the third comparator is connected to the second input of the first trigger and the third input of the second trigger, the output of the fourth comparator is connected to the third the input of the first trigger and the second input of the second trigger, the output of the first trigger is connected to the second input of the first analog key, the output of the second trigger is connected to the second input to the second analog key, to the first input of which the output of the first analog key is connected, the output of the second analog key is connected to the first input by the burner movement drive across the joint, the output of the second multiplier is connected to the second input of the fifth adder, the output of the height control amplifier is connected to the input of the third multiplier and the first input of the height control drive, the output of the third multiplier is connected to the first input of the fifth adder, the output of which is connected to the input of the fifth comparator, the output of which is connected the power supply of the drives is connected to the first input of the second disconnecting device and the second input of the first disconnecting device, the output of the second disconnecting device is connected to the second input of the welding torch movement drive across the joint and the second input of the height control drive, the height control drive and the motion drive welding torch across the joint control the movement of the welding torch.

In the device for automatic control of the position of the welding torch, an analog switch, analog memory, comparison devices, adders, comparators, analog keys are used for their intended purpose and are widely known in electrical engineering. However, the combination of compounds indicated above was not found in the patent and scientific literature.

The essence of the invention is illustrated in the drawing, which shows a structural diagram of a device for automatic control of a welding torch.

The device for automatic control of the position of the welding torch contains an arc power source 1 connected to the second input of the first disconnecting device 2, the output of which is connected to a shunt in the welding circuit 3, the output of which is connected to the welding torch 4 and connected to the inputs of the sensor for the magnitude of the welding current 5, the output of which connected to the inputs of the first 6 and second 7 comparators and the third input of the analog switch 8, the output of the second comparator 7 is connected to the first input of the analog switch 8, the outputs of the analog switch 8 are connected to the first 9, second 10, third 11, fourth 12, fifth 13, sixth 14, seventh 15, eighth 16, ninth 17, tenth 18, eleventh 19 analog memory, the outputs of which are connected to the first inputs of the first 20, second 21 , third 22, fourth 23, fifth 24, sixth 25, seventh 26, eighth 27, ninth 28, tenth 29, eleventh 30 comparison devices, to the second inputs of which the outputs of the first 31, second 32, third 33, fourth 34, fifth 35 are connected , sixth 36, seventh 37, eighth 38, ninth 39, tenth 40, eleventh 41 of constant analog memory, outputs of the first go 20, second 21, third 22, fourth 23, fifth 24 comparison devices are connected to the inputs of the first adder 42, the output of the sixth comparison device 25 is connected to the input of the height control drive amplifier 59, the outputs of the seventh 26, eighth 27, ninth 28, tenth 29, of the eleventh 30 comparison devices are connected to the inputs of the second adder 43, the output of the first adder 42 is connected to the second input of the twelfth comparison device 56 and the second input of the third adder 44, to the first input of the third adder 44 and the first input of the twelfth device output 56, the output of the second adder 43 is connected, the output of the third adder 44 is connected to the input of the first multiplier 51 and to the first input of an adjustable amplifier of the amplitude of oscillations of the electrode 45, the second input of which is connected to the second output of the oscillator 46, the first output of which is connected to the second input of the analog switch 8 , the output of the adjustable amplifier of the amplitude of oscillations of the electrode 45 is connected to the first input of the fourth adder 52, the output of the first multiplier 51 is connected to the third input of the fifth adder 61, the output of the twelve comparison device 56 is connected to the input of the scaling amplifier 57, the output of which is connected to the input of the second multiplier 58 and the second input of the fourth adder 52, the output of the fourth adder 52 is connected to the inputs of the third 47 and fourth 48 comparators and the first input of the first analog switch 53, the output of the first comparator 6 connected to the first inputs of the first 49 and second 50 triggers, the output of the third comparator 47 is connected to the second input of the first trigger 49 and the third input of the second trigger 50, the output of the fourth comparator 48 is connected to a third the input of the first trigger 49 and the second input of the second trigger 50, the output of the first trigger 49 is connected to the second input of the first analog key 53, the output of the second trigger 50 is connected to the second input of the second analog key 54, the first input of which is connected to the output of the first analog key 53, output the second analog switch 54 is connected to the first input of the burner drive drive across the joint 55, the output of the second multiplier 58 is connected to the second input of the fifth adder 61, the output of the height control drive amplifier 63 is connected to the input of the third mind spacer 60 and the first input of the height control drive 63, the output of the third multiplier 60 is connected to the first input of the fifth adder 61, the output of which is connected to the input of the fifth comparator 62, the output of which is connected to the first input of the second disconnecting device 64 and the second input of the first disconnecting device 2, to the second input of the second disconnecting device 64 is connected to a power source of the actuators 65, the output of the second disconnecting device 64 is connected to the second input of the welding torch movement drive across the joint 55 and the second input of the drive board height 63, the control drive height 63 and the drive movement of the welding torch across the junction 55 control the movement of the welding torch 4.

A device for automatically controlling the position of the welding torch operates as follows.

The automatic control of the welding torch operates as follows: the oscillation master 46 sets the oscillations of the welding torch 4 across the seam. The analog voltage of these oscillations is supplied to an adjustable amplifier of the amplitude of oscillations of the electrode 45. The position of the welding torch 4 is digitally input to the analog switch 8. When the welding torch 4 moves from one extreme position to another extreme position across the seam on shunt 3, current fluctuations occur. The welding current sensor 5 converts them into voltage. From the output of the current sensor 5, the signal goes to the input of the analog switch 8, to the input of the first comparator 6 and to the input of the second comparator 7. Using the analog switch 8 (in one pass of the welding torch from one extreme position to another), current values are selected at eleven points . If there is no short circuit when passing through the next point, then the second comparator 7 allows recording the signal to the first 9, second 10, third 11, fourth 12, fifth 13, sixth 14, seventh 15, eighth 16, ninth 17, tenth 18, eleventh 19 cells analog memory. If during the passage of the next point there is a short circuit, then the second comparator 7 prohibits the recording of the instantaneous current value. From the output of the analog memory cells, the signals are fed to the inputs of the first 20, second 21, third 22, fourth 23, fifth 24, sixth 25, seventh 26, eighth 27, ninth 28, tenth 29, eleventh 30 comparison devices. In the first 31, second 32, third 33, fourth 34, fifth 35, sixth 36, seventh 37, eighth 38, ninth 39, tenth 40, eleventh 41 cells of constant analog memory, the image of the joint being welded is recorded. From the output of the first 31, second 32, third 33, fourth 34, fifth 35, sixth 36, seventh 37, eighth 38, ninth 39, tenth 40, eleventh 41 cells of constant analog memory signals are fed to the second inputs of the first 20, second 21, third 22, fourth 23, fifth 24, sixth 25, seventh 26, eighth 27, ninth 28, tenth 29, eleventh 30 comparison devices. From the outputs of the first 20, second 21, third 22, fourth 23, fifth 24 comparison devices, the signals are fed to the inputs of the first adder 42, the output of the sixth 25 comparison device is connected to the input of the amplifier of the drive control the height of the welding torch 59. From the output of the amplifier drive of the drive control the height of the welding torch 59, the signal is supplied to a height control actuator 63, and a height control actuator 63 changes the position of the welding torch 4 above the joint in height. From the outputs of the seventh 26, eighth 27, ninth 28, tenth 29, eleventh 30 comparison devices, the signals are fed to the inputs of the second adder 43. The signals from the first adder 42 and the second adder 43 are fed to the third adder 44 and the twelfth comparison device 56. The signal from the output of the third the adder 44 is supplied to an adjustable amplifier of the amplitude of oscillation of the electrode 45, changing the gain of this amplifier. The signal from the twelfth comparison device 56 is fed to the scaling amplifier 57. At the output of the adjustable amplifier of the amplitude of the oscillations of the electrode 45 there will be a voltage specifying the oscillations of the welding electrode. The output of the scaling amplifier 57 produces a signal proportional to the deviation of the welding torch 4 from the junction line. The signals from the adjustable amplifier of the amplitude of oscillations of the electrode 45 and the scaling amplifier 57 are fed to the fourth adder 52. The signal from the fourth adder 52 passes through the first analog switch 53, the second analog switch 54 and controls the drive of the welding torch across the junction 55. The signal from the fourth adder 52 is received also to the third comparator 47 and the fourth comparator 48. When the welding torch 4 deviates from the joint line in one direction, the third comparator 47 outputs one, and the fourth comparator 48 outputs zero. When the welding torch 4 deviates to the other side from the joint line, the third comparator 47 gives zero at the output, and the fourth comparator 48 gives one at the output. The signal from the third comparator 47 is fed to the control input of the first trigger 49 and the reset input of the second trigger 50. The signal from the output of the fourth comparator 48 is fed to the control input of the second trigger 50 and the reset input of the first trigger 49. From the output of the first comparator 6, the signal goes to the synchronizing inputs of the first 49 and second 50 triggers. If the welding torch 4 approaches the seam wall, the welding current increases, a unit appears at the output of the first comparator 6, the corresponding trigger 49 or 50 is triggered, and the first 53 or second 54 analog key opens. A signal is removed from the drive driving the welding torch across junction 55 and the movement of the welding torch 4 to the wall is stopped. When a movement signal arrives in the opposite direction, the third 47 and fourth 48 comparators invert their output signals and the triggered trigger is reset to zero, and the corresponding first 53 or second 54 analog switch closes again and the control voltage is again applied to the welding torch movement drive across junction 55. Welding torch 4 will move away from the wall. The signal arrives at the input of the first multiplier 51 from an adjustable amplifier of the amplitude of oscillations of the electrode 45, at the input of the second multiplier 58, the signal is supplied from a scaling amplifier 57, and the input from the third multiplier 60 is supplied from a height control amplifier 59. The multipliers multiply the received signals by themselves. The output signals of the multipliers 51, 58, and 60 are summed by the fifth adder 61. The signal from the fifth adder 61 is fed to the fifth comparator 62. If the total error in the oscillation amplitude, deviation from the junction line and the height of the welding torch above the junction exceeds a predetermined threshold, the fifth comparator 62 gives a logical unit. The voltage from the power supply of the actuators 65 through the second disconnecting device 64 is supplied to the welding torch movement drive across the junction 55 and the height control drive 63. When a logical unit appears at the output of the fifth comparator 62, it is supplied to the first disconnecting device 2 and the second disconnecting device 64. The first disconnecting device device 2 opens and de-energizes the welding circuit. The second disconnecting device 64 upon receipt of a logical unit disconnects the supply voltage from the drives 55 and 63.

Thus, in comparison with the prototype, the proposed device provides greater tracking accuracy at the junction, restrictions are placed on the movement of the welding torch when an obstacle is detected, and the device is turned off if the error in the sum of the standard deviations exceeds a predetermined threshold, thereby improving the quality of the welded joint.

Claims (1)

A device for automatic control of the position of the welding torch, containing an arc power source, a shunt in the welding circuit, a welding torch, a welding current sensor, the first analog switch, the first is the eleventh analog memory, the first is the twelfth comparison device, the first is the eleventh permanent analog memory, the first and second adders, first, second and third comparators, first and second analog keys, height control drive amplifier, height control drive and welding torch movement drive across the junction to control the movement of the welding torch, characterized in that the first and second disconnecting devices, the third, fourth and fifth adders, an adjustable amplifier of the amplitude of the oscillations of the electrode, the oscillator, the fourth and fifth comparators, the first and second triggers, the first, second and the third multiplier, a scaling amplifier, a power source for the drives, and the output of the arc power source is connected to the second input of the first disconnecting device, the output of which is connected to a shunt in the welding circuit A circuit whose output is connected to the welding torch and connected to the inputs of the welding current sensor, the output of which is connected to the inputs of the first and second comparators and the third input of the analog switch, the output of the first comparator is connected to the first inputs of the first and second triggers, the output of the second comparator is connected to the first the input of the analog switch, the outputs of the analog switch are connected to the first to eleventh analog memories, the outputs of which are connected to the first inputs of the first to eleventh devices the second inputs of which the outputs of the first to eleventh permanent analog memories are connected, the outputs of the first, second, third, fourth, fifth comparison devices are connected to the inputs of the first adder, the output of the sixth comparison device is connected to the input of the height control amplifier, the outputs of the seventh, eighth, the ninth, tenth, eleventh comparison devices are connected to the inputs of the second adder, the output of the first adder is connected to the second input of the twelfth comparison device and the second input of the third sum at the first input of the third adder and the first input of the twelfth comparison device, the output of the second adder is connected, the output of the third adder is connected to the input of the first multiplier and to the first input of an adjustable amplifier of the amplitude of oscillations of the electrode, the second output of which is connected to the oscillator, the first output of which is connected to the second input of the analog switch, the output of an adjustable amplifier of the amplitude of oscillations of the electrode is connected to the first input of the fourth adder, the output of the first one will multiply If it is connected to the third input of the fifth adder, the output of the twelfth comparison device is connected to the input of the scaling amplifier, the output of which is connected to the input of the second multiplier and the second input of the fourth adder, the output of the fourth adder is connected to the inputs of the third and fourth comparators and the first input of the first analog key, the output of the third the comparator is connected to the second input of the first trigger and the third input of the second trigger, the output of the fourth comparator is connected to the third input of the first trigger and the second during the second trigger, the output of the first trigger is connected to the second input of the first analog key, the output of the second trigger is connected to the second input of the second analog key, the first input of which is connected to the output of the first analog key, the output of the second analog key is connected to the first input by the burner movement drive across the junction, the output of the second multiplier is connected to the second input of the fifth adder, the output of the height control amplifier amplifier is connected to the input of the third multiplier and the first input of the height control drive, the output of the third multiplier is connected to the first input of the fifth adder, the output of which is connected to the input of the fifth comparator, the output of which is connected to the first input of the second disconnecting device and the second input of the first disconnecting device, the power supply of the drives is connected to the second input of the second disconnecting device, the output of the second disconnecting device is connected with a second input of the welding torch movement drive across the joint and a second input of the height control drive.