RU2373040C1 - Welder training simulator of manual arc welding with consumable and non-consumable electrode - Google Patents

Abstract

FIELD: metallurgy industry. ^ SUBSTANCE: simulator includes a welding tool with welding electrode, manipulator with welding pattern (10), having current leads and current-carrying branches, welding current source (8), two current sensors (1, 12), voltage sensor (2), two-axis angular position sensor (13) of welding electrode, control unit (14) of filler material supply, normalising amplifiers (3,4,15,16,17,18), multiple-channel analogue-digital converter (5), personal computer (6) and device (7) for reproducing sound signals of feedback with the welder being taught, which is connected to audio output of computer (6). Outputs of current sensors (1,12), voltage sensor (2), two-axis sensor (13) of angular positions of welding electrode and control unit (14) of filler material supply are connected to appropriate inputs of corresponding normalising amplifiers, the outputs of which are connected to inputs of analogue-digital converter (5), the output of which is connected to data bus of personal computer (6). One pole of current source (8) is connected to current lead of welding electrode, and the other pole - to connection point of two current-carrying branches of manipulator (9), and each current-carrying branch is connected with another point to one of two current leads of manipulator (9), in which there installed and fixed is welding pattern (10) with edges opposite as to its length. Each current sensor (1, 12) is connected to one of appropriate current-carrying branches of manipulator (9). ^ EFFECT: simulator has enough flexibility in implementing the teaching or testing of welders of various professional education degree, and is capable of effective operation in interactive training systems. ^ 5 cl, 7 dwg

Description

The present invention relates to the field of teaching aids, and in particular, to devices for training electric welders in methods of mainly manual welding with a consumable electrode, as well as welding with a non-consumable electrode in an inert gas environment, to develop the right psychomotor skills for trained welders to maintain standard arc lengths, welding tilt angles the electrode, the filing rate of filler material in the welding zone, the welding speed and the thermal regime of the weld pool when real th welding process.

A well-known welder simulator containing a welding power source, a simulator of a welding electrode, a unit for modeling a welding object, a unit for presenting accounting information, control units for welding speed, angular parameters, temperature parameters and arc length, two threshold elements, a pulse shaper, a synchronization pulse generator, a switch, sound frequency pulse generator, element I and block counters (AS USSR No. 1302313, IPC ⁶ G09B 19/24. Welder simulator. B.E. Paton, V.V. Vasiliev, V. A. Bogdanovsky, etc. 07.04 .1987 B. No. 13).

The main disadvantage of the known device is the limited didactic capabilities, which is explained by:

the lack of the known device the ability to quickly obtain a comprehensive assessment of the conformity of the actions of the trained welder with the requirements of the training task;

the need for each training session, the trained welder performing a significant number of preparatory operations, including the preliminary installation of acceptable boundaries for changes in the parameters of the welding process;

the lack of the ability to store and document information in the form of graphical or tabular materials on paper or other media (for example, magnetic) about the progress of the welding process and its parameters during the training session;

the inevitability of the training welder’s adaptation period to the generated device when the welding process deviates from the set values of the feedback signals, which are tonal sound signals of different frequencies, and the skills of adequate responses to these signals.

Other disadvantages of the known device include:

insufficient accuracy of the control unit for the welding speed due to the dependence of the reliability of the information received from the temperature sensors on the geometric shape and size of the bodies surrounding the simulated welding object, and the distance to these bodies, as well as due to the inertia of the temperature sensors;

the complexity of the design of the simulated welding object, which causes difficulties for its use in spatial positions other than the lower one, and requires cooling water for its functioning.

Similar disadvantages are in one way or another inherent in other known devices (AS USSR No. 1663619, IPC G09B 19/24, B. No. 26, 07/15/1991; AS USSR No. 178422, IPC V23K 9/10, B. No. 48, 12/30/1992), built on the basis of analog or analog-digital structures without the use of computers.

With such a structural construction of an arc simulator, significant hardware costs are inevitable, which predetermines low reliability indicators of the simulator and an increase in its cost.

To increase the reliability of arc simulators and to a large extent eliminate the disadvantages of simulators built as analog-to-digital devices, simulators, which are hardware-software complexes based on a personal computer, allow.

Closest to the technical solution to the present invention, selected as a prototype is a welder arc simulator containing a current sensor, voltage and speed sensors, normalizing amplifiers and sample-storage circuits, the number of which corresponds to the number of sensors, multiplexer, analog-to-digital converter, control signal generator , personal computer, source of welding current (V.V. Vasiliev, A.I. Karpiy, S.N. Danilyak. Arc simulator of the welder. - Electronic modeling, 1994, 16, No. 5-6, pp. 94-97).

The known device provides statistical processing of the results of the training by calculating the mathematical expectation and variance of each controlled parameter, the ability to assess the compliance of the actions of the trained welder with the requirements of the training task, as well as the ability to store and document information in the form of graphic or tabular materials about the course of the welding process and its parameters during training session.

However, the known device also has such a disadvantage as limited functional and didactic capabilities, due to:

insufficient accuracy in determining the welding speed and, as a result, the linear energy, which is explained by the operating principles and design features of the known speed sensors when using welder's hand tools or their simulators, and when using known speed sensors significant structural difficulties are inevitable, and consequently, a significant increase in cost and the mass of either the welder’s hand tools or their simulators, or the modeling block of the welding object in which the weld a full-time sample or simulator of a welded product and primary transducers providing control of the arc path, in the latter case, it is extremely difficult, and in most cases it is impossible to control the welding speed when the shape of the welding sample is different from a flat plate, and in spatial positions other than lower;

the inability to control the implementation or simulation of the process of welding with a non-consumable electrode in an inert gas environment with the filing of a filler material in the welding zone;

the complicated structure of the “sensors - analog-to-digital converter” paths, which, in turn, complicates the simulator software.

The task of the invention is to expand the functional and didactic capabilities of the simulator.

The task is achieved in that a simulator for training a welder in manual arc welding with a consumable and non-consumable electrode, containing a welding tool with a welding electrode, a manipulator with a welding sample, having current leads and current-carrying branches, a welding current source, two current sensors, a voltage sensor, a two-coordinate angle sensor the position of the welding electrode, the control unit for filler material supply, normalizing amplifiers, a multi-channel analog-to-digital converter, a personal computer, and a device for reproducing audio feedback signals from a trained welder connected to the computer audio output, while the outputs of the current sensors, voltage sensor, two-coordinate sensor of the angular positions of the welding electrode and the filler control unit are connected to the corresponding inputs of the corresponding normalizing amplifiers, the outputs of which are connected to the analog inputs -digital converter, the output of which is connected to the data bus of a personal computer, one pole of the current source is connected to the current lead of the welding electrode, and the other pole to the junction point of the two current-carrying branches of the manipulator, and each of the current-carrying branches by another point is connected to one of the two current leads of the manipulator, in which the welding sample is installed and fixed with opposite ends along the length, each of the current sensors is turned on into one of the corresponding current-carrying branches of the manipulator.

The filler material supply control unit contains an arc sensor, a pulse shaper and a filler material holder, which is made in the form of an insulating body, inside which a clip of the filler material is fixed, while the output of the arc sensor is connected to the pulse shaper input, the output of which is the output of the filler material supply control unit .

The manipulator consists of a supporting body with a telescopic tube, a curved bracket attached to it, composed of two current-carrying branches of the same length and the same cross section of the C-shaped deck and mounted in the central part of the deck and attached to the bracket of the hinge assembly. At the same time, a current lead with a clamp for attaching a welding sample is attached to the free ends of each deck of the deck, the common point of the deck branches is connected to the current lead to connect to one of the poles of the welding current source, each of the current sensors is included in one of the corresponding current-carrying branches of the manipulator.

The welding sample of the non-rotary welded joint of the bodies of revolution is made in the form of a plate with a constant cross-section along its entire length, the working part of which is in the form of a flat half ring, the ends of which in the diametrical plane are provided with rectangular flat sections directed in opposite directions for fixing in the current leads of the manipulator.

The proposed simulator for training a welder in manual arc welding and non-consumable electrode welding in an inert gas environment is explained in the drawings:

- figure 1 shows a block diagram of an arc simulator welder;

- figure 2 shows a block diagram of a block 14 for controlling the supply of filler material;

- figure 3 shows a General view of the holder 29 of the filler material;

- figure 4 shows a simplified schematic diagram of an example embodiment of a pulse shaper 28;

- figure 5 shows a General view of the manipulator 9;

- figure 6 shows a diagram of the installation of the welding sample 10 in different spatial positions;

- Fig.7 shows an example of the execution of welding samples for different types of welded joints.

According to the invention, the block diagram of figure 1 of the proposed arc trainer of the welder consists of current sensors 1 and 12, voltage sensor 2, two-coordinate sensor 13 of the angular positions of the welding electrode, normalizing amplifiers 3, 4, 15, 16, 17, 18, the number of which corresponds to the number the outputs of the sensors, a multi-channel analog-to-digital converter 5, a personal computer 6, a device 7 for reproducing audio feedback signals from a trained welder, a welding current source 8, a manipulator 9 with a welding sample 10, a welding tool cient 11, feed control unit 14 of the filler material.

The outputs of the current sensors 1 and 12, the voltage sensor 2, the two-coordinate sensor 13 of the angular positions of the electrode are connected to the inputs of the normalizing amplifiers 3, 15, 4, 16, 17, respectively, the output of the filler material supply control unit 14 is connected to the input of the normalizing amplifier 18.

The outputs of the normalizing amplifiers 3, 4, 15 ... 18 are connected to the inputs of a multi-channel analog-to-digital converter 5, the output of which is connected to the data bus of a personal computer 6 of a standard configuration, which includes a monitor 22, mouse 23, keyboard 24, printer 25. To the audio output computer 6, a device 7 for reproducing audio feedback signals from a trained welder is connected.

One of the poles of the welding current source 8 is connected to the connection point of two current-carrying branches of the manipulator 9, each of which is connected by its other point to one of the two current leads 20 and 21, in which the welding sample 10 is installed and fixed.

A current sensor 1 is included in one of the current-carrying branches of the manipulator 9, and a sensor 12 is included in the other branch. The other pole of the welding current source 8 is connected to the current supply 19 of the electrode of the welding tool 11. The input of voltage sensor 2 is also connected to the poles of the welding current source 8, to which in this way, a voltage corresponding to the voltage of the arc 26 is applied.

Figure 2 shows a block diagram of a block 14 for controlling the filing of filler material, which includes an arc sensor 27, pulse shaper 28, holder of filler material 29.

The output of the arc sensor 27 is connected to the input of the pulse shaper 28, the output of which is connected to the input of the normalizing amplifier 18.

Figure 3 shows a General view of the holder 29 of the filler material, which is made in the form of an insulating body 30, inside which is fixed a clamp 31 of the filler material.

Figure 5 shows a General view of the manipulator 9, which consists of a support body 32, a telescopic tube 33, to which is attached a curved bracket 34, a C-like deck 35, which consists of two current-carrying branches 36 and 37 of the same length and the same cross section. In the central part of the C-like deck 35, a hinge assembly 38 is mounted, which is attached to the bracket 34. A current lead 20 with a clip 39 is attached to the free end of the branch 36 of the deck 35 for fastening the welding sample 10, and the current lead 21 s to the free end of the branch 37 of the deck 35 clamp 40 for fastening the welding sample 10.

The common point of the branches 36 and 37 of the deck 35 is connected to the current lead 41 for connecting to one of the poles of the welding current source 8. A current sensor 1 is included in the current-carrying branch 36 of deck 35, and a current sensor 12 in branch 37 of deck 35.

Figure 7 shows a General view of the welding sample 10, intended for the case of making a non-rotary welded joint of bodies of revolution and made in the form of a plate with a constant cross section constant over its entire length. The working part of this welding sample has the shape of a flat half ring 42, the ends of which in the diametrical plane are provided with rectangular flat sections 43 and 44 directed in opposite directions to fix the welding sample 10 in the current leads 20 and 21 of the manipulator 9.

Description of the work of the arc simulator of the welder, which is claimed.

The program, which is entered into the computer, has a library of training and test tasks.

Before starting a training or testing session, the instructor or trainee welder calls the appropriate training or test task. Each such task contains initial data: a welding method — for example, manual arc welding with coated electrodes or non-consumable electrode welding in an inert gas environment; type and spatial position of the welded joint; welding mode parameters - welding current, arc voltage, welding speed, linear energy; requirements for the welding technique - arc length, the angles of the spatial position of the electrode, the feed rate of filler material, the duration of the individual components of the welding cycle; Date and duration of the training or testing session. In addition, each training or test task regulates the permissible limits of deviations from the standard values of parameters that are set and monitored during a training or testing session.

The source data is reproduced on a computer monitor. The instructor has the ability to change the values of one or the other, or all the parameters that are set and controlled, as well as the permissible limits of deviations of these parameters.

After establishing the initial data, the instructor enters a command to start a training or testing session and from that moment, its duration begins. A welder who is undergoing training or testing begins the welding process by exciting the arc, for example, by touching the electrode of the welding tool 11 against the working surface of the welding sample 10.

From the moment a steady-state welding current appears in the welding circuit of the simulator, a cyclic interrogation of the inputs of the analog-to-digital converter 5 begins, to which the outputs of the analogue channels for measuring the welding current, arc voltage, electrode spatial angles and (in case of welding with a non-consumable electrode in an inert gas environment) are connected feed control channel. At the same time, from the output of the analog-to-digital converter 5, the signals converted into a digital code begin to arrive on the data bus of the computer 6 for further processing, the results of which are displayed on the monitor 22 in the form of graphical and tabular information for each of the controlled parameters and the boundaries of their permissible deviations from the set nominal values.

The output signals of the current sensors 1 and 12, proportional to the currents that flow through each of the two current-carrying branches of the manipulator 9, its current leads 20 and 21 and the corresponding sections of the welding sample 10, are fed to the inputs of the normalizing amplifiers 3 and 15, respectively. The normalizing amplifiers 3 and 15, as well as the normalizing amplifiers 4, 16, 17 and 18, carry out such scaling of their input signals at which the levels of their output signals correspond to the normalized range of input levels of the analog-to-digital converter 5. Digital codes that enter the data bus computer 6 from the output of the analog-to-digital converter 5 and correspond to the analog output signals of the normalizing amplifiers 3 and 15, further processing is carried out taking into account the fact that at any moment of the existence of the welding arc identity

Iw = I ₁ + I ₂ ,

where Iw is the welding current,

I ₁ - current through one of the two current-carrying branches of the manipulator,

I ₂ - current through another current-carrying branch.

Based on this, as a result of processing, instantaneous or average current values are determined. At the same time, the increment of the currents I ₁ and I _{2 is} also determined for the periods of the polling cycles of the outputs of the normalizing amplifiers 3 and 15, and the average values of the instantaneous welding speed are calculated from this.

Proportional to the arc voltage, the analog output signals of the voltage sensor 2 are scaled by a normalizing amplifier 4, the output signals of which are converted to digital by means of an analog-to-digital converter 5. As a result of processing these digital signals by computer 6, the instantaneous or average values of the arc voltage 26 are determined. range of welding currents, the arc voltage is proportional to its length, then simultaneously with the determination of the voltage values of the arc 26 calculate and value the length of the arc.

Together with the determination of the values of the welding current and arc voltage, the calculation of the values of the welding speed and the arc length, the values of such parameters of the thermal mode of welding as effective heat input and heat input are calculated.

Effective heat input is calculated by the formula

Qef (t) = Iw (t) Ud (t) η,

where Iw (t) is the current value of the welding current,

Ud (t) is the current value of the arc voltage,

η is the effective coefficient of metal heating by the arc, which is 0.6 ... 0.85 for manual arc welding with coated electrodes and 0.5 ... 0.6 for non-consumable electrode welding in an inert gas environment,

and linear energy Qn (t) - by the formula

Qn (t) = Qeff. (T) / Vsv. (t) = Iw (t) Ud. (t) η / Vsv. (t)

where Vsv. (t) is the current value of the welding speed.

One of the analog output signals of the two-coordinate sensor 13 of the angular positions of the welding electrode set in the welding tool 11 is proportional to the angle between the electrode axis and the normal to the welding point in the vertical plane across the weld ("angle α"), the other analog output signal of the two-coordinate sensor 13 is proportional to the angle between the axis of the electrode and the normal to the weld point in a vertical plane along the weld ("angle β"). The signals (“angle a”) and (“angle β”) are scaled by normalizing amplifiers 16 and 17, the output analog signals of which are converted to digital using an analog-to-digital converter 5 and processed by computer 6, as a result of which the current value of the angles of the spatial position of the electrode is determined welding tool 11.

The registration of moments and the determination of the feed rate of filler material during welding by a non-consumable electrode in an inert gas environment is carried out using the filler material supply control unit 14, the block diagram of which is shown in FIG. 2 and which operates as follows.

When filler material is fed into the zone of the welding arc 26, the signal generated by the arc sensor 27 is fed to the input of the pulse shaper 28, which causes an abrupt change in the state of its output. This altered state of the output of the pulse shaper 28 will exist for the time interval corresponding to the duration of the filler material in the zone of the welding arc 26. The output pulse signals of the pulse shaper 28 are scaled by a leveling amplifier 18, the output signals of which are converted into a digital code using an analog -digital converter 5 and are fed to the computer data bus 6. Processing signals from the output of the normalizing amplifier 18, which are received in Computer 6 in the form of a digital code provides the determination of not only the number and frequency of filing of filler material for the time period specified in the training or test task, but also the duration of the filler material in the arc zone at each feed.

The filler material in the zone of the welding arc 26 is supplied by the welder using the holder 29 of the filler material, a General view of which is shown in figure 3. The insulating body 30 of the holder 29 of the filler material reduces the risk of electric shock to the welder, and also serves to secure the clamp 31 of the filler material in it, which can be made in the form of a collet device.

Figure 4 shows a simplified schematic diagram of an example embodiment of a pulse shaper 28. In this case, the filler material itself serves as the arc sensor 27, which, in addition to its purpose, plays the role of an arc probe, since when filler material is fed into the arc zone, a potential arises relative to the welding sample 10. This potential, the value of which is close to or proportional to the arc voltage 26 is the output signal of the arc sensor, which comes from the clamp 31 of the filler material to the input of the pulse shaper 28. The input stage of the pulse shaper 28 provides galvanic isolation between the circuits of the filler material control unit 14 and the welding circuit (for example, using a linear optical isolation of the Σ-Δ type), and also brings the input signal to a level that is consistent with the level of signals necessary for the threshold element to operate , which is the output stage of the pulse shaper 28. This threshold element can be made in the form of a comparator, a diagram of which is shown in figure 4. At the signs of the comparator supply voltages indicated in the diagram, in the absence of a signal from the arc sensor, the voltage of negative polarity (“minus”) is established at the output of the comparator, ie, resistor R7, and zero at the output of the shaper 28 pulses, that is, at resistor R8.

When filler material is fed into the arc zone 26 at the output of the comparator (at resistor R7) and at the output of the pulse shaper 28 (at resistor R8), the voltage of positive polarity (“plus”) is abruptly set.

During the entire training or testing session, feedback is made with the welder using the audio feedback device 7 connected to the audio output of the computer 6. As such a device, headphones, speakers and the like are used. If during the welding process the boundaries of permissible deviations from the standard values of the parameters that are set and controlled are set earlier by training or test tasks, the computer 6 generates a verbal hint that is reproduced by the device 7 in the form of a phrase that corresponds to the type of violation, for example, “Length is too high” (if the length of the arc exceeds the upper limit of its permissible value), “Length is underestimated” (in the case when the length of the arc is less than the lower limit of its permissible value). In case of violations of the welding speed, the verbal hint sounds like “Speed is overstated” or “Speed is underestimated”, with violations in the corners of the spatial position of the electrode - “Angle α or (Angle β) - too high” or “Angle α or (Angle β) - underestimated.” In addition, the computer 6, using the device 7, gives a verbal hint regarding the state of the welding circuit - “Short circuit” if the duration of the short circuit exceeds a technologically justified period of time, or “Idling” when welding is interrupted with interruption of the welding current. At the same time, a hierarchy of verbal hints is programmatically established - even if two or more violations occurred simultaneously, the hint is first received along the arc length, the second according to the welding speed, and the third according to the corners of the electrode spatial position.

Starting from the moment the welding arc is initiated at the beginning of the training or testing session and until it is automatically completed, according to the specified duration of the session, the monitor 22 displays information in a numerical, graphical or tabular form about the process of welding and the current values of its parameters, which are determined by measurements or calculations. All information obtained during a training or testing session is stored in computer memory 6 for an unlimited time and can be reproduced at any time on monitor 22, copied and documented on magnetic or optical media, and if necessary printed on paper using printer 25 using standard computer peripherals 6 - mice 23 and, if necessary, the keyboard 24.

The implementation of training or test tasks involving the use of samples of different types of welded joints, as well as their different spatial positions, are provided using the manipulator 9, a General view of which is shown in Fig.5.

The manipulator works this way.

The manipulator is installed on the welder’s desktop using a fastening device (for example, a clamp type), which is part of the support body 32. A welding sample 10 that meets the requirements of a training or test task is installed in current leads 20 and 21 and fixed in them using clamps 39 and 40, respectively. Depending on the conditions for performing the welding defined by the training or test task — sitting or standing work — the height of the tube 33 and the bracket 34 is set and fixed. After that, a C-like deck 35 with welding sample 10 is installed and fixed in the hinge assembly 38 in the spatial position of the weld (lower, vertical, ceiling or inclined), corresponding to the requirements of the training or test task. Examples of the placement of an installed C-like deck 35 with a welding sample 10 are shown in Fig.6. The hinge assembly 38 of the manipulator provides a rotation turn of the C-like deck 35 around its axis, which is perpendicular in the horizontal plane to the horizontal axis of the bracket 34, as well as in a vertical plane parallel to the horizontal axis of the bracket 3. To create conditions for the flow of the welding current in the welding circuit of the simulator with conductive branches 36 and 37 of the C-like deck 35, the current lead 41 is connected to one of the poles of the welding current source.

The current-conducting branches 36 and 37, together with the current sensors installed on them, provide not only the supply of welding current to the welding sample 10 through current leads 39 and 40, but also the implementation of a circuit by which the instantaneous values of currents in these branches are determined using their current sensors. This makes it possible to calculate and record the welding speed during a training or testing session.

Figure 7 shows examples of the execution of welding samples for different types of welded joints, as well as a general view of the welding sample of a non-rotating welded joint of bodies of revolution (for example, a pipeline). To perform a training or test task related to the development of welding technique for surfacing, as well as for welding butt joints, a welding sample is used in the form of a flat plate, on the working part of which longitudinal recesses with a V-shaped opening of edges are made mechanically (for example, by milling).

The implementation of the angular connection is practiced using a welding sample, the working part of which is formed of two perpendicularly connected plates.

A welding sample of a non-rotary welded joint of bodies of revolution, the working part 42 of which is made in the form of a flat half ring, and flat sections 43 and 44 are designed to install and fix this sample in the current leads of the C-like deck of the manipulator, allows you to work out the welding technique in all possible spatial positions of welding, in this case, welding is possible both on the external and internal surfaces of the working section 42 of the sample, as well as a rotation of the sample by 180 ° with its subsequent mounting in the current leads of the C-like deck insulator.

The described arc simulator of the welder has sufficient flexibility in the implementation of training or testing of welders of various degrees of professional training and is able to work effectively in interactive training systems.

Such a simulator allows to determine with a high degree the places of possible defects in the implementation of a real welding process by analyzing its parameters.

Claims (4)

1. A simulator for training a welder in manual arc welding with a consumable and non-consumable electrode, comprising a welding tool with a welding electrode, a manipulator with a welding sample, having current leads and current-carrying branches, a welding current source, two current sensors, a voltage sensor, a two-coordinate sensor for the angular positions of the welding electrode, filler feed control unit, standardizing amplifiers, multi-channel analog-to-digital converter, personal computer and sound reproduction device feedback from the welder being trained, connected to the audio output of the computer, while the outputs of the current sensors, voltage sensor, two-coordinate sensor of the angular positions of the welding electrode and the filler control unit are connected to the corresponding inputs of the corresponding normalizing amplifiers, the outputs of which are connected to the inputs of the analog-to-digital converter the output of which is connected to the data bus of a personal computer, one pole of the current source is connected to the current supply of the welding electrode, and the other pole - to the point of connection of two current-carrying branches of the manipulator, and each of the current-carrying branches of the other point is connected to one of the two current leads of the manipulator, in which the welding sample is installed and fixed with opposite ends along its length, and each of the current sensors is included in one of the corresponding current-carrying branches of the manipulator. 2. The simulator according to claim 1, characterized in that the filler material supply control unit comprises an arc sensor, a pulse shaper and a filler material holder, which is made in the form of an insulating body, inside which a clip of the filler material is fixed, and the output of the arc sensor is connected to the input pulse shaper, the output of which is the output of the filler material supply control unit. 3. The simulator according to claim 1, characterized in that the manipulator consists of a support body with a telescopic tube, a curved bracket attached to it, composed of two current-carrying branches of the same length and the same cross-section of a C-shaped deck and installed in the central part of the deck and attached to the bracket of the hinge assembly, while to the free ends of each deck branch a current lead is attached with a clamp for fastening a welding sample, the common point of the deck branches is connected to a current lead to connect to one of the floor As the source of the welding current, each of the current sensors is included in one of the corresponding current-carrying branches of the manipulator. 4. The simulator according to claim 1, characterized in that the welding sample of the non-rotary welded joint of the bodies of revolution is made in the form of a plate with a constant cross-section along its entire length, the working part of which is in the form of a flat half ring, the ends of which are provided in opposite directions in the diametrical plane rectangular flat sections for fixing in the current leads of the manipulator.

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