An automatic surfacing welding method based on magnetron rotating arc sensing

Abstract

The invention specifically relates to an automatic surfacing welding method based on magnetically-controlled rotating arc sensing. The technical essential of the method lies in that: a magnetically-controlled rotating arc is applied to surfacing welding, and enabled to scan welding seams of a surfacing welding layer according to a specified frequency; information about the welding seams is obtained by a magnetically-controlled arc surfacing welding sensor, input to a main controller for signal processing, and then output to a surfacing welding layer identification controller for identifying the surface topography of the surfacing welding layer and determining a welding seam offset signal; the welding seam offset signal is processed by the main controller and then input to an attitude controller for a surfacing welding torch; the optimal spatial pose signal of the welding torch is evaluated in combination with the obtained topography signal of the surfacing welding layer; and the optimal spatial pose signal is output to the main controller for driving an execution mechanism and a positioner to carry out spatial pose adjustment for the welding torch, thus automatic surfacing welding for the surfaces of complex components is realized. The method disclosed by the invention is capable of effectively solving the problems of low automation degree and low surfacing welding quality of a surfacing welding process, and realizing automation and intelligentization of multi-layer and multi-pass surfacing welding, and component surface repair.

Description

technical field [0001] The invention specifically relates to an automatic surfacing welding method based on magnetically controlled rotating arc sensing welding seam tracking, which belongs to the field of welding automation. Background technique [0002] Surfacing welding, as an economical and rapid process method for material surface modification, is more and more widely used in the manufacture and repair of parts in electric power, mining, metallurgy, petrochemical and other industrial sectors. The overall level of surfacing welding technology in my country is not high, and the surfacing welding method is simple and rough. The core of the current automatic remanufacturing surfacing welding technology is to use manipulators or robots to automatically plan the path to realize automatic surfacing welding. To ensure the alignment of the welding torch For the center of the surfacing weld, it is necessary to carefully adjust the position of the welding torch and the center of th...

AI Technical Summary

Problems solved by technology

Although the structure of the rotating arc sensor is more complicated than that of the swinging arc sensor, the sensitivity of the welding torch deviation detection and the seam tracking accuracy are increased due to the high rotation frequency

However, in multi-layer and multi-pass surfacing welding, since the change of the welding torch position is much smaller than that of single-layer welding, it is more difficult to extract the signal and identify the deviation. If the existing arc sensor seam tracking technology is directly used, it cannot Meet the requirements of automatic identification and tracking adjustment of pose information

In addition, due to the different degrees of wear on the surface of the surfacing welding, not only the vertical and horizontal distances of the welding torch relative to the workpiece will change, but also the inclination angles of the front, rear, left, and right will also change. Misjudgment of track tracking

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