CN108188545A - A kind of narrow gap pulse MAG welding arc sensing three-dimensional welding seam tracking method - Google Patents
A kind of narrow gap pulse MAG welding arc sensing three-dimensional welding seam tracking method Download PDFInfo
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- CN108188545A CN108188545A CN201810125944.XA CN201810125944A CN108188545A CN 108188545 A CN108188545 A CN 108188545A CN 201810125944 A CN201810125944 A CN 201810125944A CN 108188545 A CN108188545 A CN 108188545A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/12—Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
- B23K9/127—Means for tracking lines during arc welding or cutting
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/09—Arrangements or circuits for arc welding with pulsed current or voltage
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/16—Arc welding or cutting making use of shielding gas
- B23K9/173—Arc welding or cutting making use of shielding gas and of a consumable electrode
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Abstract
The invention discloses a kind of narrow gap pulse MAG welding arc sensing three-dimensional welding seam tracking methods, and 10 ° of narrow gap welding is less than suitable for bevel angle, passes through current sensor sampled current value；Peak point current, the background current of each pulse period is extracted from the current signal after mean filter, the average value of peak-current signal is calculated at the end of a swing period, compared with the average value of previous cycle peak-current signal, it is converted to welding gun elevation information and is sent to welding gun height control module, Driving Stepping Motor rotation adjusts welding gun height；The start recording background current signal when welding gun arrival sidewall locations, the difference of two side walls background current is calculated at the end of one swing period and is converted to deviation and is sent to welding gun horizontal swing control module, Driving Stepping Motor rotation adjusts the oscillation center of welding gun.The present invention takes full advantage of the characteristics of Narrow sloping-glot and pulse MAG welding, effectively increases the sensitivity of narrow gap pulse MAG welding termination process arc sensing.
Description
Technical field
The invention belongs to machine automatization control technology field, more particularly, to a kind of narrow gap pulse MAG welding arc sensing
Three-dimensional welding seam tracking method.
Background technology
In torch swinging or rotary course, the distance of ignition tip to workpiece is influenced by bevel shape and position,
The variation of length Development pattern.This variation can be reflected by the variation of arc signal and be used to that weldering to be monitored and controlled
Rifle position is put, and here it is the THE WELD SEAM TRACKING TECHNOLOGYs based on arc sensing.
The information that Weld Seam Tracking Control includes two aspects of height and centering of Butt welding gun is sensed and is controlled.Electric arc passes
Sensor for weld joint tracking technical solution first by German Aachen polytechnical universities EichhornF and Platz J propose, still
Due to the stability problem of welding arc, arc sensing weld joint tracking is never widely used.
With being constantly progressive for source of welding current technology, welding process is more stablized, and arc sensor has been successfully applied
In V-arrangement, T junction Weld Seam Tracking Control in-the FD-WD arc sensors precision of OTC can reach ± 1mm；ABB
Weldguid III can not only realize height and centering tracking, and can also realize become groove width tracing control.
But narrow gap welding sidewall fusion is difficult, in order to ensure two side walls while fuses, and needs higher weld seam
Tracking accuracy, existing commercial sensor can't be directly used in narrow gap weld seam tracking.Although U.S. CRC and France
Arc sensor is successfully applied in the pipeline narrow gap welding equipment of its exploitation by Serimax, and CRC's is automatic
Soldering equipment has been completed the welding mileage more than 10000 kilometers, but its arc sensor still has and adapts to different grooves
With process conditions ability it is poor the problem of, using these equipment when not only needs strictly to control groove and assembling precision and windproof
Welding is completed in canopy, and very professional welder is needed to be operated, limits the promotion and application of equipment.
The problem of for narrow gap welding arc sensing precision, many scholars have carried out extensive research.Li Wen boats et al.
Multilayer single track narrow gap MAG is welded using support vector machines and the method for rough set and carries out deviation identification, it is intended to from statistics
Angle improve in arc signal extract weld seam deviation precision.Baek D establish arc signal using the method for neural network
Relationship between sidewall locations, using neural network is adaptive, self-organizing and solves arc signal the characteristics of real-time learning
Non-linear relation between position while welding.Hyeong-Soon is filtered using the method for moving average, devises a narrow groove
Double-torch robot welding system.The studies above is the spirit for attempting to improve arc sensing from the angle of signal processing and control method
Sensitivity so improve tracing control precision, do not revert to narrow gap welding physical process substantially to narrow gap welding shadow
The reason of ringing arc sensing precision is analysed in depth.
Invention content
The problem to be solved in the present invention is to provide one kind, and to effectively improve narrow gap pulse MAG welding termination process arc sensing sensitive
The narrow gap pulse MAG welding arc sensing three-dimensional welding seam tracking method of degree.
In order to solve the above technical problems, the technical solution adopted by the present invention is：A kind of narrow gap pulse MAG welding arc sensing
Three-dimensional welding seam tracking method, includes the following steps：Following steps are suitable for the narrow gap welding that workpiece grooves angle is less than 10 °,
(1) technological parameter is set, and selects welding machine pulse MAG welding pattern, and the technological parameters such as setting wire feed rate, the amplitude of oscillation ensure
Sidewall fusion avoids short circuiting transfer as possible；Amplitude of fluctuation is set according to Narrow sloping-glot width, welding wire is respectively protected with left and right sides wall
Stay 1mm；Welding current is 120A~150A；
(2) activation system, welding gun starts swing, machine initial arc, by current sensor according to sample frequency sample rate current
Value；
(3) peak point current, the background current of each pulse period is extracted from the current signal after mean filter；
(4) peak-current signal of each pulse period is recorded, peak point current is calculated at the end of a swing period
The average value of signal, and compared with the average value of previous cycle peak-current signal, be converted to welding gun elevation information and be sent to weldering
Rifle height control module, so as to which Driving Stepping Motor rotates certain angular adjustment welding gun height；
The welding gun height control module includes stepper motor and ball-screw, and stepper motor both forward and reverse directions rotate through ball
Leading screw driving welding gun carries out short transverse adjusting, and welding gun rises when stepper motor rotates forward, and welding gun declines when stepper motor inverts, from
And Driving Stepping Motor rotates certain angular adjustment welding gun height；
(5) start recording several background current signals when welding gun reaches sidewall locations, at the end of a swing period
It calculates the difference of two side walls background current and is converted to deviation and be sent to welding gun horizontal swing control module, so as to drive step
Stepper motor rotates the oscillation center of certain angular adjustment welding gun；
Welding gun horizontal swing control module includes stepper motor and ball-screw, and stepper motor is according to setting hunting frequency
Welding gun reciprocally swinging is driven, after welding gun horizontal swing control module receives deviation, control stepper motor adjustment welding gun pendulum
Dynamic center, realizes left and right directions Weld Seam Tracking Control；
(6) stop, welding machine blow-out stops acquisition, welding gun recurrence oscillation center.
In step (2), the current sensor is Hall current sensor, and passes through AD7606 and sampled.
In step (3), in order to which continuous sampled point is distinguished by the pulse period, the method for use is：When even
The continuous current value sampled three times thinks a pulse period when being more than 400A, when the electric current continuously sampled three times
Value thinks that stage pulse terminates when being less than 400A, thinks first arteries and veins when the current value of continuous sampling three times is more than 400A again
End cycle is rushed, second pulse period starts；The maximum value of stage pulse electric current is as peak point current, from a upper pulse rank
Section terminated to the next pulse stage, and the average value of all sample rate currents is as background current in the process.
Due to the adoption of the above technical scheme, the present invention is by a kind of special in narrow gap pulse MAG welding termination process
The analysis of arc physics phenomenon, it is proposed that a kind of method of new arc sensing weld joint tracking takes full advantage of Narrow sloping-glot
The characteristics of being welded with pulse MAG effectively increases the sensitivity of narrow gap pulse MAG welding termination process arc sensing.
Description of the drawings
The present invention is specifically described below with reference to attached drawing and with reference to example, advantages of the present invention and realization method will
More obvious, wherein content is only used for explanation of the present invention shown in attached drawing, without forming to the present invention in all senses
On limitation, in the accompanying drawings：
Fig. 1 is narrow gap welding electric arc " jumping wall " phenomenon
Fig. 2 is base value arc signal sensing centering information
Fig. 3 is peak value arc signal sensing elevation information
Specific embodiment
The present invention is further discussed below with reference to embodiment and its attached drawing：
Jump wall phenomenon：When the distance between welding wire end and side wall be less than its with groove bottom apart from when, according to minimum electricity
Requirement of the principle to electric arc consumption energy minimum is pressed, electric arc should be established between welding wire end and side wall, but due to welding wire and side
Wall is close to parallel, and peak phase current density increases rapidly, arc constriction, and straight and upright property enhancing, electric arc can downwards be creeped along side wall
To groove bottom, electric arc rebound side wall again after peak phase, this phenomenon by pulse frequency at a high speed, it is reciprocal occur, such as Fig. 1
It is shown.When " jumping wall " phenomenon occurs, base value stage arc channel is established between welding wire end and groove side wall, and reflection is only
It is distance of the welding wire to side wall；The arc channel of peak phase is established in welding wire end and weld pool surface, reflects torch height, such as
Shown in Fig. 2 and Fig. 3.
According to traditional arc sensing method, electricity when acquiring torch swinging respectively or rotating to left and right side walls position
Signal and calculating difference, the centering that welding gun is carried out according to the difference are adjusted；It is all in one swing of acquisition or swing circle
Current value average current is obtained, and compared with the average current with being calculated in previous cycle, according to difference carry out welding gun
Highly adjust.
This method is suitable for common V-arrangement, T shapes, lap joint, the method for being also applied for direct current welding.For narrow
Gap pulse MAG welds, and in sidewall locations " jumping wall " phenomenon occurs for electric arc, and background current at this time does not reflect that welding gun height is believed
Breath only reflects welding gun centering information, at this time if will reduce the spirit of sensing using average current sensing welding gun elevation information
Sensitivity；Peak point current reflects centering information to a certain extent based on arc blow, also not as good as individually using background current sensing pair
Middle information is more accurate.
Therefore, the present invention is for narrow gap pulse MAG welding termination process, according to " jumping wall " phenomenon, it is proposed that a kind of to use peak
It is worth current sense elevation information, background current sensing centering information, so as to improve the method for arc sensing sensitivity.
A kind of narrow gap pulse MAG welding arc sensing three-dimensional welding seam tracking method, includes the following steps：Following steps are applicable in
It is less than 10 ° of narrow gap welding in workpiece grooves angle.
(1) technological parameter is set, and selects welding machine pulse MAG welding pattern, and the setting of welding parameter will ensure sidewall fusion；Root
Amplitude of fluctuation is set according to Narrow sloping-glot width, welding wire respectively retains 1mm with left and right sides wall；Welding current is 120A~150A；
(2) activation system, welding gun start swing, machine initial arc, by Hall current sensor, and pass through AD7606 with one
Fixed sample frequency sampled current value；
(3) peak point current, the background current of each pulse period is extracted from the current signal after mean filter；
In order to which continuous sampled point is distinguished by the pulse period, the method for use is：Obtained current value is sampled when continuous 3 times
A pulse period is thought during more than 400A, thinks pulse rank when the current value that continuous 3 times samplings obtain is less than 400A
Section terminates, and thinks that first pulse period terminates when the current value of 3 times of continuous sampling again is more than 400A, second pulse week
Phase starts；The maximum value of stage pulse electric current terminates from a upper stage pulse to the next pulse stage as peak point current
Start, the average value of all sample rate currents is as background current in the process；
(4) peak-current signal of each pulse period is recorded, peak point current is calculated at the end of a swing period
The average value of signal, and compared with the average value of previous cycle peak-current signal, be converted to welding gun elevation information and be sent to weldering
Rifle height control module, the welding gun height control module include stepper motor and ball-screw, the rotation of stepper motor both forward and reverse directions
Short transverse adjusting is carried out by ball-screw driving welding gun, welding gun rises when stepper motor rotates forward, and stepper motor welds when inverting
Rifle declines, so as to which Driving Stepping Motor rotates certain angular adjustment welding gun height；
(5) 5 background current signals of start recording when welding gun reaches sidewall locations, calculate at the end of a swing period
The difference of two side walls background current and be converted to deviation be sent to welding gun horizontal swing control module, the welding gun horizontal swing
Control module includes stepper motor and ball-screw, and stepper motor works as weldering according to setting hunting frequency driving welding gun reciprocally swinging
After rifle horizontal swing control module receives deviation, left and right directions weldering is realized at control stepper motor adjustment torch swinging center
Stitch tracing control；
(6) stop button is pressed, welding machine blow-out stops acquisition, welding gun recurrence oscillation center.
The present invention is carried by a kind of analysis of special arc physics phenomenon in narrow gap pulse MAG welding termination process
The characteristics of having gone out a kind of method of new arc sensing weld joint tracking, having taken full advantage of Narrow sloping-glot and pulse MAG welding, has
Effect improves the sensitivity of narrow gap pulse MAG welding termination process arc sensing.
The embodiment of the present invention is described in detail above, but the content is only presently preferred embodiments of the present invention,
It should not be construed as limiting the practical range of the present invention.All changes and improvements made in accordance with the scope of the present invention, should all
It still belongs within this patent covering scope.
Claims (6)
1. a kind of narrow gap pulse MAG welding arc sensing three-dimensional welding seam tracking method, it is characterised in that：Include the following steps：With
Lower step is suitable for the narrow gap welding that workpiece grooves angle is less than 10 °,
(1) technological parameter is set, and selects welding machine pulse MAG welding pattern, and the technological parameter of the amplitude of oscillation is set to ensure sidewall fusion；
(2) activation system, welding gun starts swing, machine initial arc, by current sensor according to sample frequency sampled current value；
(3) peak point current, the background current of each pulse period is extracted from the current signal after mean filter；
(4) peak-current signal of each pulse period is recorded, peak-current signal is calculated at the end of a swing period
Average value, and compared with the average value of previous cycle peak-current signal, be converted to welding gun elevation information and be sent to welding gun height
Control module is spent, so as to which Driving Stepping Motor rotational angle adjusts welding gun height；
(5) start recording several background current signals when welding gun reaches sidewall locations are calculated at the end of one swing period
The difference of two side walls background current is simultaneously converted to deviation and is sent to welding gun horizontal swing control module, so as to drive stepping electric
Machine rotational angle adjusts the oscillation center of welding gun；
(6) stop, welding machine blow-out stops acquisition, welding gun recurrence oscillation center.
2. narrow gap pulse MAG welding arc sensing three-dimensional welding seam tracking method according to claim 1, it is characterised in that：
In step (1), the amplitude of oscillation is set according to Narrow sloping-glot width, and welding wire respectively retains 1mm with left and right sides wall；Welding current
For 120A~150A.
3. narrow gap pulse MAG welding arc sensing three-dimensional welding seam tracking method according to claim 1, it is characterised in that：
In step (2), the current sensor is Hall current sensor, and passes through AD7606 and sampled.
4. narrow gap pulse MAG welding arc sensing three-dimensional welding seam tracking method according to claim 1, it is characterised in that：
In step (3), in order to which continuous sampled point is distinguished by the pulse period, the method for use is：When continuously adopting three times
The current value that sample obtains thinks a pulse period when being more than 400A, when the current value continuously sampled three times is less than
Think that stage pulse terminates during 400A, think first pulse period when the current value of continuous sampling three times is more than 400A again
Terminate, second pulse period starts；The maximum value of stage pulse electric current terminates as peak point current from a upper stage pulse
To the next pulse stage, the average value of all sample rate currents is as background current in the process.
5. narrow gap pulse MAG welding arc sensing three-dimensional welding seam tracking method according to claim 1, it is characterised in that：
In step (4), the welding gun height control module includes stepper motor and ball-screw, and the stepper motor both forward and reverse directions turn
Dynamic to carry out short transverse adjusting by ball-screw driving welding gun, welding gun rises when stepper motor rotates forward, when stepper motor inverts
Welding gun declines.
6. narrow gap pulse MAG welding arc sensing three-dimensional welding seam tracking method according to claim 1, it is characterised in that：
In step (5), the welding gun horizontal swing control module includes stepper motor and ball-screw, and stepper motor is put according to setting
Dynamic frequency drives welding gun reciprocally swinging, after welding gun horizontal swing control module receives deviation, control stepper motor adjustment
Left and right directions Weld Seam Tracking Control is realized at torch swinging center.
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Cited By (5)
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| CN109848524A (en) * | 2019-02-02 | 2019-06-07 | 浙江师范大学 | Narrow clearance melting electrode gas shield vertical position welding welding seam tracking method |
| CN112643170A (en) * | 2020-12-30 | 2021-04-13 | 北京配天技术有限公司 | Arc pressure welding seam tracking method, robot control cabinet and storage medium |
| CN112658444A (en) * | 2020-12-15 | 2021-04-16 | 唐山松下产业机器有限公司 | Arc sensing control method and system for welding robot |
| CN114309887A (en) * | 2021-12-27 | 2022-04-12 | 唐山松下产业机器有限公司 | Control method and control device of inverter welding machine |
| CN114406408A (en) * | 2021-12-27 | 2022-04-29 | 武汉纳瑞格智能设备有限公司 | Two-side-wall fusion control device for narrow-gap MAG/MIG automatic welding |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112643170A (en) * | 2020-12-30 | 2021-04-13 | 北京配天技术有限公司 | Arc pressure welding seam tracking method, robot control cabinet and storage medium |
| CN114309887A (en) * | 2021-12-27 | 2022-04-12 | 唐山松下产业机器有限公司 | Control method and control device of inverter welding machine |
| CN114406408A (en) * | 2021-12-27 | 2022-04-29 | 武汉纳瑞格智能设备有限公司 | Two-side-wall fusion control device for narrow-gap MAG/MIG automatic welding |
| CN114406408B (en) * | 2021-12-27 | 2023-10-03 | 武汉纳瑞格智能设备有限公司 | Two side wall fusion control device for automatic welding of narrow-gap MAG/MIG |
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