SU812465A2 - Apparatus for automatic welding of curviliner surfaces - Google Patents

Description

(54) DEVICE FOR AUTOMATIC WELDING OF CURVOLINEAR SURFACES

The invention relates to welding production.

According to the main auth. No. 5,224,639, a device for automatically welding curvilinear surfaces, comprising a burner, wires for vertical, horizontal displacement and rotation of the burner, arc voltage, speed and rotation angle comparison nodes of the burner with reference values, speed measurement angles of the burner, four multipliers, two a keypad, two functional converters and a switch of the sign, while the input of one multiplication unit is connected to the outputs of the arc voltage comparison and drive speed measurement nodes Horizontal movement. The input of the second multiplying unit is connected to the output of the arc voltage comparison nodes and measuring the speed of vertical movement. The input of the third multiplication unit is connected to the outputs of the nodes comparing the welding speed and measuring the speed of the vertical movement. The input of the fourth multiplication unit is connected to the output of the nodes for comparing the speed of welding and measuring the speed 1x of the horizontal movement. The outputs of the first, third, second, and fourth multiplication units are pairwise connected, respectively, to the control inputs of the vertical and horizontal displacement drives. The inputs of the quadrants are connected to the outputs of the speed measurement units of the vertical and horizontal re-measurements, and their outputs are connected to the inputs of one of the functional converters connected to the input of the welding speed comparison unit. The input of the second functional converter is connected to

5 by the output of the horizontal displacement velocity measuring unit, and the output through the junction of the character reader, the control input of which is connected to the output of the variable displacement velocity measuring unit, is connected to the burner rotation angle comparison unit.

Using speed meters

5 and the multiplication unit, the control signals are generated by the drive, with

by this. .

-K, aUq; Vy +. Uy

Ux uv

 + Cddy uy.

thirty

Drive control signals differ from ideal

UH -K di 51poC + K, juVcoe 4 Uv K di so5aC + K, j | dVsin JL,.

This difference in dynamics leads to the fact that this system turns out to be unstable when circumventing surfaces with small radii of curvature, which is a significant disadvantage.

By circumventing such surfaces, the error di in the arc voltage increases dramatically, the speeds of the drives change, and the measured copy angle "L sotrct" becomes significantly different from the true angle of the center.

As a result, the required ratio of the constituent signals Uy and Ujj, determined by Uc and & Y, is disturbed, which leads to a further increase and the occurrence of undamped oscillations in the system.

The purpose of the invention is to ensure the stability of the device when welding curved surfaces of small radii.

The goal is achieved by introducing two low-pass filters into the device, with one of the filters connected between the horizontal displacement drive and the nepBbiM multiplication unit, and the second filter using the vertical displacement drive and the second multiplication unit.

The drawing shows a block diagram of the device for automatic welding of curved surfaces.

The device contains a welding torch 1, a drive 2 for vertical movement of the burner, a drive 3 for horizontal movement of the burner, a drive 4 for turning the burner, a node 5 for measuring the speed of vertical movement, a node for measuring the speed for horizontal movement, a node 7 for comparing arc voltage with a reference voltage, quadrs 8 and 9, the inputs of which are connected to the nodes 5 and b, and the output to the first functional converter 10, the device 11 comparing the welding speed with the reference value, low-pass filters 12 and 13, multiplications blocks 14-17, second the function generator 18, a switch .19 characters, comparing the burner device 20 the angle of rotation. with the reference value, the node 21 measuring the angle of rotation of the burner.

 The device is implemented as follows.

The welding torch 1 is moved vertically by the drive 2, horizontally by the drive 3 and turned by the drive 4. The speed of the vertical Vjj and the horizontal Vy. displacements are measured by velocity measurement nodes 5 and b. The arc voltage Urt is compared with the reference voltage U at the comparison node 7, the output of which produces an error signal d U

 and (Jo - and.

At the same time, voltages from the outputs of nodes 5 and 6 are supplied to the first and second quadrants 8 and 9 and from their outputs to the first functional converter 10, the output of which produces a signal proportional to the true welding speed Vv "Vvl + V. From the output of the converter, the signal goes to the node. comparing the true welding speed with a reference value proportional to the given welding speed of the EUT so that at the output of the comparison unit 11 a error signal is generated in the speed of the control unit V0. + V,. At the same time, the voltages on the velocity measurement nodes 5 and b are fed through the low-pass filters 12 and 13 to the multiplication blocks 14-17. The signal AU {g is sent to one input of block 14, and the voltage from node b is sent to the second input through filter 13. Signal 1 is received at the output of block 14, D Ucjcosc -f. Similarly, at the outputs of blocks 15, 16 and 17, the signals Uxq; -K AUqrsinrt. .vo K aVsinrf / i) and K Vcos, since in the steady-state motion VVS j n VS f n Vy - Vocoso -J, - From the output of blocks 14 and 16 multiplication, signals are sent to drive 2, from the outputs of blocks 15 and 17 - into drive 3, as a result of which the control signals of drives 2 and 3 are equal, respectively, and and and. When bypassing surfaces with small radii of curvature, there is a rapid change in the speeds of the drives Vy and v ;. and their ratio ceases to correspond to the copy angle oi. The inclusion of low-pass filters 9 and 10 smoothes, averages the value of the signals applied to multiplication blocks 11 and 14, with the result that the measured values 5} b1 ,,, and cos A match the required values of sinct and COS l ,,. As a result, the values of the control signals of the drives Uy and (} y approach ideal even when bypassing surfaces of small radii, which ensures the stability of the device.

The formation of the reference signal of the drive 4 is carried out with the help of the second functional converter 18, the biofeedback of the progra 3 function

VX

  Wrcsw

iarcsinlsinij || j

V

ACS, W1 "

so that the output is a signal proportional to the desired angle of inclination of the surface, which means, and the angle of the required rotation of the burner +. +, 90. Through the switch 19 characters

the control input of which from node 5 is energized, switching the sign of the signal when changing the sign of 1y, the signal from the output of the converter is fed to the comparison node 20, the second input of which is energized from node 21 proportional to the true rotation angle of the C output of the burner The 20 signal reached 1 o1. And is fed to the actuator 4, which turns the burner until it becomes d 0.

The proposed invention allows welding of surfaces with radii of curvature up to several millimeters.

Claims (1)

Invention Formula Device for automatic welding of curved surfaces on auth. B524639, distinguished by the fact that, in order to ensure the stability of the device when welding curvilinear surfaces of small radii, into the device. Two low-pass filters were introduced, one of the filters being turned on by the meiad with a horizontal power drive and the first multiplier unit, and the second filter between the vertical displacement drive and the second 0 by multiplication block. Sources. Information taken into account during the examination 5 1. USSR author's certificate number 5224639, cl. At 23 K 9/10, 05.05.74.