Dynamic wire feeding method for TIG (Tungsten Inert Gas) welding

Abstract

The invention relates to a TIG welding dynamic wire feeding method, and belongs to the technical field of TIG welding wire feeding. The method comprises the steps that according to the welding type of TIG welding, a wire feeding adjustment rule and a preset wire feeding speed are determined; according to the wire feeding adjustment rule, measuring parameters during welding are determined; feeding the wire at a preset wire feeding speed, detecting a real-time value of the measurement parameter in the wire feeding process, and calculating a difference value between the real-time value and a preset corresponding standard value to obtain a variable quantity; and based on the wire feeding adjustment rule, the adjustment amount of the wire feeding speed is determined according to the variable quantity, and the preset wire feeding speed is adjusted according to the adjustment amount. Different wire feeding adjustment rules are correspondingly set for different welding types, so that the purpose that the wire feeding speed can be adaptively adjusted for different workpieces to ensure stable welding is achieved.

Description

Technical Field

[0001] The invention relates to a TIG welding dynamic wire feeding method, belonging to the technical field of TIG welding wire feeding. Background Art

[0002] Welding is an indispensable material forming and manufacturing method, among which arc welding is the most widely used and popular. With the continuous progress of manufacturing automation and intelligence, and the continuous emergence of new materials, the requirements for arc welding speed, forming quality and precision are constantly increasing. AC and DC TIG wires are widely used due to their advantages of high welding quality and fast welding speed.

[0003] The excellent performance of the fully digital welding machine is due to the more precise control of the welding process by the fully digital welding machine. Take DC welding as an example. When the welding gun is turned on, the gas ionization discharges to form a welding arc. The welding machine adjusts the energy output according to the difference between the preset current command and the actual current of the circuit. If a wire filling mechanism is added, the wire feeding speed needs to match the output energy of the welding machine to achieve stable welding.

[0004] Due to the differences in the workpieces themselves, different welding problems may occur during the actual welding process. If the welding problems cannot be dealt with in time, welding defects may occur. For example, when the shape of the workpiece is irregular, that is, when the height of the workpiece surface is inconsistent, the groove angle will change during the welding process. If the wire feeding speed cannot be dynamically adjusted accordingly, the consistency of the final weld formation will be poor. For example, when welding plates with large gaps, if the welding gun still feeds wire at a constant speed at the gap without dynamically adjusting the wire feeding speed, it is easy to penetrate the weld and cause welding defects. Therefore, a technical solution for dynamic wire feeding is urgently needed to solve the above problems. Summary of the invention

[0005] The object of the present invention is to provide a dynamic wire feeding method for TIG welding, which can adaptively and dynamically adjust the wire feeding speed according to different welding problems by setting different wire feeding adjustment rules for different welding types, so as to ensure welding stability and avoid welding defects.

[0006] To achieve the above object, the present invention is implemented by adopting the following technical solutions.

[0007] The present invention provides a TIG welding dynamic wire feeding method, which comprises: Get the welding type of TIG welding; Determining wire feeding adjustment rules and preset wire feeding speed according to the welding type; Determining the measurement parameters during welding according to the wire feeding adjustment rule; Feeding the wire at the preset wire feeding speed, detecting the real-time value of the measurement parameter during the wire feeding process, and calculating the difference between the real-time value and the preset standard value to obtain the variation; Based on the wire feeding adjustment rule, the adjustment amount of the wire feeding speed is determined according to the change amount, and the preset wire feeding speed is adjusted according to the adjustment amount.

[0008] Optionally, the welding types include cold wire welding and hot wire welding.

[0009] Optionally, when the welding type is cold wire welding, the wire feeding adjustment rule is the first rule, and the measurement parameters include a first voltage and a second voltage, the first voltage is the voltage between the tungsten electrode and the workpiece, and the second voltage is the voltage between the welding wire and the workpiece.

[0010] Optionally, the first rule is: ΔV=K1ΔU+K2ΔU+K3Δu+K4Δu+C1 ΔU=U-U0 Δu=u-u0 V1=v0+ΔV Among them, ΔV is the adjustment amount of wire feeding speed; ΔU is the change of the first voltage, Δu is the change of the second voltage, U is the real-time value of the first voltage, U0 is the preset standard value of the first voltage, u is the real-time value of the second voltage, u0 is the preset standard value of the second voltage, K1, K2, K3, K4 are the first coefficient, the second coefficient, the third coefficient and the fourth coefficient respectively, C1 is the constant term; V1 is the adjusted wire feeding speed, v0 is the preset wire feeding speed corresponding to cold wire welding.

[0011] Optionally, the ranges of K1, K2, K3, K4, and C1 are all 0-10000, K1=10K2, K3=10K4.

[0012] Optionally, when the welding type is hot wire welding, the wire feeding adjustment rule is the second rule, and the measurement parameters include a first voltage, a second voltage and a welding wire extension length, the first voltage is the voltage between the tungsten electrode and the workpiece, and the second voltage is the voltage between the welding wire and the workpiece.

[0013] Optionally, the second rule is: ΔV=K1'ΔU+K2'ΔU+K3'Δu+K4'Δu+K5'ΔL+K6'ΔL+C2 ΔU=U-U0 Δu=u-u0 ΔL=L-L0 V1=V0+ΔV Among them, ΔV is the adjustment amount of wire feeding speed, ΔU is the change amount of the first voltage, Δu is the change amount of the second voltage, ΔL is the change amount of wire extension; U is the real-time value of the first voltage, U0 is the preset standard value of the first voltage, u is the real-time value of the second voltage, u0 is the preset standard value of the second voltage, L is the real-time value of wire extension, L0 is the preset standard value of wire extension, K1', K2', K3', K4', K5', K6' are the first adjustment coefficient, the second adjustment coefficient, the third adjustment coefficient, the fourth adjustment coefficient, the fifth adjustment coefficient and the sixth adjustment coefficient respectively, C2 is the adjustment constant term, V1 is the adjusted wire feeding speed, and V0 is the preset wire feeding speed corresponding to hot wire welding.

[0014] Optionally, the ranges of K1', K2', K3', K4', K5', K6' and C2 are all 0-10000, K1'=10K2', K3'=10K4', K5'=10K6'.

[0015] Compared with the prior art, the present invention has the following beneficial effects: 1. The present invention sets corresponding wire feeding adjustment rules and measurement parameters for cold wire welding and hot wire welding respectively. If the real-time value of the measurement parameter changes compared with the preset standard value during the welding process, it means that there is a problem with the welding and may cause welding defects. At this time, the wire feeding adjustment rule can determine the adjustment amount of the wire feeding speed in real time according to the change amount, so as to adaptively and dynamically adjust the wire feeding speed according to the welding problem, so as to ensure stable welding and avoid welding defects.

[0016] 2. When the wire feeding method of the present invention is applied to a workpiece with a large welding gap, the voltage between the welding wire and the workpiece is zero when the welding wire droplet contacts the molten pool. Based on the change in the voltage between the welding wire and the workpiece, the wire feeding adjustment rule can reduce the wire feeding speed, and the wire feeding wheel is reversed until the welding wire is pulled out of the molten pool to avoid increasing the back penetration of the workpiece.

[0017] 3. When the wire feeding method of the present invention is applied to an irregular workpiece with inconsistent surface height, if the distance between the tungsten electrode and the workpiece increases, the voltage between the tungsten electrode and the workpiece, the voltage between the welding wire and the workpiece, and the dry extension of the welding wire will all increase from the preset standard value. Based on such changes, the wire feeding adjustment rule can speed up the wire feeding speed to ensure that the filling amount of the welding wire can keep up with the melting speed. If the distance between the tungsten electrode and the workpiece decreases, the voltage between the tungsten electrode and the workpiece, the voltage between the welding wire and the workpiece, and the dry extension of the welding wire will all decrease from the preset standard value. Based on such changes, the wire feeding adjustment rule can reduce the wire feeding speed until the wire feeding wheel reverses to avoid the phenomenon of wire tying and hitting the hand. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 Schematic diagram of adjusting the wire feeding speed in Example 2; Figure 2 Schematic diagram of adjusting the wire feeding speed in Example 3. DETAILED DESCRIPTION

[0019] It should be noted that: The technical solution of the present invention is described in detail below through the accompanying drawings and specific embodiments. It should be understood that the embodiments of the present invention and the specific features in the embodiments are detailed descriptions of the technical solution of the present invention, rather than limitations on the technical solution of the present invention. The embodiments of the present invention and the technical features in the embodiments may be combined with each other unless there is a conflict.

[0020] The term "and / or" is only a description of the association relationship between related objects, indicating that there can be three relationships. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " generally indicates that the related objects are in an "or" relationship.

[0021] In the prior art known to the inventor of the present application, when a fully digital welding machine is used for welding, the welding wire needs to be fed through a hot wire power supply wire feeder, and the wire feeding speed has a default preset value. However, in actual welding projects, the preset wire feeding speed is difficult to apply to all working conditions. The prior art discloses a technical solution for adjusting the wire feeding speed according to the change in real-time arc voltage, such as the high-efficiency TIG wire feeding method and welding equipment disclosed in Chinese Patent Publication No. CN112775522A. This technical solution only adjusts the wire feeding speed according to the change in arc voltage, has limitations in adjustment, and is difficult to adapt to welding conditions under different welding types. Example

[0022] This embodiment provides a TIG welding dynamic wire feeding method, which includes: Step S1: Determine the wire feeding adjustment rule and the preset wire feeding speed according to the welding type of TIG welding; in this embodiment, the welding type includes cold wire welding and hot wire welding. The main difference between cold wire welding and hot wire welding is that the welding wire does not pass the welding current in cold wire welding, while the welding wire passes the welding current in hot wire welding.

[0023] Step S2: determining the measurement parameters during welding according to the wire feeding adjustment rule; Since there is a difference between cold wire welding and hot wire welding, the welding wire in hot wire welding passes through the welding current, and the heat of the melting welding wire is composed of two parts, one part is the arc heat, and the other part is the resistance heat generated by the dry extension of the welding wire. The longer the dry extension of the welding wire, the greater the resistance heat generated, and the corresponding melting amount of the welding wire. In cold wire welding, the welding wire does not pass through the welding current, and only the arc heat is used to melt the welding wire. Therefore, when the welding type is cold wire welding or hot wire welding, the difference in the measurement parameters lies in whether the dry extension of the welding wire needs to be considered. Cold wire welding does not need to measure the change of this parameter, while hot wire welding does.

[0024] Specifically, for cold wire welding, the wire feeding adjustment rule is the first rule, and the measurement parameters include a first voltage and a second voltage, the first voltage is the voltage between the tungsten electrode and the workpiece, and the second voltage is the voltage between the welding wire and the workpiece. The first rule is: ΔV=K1ΔU+K2ΔU+K3Δu+K4Δu+C1 ΔU=U-U0 Δu=u-u0 V1=v0+ΔV Among them, ΔV is the adjustment amount of wire feeding speed; ΔU is the change of the first voltage, Δu is the change of the second voltage, U is the real-time value of the first voltage, U0 is the preset standard value of the first voltage, u is the real-time value of the second voltage, u0 is the preset standard value of the second voltage; K1, K2, K3, K4 are the first coefficient, the second coefficient, the third coefficient and the fourth coefficient respectively, C1 is a constant term; V1 is the adjusted wire feeding speed, v0 is the preset wire feeding speed corresponding to cold wire welding.

[0025] This embodiment adopts the first rule to adjust the wire feeding speed under cold wire welding. When an abnormality occurs in welding, the first voltage and the second voltage will change accordingly, and the amount of change can reflect the abnormality of the welding situation. This embodiment adjusts the wire feeding speed in real time according to the amount of change based on the first rule, which can ensure stable and safe welding.

[0026] Among them, the ranges of K1, K2, K3, and K4 are all 0-10000, K1=10K2, K3=10K4, which is equivalent to PI adjustment. Each change has two coefficients, and the coefficients are approximately 10 times related. The specific values ​​of K1, K2, K3, K4, and C1 are mainly related to the diameter of the welding wire. The specific values ​​are selected and determined based on the diameter of the welding wire according to a large number of welding tests.

[0027] Specifically, for hot wire welding, the wire feeding adjustment rule is the second rule, and the measurement parameters include the first voltage, the second voltage, and the wire extension length, the first voltage is the voltage between the tungsten electrode and the workpiece, and the second voltage is the voltage between the welding wire and the workpiece. The second rule is: ΔV= K1'ΔU+K2'ΔU+K3'Δu+K4'Δu+K5'ΔL+K6'ΔL+C2 ΔU=U-U0 Δu=u-u0 ΔL=L-L0 V1=V0+ΔV Among them, ΔV is the adjustment amount of wire feeding speed; ΔU is the change of the first voltage, Δu is the change of the second voltage, Δ is the change of wire extension; U is the real-time value of the first voltage, U0 is the preset standard value of the first voltage, u is the real-time value of the second voltage, u0 is the preset standard value of the second voltage; L is the real-time value of wire extension, L0 is the preset standard value of wire extension; K1', K2', K3', K4', K5', K6' are the first adjustment coefficient, the second adjustment coefficient, the third adjustment coefficient, the fourth adjustment coefficient, the fifth adjustment coefficient and the sixth adjustment coefficient respectively, C2 is the adjustment constant term, V1 is the adjusted wire feeding speed, and V0 is the preset wire feeding speed corresponding to hot wire welding.

[0028] Since the welding wire in hot wire welding passes through the welding current, the wire extension has resistance. The heat of melting the welding wire includes not only the arc heat but also the resistance heat generated by the wire extension. Therefore, it is also necessary to measure the wire extension for hot wire welding. The welding abnormality can be comprehensively judged based on the changes of the first voltage, the second voltage and the wire extension, so as to dynamically adjust the wire feeding speed.

[0029] Among them, the ranges of K1', K2', K3', K4', K5', and K6' are all 0-10000, K1'=10K2', K3'=10K4', and K5'=10K6', which is equivalent to PI adjustment. Each change has two coefficients, and the coefficients are approximately 10 times related. The specific values ​​of K1', K2', K3', K4', K5', K6', and C2 are mainly related to the diameter of the welding wire, and the specific values ​​are selected and determined based on the diameter of the welding wire according to a large number of welding tests.

[0030] Step S3: feeding the wire at a preset wire feeding speed, detecting the real-time value of the measurement parameter during the wire feeding process, and calculating the difference between the real-time value and the preset standard value to obtain the variation; The measurement parameters are determined accordingly according to different welding types, and the standard value corresponding to each measurement parameter can be obtained according to a default value or pre-calibrated.

[0031] Step S4: Based on the wire feeding adjustment rule, determine the adjustment amount of the wire feeding speed according to the change amount, and adjust the preset wire feeding speed according to the adjustment amount. The specific adjustment method is combined with step S2. Through such a real-time adjustment strategy, the welding quality can be effectively improved to avoid poor welding. Example

[0032] This embodiment is an application example of the TIG welding dynamic wire feeding method described in Example 1. If the welding condition of the workpiece is large gap welding, when the molten wire droplet contacts the molten pool, the voltage between the welding wire and the workpiece is zero. If the preset wire feeding speed is continuously used for constant wire feeding, the welding wire will continue to be fed, and the back penetration of the workpiece will be significantly increased or even the back side will be welded through. The TIG welding dynamic wire feeding method described in Example 1 is used here for illustration.

[0033] If the welding type is cold wire welding, the first rule described in Example 1 is used for dynamic wire feeding. The first rule is as follows: ΔV=K1ΔU+K2ΔU+K3Δu+K4Δu+C1 ΔU=U-U0 Δu=u-u0 V1=v0+ΔV Specifically, under this welding condition, the distance between the tungsten electrode and the workpiece remains unchanged, and the voltage between the tungsten electrode and the workpiece also remains unchanged, that is, ΔU=0, and the corresponding ΔV=K3Δu+K4Δu+C1. When the molten wire droplet contacts the molten pool, the voltage between the welding wire and the workpiece is close to zero, and the value obtained by Δu=u-u0 is less than zero. The adjustment amount ΔV of the wire feeding speed is negative, and the adjusted wire feeding speed V1=v0+ΔV is negative. The wire feeding wheel reverses until the welding wire is pulled out of the molten pool. After the welding wire is pulled out of the molten pool, a voltage is generated between the welding wire and the workpiece, and the adjustment amount ΔV of the wire feeding speed increases. The adjusted wire feeding speed V1=v0+ΔV changes from negative to positive, and the welding wire will be fed again until the next time the welding wire droplet contacts the workpiece, thereby avoiding the welding wire from continuing to be fed when the welding wire droplet contacts the molten pool to ensure the welding quality. The adjustment schematic diagram is shown in the attached figure Figure 1 .

[0034] If the welding type is hot wire welding, the second rule described in Example 1 is used for dynamic wire feeding. The second rule is as follows: ΔV=K1'ΔU+K2'ΔU+K3'Δu+K4'Δu+K5'ΔL+K6'ΔL+C2 ΔU=U-U0 Δu=u-u0 ΔL=L-L0 V1=V0+ΔV Specifically, under this welding condition, the distance between the tungsten electrode and the workpiece remains unchanged, the voltage between the tungsten electrode and the workpiece remains unchanged, and the wire extension length also remains unchanged, that is, ΔU=0, ΔL=0, ΔV=K3'Δu +K4'Δu+C2. When the molten droplet of the welding wire contacts the molten pool, the voltage between the welding wire and the workpiece is close to zero, and the value obtained by Δu=u-u0 is less than zero, the adjustment amount ΔV of the wire feeding speed is negative, and the adjusted wire feeding speed V1=v0+ΔV is negative. The wire feeding wheel reverses until the welding wire is pulled out of the molten pool. After the welding wire is pulled out of the molten pool, a voltage is generated between the welding wire and the workpiece, and the adjustment amount ΔV of the wire feeding speed increases. The adjusted wire feeding speed V1=v0+ΔV changes from negative to positive, and the welding wire will be fed again until the next time the molten droplet of the welding wire contacts the workpiece. Example

[0035] This embodiment is an application example of the TIG welding dynamic wire feeding method described in Example 1. If the workpiece is an irregular workpiece, that is, there is an inconsistency in the height of the workpiece surface. When the distance between the tungsten electrode and the workpiece becomes larger, the voltage between the tungsten electrode and the workpiece and the dry extension length of the welding wire will increase from the preset standard value. If the wire is fed at a constant speed, the welding wire will extend into the inner side of the arc, and the melting speed will increase. At this time, the constant speed wire feeding will cause the filling amount of the welding wire to be difficult to keep up, which will cause the weld to be discontinuous, thereby causing welding defects. When the distance between the tungsten electrode and the workpiece becomes smaller, the voltage between the tungsten electrode and the workpiece and the dry extension length will decrease from the preset standard value. If the wire is fed at a constant speed, the arc heat is not enough to melt the welding wire, which will cause the wire to hit the hand phenomenon, thereby forming a welding defect. For this situation, the following is an explanation of the TIG welding dynamic wire feeding method in Example 1.

[0036] If the welding type is cold wire welding, the first rule described in Example 1 is used for dynamic wire feeding. The first rule is as follows: ΔV=K1ΔU+K2ΔU+K3Δu+K4Δu+C1 ΔU=U-U0 Δu=u-u0 V1=v0+ΔV Specifically, due to the uneven height of the workpiece surface, once the distance between the tungsten electrode and the workpiece changes, the voltage between the tungsten electrode and the workpiece (first voltage) will also change, and the voltage between the welding wire and the workpiece (second voltage) will also change accordingly. At this time, it is necessary to adjust the welding wire feeding speed according to the voltage change between the tungsten electrode and the workpiece and the voltage change between the welding wire and the workpiece until stable welding is achieved.

[0037] When the distance between the tungsten electrode and the workpiece increases, the voltage between the tungsten electrode and the workpiece (first voltage) and the voltage between the welding wire and the workpiece (second voltage) both increase, the change in the first voltage ΔU and the change in the second voltage Δu are both positive values, and the corresponding adjustment amount of the wire feeding speed ΔV is positive. The adjusted wire feeding speed V1=v0+ΔV increases, and the wire feeding speed is accelerated to ensure that the filling amount of the welding wire can keep up with the melting speed.

[0038] When the distance between the tungsten electrode and the workpiece becomes smaller, the voltage between the tungsten electrode and the workpiece (first voltage) and the voltage between the welding wire and the workpiece (second voltage) both decrease, the change in the first voltage ΔU and the change in the second voltage Δu are both negative, and the corresponding adjustment amount of the wire feeding speed ΔV is negative. The adjusted wire feeding speed V1=v0+ΔV decreases to a negative value, and the wire feeding wheel reverses to avoid the phenomenon of wire sticking and hitting the hand.

[0039] If the welding type is hot wire welding, the second rule described in Example 1 is used for dynamic wire feeding. The second rule is as follows: ΔV=K1'ΔU+K2'ΔU+K3'Δu+K4'Δu+K5'ΔL+K6'ΔL+C2 ΔU=U-U0 Δu=u-u0 ΔL=L-L0 V1=V0+ΔV Specifically, once the distance between the tungsten electrode and the workpiece changes, the voltage between the tungsten electrode and the workpiece changes, the wire extension length also changes accordingly, and the voltage between the wire and the workpiece also changes accordingly. Figure 2 When the distance between the tungsten electrode and the workpiece increases, the first voltage, the second voltage and the wire extension length all increase, ΔU, Δu and ΔL are all positive values, ΔV is positive, and the wire feeding speed is increased to ensure that the filling amount of the welding wire can keep up.

[0040] When the distance between the tungsten electrode and the workpiece becomes smaller, the first voltage, the second voltage and the wire extension length all decrease, ΔU, Δu and ΔL are all negative values, ΔV is negative, the wire feeding speed is reduced, and the wire feeding wheel reverses to avoid wire tying and hand-hitting phenomenon.

[0041] It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Furthermore, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0042] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0043] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0044] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0045] The embodiments of the present invention are described above in conjunction with the accompanying drawings, but the present invention is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the enlightenment of the present invention, ordinary technicians in this field can also make many forms without departing from the scope of protection of the purpose of the present invention and the claims, which all fall within the protection of the present invention.

Claims

1. A TIG welding dynamic wire feeding method, characterized in that: include: Get the welding type of TIG welding; Determining wire feeding adjustment rules and preset wire feeding speed according to the welding type; Determining the measurement parameters during welding according to the wire feeding adjustment rule; Feeding the wire at the preset wire feeding speed, detecting the real-time value of the measurement parameter during the wire feeding process, and calculating the difference between the real-time value and the preset standard value to obtain the variation; Based on the wire feeding adjustment rule, the adjustment amount of the wire feeding speed is determined according to the change amount, and the preset wire feeding speed is adjusted according to the adjustment amount.

2. The TIG welding dynamic wire feeding method according to claim 1, characterized in that: The welding types include cold wire welding and hot wire welding.

3. The TIG welding dynamic wire feeding method according to claim 2, characterized in that: When the welding type is cold wire welding, the wire feeding adjustment rule is the first rule, and the measurement parameters include a first voltage and a second voltage, the first voltage is the voltage between the tungsten electrode and the workpiece, and the second voltage is the voltage between the welding wire and the workpiece.

4. The TIG welding dynamic wire feeding method according to claim 3, characterized in that: The first rule is: ΔV=K1ΔU+K2ΔU+K3Δu+K4Δu+C1 ΔU=U-U0 Δu=u-u0 V1=v0+ΔV Among them, ΔV is the adjustment amount of wire feeding speed; ΔU is the change of the first voltage, Δu is the change of the second voltage, U is the real-time value of the first voltage, U0 is the preset standard value of the first voltage, u is the real-time value of the second voltage, u0 is the preset standard value of the second voltage, K1, K2, K3, K4 are the first coefficient, the second coefficient, the third coefficient and the fourth coefficient respectively, C1 is a constant term; V1 is the adjusted wire feeding speed, v0 is the preset wire feeding speed corresponding to cold wire welding.

5. The TIG welding dynamic wire feeding method according to claim 4, characterized in that: The ranges of K1, K2, K3, K4, and C1 are all 0-10000, K1=10K2, K3=10K4.

6. The TIG welding dynamic wire feeding method according to claim 2, characterized in that: When the welding type is hot wire welding, the wire feeding adjustment rule is the second rule, and the measurement parameters include a first voltage, a second voltage and a welding wire extension length. The first voltage is the voltage between the tungsten electrode and the workpiece, and the second voltage is the voltage between the welding wire and the workpiece.

7. The TIG welding dynamic wire feeding method according to claim 6, characterized in that: The second rule is: ΔV=K1'ΔU+K2'ΔU+K3'Δu+K4'Δu+K5'ΔL+K6'ΔL+C2 ΔU=U-U0 Δu=u-u0 ΔL=L-L0 V1=V0+ΔV Among them, ΔV is the adjustment amount of wire feeding speed, ΔU is the change amount of the first voltage, Δu is the change amount of the second voltage, ΔL is the change amount of wire extension; U is the real-time value of the first voltage, U0 is the preset standard value of the first voltage, u is the real-time value of the second voltage, u0 is the preset standard value of the second voltage, L is the real-time value of wire extension, L0 is the preset standard value of wire extension, K1', K2', K3', K4', K5', K6' are the first adjustment coefficient, the second adjustment coefficient, the third adjustment coefficient, the fourth adjustment coefficient, the fifth adjustment coefficient and the sixth adjustment coefficient respectively, C2 is the adjustment constant term, V1 is the adjusted wire feeding speed, V0 is the preset wire feeding speed corresponding to hot wire welding.

8. The TIG welding dynamic wire feeding method according to claim 7, characterized in that: The ranges of K1', K2', K3', K4', K5', K6' and C2 are all 0-10000, K1'=10K2', K3'=K4', K5'=K6'.

Images