Arc sensing seam tracking control method and device based on harmonic analysis

An arc sensing and tracking control technology, applied in arc welding equipment, electrode support devices, manufacturing tools, etc., can solve the problems of difficult detection of welding torch height deviation and inaccurate welding seam deviation detection results, etc., and achieve strong anti-interference ability, The effect of high detection accuracy

Active Publication Date: 2017-02-01
XIANGTAN UNIV
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Problems solved by technology

[0005] In order to solve the deficiencies of existing methods or technologies and better promote the development of automated welding, a new method based on harmonic analysis is proposed to solve the problems that the current method is difficult to detect the height deviation of the welding torch or the detection result of the weld deviation is inaccurate. Arc sensing welding seam tracking control method and device

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  • Arc sensing seam tracking control method and device based on harmonic analysis
  • Arc sensing seam tracking control method and device based on harmonic analysis
  • Arc sensing seam tracking control method and device based on harmonic analysis

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Embodiment 1

[0034] Embodiment 1: The system block diagram of an arc sensing weld seam tracking control method and device based on harmonic analysis of the present invention is as follows figure 1 As shown, the system includes arc sensor, hardware filter, control system, welding trolley, cross carriage, cross carriage motor, and motor driver; the arc sensor scans the weld bevel and outputs arc sensing signal, and the hardware filter The arc sensing signal is processed by low-pass filtering, and then data sampling and software clipping processing are carried out through the control system. The arc sampling data processed by the software is detected by the double harmonic amplitude characteristic ratio method to detect the left and right deviation of the weld. The space weighted integral difference method is used to detect the height deviation of the weld seam, and the welding position adjustment of the welding torch is completed by controlling the movement of the cross carriage according to ...

Embodiment 2

[0062] Embodiment 2: By the method of the present invention, the arc sensor is used to scan the weld bevel during the welding process. When welding under a certain weld deviation, the output signal waveform of the hardware filter is as follows: Figure 9 As shown, there are still a few pulse spikes in the arc signal.

[0063] The output signal of the hardware filter passes through the control system for arc signal sampling and software filtering processing, and the waveform of the arc signal after software processing is as follows: Figure 10 As shown, the pulse spike amplitude is suppressed.

[0064] Discrete Fourier transform is performed on the arc signal processed by the software, and the arc signal is converted into arc signal harmonics, and the harmonic components containing welding seam deviation information are retained and inverse discrete Fourier transform is performed. The obtained arc signal harmonic waveform is as follows: Figure 11 shown.

[0065] Using the in...

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Abstract

The invention discloses an arc sensing seam tracking control method and a device based on harmonic analysis, which are used for detecting seam deviation and adjusting the position of a welding gun in a special automatic welding machine. The method comprises the steps of performing hardware filtering processing on an output signal of an arc sensor first, then conveying to a control system for data sampling and software filtering processing, detecting seam lateral deviation on data after software processing by adopting a biharmonic amplitude characteristic ratio method, detecting seam vertical deviation by adopting a scanning space weighted integral differential method, and respectively outputting enable signals to two motor drivers by the control system according to lateral and vertical deviation values so as to drive a lateral motor and a vertical motor, so that a cross sliding frame moves, and the welding position of the welding gun installed on the cross sliding frame is adjusted. By adopting the method, the seam lateral deviation and the seam vertical deviation can be accurately detected, the antijamming capability is high, and the method can be used for automatic correction of the welding gun in automatic welding production and is an important guarantee for increasing the automatic welding efficiency and quality.

Description

technical field [0001] The invention relates to the field of automatic welding, in particular to an arc sensing welding seam tracking control method and device based on harmonic analysis. Background technique [0002] At present, welding automation and intelligence have become the development trend of welding technology. Seam tracking is an important link to realize welding automation and intelligence, and it is also an important guarantee for improving welding quality and welding efficiency. [0003] In order to identify and detect the deviation of the weld seam during the welding process, various types of sensors and technical solutions have been developed and applied. Among them, arc sensing technology has been researched more in the field of seam tracking because of its low cost, simple device, and easy implementation. For example, the "Method for Extracting Arc Sensor Welding Torch Position Deviation Information" with the patent No. "200910025826.2" adopts a linear app...

Claims

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Application Information

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IPC IPC(8): B23K9/127B23K9/28B23K9/10
CPCB23K9/10B23K9/1276B23K9/28
Inventor 洪波尹力李毅李湘文张贤锌
Owner XIANGTAN UNIV
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