SU668791A1

SU668791A1 - Method of automatic guiding of welding head along joining

Info

Publication number: SU668791A1
Application number: SU762365162A
Authority: SU
Inventors: Владимир Валерьянович Смирнов; Вадим Михайлович Вассин; Владимир Александрович Шушин; Олег Анатольевич Коротков
Original assignee: Smirnov Vladimir V; Vassin Vadim M; Shushin Vladimir A; Korotkov Oleg A
Priority date: 1976-05-26
Filing date: 1976-05-26
Publication date: 1979-06-25

Description

1one

Изобретение относитс к способам регулировани процессов дуговой сварки и может быть использовано в систе.мах автоматического контрол и управлени .The invention relates to methods for controlling arc welding processes and can be used in automatic control and management systems.

Известны способы направлени сварочной головки по стыку, испоотьзуюшие различные методы контрол положени стыка: электромагнитные, фотометрические, радиационные , пирометрические и т. п.Methods are known for guiding the welding head along the joint, using various methods for controlling the position of the joint: electromagnetic, photometric, radiation, pyrometric, etc.

Все способы и устройства, реализующие их, основы на том, что датчик стыка не тер ет положение стыка в процессе работы.All methods and devices that implement them are based on the fact that the interface sensor does not lose the position of the interface during operation.

Однако в силу воз.мущающих воздействий , например превышение кро.мок, прихватки , трещины, раковины, веро тность потери стыка датчиком существует всегда.However, due to the possibility of disturbing influences, such as overfilling, tacking, cracks, shells, the probability of loss of the interface by the sensor always exists.

В р де устройств дл автоматического направлени сварочной головки по стыку используютс методы, в какой-то степени компенсирующие вли ние отдельных возмущающих воздействий, но среди известных способов и устройств, реализующих эти способы , не существует единого метода, позвол ющего корректировать положение сварочной головки при воздействии различных по своему характеру и физической сущности возмущений.In a series of devices for automatically guiding the welding head over the joint, methods are used, to some extent compensating for the effects of individual disturbing influences, but among the known methods and devices implementing these methods there is no single method that allows correcting the position of the welding head when exposed different in nature and physical nature of the disturbances.

Известна установка, в которой дл того , чтобы исключить вли ние только прихваток , использованы два электромагнитных датчика, разнесенных на рассто ние больщее величины прихваток 1.A device is known in which, in order to eliminate the influence of tacks only, two electromagnetic sensors are used that are spaced apart by a larger distance of tacks 1.

Известно также устройство, в котором дл того, чтобы скомпенсировать вли ние превышени кромок на электромагнитный датчик, использовано устройство, измер ющее превышение кромок, и двухканальный регул тор с различным быстродействиемIt is also known a device in which in order to compensate for the effect of over-edge on an electromagnetic sensor, a device that measures over-edge and a two-channel controller with different speeds are used.

по основному и вспомогательному каналам. Значительное вли ние возмущающие действи могут оказывать при автоматическом направлении сварочной головки по стыку по заданной программе с учетом коррекции положени сварочной головки относительноon the main and auxiliary channels. Disturbing effects can have a significant effect in the automatic direction of the welding head along the junction according to a given program, taking into account the correction of the position of the welding head relative to

стыка 2. В этом случае какое-либо возмущение программы и потер стыка датчиком практически неизбежна.junction 2. In this case, any disturbance of the program and rubbing the junction with the sensor is almost inevitable.

Claims

There is a method of automatically guiding the welding head along the joint, in which during the welding process the position of the head relative to the joint is corrected by means of a joint sensor, and if the joint is lost due to interference, the welding head is disconnected from the sensor and guided in the direction. which was determined before the occurrence of mech 3. However, if there are interruptions, then the temperature fields at the tacking point are equalized, there was a 1.) 1 dimensionality when measuring the difference of temigiratura of the edges to be welded and the sensor loses the joint. In the presence of trash; P,; In one of the parts there is a distortion of the cm-field, as a result of which the joint sensor may lead the welding head towards the crack and, if the latter has final dimensions, the position of the welding head beyond the limits of the tongue will also be uncertain. The purpose of the invention is to create a method for automatically guiding the welding condition, but providing a high quality of welded joints under the influence of disturbing factors. This is achieved by switching the sensor into search mode during a noise interference, for which it begins to scan through the junction until reliable information about the joint is obtained, after which the welding head is again connected to the sensor, which switches to tracking mode while the presence of a joint is judged by obtaining m signals from n measurements. The method of automatically guiding the welding head along the joint is implemented as follows. In tracking mode, the sensor uses the tracking system to determine the position of the joint and, through a logic device, enters the correction signal into the tracking system of the welding head. In this case, the welding head is aligned along the transverse coordinate with the sensor. If the sensor loses the interface, the logic device switches the sensor to the search mode and turns off the tracking system of the welding head. Lastly, this item continues to move in the direction that was determined before the loss of the joint. In the search mode, the sensor is scanned in the direction of the junction, and if the scanner emits m signals about the presence of a joint for a scanner, the logical device switches it to tracking mode and connects the tracking system of transverse movement of the welding head. The method of automatically guiding the welding head along the junction provides an increase in the quality of the welded joints under the influence of perturbing factors. Claim Method A method for automatically guiding a welding head along a joint, in which, during the welding process, the position of the die relative to the joint is corrected using the joint sensor, and if the joint is lost due to interference, the welding head is disconnected from the sensor and lead in the direction that was determined the occurrence of interference, differing in that.m., in order to improve the tracking accuracy in the presence of various disturbing factors, at the time of the occurrence of interference, the sensor is switched to the search mode, for which it is started to be scanned across the joint to obtain reliable information about the joint, after which the welding head is again connected to the sensor, which is switched to the mode, while the presence of the joint is judged by receiving the hp signals from the n measurements. Sources of information taken into account during the examination 1. USSR author's certificate number 387000, cl. At 23 K 9/10, 1968.

2. USSR author's certificate number 411971, cl. 23 K 9/00, 1971.

3. USSR author's certificate number 435079 class. At 23 K 9/10, 197.