Welding platform control method for submerged arc welding of thick-walled large-size cylindrical weldment intersecting line seam

Abstract

The invention discloses a control method for a submerged-arc welding platform for an intersection-line seam of a thick-wall large-size cylindrical weld element. The control method includes that confirming the weld element size and welding speed, and confirming a proper discrete step length; discretizing the intersection line to obtain coordinate values of a discrete welding spot; gathering an actual pitch angle and an actual rotating angle of the weld element through a sensor and using as two feedback quantity, comparing with pitch angle and rotating angle control reference values to obtain errors, using as the input of pitch and rotating position PID controllers, and using the output of the two position PID controllers as the speed control reference values of a roller drive motor and a hydraulic pump drive motor; comparing the three degree of freedom position control reference value of the welding gun with an actual welding gun position value detected by the sensor to obtain an error, and using the output of position PID controllers in three directions of the welding gun as speed control reference values of servo drive motors corresponding to three directions of a mechanical arm of the welding gun to realize closed loop control. The control method for the submerged-arc welding platform for the intersection-line seam of the thick-wall large-size cylindrical weld element is capable of effectively and stably controlling the submerged-arc welding platform for the intersection-line seam of the thick-wall large-size cylindrical weld element and enables the high-quality weld joint welding to be guaranteed.

Description

technical field [0001] The invention relates to a method for controlling a submerged arc welding welding platform for intersecting line seams of thick-walled and large-size cylindrical weldments, and belongs to the technical field of industrial equipment welding. Background technique [0002] In petroleum, chemical, boiler, hydropower, nuclear power and other manufacturing industries, it is necessary to solve the seam welding problem of oil, gas, water and other containers and the pipelines connected to them. It is difficult to solve the welding process with conventional automatic welding equipment, which brings certain difficulties to automatic production. At the same time, the welding labor intensity of this kind of space curve welding seam is high, and the welding quality is not easy to guarantee. In particular, there is a lack of practical and effective welding methods for thick-walled and large-scale weldment welds in the chemical, nuclear power, and shipbuilding field...

AI Technical Summary

Problems solved by technology

However, manual welding requires high physical strength and skills of workers, and the production efficiency is low, and the welding quality is unstable.

Later, some units adopted the principle of mechanical profiling to develop some special automatic welding equipment, but the types of weldments that can be adapted are small, the size range is narrow, the automation level and the welding torch tracking ability are not ideal, and it can only be applied to large and medium batches with high welding quality. Production of undemanding products

The more popular welding robots in China now, although the level of automation has been greatly improved, are mostly used in the welding of regular welds such as circular seams. An occasion that requires high welding strength

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