High-skill welder imitation GTAW fish scale welding system based on multi-sensor collaborative perception

Abstract

The invention relates to the field of GTAW fish scale welding, in particular to a high-skill welder imitating GTAW fish scale welding system and method based on multi-sensor collaborative sensing. The invention provides a GTAW scale welding system and method for simulating high-skill welders based on multi-sensor collaborative sensing, and aims to solve the problem of how to realize the automation of a regular scale pattern forming technology presented by high-level welders in the GTAW welding process. The invention provides the GTAW scale welding system and method for simulating the high-skill welders based on multi-sensor collaborative sensing. Swing of a welding gun is controlled through a welding gun swing control method for simulating GTAW fish scale welding of a high-skill welder based on multi-sensor collaborative sensing. The swing frequency of a welding gun is controlled through a welding gun swing frequency control method for simulating high-skill welder GTAW fish scale welding based on multi-sensor collaborative sensing; filling of welding wires is controlled through a high-skill welder GTAW fish scale welding wire filling control method based on multi-sensor collaborative sensing; and the welding quality is controlled by using a multi-sensor collaborative sensing-based GTAW scale welding closed-loop control method for simulating high-skill welders.

Description

TECHNICAL FIELD

[0001] The application relates to the field of GTAW fish scale welding, and is a high-skill imitated GTAW fish scale welding system based on multi-sensor cooperative sensing. BACKGROUND

[0002] In recent years, with the increasing requirements of high-end equipment on structural performance and appearance quality, GTAW (Gas Tungsten Arc Welding) fish scale welding has become an important welding process in occasions with high appearance quality requirements due to its beautiful weld appearance, uniform structure and excellent mechanical properties. However, the high coordination requirements of the welding gun posture, electric arc behavior and molten pool state in the fish scale welding process make it seriously dependent on the personal experience and operation skills of the welder, and it is difficult to realize automatic welding with high quality and high consistency. The application discloses a high-skill imitated GTAW fish scale welding system based on multi-sensor cooperative sensing, which simulates the observation, judgment and operation behavior of a high-skill welder by fusing multi-source information such as vision, electric arc and motion control, and provides an effective technical path for realizing the intelligentization and standardization of the fish scale welding process. SUMMARY

[0003] The high-skill imitated GTAW fish scale welding system based on multi-sensor collaborative perception is used for GTAW fish scale welding, and is characterized in that the high-skill imitated GTAW fish scale welding system based on multi-sensor collaborative perception is composed of a sliding table system, a welding direction adjusting mechanism, a GTAW welding gun motion control mechanism, a filler wire motion control mechanism, a sensing system and a communication and control system; the sliding table system is composed of an X-direction guide rail, a Y-direction guide rail and a Z-direction guide rail; the welding direction adjusting mechanism is composed of a rotating slide rail and a boom; the rotating slide rail is provided with a boom mounting position at the top, GTAW welding gun motion control mechanism and filler wire motion control mechanism mounting positions at the bottom, a high-speed HDR industrial camera mounting position in the middle, a front structured light visual sensor mounting position at the front end and a rear structured light visual sensor mounting position at the rear end; the GTAW welding gun motion control mechanism is composed of a welding gun rotating telescopic slide rail, a welding gun telescopic slide block, a sliding sleeve-rotary seat linkage shaft group, a welding gun and a tungsten electrode adjuster; the filler wire motion control mechanism is composed of a wire feeder pipe rotating telescopic slide rail, a wire feeder pipe telescopic slide block, a slide rail-rotary seat linkage shaft group and a wire feeder pipe; the sensing system is composed of a front structured light visual sensor, a rear structured light visual sensor, a Hall voltage sensor, a welding gun laser rotary distance measuring sensor, a high-speed HDR industrial camera, a wire feeder pipe laser rotary distance measuring sensor and a data acquisition card; the front structured light visual sensor and the rear structured light visual sensor each include a linear laser and a CCD camera; the communication and control system is composed of an electric control cabinet and a control cabinet; the electric control cabinet is used for distributing and converting external power supply, supplying power to each component and ensuring power safety; after receiving sensor data, the control cabinet accurately controls welding process parameters, coordinates welding timing and links each mechanism component through PLC; the sensing system and the communication and control system establish a data interaction channel through a communication bus to realize the collection of multiple sensor data; the communication and control system realizes the displacement of the welding direction adjusting mechanism, the GTAW welding gun motion control mechanism and the filler wire motion control mechanism in the X, Y and Z directions through the control of the sliding table system; the communication and control system realizes the movement of the GTAW welding gun motion control mechanism and the filler wire motion control mechanism on the rotating slide rail through the welding direction adjusting mechanism. Figure 1

[0004] ​The GTAW fish scale welding system based on multi-sensor collaborative perception is characterized in that: a welding torch movement control mechanism is used to realize the movement of the welding torch in the Z direction, rotation around the Z direction, adjustment of the included angle between the welding torch and the workpiece, extension and retraction of the welding torch, and rotation of the welding torch laser rotary distance sensor and length adjustment of the tungsten electrode; one end of the hanging arm is installed on the Z direction guide rail of the sliding table system, and can realize displacement in the X, Y and Z directions; the rotating shaft above the rotating slide rail is connected with the rotating seat at the other end of the hanging arm, and can realize 180° rotation of the rotating slide rail around the Z direction; the welding torch rotating and retracting slide rail is installed below the rotating slide rail, and can move along the rotating slide rail; the welding torch retracting slide block is nested inside the welding torch rotating and retracting slide rail, and can move in the Z direction; the slide sleeve-rotating seat linkage shaft group is connected with the end shaft seat of the welding torch retracting slide block, and can rotate 360° around the end shaft seat of the welding torch retracting slide block; the welding torch is installed on the slide sleeve of the slide sleeve-rotating seat linkage shaft group, and can reciprocate along the axis of the slide sleeve; the welding torch laser rotary distance sensor is installed on the rotating seat of the slide sleeve-rotating seat linkage shaft group, and the initial position is parallel to the axis of the slide sleeve and can rotate 90° around the axis of the rotating seat; the tungsten electrode adjuster contains an electromagnetic coil, an armature, a push rod and a locking nut inside; the front end of the push rod is a threaded high-temperature alloy three-jaw clamp, which extends into the end of the welding torch, and after the tungsten electrode end is placed in the three-jaw clamp, it is fixed by the locking nut; the end of the push rod is connected with the armature, the part of the push rod except the three-jaw clamp is made of ceramic and has a certain length, so that the welding torch is spaced apart from the electromagnet at a sufficient distance to realize heat insulation between the electromagnet and the tungsten electrode and prevent the tungsten electrode adjuster from failing. The details of the welding torch and tungsten electrode retracting mechanism of the GTAW fish scale welding system based on multi-sensor collaborative perception are shown in Figure 2 .

[0005] The GTAW fish scale welding system based on multi-sensor collaborative perception is characterized in that: a welding torch movement control mechanism is used to realize the movement of the welding torch in the Z direction, rotation around the Z direction, adjustment of the included angle between the welding torch and the workpiece, extension and retraction of the welding torch, and rotation of the welding torch laser rotary distance sensor and length adjustment of the tungsten electrode; one end of the hanging arm is installed on the Z direction guide rail of the sliding table system, and can realize displacement in the X, Y and Z directions; the rotating shaft above the rotating slide rail is connected with the rotating seat at the other end of the hanging arm, and can realize 180° rotation of the rotating slide rail around the Z direction; the welding torch rotating and retracting slide rail is installed below the rotating slide rail, and can move along the rotating slide rail; the welding torch retracting slide block is nested inside the welding torch rotating and retracting slide rail, and can move in the Z direction; the slide sleeve-rotating seat linkage shaft group is connected with the end shaft seat of the welding torch retracting slide block, and can rotate 360° around the end shaft seat of the welding torch retracting slide block; the welding torch is installed on the slide sleeve of the slide sleeve-rotating seat linkage shaft group, and can reciprocate along the axis of the slide sleeve; the welding torch laser rotary distance sensor is installed on the rotating seat of the slide sleeve-rotating seat linkage shaft group, and the initial position is parallel to the axis of the slide sleeve and can rotate 90° around the axis of the rotating seat; the tungsten electrode adjuster contains an electromagnetic coil, an armature, a push rod and a locking nut inside; the front end of the push rod is a threaded high-temperature alloy three-jaw clamp, which extends into the end of the welding torch, and after the tungsten electrode end is placed in the three-jaw clamp, it is fixed by the locking nut; the end of the push rod is connected with the armature, the part of the push rod except the three-jaw clamp is made of ceramic and has a certain length, so that the welding torch is spaced apart from the electromagnet at a sufficient distance to realize heat insulation between the electromagnet and the tungsten electrode and prevent the tungsten electrode adjuster from failing. The details of the welding torch and tungsten electrode retracting mechanism of the GTAW fish scale welding system based on multi-sensor collaborative perception are shown in Figure 3 .

[0006] The GTAW fish scale welding system based on multi-sensor collaborative perception and imitating high-skilled welder, characterized in that: the swing of the welding torch in the GTAW fish scale welding system based on multi-sensor collaborative perception and imitating high-skilled welder is controlled by a GTAW fish scale welding torch swing control method based on multi-sensor collaborative perception; the GTAW fish scale welding torch swing control method based on multi-sensor collaborative perception adjusts the welding torch movement control mechanism through the sensing system and the communication and control system to realize the control of the welding torch swing; before welding, the whole rotating slide rail moves forward, the line laser in the front structured light visual sensor projects a laser perpendicular to the welding direction on the workpiece plane to detect the weld position; the rotating slide rail automatically moves parallel to the weld, and the welding torch is moved to the starting point, and a crescent-shaped path is generated with the weld position as the swing center; after the welding torch is ignited, the base material is preheated, and when the high-speed HDR industrial camera detects that the gray value of the molten pool reaches G1, the welding with wire feeding and swing is started; the G1 is the gray value when the surface of the molten pool is smooth and bright; during the swing process, the high-speed HDR industrial camera detects the edge of the molten pool according to the gray gradient, and when the edge of the molten pool is tangent to the edge of the groove, the welding torch stays for a period of time before welding the next scale; the Hall voltage sensor detects the arc voltage U, and the welding torch is adjusted to extend or retract by the welding torch movement control mechanism to stabilize U at U0; the U0 is the arc voltage corresponding to the arc length L1=3.6mm; the welding torch laser rotary distance sensor takes the parallel position with the welding torch axis as the starting point, and rotates downward by 90° at a high speed, when the change of the distance measured by the laser changes from shortening to lengthening, the welding torch laser rotary distance sensor quickly reverses back to the starting point and repeats the process, and the obtained data is subjected to triangular calculation to obtain the included angle θ between the welding torch and the workpiece and the distance H from the nozzle to the workpiece, and the welding torch is feedback controlled by the welding torch movement control mechanism to stabilize the included angle θ between the welding torch and the workpiece at θ1 and the distance H from the nozzle to the workpiece at H1, so as to realize the adaptive weld slope in the straight weld flat welding process; the θ1=80° and the H1=10mm; L2=the arc length L1+the length L3 of the tungsten electrode extending out of the nozzle, L2 is obtained by real-time detection and calculation of the welding torch laser rotary distance sensor, the length L3 of the tungsten electrode extending out of the nozzle is shortened due to the burning loss of the tungsten electrode during the fish scale welding process, which causes the change of L2, and the length L3 of the tungsten electrode extending out of the nozzle can be stabilized by controlling the tungsten electrode adjuster and the extension and retraction of the welding torch, so as to stabilize L2; the diameter D of the tungsten electrode is 2.4mm, and the length L3 of the tungsten electrode extending out of the nozzle is 8mm.

[0007] The GTAW fish scale welding system based on multi-sensor collaborative perception is characterized in that: the swing of the welding torch in the GTAW fish scale welding system based on multi-sensor collaborative perception is controlled by a GTAW fish scale welding torch swing frequency control method based on multi-sensor collaborative perception; the GTAW fish scale welding torch swing frequency control method based on multi-sensor collaborative perception adjusts the welding torch motion control mechanism through a sensing system and a communication and control system to realize control of the welding torch swing frequency; each new scale covers 1 / 3 of the previous scale, and after two complete swings, the weld direction advances 2 / 3L4, so the swing frequency f = 3V / L4; V is the linear speed of the welding torch in the weld direction, and L4 is the scale diameter; the high-temperature molten pool area is detected by a high-speed HDR industrial camera, and when the gray level is higher than G2, it is a molten pool, which is approximately circular and is calculated; G2 is the gray level corresponding to the molten pool temperature during welding; after the welding torch stays on both sides of the weld for a period of time, when the high-speed HDR industrial camera detects that the molten pool gray level of the previous scale decreases to G3, the next scale welding is performed by swinging; G3 is the gray level when the molten pool cools down and darkens to a certain temperature.

[0008] The GTAW fish scale welding system based on multi-sensor collaborative perception is characterized in that: the filling of the welding wire in the GTAW fish scale welding system based on multi-sensor collaborative perception is controlled by a GTAW fish scale welding wire control method based on multi-sensor collaborative perception; the GTAW fish scale welding wire control method based on multi-sensor collaborative perception adjusts the welding wire motion control mechanism through a sensing system and a communication and control system to realize control of the welding wire filling; the laser rotating distance sensor of the wire feeder tube takes the place parallel to the welding torch axis as the starting point, rotates downward by 90° at a high speed, when the change of the distance measured by the laser changes from shortening to lengthening, the wire feeder tube laser rotating distance sensor quickly reverses back to the starting point and repeats this process, the obtained data is subjected to a triangular calculation, and the included angle β between the wire feeder tube and the workpiece can be obtained, the wire feeder tube is controlled by the welding wire motion control mechanism to stabilize the included angle between the wire feeder tube and the workpiece at β1, β1 = 15°; the welding wire enters the molten pool front in a point-dipping manner, the tungsten electrode end arc voltage detected by the Hall voltage sensor drops suddenly, when the rate of change of the voltage with time reaches K, the slide rail-rotating seat linkage shaft group quickly pulls back the wire feeder tube by L5, and after the welding wire extension length is restored, the welding wire is fed into the molten pool front again through the wire feeder tube telescopic slide rail, and the process is repeated; K = dU / dt, L5 = 2·D = 4.8 mm.

[0009] The application relates to the field of GTAW fish scale welding, and is a GTAW fish scale welding system and method based on multi-sensor collaborative sensing. The GTAW fish scale welding system based on multi-sensor collaborative sensing is characterized in that welding quality is controlled through a GTAW fish scale welding closed-loop control method based on multi-sensor collaborative sensing; the GTAW fish scale welding closed-loop control method based on multi-sensor collaborative sensing adjusts a welding gun movement control mechanism and a wire feeding movement control mechanism through a sensing system and a communication and control system to realize control of the welding quality; a rear structured light visual sensor and a high-speed HDR industrial camera are used to detect the shape and color of a molten pool surface after welding, if the molten pool edge is slightly concave, liquid metal naturally flows to form a circular or elliptical contour, and then the weld forming is good and no adjustment is needed; if the molten pool suddenly expands, then the welding current is appropriately reduced; if the surface is wrinkled and the molten pool is blue or black, then the protective gas flow is appropriately increased or the length of the tungsten electrode extending out of the nozzle is appropriately reduced; if the weld is not fused, then the point-dipping type wire feeding frequency is appropriately increased; and if the molten pool is concave, then the point-dipping type wire feeding frequency is appropriately reduced.

[0010] Inventive effects

[0011] The application relates to the field of GTAW fish scale welding and discloses a GTAW fish scale welding system and method based on multi-sensor collaborative sensing. BRIEF DESCRIPTION OF DRAWINGS

[0012] Figure 1 The figure is a schematic diagram of the GTAW fish scale welding system based on multi-sensor collaborative sensing.

[0013] In the figure, 1 is an X-direction guide rail, 2 is a Y-direction guide rail, 3 is a Z-direction guide rail, 4 is a rotating slide rail, 5 is a hanging arm, 6 is a GTAW welding gun movement control mechanism, 7 is a wire feeding movement control mechanism, 8 is a front structured light visual sensor, 9 is a rear structured light visual sensor, 10 is a high-speed HDR industrial camera, 11 is an electric control cabinet, and 12 is a control cabinet.

[0014] Figure 2 The figure is a detailed view of a welding gun and a tungsten electrode extension mechanism.

[0015] In the figure, 13 is a sliding sleeve-rotary seat linkage shaft group, 14 is a welding torch, and 15 is a tungsten electrode adjuster.

[0016] Figure 3 The figure is a detailed view of the welding torch and wire feeder installation.

[0017] In the figure, 16 is a welding torch rotary telescopic slide rail, 17 is a welding torch telescopic slide block, 18 is a welding torch laser rotary distance measuring sensor, 19 is a wire feeder rotary telescopic slide rail, 20 is a wire feeder telescopic slide block, 21 is a wire feeder laser rotary distance measuring sensor, 22 is a slide rail-rotary seat linkage shaft group, 23 is a wire feeder clamp, and 24 is a wire feeder.

[0018] Figure 4 The figure is a flow chart of GTAW fish scale welding based on multi-sensor collaborative perception. DETAILED DESCRIPTION

[0019] In order to better express the technical solutions and beneficial effects of the present application, the present application will be further described in detail below in combination with the drawings and implementation cases. The implementation method of the present application is not limited thereto.

[0020] Step one: welding torch swing control.

[0021] In the process of GTAW fish scale welding based on multi-sensor collaborative perception, it is necessary to imitate the welding method of a high-skilled welder to control the welding torch. The present application discloses a welding torch swing control method for GTAW fish scale welding based on multi-sensor collaborative perception. Before welding, the rotary slide rail drives the front structured light vision sensor to position the weld, adjusts the posture of the rotary slide rail according to the detection results, and makes the welding torch align with the starting point of welding to generate a crescent swing path. After the arc is struck, the base material is preheated first, and when the high-speed HDR industrial camera captures the molten pool reaching the set gray value and the surface being smooth, the wire filling swing welding is started. During the welding process, the high-speed HDR industrial camera identifies the edge of the molten pool according to the gray gradient, and the swing is paused when it is tangent to the groove edge to form a scale. The Hall voltage sensor monitors the arc voltage, and the arc length corresponding voltage U0 is maintained by controlling the welding torch extension. The welding torch laser rotary distance measuring sensor scans the workpiece surface within a range of 90°, and the included angle θ between the welding torch and the workpiece and the distance H from the nozzle to the workpiece are calculated by a triangle, which are real-time feedback controlled to keep θ1=80° and H1=10mm. The system compensates for the tungsten electrode burnout and arc length change by comprehensively regulating and controlling the tungsten electrode extension length and the welding torch position, realizes adaptive tracking and stability control in the process of flat welding.

[0022] Step two: welding torch swing frequency control.

[0023] In the process of GTAW fish scale welding based on multi-sensor collaborative perception, the welding torch swing frequency needs to be controlled to adapt to the welding speed and get an attractive fish scale weld, the application discloses a GTAW fish scale welding welding torch swing frequency control method based on multi-sensor collaborative perception, each new scale covers 1 / 3 of the front, and the weld advances 2 / 3L4 after every two complete swing, so the swing frequency f=3V / L4, wherein V is the linear speed of the welding torch, and the high-speed HDR camera detects that the scale diameter is L4. The welding torch stays on both sides, and after the high-speed HDR industrial camera detects that the previous scale cools to a set gray scale G3, the next scale welding is performed.

[0024] Step three: wire filling control.

[0025] In the process of GTAW fish scale welding based on multi-sensor collaborative perception, the welding wire filling needs to be controlled to get a proper molten pool size, the application discloses a GTAW fish scale welding wire filling control method based on multi-sensor collaborative perception, a laser rotating distance measuring sensor of the wire feeder pipe is quickly scanned through a 90° sector, a distance change inflection point is detected, a clamping angle beta of the wire feeder pipe and the workpiece is obtained in real time through a triangular calculation, and the clamping angle beta is stabilized at beta1=15° through a wire filling motion control mechanism. The welding wire enters the molten pool in a point dipping mode, when the Hall sensor detects that the arc voltage suddenly drops and the change rate reaches a set threshold K, the slide rail of the slide rail-rotating seat linkage shaft group is immediately withdrawn to a distance L5 of the wire feeder pipe, and after the welding wire extension length is restored, the wire feeding is performed again, and the process is cycled.

[0026] Step four: welding quality control.

[0027] In the process of GTAW fish scale welding based on multi-sensor collaborative perception, the molten pool quality after welding needs to be detected to feed back the welding parameters in real time, so that good welding quality is achieved, the application discloses a GTAW fish scale welding closed-loop control method based on multi-sensor collaborative perception, a rear structured light vision sensor and a high-speed HDR industrial camera detect the shape and color of the molten pool surface after welding, if the molten pool edge is slightly concave, the liquid metal naturally flows to form a circular or elliptical contour, and then the weld forming is good and no adjustment is needed, if the molten pool suddenly expands, then the welding current is appropriately reduced, if the surface is wrinkled, the molten pool is blue or black, then the protective gas flow is appropriately increased or the length of the tungsten electrode extending out of the nozzle is appropriately reduced, if the weld is not fused, then the point-dipping type wire feeding frequency is appropriately increased, and if the molten pool is depressed, then the point-dipping type wire feeding frequency is appropriately reduced.

Claims

1. A GTAW fish scale welding system based on multi-sensor collaborative perception of high-skilled welder, for GTAW fish scale welding, characterized in that: The GTAW fish scale welding system based on multi-sensor collaborative perception comprises a sliding table system, a welding direction adjusting mechanism, a GTAW welding torch motion control mechanism, a filler wire motion control mechanism, a sensing system and a communication and control system; the sliding table system comprises an X-direction guide rail, a Y-direction guide rail and a Z-direction guide rail; the welding direction adjusting mechanism comprises a rotating slide rail and a boom; the rotating slide rail comprises a boom mounting position at the top, a GTAW welding torch motion control mechanism and a filler wire motion control mechanism mounting position at the bottom, a high-speed HDR industrial camera mounting position in the middle, a front structured light visual sensor mounting position at the front end and a rear structured light visual sensor mounting position at the rear end; the GTAW welding torch motion control mechanism comprises a welding torch rotating telescopic slide rail, a welding torch telescopic slide block, a sliding sleeve-rotary seat linkage shaft group, a welding torch and a tungsten electrode regulator; the filler wire motion control mechanism comprises a wire feeder pipe rotating telescopic slide rail, a wire feeder pipe telescopic slide block, a slide rail-rotary seat linkage shaft group, a wire feeder pipe clamp and a wire feeder pipe; the sensing system comprises a front structured light visual sensor, a rear structured light visual sensor, a Hall voltage sensor, a welding torch laser rotary distance measuring sensor, a high-speed HDR industrial camera, a wire feeder pipe laser rotary distance measuring sensor and a data acquisition card; the front structured light visual sensor and the rear structured light visual sensor each comprise a linear laser and a CCD camera; the communication and control system comprises an electric control cabinet and a control cabinet; the electric control cabinet is used for distributing and converting external power supply, supplying power to each component and ensuring power safety; after receiving sensor data, the control cabinet precisely controls welding process parameters, coordinates welding timing and links each mechanism component through PLC; the sensing system and the communication and control system establish a data interaction channel through a communication bus to realize the collection of multiple sensor data; the communication and control system realizes the displacement of the welding direction adjusting mechanism, the GTAW welding torch motion control mechanism and the filler wire motion control mechanism in the X, Y and Z directions through the control of the sliding table system; the communication and control system realizes the movement of the GTAW welding torch motion control mechanism and the filler wire motion control mechanism on the rotating slide rail through the welding direction adjusting mechanism.

2. The multi-sensor cooperative perception based semi-skilled welder mimicking GTAW lap welding system of claim 1, wherein: The welding torch movement control mechanism is used to realize the movement of the welding torch in the Z direction, rotation around the Z direction, adjustment of the angle between the welding torch and the workpiece, extension and retraction of the welding torch, and rotation of the welding torch laser rotary distance sensor and length adjustment of the tungsten electrode; one end of the hanging arm is installed on the Z direction guide rail of the sliding table system, and can realize displacement in the X, Y and Z directions; the rotating shaft above the rotating guide rail is connected with the rotating seat at the other end of the hanging arm, and can realize 180° rotation of the rotating guide rail around the Z direction; the welding torch rotating and retracting guide rail is installed below the rotating guide rail, and can move along the rotating guide rail; the welding torch retracting slider is nested inside the welding torch rotating and retracting guide rail, and can move in the Z direction; the sliding sleeve-rotating seat linkage shaft group is connected with the end shaft seat of the welding torch retracting slider, and can rotate 360° around the end shaft seat of the welding torch retracting slider; the welding torch is installed on the sliding sleeve of the sliding sleeve-rotating seat linkage shaft group, and can reciprocate along the axis of the sliding sleeve; the welding torch laser rotary distance sensor is installed on the rotating seat of the sliding sleeve-rotating seat linkage shaft group, and the initial position is parallel to the axis of the sliding sleeve and can rotate 90° around the axis of the rotating seat; the tungsten electrode adjuster contains an electromagnetic coil, an armature, a push rod and a locking nut inside; the front end of the push rod is a threaded high-temperature alloy three-jaw chuck, which extends into the end of the welding torch; after the tungsten electrode end is placed into the three-jaw chuck, it is fixed by the locking nut; the end of the push rod is connected with the armature, the part of the push rod except the three-jaw chuck is made of ceramic and has a certain length, so that the welding torch is spaced apart from the electromagnet by a sufficient distance to realize heat insulation between the electromagnet and the tungsten electrode and prevent the tungsten electrode adjuster from failing.

3. The multi-sensor cooperative perception based semi-skilled welder mimicking GTAW lap welding system of claim 1, wherein: The wire feeding movement control mechanism is used to realize the movement of the wire feeding pipe in the Z direction, rotation around the Z direction, adjustment of the angle between the wire feeding pipe and the workpiece, extension and retraction of the wire feeding pipe, and rotation of the wire feeding pipe laser rotary distance sensor; the wire feeding pipe rotating and retracting guide rail is installed below the rotating guide rail, and can move along the rotating guide rail; the wire feeding pipe retracting slider is nested inside the wire feeding pipe rotating and retracting guide rail, and can move in the Z direction; the guide rail-rotating seat linkage shaft group is connected with the end shaft seat of the wire feeding pipe retracting slider, and can rotate 360° around the end shaft seat of the wire feeding pipe retracting slider; the wire feeding pipe clamp is installed on the guide rail of the guide rail-rotating seat linkage shaft group, and can reciprocate along the guide rail direction; the wire feeding pipe is fixed on the wire feeding pipe clamp and moves with it; the wire feeding pipe laser rotary distance sensor is installed on the rotating seat of the guide rail-rotating seat linkage shaft group, and the initial position is parallel to the guide rail direction and can rotate 90° around the axis of the rotating seat.

4. The multi-sensor cooperative perception based semi-skilled welder mimicking GTAW lap welding system of claim 1, wherein: The swing of the welding torch in the multi-sensor cooperative perception-based high-skill welder-imitating GTAW fish-scale welding system is controlled by a multi-sensor cooperative perception-based high-skill welder-imitating GTAW fish-scale welding torch swing control method; the multi-sensor cooperative perception-based high-skill welder-imitating GTAW fish-scale welding torch swing control method adjusts the welding torch movement control mechanism through the sensing system and the communication and control system to realize the control of the welding torch swing; before welding, the whole rotating slide rail moves forward, the line laser in the front structured light vision sensor projects a laser perpendicular to the welding direction on the workpiece plane to detect the weld position; the rotating slide rail automatically moves parallel to the weld, and the welding torch is moved to the starting point of welding to generate a crescent-shaped path with the weld position as the swing center; after the welding torch is ignited, the base material is preheated, and when the high-speed HDR industrial camera detects that the gray value of the molten pool reaches G1, the welding with wire feeding and swing is started; the G1 is the gray value when the surface of the molten pool is smooth and bright; during the swing process, the high-speed HDR industrial camera detects the edge of the molten pool according to the gray gradient, and when the edge of the molten pool is tangent to the edge of the groove, the welding torch stays for a period of time before welding the next scale; the Hall voltage sensor detects the arc voltage U, and the welding torch movement control mechanism adjusts the welding torch to extend and retract to stabilize U at U0; the U0 is the arc voltage corresponding to the arc length L1=3.6mm; the welding torch laser rotary distance sensor takes the parallel position with the welding torch axis as the starting point, rotates downward by 90°, and when the change of the distance measured by the laser changes from shortening to lengthening, the welding torch laser rotary distance sensor quickly reverses back to the starting point and repeats the process, the obtained data is subjected to triangular calculation, and the included angle θ between the welding torch and the workpiece and the distance H from the nozzle to the workpiece can be obtained at the same time, the welding torch movement control mechanism feedback controls the welding torch to stabilize the included angle θ between the welding torch and the workpiece at θ1 and the distance H from the nozzle to the workpiece at H1, to realize the adaptive weld slope in the straight weld flat welding process; the θ1=80° and the H1=10mm; L2=the arc length L1+the length L3 of the tungsten electrode extending out of the nozzle, L2 is obtained by real-time detection and calculation of the welding torch laser rotary distance sensor, the length L3 of the tungsten electrode extending out of the nozzle is shortened due to the burning loss of the tungsten electrode during fish-scale welding, which causes the change of L2, the length L3 of the tungsten electrode extending out of the nozzle can be stabilized by controlling the tungsten electrode adjuster and the extension and retraction of the welding torch, so as to stabilize L2; the diameter D of the tungsten electrode is 2.4mm, and the length L3 of the tungsten electrode extending out of the nozzle is 8mm.

5. The multi-sensor cooperative perception based semi-skilled welder mimicking GTAW lap welding system of claim 1, wherein: The swing of the welding torch in the multi-sensor collaborative perception-based high-skill welder GTAW fish scale welding system is controlled by a multi-sensor collaborative perception-based high-skill welder GTAW fish scale welding torch swing frequency control method; the multi-sensor collaborative perception-based high-skill welder GTAW fish scale welding torch swing frequency control method adjusts the welding torch movement control mechanism through the sensing system and the communication and control system to realize the control of the welding torch swing frequency; each new scale covers 1 / 3 of the previous scale, and after 2 complete swings, the weld direction advances 2 / 3 L4, so the swing frequency f = 3V / L4; V is the linear speed of the welding torch in the weld direction, L4 is the scale diameter, the high-temperature molten pool area is detected by a high-speed HDR industrial camera, and when the gray level is higher than G2, it is a molten pool, which is approximately calculated after being circular; G2 is the gray level corresponding to the molten pool temperature during welding; the welding torch stays on both sides of the weld for a period of time, and when the high-speed HDR industrial camera detects that the molten pool gray level of the previous scale decreases to G3, the next scale welding is performed by swinging; G3 is the gray level when the molten pool cools down and darkens to a certain temperature.

6. The multi-sensor cooperative perception based semi-skilled welder mimicking GTAW lap welding system of claim 1, wherein: The filling of the welding wire in the multi-sensor collaborative perception-based high-skill welder GTAW fish scale welding system is controlled by a multi-sensor collaborative perception-based high-skill welder GTAW fish scale welding wire control method; the multi-sensor collaborative perception-based high-skill welder GTAW fish scale welding wire control method adjusts the welding wire movement control mechanism through the sensing system and the communication and control system to realize the control of the welding wire filling; the laser rotating distance sensor of the wire feeder tube takes the place parallel to the welding torch axis as the starting point, rotates downward by 90° quickly, when the change of the distance measured by the laser changes from shortening to lengthening, the wire feeder tube laser rotating distance sensor quickly reverses back to the starting point and repeats this process, the obtained data is triangularly calculated, and the included angle β between the wire feeder tube and the workpiece can be obtained, the wire feeder tube is feedback controlled by the wire feeding movement control mechanism, and the included angle between the wire feeder tube and the workpiece is stabilized at β1, β1 = 15°; the welding wire point dipping type enters the front of the molten pool, the tungsten electrode end arc voltage detected by the Hall voltage sensor drops suddenly, when the voltage change rate with time reaches K, the slide rail of the slide rail-rotating seat linkage shaft group quickly pulls back the wire feeder tube by L5, and after the welding wire extension length is restored, the welding wire is fed into the front of the molten pool again through the wire feeder tube telescopic slide rail, and the process is repeated; K = dU / dt, L5 = 2·D = 4.8 mm.

7. The multi-sensor cooperative perception based semi-skilled welder mimicking GTAW lap welding system of claim 1, wherein: The welding quality of the GTAW fish scale welding system based on multi-sensor collaborative perception and high-skill imitation is controlled by a GTAW fish scale welding closed-loop control method based on multi-sensor collaborative perception; the GTAW fish scale welding closed-loop control method based on multi-sensor collaborative perception adjusts the welding gun movement control mechanism and the wire feeding movement control mechanism through a sensing system and a communication and control system to realize the control of the welding quality; a rear structure light visual sensor and a high-speed HDR industrial camera are used to detect the shape and color of the molten pool surface after welding, if the molten pool edge is slightly concave, the liquid metal naturally flows to form a circular or elliptical contour, then the weld forming is good and no adjustment is needed; if the molten pool suddenly expands, the welding current is appropriately reduced; if the surface is wrinkled and the molten pool is blue or black, the protective gas flow is appropriately increased or the length of the tungsten electrode extending out of the nozzle is appropriately reduced; if the weld is not fused, the point-dip type wire feeding frequency is appropriately increased; if the molten pool is concave, the point-dip type wire feeding frequency is appropriately reduced.

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