Route self-searching complex curved surface bead welding method based on magnetic control rotating arc sensing

Abstract

The invention discloses a route self-searching complex curved surface bead welding method based on magnetic control rotating arc sensing. According to the main principle of the method, a curved surface is scanned through a magnetic control rotating arc sensor, a sampling point current signal is collected through a Hall sensor, an interval and direction dividing sensor conducts interval and direction dividing on a sampling point in each rotating period, an operation processor calculates the average current of each interval, conducts filtering processing, and then determines the direction of the minimum average current of a sampling period, a position compensation controller compares the average current value of the sampling period with the average current value of a reference period, the height of a welding gun is automatically adjusted, and arc breaking and gun colliding are stably avoided. A multi-axis driver controls a four-axis linkage welding machine, it is guaranteed that the welding direction faces the direction corresponding to a sampling set with the current minimum average current, welding is always conducted at the low horizontal height position of the curved surface, when the change fluctuation of average currents of all intervals of the sampling period is small, it is judged that the current curved surface tends to be smooth, and bead welding of the curved surface is completed.

Description

technical field [0001] The invention relates to the field of automation, and relates to a method for surfacing welding of complex curved surfaces with self-seeking paths based on magnetron rotating arc sensing. Background technique [0002] Welding is a commonly used manufacturing process and technology, and surfacing welding, as an economical and fast process method for surface modification of materials, is more and more widely used in the manufacture, repair and surface modification technology of parts and components in various industrial sectors . In the actual surfacing process, the surface of the workpiece to be welded is basically required to be flat. When the surface shape of the workpiece is complex, such as a curved surface, the traditional surfacing process cannot be directly applied, and the automation of the surfacing process is low, requiring manual real-time adjustment. In order to ensure the surfacing work. In order to solve the technical difficulties of sur...

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Problems solved by technology

[0003] In order to solve the shortcomings of the existing technology and better promote the automatic development of the surfacing welding process, in the current surfacing welding production line, the surfacing welding of workpieces with complex curved surfaces can only be done manually, resulting in poor surfacing welding effects , the quality and thickness of the surfacing layer cannot meet the requirements, etc., a self-seeking path-finding complex curved surface surfacing method based on magnetron rotating arc sensing is proposed. The system control block diagram is as follows figure 1 Shown: The sampling system mechanism of this method includes: magnetically controlled rotating arc sensor, directional interval sensor, arithmetic controller, position compensation controller, four-axis linkage welding machine; this method divides the sampling interval and position direction through the directional interval sensor According to the welding current collected by the magnetron arc sensor, the arithmetic controller calculates the direction corresponding to the sampling group with the smallest average current. The four-axis linkage welding machine controls the welding torch to always weld along the direction with the smallest average current, that is, the lower level of the curved surface. The subsequent cycle sampling And positioning process, when the average current change fluctuation in the sampling interval is less than or equal to the reference interval, the surfacing welding of the current surface is completed

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