• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    To maintain control of arc position in travel along a predetermined welding path, wherein the arc or equivalent heat source is given at least a minimal lateral reciprocation, an electrical characteristic, such as current, is sampled to obtain a continuous signal containing a component which varies with lateral position of the heat source. The first signal is also sampled at the extreme lateral positions of the arc to obtain comparable signal elements which are accumulated, amplified, compared with each other and/or with reference signals, and resultant outputs are used to initiate corrective action. This action may involve giving warning to a human operator or it may involve partial or full control of a physical or mechanical correction procedure. A general application is to the welding of a groove formed between adjacent work pieces. A more specific application is to weld joints involving narrow gaps between length of large pipe in pipeline building. The invention is applicable also to situations wherein lateral oscillation is not really required for gap filling but is used merely as a means to isolate control signals for maintaining an accurate center or main line travel position of the arc of heat source. Moreover, the invention may have a more general application, wherever guidance is desired along a main path that contains any element that effects signal amplitude of a probe characteristic relative to the lateral position of the element where the signal may be masked by noise.
    公开号:SU797564A3
    申请号:SU772502100
    申请日:1977-07-05
    公开日:1981-01-15
    发明作者:Уильям Нельсон Джером
    申请人:Си-Р-Си Кроуз Интернэшнл Инк (Фирма)；
    IPC主号:
    专利说明:

    (54) METHOD OF THE INTEGRATION The invention relates to welding production, in particular to methods for welding a welding head along a joint. The joint tracking method is known using the position of the welding arc as a sensor, and the position current is the current in which the arc gives oscillations across the edges of the joint, and the received information after conversion is used to correct the position of the arc relative to joint 1. The disadvantage This method is the effect of the shape of the surfaces to be connected on the tracking accuracy. The purpose of the invention is to eliminate the influence of the shape of the surfaces to be connected on the accuracy of tracking. The goal is achieved by removing the position information only when approaching the extreme points of oscillation, converting it into a pulse signal with an amplitude corresponding to the welding current and polarity consistent with the proximity of the arc to the right or left edge of the joint, storing 5 "I, r -: Tr:. (Iv riX53.; I; ..;;:.; J given value, and the received signal the mismatch is used to correct the amplitude of the transverse oscillations. Fig. 1 shows the curves of the correction signals and the welding current, Fig. 2 shows the curves of the correction signals, Fig. 3 shows the mechanical device and the structural scheme of the implementation of the proposed spas-a; - examples of the oscillatory movement of the welding head in a groove; Fig. 7-11 - schematically an apparatus; for controlling the movement and oscillation of the welding head; in fig. 12-14 - correction signal curves; in fig. 15 and 16 - welding process control panels. FIG. Figure 1 shows the curve of a change in welding current during short-circuit arc welding with current changes from 100 to 600 A. In FIG. Figure 1 shows the curve, but with an extended time scale, with numerous fluctuations of f on each curve.
    S current. The alternating current signal superimposed on the main curve S. is further amplified, filtered, limited in amplitude and processed for use in a welding head correction system. This processed signal Sj is shown in FIG. 1. A small part of this signal A-4 on a different scale is shown in FIG. 2. In FIG. Figure 2 shows the sinusoidal path that the welding head travels during longitudinal movement and oscillations across the joint between the edges of the surfaces to be joined. These edges define the width of the gap G, which must be filled or at least partially in one pass of the welding head. Ideally, the welding head should come very close to the edges, but not touch them. If the welding head touches the edges, a recess is formed in the edge, which leads to scrap. If the head does not come close, then there is no contact, which also leads to marriage.
    The method is implemented at G 7.6 mm. The range of transverse oscillations when the head moves along the main axis of the gap is 2.54 mm. At the usual speed of movement of the welding head, the oscillation frequency is 2-10 Hz (the best option is 3-6 Hz). The current in the welding arc increases as the welding head approaches the edge of the joining surfaces (the increase is stronger, the closer the head is to the edge). The current curve 2 (FIG. 2) shows an increase in the form of a separate signal having a maximum value at points 3 and 4. This corresponds to the usual increase in current at the extreme positions of the welding arc. Between these maximum values, a saddle or zero value of 5 is shown, which characterizes the absence of significant current variation when the welding head crosses 30pai G. The difference between points 3 and 4 is shown as D I. It is an idealized signal that is difficult to isolate in the original Si signal, shown in FIG. 1. This signal must be isolated before it is used to control the welding head overlap. Methods that implement these transformations based on the use of filters will be discussed below. The filtered signal 2 is amplified in the next stage to obtain a current curve 6 (Fig. 2). In points 7 and 8, corresponding to points 3 and 4 of curve 2 (Fig. 2), a discrepancy signal is generated with a mechanical time delay shown in curve 9 (Fig. 2), in which one correction signal corresponds to the left edge 10, and the other corresponds to the right edge 11. Wuxi, the linear amplitudes of the signals are memorized
    until the next oscillatory movement of the welding head to the opposite edge (curve 12, fig. 2). The control signal 10 obtained at the opposite edge will be magnified and remembered (segment 13), since it had a larger amplitude than the previous signal at this edge, it is memorized for the entire period of the welding head oscillation to the other edge. This signal depends on the magnitude of the signal at points 7 and 8 of curve 6 (Fig. 2). Next, signals 13 and 14 are compared to adjust the movement of the welding head along the butt axis and adjust its position across the width of the butt. The difference between the signals 13 and 14 used to control the movement of the welding bead along the axis of steel is shown in FIG. 2 curve 5. The sum of the signals 13 and 14 used to adjust the position of the welding head across the width of the joint is shown in FIG. 2, curve 16, it is compared with a predetermined reference signal corresponding to a predetermined width. To install the head along the axis of the gap, if the difference between the maximum values of curves 10 and 17 is negative and positive, a mechanical centering or adjustment device is used to move the head to the axis of the gap.
    When adjusting along the centerline with the help of a two-position system, it is switched off and off, a reference value is required. If the sum of the two signals 14 and 15 exceeds in absolute value the reference curve 18 (Fig. 2) above which correction is required, then the head centering control signal triggers the signal switch, which controls the centering of the welding head,
    Zaoreor G (Fig. 3) is shown between the edges along with curve 1. The welding head is connected to power source 19 via line 20, the second wire of line 21 is grounded to one of the products at point 22. Point 23 included in line 21 is current signal sensor. This signal is directly proportional to the current, the arcs in line 21, passes through filter 24 to filter out the higher harmonics (Fig. 1). The received signals 3 and 4 are shown in Fig. 2, together with the low-frequency components can have the form shown in Fig. 1, and they may be due to various factors when the arc is burning. To get rid of the low-frequency components, the signal is passed through a smoothing filter 25, with the sinusoidal pulsations of the alternating current passing through the filter 25 without changes. After filter 25, the required signal 2 (Fig. 2) remains, which is amplified to obtain signal 6 (Fig. 2), having minimum values of 7 and 8. To connect signal 6 to the position of the welding arc across the width of the gap, a switch is used which produces a temporary a signal whose duration is limited by the time during which the welding head is near the edge. The switch consists of two microswitches 26 and 27 connected in parallel with other circuit elements, while the microswitches are connected to the output of filter 25. To close and unlock the microswitches at the required times, a rotating cam 28 is driven by an electric motor synchronously with a mechanism that moves the vibrationally welding head across the gap G, the disk 28 can be directly articulated with such a drive. The disc has a cam 29 that acts on the pushers. thirty -. mounted on swivel rachags 31, installed so as to alternately close one or the other microswitch during each half period of full oscillation of the welding head. Other terminals of microswitches 26 and 27 are connected to memory devices from one edge 31 and from another edge 32. The second output of filter 25 is connected to other inputs of memory devices 31 and 32. Curve 1 (Fig. 3) shows the time T and Tj of the location of the welding head One and the other edges. Typically, this time is 30 ° -75 ° for each edge (preferably 60 °). Thus, the maximum values of signals 7 and 8 are inputted to the device, amplified and stored as signal 12 in device 31 and signal 17 in device 32. Output signals from devices 31 and 32 are fed to comparator 33 to determine the value of the current difference D1. From the output of block 33, the value of D 1 enters the second comparison block 34, where it is compared with a predetermined reference value received from a source of constant voltage 35, and is used to control the motor if L 1 exceeds a predetermined value. The output from the comparator unit 34 is fed to a centering device 35, which controls the position of the welding head in the desired direction. Thus, the welding head is held on the centerline of the gap as it moves along a predetermined path. In order to avoid random oscillations of the welding head when the signal output from the devices 33 and 34 is less than a predetermined reference value, the position of the welding head is not adjusted. The signals from the outputs of the devices 31 and 32 simultaneously arrive at the device, regul. ia: iopa 36, where they are folded. The output signal of the device 36 is supplied to the comparator unit 37, where it is compared with the reference signal received from the potentiometer 38. The reference remote may vary depending on the materials to be welded, welding conditions and technological requirements for the joint. In the comparison block 37, if the sum exceeds the reference value, the device for adjusting the head position along the width of the gap 39 begins to work and makes the seam narrower. If the sum is less than the reference value, the adjustment will result in expansion of the seam. FIG. 4 and 5, two adjacent articles 40 and 41 are shown, which depict the outer and inner walls of the gap G, which must be filled with welded metal. In both figures, the previous operations have already partially filled the gap. In the case of pipe welding, it is considered that the initial inner side S and the first outer seam F are made, the rest of the gap must be filled. This gap has such a width that transverse oscillations of the arc are necessary for its good filling and connection of the weld with both walls, the welding head moves longitudinally along the axis of the gap and oscillates across the gap as it moves. The gap G is shown with more or less vertical walls 42 and 43 and external bevels 44 and 45 at the top. In the welding method (Fig. 4), the welding head performs a reciprocating movement back and forth across the gap G and simultaneously moves along the half-gap gap axis. The head stops closer to wall 43 (dashed lines) than to wall 42 (solid lines). Therefore, the head must be shifted to the left. The head makes angular oscillations about the X axis (FIG. 5), as a result of which the wire W approaches alternately at an acute angle either to one wall or to another, only it is shifted to the right, and therefore, when moving the head along the axis of the gap G, correction is needed to the left. In this case, the correction can be made by a unit of changing the limits of oscillations so that it goes farther to the left and less in another direction, while the angles of approach of the pier to both side walls will become dispersed and this may cause rejection. Therefore, centering the displacement of the head is important in both cases (Figs. 4 and 5), in which you may need to adjust the amplitude of the oscillations. An important part of this process is the acquisition of bends from the arc, which characterize it, and the correctness of the choice of transverse movement of the arc in the gap. Due to this, signals and the required correction can be received, and it can be carried out before the arc moves away from a given path of movement. The path of the welding head is made half a period from the middle position to one wall and back to the middle position (Fig. 6). The second half of the full period is similar (Fig. 6 is not shown). If we take the extreme position near the wall for the zero point of the period of oscillation of the head, then the head, if it is correctly centered, passes the middle point of the gap at 270 ° of the full period and returns to the middle position at 90 °, while the head also moves along the longitudinal axis of the gap. The path V depends on the speed of the longitudinal motion and the frequency of the transverse oscillations. In the extreme case, the longitudinal movement may be approximately 2.55 mm for each full period of oscillation at a frequency of 1-20 Hz. Let, at time A, the welding head is in position d on the Y curve. When the head approaches, close to the side wall, the current BoapacTiaeT, as shown in curve 1, is from a small average LI value (at this time the arc moves between the side walls with a given oscillation frequency up to Lj. If the arc reaches the side wall, the current can reach L3, approximately 500 A or more from the average current 240-260 A. In a typical case, this increase in current is 1-2% of the average value i.e. only a few amps. From -30 to + 30 °, the arc is close to the wall, stops at it, and returns back. As shown in the current curve 1 (Fig. 6), the arc current varies significantly during this movement. During this time interval, the oscillation curve V passes through a small rectangle R. With the help of the methods described from the semi-qaioT oscillation curve, the signal or signals, and its duration is limited by the time that the arc stops and stops near the side wall. Thereby, the amplitude values of a signal of 3 or 4 are obtained (Fig. 2). FIG. 7 shows a hydromechanical system for oscillation of the head in the gap G between the parts 40 and 41 to be welded and for correcting both the axial displacement line and the amplitude of oscillations. The welding wire is fed through the head from the feeding device 46. The head is fastened pivotally on the axis 47 to the movable frame 48 which can be shifted to the right or to the left by means of nopimoi: 49 in a hydraulic cylinder 50 mounted on a movable carriage that moves the welding device along its movement path. Liquid may be fed into the cylinder 50 or sucked out of it by means of an appropriate pump (not shown in Fig. 7). This fluid serves to move the mold 49 to the right or left. In this way, the position of the longitudinal center line of the head is adjusted. To set the oscillatory movement of the welding head relative to its hinged support 47, the piston rod 51 is articulated with the head at point 52 located above point 47 and moves to the right and left by the piston 53 in the hydraulic cylinder 54. The washing spiral spring 55 located inside the cylinder normally displaces the piston is to the left, and the left-handed hydraulic fluid, overcoming the force of the spring, moves the piston to the right. Fluid is supplied to the cylinder 54 through a pipe 56 from another hydraulic cylinder 57, inside of which there is a piston 58, which reciprocates up and down due to a rotating cam disc 59. The plunger 60, located below the rod 61, causes the piston to lift and push hydraulic fluid inside cylinder 54 for a half turn of the cam disc. During the second half-turn, the spring 55 displaces the 58-piston piston. The cam washer is pivotally mounted on a rotating axis driven by an electric motor 62 mounted on a movable frame 48. A fixed screw coupling 63 between the cam washer and its axis allows the angle of rotation of the washer relative to its bearing axis to be varied, thereby achieving piston stroke adjustment 58 and 53 and the required change in swing. On flash 8 shows a simpler system that only allows you to adjust the swing. The electrode wire supplied by the power supply device 64 is supplied to the arc through the head. The latter is fixed pivotally at point 65 to the fixed support and oscillates back and forth across the gap using a rack 66, articulated with a head below the pivot attachment point, as well as with a reversing motor 67 connected with gear 68 By changing the limits of rotation of the electric motor, you can adjust the span of the wheel welding top and its axial line of movement. However, in contrast to the device (FIG. 7), the adjustment of the axial line can be achieved by worsening the adjustment of the angle of approach of the electrode wire to the lateral walls. 9 The welding head oscillates around a hinge located on axis 69, which is quite close to the arc (Fig. 9) Due to the low hinge position, the angles of approaching the electrode wire to the wall 70 and the base 71 can be adjusted within wide limits. can be used when welding the V-shaped gap; Usually, the head is set so that it divides the angle between two parts to be welded. For this case, the mechanisms shown in Fig. 7-10 can be used. For the V-shaped gap The hob can be swiveled within the gap angle, which is divided in half by the head.A Fig. 10 shows a mechanical system for adjusting the position of the arc relative to the axial LILEAR and the angular position of the welding Head, as well as a device for oscillation of the head and a swinging oscillation head. G BOKpjo - instantaneous fixed center of the hinge on axis 72. The latter has a toothed rack at its upper end for engagement with gear 73 mounted on a reversing stepping motor. e 74, mounted on a relatively fixed main frame 75. The lever 72 is disposed so as to prevent linear motion to right and left frames (smesh.enye its left or right will change the position of the head relative to the axial line of the gap). The lever 76 oscillates to the right or left due to the action of the crank 77 on the wheel 78, which continuously rotates in the same direction with the help of the electric motor 79. Ta 80 ha connects the lever 76 to the head, and its left end is fixed by means of an adjustable hinge in the vertical groove of the lever 76. When raising or lowering the left end of the string 80 in this groove, the head swing can be changed. This adjustment is made using a small reversing electric motor 81, hinged at point 82 on cable 72, having an axis with a thread 83, which is connected to a nut 84, hinged at the opening of the rod 80. These devices allow you to simply adjust the position of the head relative to the center line i and the range of its oscillations. In the device for receiving discrete signals (Figs. 11 and 3), instead of two sets of levers and pushers, one cam washer 85 is provided, having two lobes 86 and 87 for acting on the same
    lever twice for one period. The cam 55 by means of the adjusting means described 86 and 87 raise the lever 88 by means of. it is kept strictly on the axis of the gap, the pusher 89, in order to close the off-B contacts of the visual signaling device for
    权利要求:
    Claims (1)
    [1]
    Chatel 90 twice in one revolution of the cam disc. This may require additional information in the scheme (Fng. 15), which helps the operator with manual adjustment to include a group of 64 contacts, if it is necessary to distinguish one side wall from another. FIG. Figures 12 and 13 show graphs of changes in the considered signals, which can be used by the operator performing manual control on an ordinary mobile welding machine. The average arc current S (see Figs. 1 and 12) remains unchanged during a large part of the arc oscillation period, but increases to 91 and 92 when the arc approaches close to the corresponding side walls (however, it is impossible to directly distinguish one side wall from other). The signal from the outer wall 10 (see Figs. 2 and 13) is negative, and the signal from the inner wall AND is positive. Signals can also be received using various switching methods. Such a device makes it easier for the operator of the welding machine to determine which side wall is currently being observed from an oscilloscope image. Waveforms and recordings with a recorder can be used to facilitate the work of the operator when manually adjusting the movement of the head along the axis of the gap or across it. The same signals can be used for automatic control when using the appropriate drive and control devices described above. FIG. 14 shows an embodiment of this method. This drawing shows a narrow gap G between two adjacent parts, which may be the ends of adjacent pipe segments, or the edges of two plates, or some other welded parts. The gap G is so narrow that for its high-quality filling no transverse oscillations of the welding head are required. However, in this case, as in the previously described, the arc can move from the longitudinal axis of the gap; during its movement along it, which can lead to welding defects. In order to keep the arc moving precisely along the centerline, the welding head oscillates within very narrow limits, as shown in curve 93, to obtain control signals associated with the correct head path. These signals are selected at the extreme lateral positions. For regulation purposes, the arc receives small transverse oscillations, which allows, as shown in FIG. 2, receive carrier wave b and amplitude signals 7 and 8; Using these signals, which are transformed as required, the welding head1 of the three signal lamps 94-96 in the lower part of the panel, which signal by the deviation of the welding head from the correct position along the center line. At the top of the other panel, a group of three signal lamps 97–99 shows the range of vibrations. Kpaciuie signal lamps 99. and 98 indicate, respectively, that the welding head fits too close to both walls and that the oscillation range is too small. A green signal lamp 98 indicates that the swing has a predetermined velitaka. Measuring index. device 100 provides similar information and can add or replace some warning lights in some cases. Red signal lamps 96 and 94 signal the head to the left or to the right of the center line, and green signal lamp 95 indicates that the head is moving along the center line. It can also be used measuring instrument device 101. In another visual signaling device shown in FIG. 16, for each wall, there are five signal lamps arranged in one row. Green signal lamp 102 indicates the correct position of the welding head relative to the outer wall. The yellow signal lamps 103 and 104 on both sides of the lamp 102 signal the beginning deviation from the correct position in the respective directions, and the red signals 105 and 106 signal a significant deviation from the correct position, which can lead to a fault if immediate correction is not made. Similarly, in the right group of lamps, the green signal lamp 107 is in the middle, the yellow signal lamps 108 and 109 on both sides and the red signal lamps BUT and 111 on both ends of the group signal the condition on the other wall. Measuring indicator devices 112 and 113 can also be used here. This device (FIGLb) has advantages, since it signals both small and large deviations of the mode in each of the walls, regardless of whether they are caused by misalignment along the axis of movement or swing disturbance Visual alarms in which signal lamps or measuring indicating devices are received, waveform or recording recorders can be used for initial corrections even when adjustments are made manually. Visual signals can also be used to control devices with photocells configured to make the necessary adjustments by means of appropriate automatic devices. The application of the proposed joint tracking method eliminates the influence of the shape of the surfaces to be connected on the tracking accuracy. Claims An interface tracking method using a welding arc as a position sensor, and as information about the position of a welding current, at which the arc sets oscillations across the edges of the joint, and the information obtained after conversion is used to correct the position of the arc relative to the axis of the joint, the fact that, in order to eliminate the influence of the shape of the surfaces to be connected on the tracking accuracy, the position information is removed only when approaching the extreme points of the oscillations, A pulse signal with an amplitude corresponding to the welding current and polarity consistent with the proximity of the arc to the right or left edge of the joint remembers the signal level for the entire oscillation period taken off during the pulse, for axial correction, use the difference between the memorized signals and additionally summing the stored signals and comparing the obtained sum with a predetermined value, and the resulting error signal is used to correct the amplitude of the transverse oscillations. Sources of information taken into account in the examination 1. US patent No. 3204081. 219-125, published. 08.31,65. Figure 1 3000 SODO t
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    类似技术:
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    同族专利:
    公开号 | 公开日
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    IT1079876B|1985-05-13|
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    法律状态:
    优先权:
    申请号 | 申请日 | 专利标题
    US05/702,865|US4380695A|1976-07-06|1976-07-06|Control of torch position and travel in automatic welding|
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