GTAW longitudinal swing wire filling intelligent control system based on magnetic control

Abstract

The invention relates to the field of GTAW welding, in particular to a GTAW longitudinal swing wire filling intelligent control system and method based on magnetic control. In order to solve the problems that in GTAW longitudinal swing wire filling welding, the tail end of a welding wire deviates from a tungsten electrode, and molten drop transition is unstable, the GTAW longitudinal swing wire filling intelligent control system and method based on magnetic control are provided. The relative position of the tail end of the welding wire and the tungsten electrode is controlled through a self-adaptive calibration method for the relative position of the tail end of the welding wire and the tungsten electrode based on visual sensing; the longitudinal swing amplitude of the welding wire is controlled through a GTAW welding wire longitudinal swing amplitude control method based on the magnetic field; the longitudinal swing frequency of the welding wire is controlled through a GTAW welding wire longitudinal swing frequency control method based on the magnetic field; and the wire filling speed is controlled through a wire filling speed control method based on welding wire sensing.

Description

TECHNICAL FIELD

[0001] The application relates to the field of GTAW welding, and is a GTAW longitudinal swing wire feeding intelligent control system based on magnetic control. BACKGROUND

[0002] GTAW (Gas Tungsten Arc Welding) has become an indispensable welding technology in high-end manufacturing and key industrial fields due to its high precision, high purity and wide material adaptability. Longitudinal swing wire feeding can further control the heat input of GTAW, but the problem that the swing wire end deviates from the tungsten electrode and the unstable droplet transfer seriously affects the welding stability and weld quality. The application discloses a GTAW longitudinal swing wire feeding intelligent control system based on magnetic control, which realizes the adjustment of the wire end position before welding and the control of the wire swing during welding through visual and arc sensor information fusion and real-time regulation and control of the electromagnetic field, and achieves ideal droplet transfer. SUMMARY

[0003] The GTAW longitudinal swing wire feeding intelligent control system based on magnetic control is used for GTAW welding, and is characterized in that: the GTAW longitudinal swing wire feeding intelligent control system based on magnetic control is composed of a sliding table system, a welding gun clamp, a GTAW welding gun, a GTAW welding power source, a camera rotating rod, a wire feeding pipe adjusting mechanism, a magnetic control wire swing mechanism, a wire feeder, 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; one end of the welding gun clamp is installed on the Z-direction guide rail, and the whole can move in the X, Y and Z directions; the other end contains a wire feeding pipe adjusting mechanism installation position, the middle contains a GTAW welding gun installation position, and the outer side contains a camera rotating rod installation position; the wire feeding pipe adjusting mechanism contains a Y-direction small guide rail and a Z-direction small guide rail, and the Z-direction small guide rail has a magnetic control wire swing mechanism installation position, which can control the magnetic control wire swing mechanism to move in the Y and Z directions with a small amplitude; the magnetic control wire swing mechanism contains two electromagnets, two counterforce springs, a wire feeding pipe, an armature and an armature guide rail; the sensing system contains a high-speed HDR industrial camera, a Hall voltage sensor and a data acquisition card; one end of the camera rotating rod is installed on the outer side of the welding gun clamp and can rotate 90° around the welding gun axis, and the lower side has a high-speed HDR industrial camera installation position; 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 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 movement of the GTAW welding gun, the wire feeding pipe and the high-speed HDR industrial camera in the X, Y and Z directions through the control of the sliding table system, realizes the adjustment of the initial position of the wire end through the wire feeding pipe adjusting mechanism, and realizes the longitudinal swing of the wire through the magnetic control wire swing mechanism. The GTAW longitudinal swing wire feeding intelligent control system based on magnetic control is as shown in Figure 1 .

[0004] The application discloses a GTAW longitudinal swing wire feeding intelligent control system based on magnetic control, and relates to the field of GTAW welding. Figure 2 Figure 3

[0005] The application discloses a GTAW longitudinal swing wire feeding intelligent control system based on magnetic control, and relates to the field of GTAW welding.

[0006] ​​The intelligent control system for longitudinal oscillation wire feeding based on magnetic control of GTAW is characterized in that: in the intelligent control system for longitudinal oscillation wire feeding of GTAW based on magnetic control, the longitudinal oscillation amplitude of the welding wire is controlled by a GTAW welding wire longitudinal oscillation amplitude control method based on a magnetic field; the GTAW welding wire longitudinal oscillation amplitude control method adjusts the magnitude of the excitation current through a sensing system and a communication and control system to achieve control of the longitudinal oscillation amplitude of the welding wire; before welding begins, a high-speed HDR industrial camera detects the distance between the end of the welding wire and the tungsten electrode when the armature is at the highest stroke position of the guide rail. Distance between the end of the welding wire and the workpiece Therefore, the distance between the tungsten electrode and the workpiece is... Then, through the up-and-down movement of the welding torch clamp, Adjust to The up-and-down movement of the wire feeding tube adjustment mechanism will... Adjust to The The preset distance between the tungsten electrode and the workpiece, The distance between the tip of the welding wire and the tungsten electrode is preset, which corresponds to the highest position of the welding wire oscillation; during welding, the excitation current in the two electromagnets is controlled. When the value is negative, the welding wire swings downwards. Increase Reduce; when a high-speed HDR industrial camera detects Reduce to At that time, control When the value is positive, the welding wire swings upward. Decrease Increase; the The minimum position for the welding wire oscillation is set; when the high-speed HDR industrial camera detects... Increase back to At that time, the excitation current is adjusted to 0 to complete one longitudinal oscillation, and the oscillation amplitude is... .

[0007] The intelligent control system for longitudinal oscillation of GTAW welding wire based on magnetic control is characterized in that: the longitudinal oscillation frequency of the welding wire is controlled by a GTAW welding wire longitudinal oscillation frequency control method based on a magnetic field; the GTAW welding wire longitudinal oscillation frequency control method based on a magnetic field realizes the detection and control of the droplet size and the control of the oscillation frequency through a sensing system and a communication and control system; during welding, the droplet is regarded as a sphere, and a high-speed HDR industrial camera detects the radius of the droplet. The welding wire stops when it reaches its highest oscillation position, and when it is detected... Achieve the set When, adjust To control the downward movement of the welding wire, the dwell time is ; the preset excitation current is set at the swing frequency; the preset excitation current is set at the maximum radius of the molten drop at the end of the welding wire before the downward swing; when the welding wire is in the upward process and has not reached the highest swing position, if the detection reaches , the excitation current is adjusted to control the welding wire to move downward directly without stopping; the preset excitation current is set when the early downward swing or the stopping time is less than ; in the case that the preset swing frequency is , the excitation current is adjusted to control the swing speed to be , the time for one swing is , and the swing period is , ; in order to keep unchanged, when the stopping time increases, the absolute value of the excitation current is increased to make so as to shorten the downward swing time to make unchanged, thereby keeping unchanged; when the early downward swing or the stopping time shortens during the upward process of the welding wire, the absolute value of the excitation current is decreased to make so as to lengthen the downward swing time to make , thereby keeping unchanged; the absolute values of , are determined according to the distance between the end of the welding wire and the workpiece before the start of the downward swing and the time passed in the current period, ; the excitation current signal in the swing process is a square wave signal, and the period is consistent with the swing period of the welding wire. The waveforms of the excitation current signal in the normal stopping time, the increasing stopping time, the early downward swing or the short stopping time are shown in Figure 4 , and the swing periods in the three cases are kept as .

[0008] The intelligent control system for longitudinal swing filling wire of GTAW based on magnetic control is characterized in that: in the intelligent control system for longitudinal swing filling wire of GTAW based on magnetic control, the filling wire speed is controlled by a filling wire speed control method based on sensing of the welding wire; the filling wire speed control method based on sensing of the welding wire adjusts the wire feeder through a sensing system and a communication and control system to control the filling wire speed; a Hall voltage sensor detects the arc voltage , between the welding wire and the workpiece in real time, which is positively correlated with the arc length between the welding wire and the workpiece and the distance between the end of the welding wire and the tungsten electrode Negative correlation; the arc heat presents gradient distribution characteristics, the heat is the highest when the welding wire is close to the tungsten electrode, and the heat is the lowest at the end of the arc, so Positive correlation with the heat received by the welding wire; after the arc is successfully ignited, the welding wire is located at the highest swing position, and the wire feeding speed is ; the is the maximum wire feeding speed set; Positive correlation, which changes with in the longitudinal swing process of the welding wire, the moment when the welding wire contacts the molten pool , then . .

[0009] Inventive effects

[0010] The application relates to the field of GTAW welding, and is a GTAW longitudinal swing wire feeding intelligent control system and method based on magnetic control. In view of the problems of deviation of the welding wire end from the tungsten electrode and unstable droplet transfer in GTAW longitudinal swing wire feeding welding, the application provides a GTAW longitudinal swing wire feeding intelligent control system and method based on magnetic control. The relative position self-adapting calibration method based on visual sensing of the welding wire end and the tungsten electrode is used to control the relative position of the welding wire end and the tungsten electrode; the GTAW welding wire longitudinal swing amplitude control method based on the magnetic field is used to control the longitudinal swing amplitude of the welding wire; the GTAW welding wire longitudinal swing frequency control method based on the magnetic field is used to control the longitudinal swing frequency of the welding wire; and the wire feeding speed control method based on the sensing of the welding wire is used to control the wire feeding speed. BRIEF DESCRIPTION OF DRAWINGS

[0011] Figure 1 It is a schematic diagram of the GTAW longitudinal swing wire feeding intelligent control system based on magnetic control.

[0012] 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 welding gun clamp, 5 is a GTAW welding gun, 6 is a GTAW welding power source, 7 is a camera rotating rod, 8 is a high-speed HDR industrial camera, 9 is a wire feeding pipe adjusting mechanism, 10 is a magnetic control welding wire swing mechanism, 11 is a wire feeder, 12 is a Hall voltage sensor, 13 is an electric control cabinet, and 14 is a control cabinet.

[0013] Figure 2 It is a detail installation diagram of the welding gun and the wire feeding pipe.

[0014] In the figure, 15 is a Z-direction small guide rail, 16 is a Y-direction small guide rail, and 17 is a wire feeding pipe.

[0015] Figure 3 It is a sectional view of the magnetic control welding wire swing mechanism.

[0016] In the figure, 18 is an armature guide rail, 19 is an electromagnet, 20 is an armature, and 21 is a counterforce spring.

[0017] Figure 4 This is a waveform diagram of the excitation current.

[0018] In the figure, the waveforms of the three cycles from left to right correspond to three situations: normal dwell time, increased dwell time, and premature swing or short dwell time.

[0019] Figure 5 This is a flowchart of the longitudinal oscillating filler wire welding process based on magnetic control GTAW. Detailed Implementation

[0020] To better illustrate the technical solution and beneficial effects of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. The implementation methods of the present invention are not limited thereto.

[0021] Step 1: Controlling the relative position of the welding wire tip and the tungsten electrode.

[0022] In GTAW longitudinal oscillating filler wire welding, the wire tip needs to be kept on the tungsten electrode axis to stabilize the molten droplet. This invention discloses an adaptive calibration method for the relative position of the wire tip and the tungsten electrode based on visual sensing. Before welding begins, the positions of the wire and the tungsten electrode are detected. The wire feeder feeds the wire a certain length, and a high-speed HDR industrial camera detects the relative position of the wire tip and the tungsten electrode. Figure 1 The camera's rotating boom rotates, simultaneously capturing multiple images of the welding torch and welding wire from different angles. An algorithm detects the axes of the welding torch and welding wire, establishing their positional relationship in 3D space. Then, through... Figure 2 The movement of the small Y-axis guide rail in the wire feed adjustment mechanism moves the welding wire to a position intersecting the welding torch axis, thereby aligning the end of the welding wire with the axis of the tungsten electrode, thus controlling the relative position. After position adjustment, the high-speed HDR industrial camera resets. Figure 1 In the default position, the wire feeder retracts the welding wire to its original length, and then feeds the wire after welding begins.

[0023] Step 2: Controlling the longitudinal oscillation amplitude of the welding wire.

[0024] In GTAW longitudinal oscillation filler wire welding, it is necessary to control the longitudinal oscillation amplitude of the welding wire to control the size of the transition droplet. This invention discloses a magnetic field-based method for controlling the longitudinal oscillation amplitude of the GTAW welding wire. Before welding begins, a high-speed HDR industrial camera detects the distance between the end of the welding wire and the tungsten electrode when the armature is at the highest stroke position on the guide rail. Distance between the end of the welding wire and the workpiece Then the distance between the tungsten electrode and the workpiece is Then, through the up-and-down movement of the welding torch clamp, Adjust to preset ,pass Figure 2 The up-and-down movement of the small guide rail in the Z direction of the wire feeding tube adjustment mechanism will adjust to preset , at this time the welding wire is in the highest swing position. In the welding process, the excitation current in the two electromagnets is controlled to be negative, so that the welding wire swings downward, increases and decreases; when the high-speed HDR industrial camera detects decreases to , at this time the welding wire is in the lowest swing position, then the control is positive, so that the welding wire swings upward, decreases and increases; when the high-speed HDR industrial camera detects increases back to , the excitation current is adjusted to 0 to stop swinging, and a complete longitudinal swing of the welding wire is completed, and the swing amplitude is .

[0025] Step three: control of the longitudinal swing frequency of the welding wire.

[0026] In the longitudinal swing filler wire welding of GTAW, it is necessary to control the longitudinal swing frequency of the welding wire to be constant, so as to keep the droplet transfer frequency constant and make the weld uniform. The application discloses a GTAW welding wire longitudinal swing frequency control method based on a magnetic field. In the welding process, the droplet is regarded as a sphere, a high-speed HDR industrial camera detects the radius of the droplet, the welding wire stays at the highest swing position , and when the high-speed HDR industrial camera detects that the radius has reached the maximum radius before downward swing , then the is adjusted to control the downward movement of the welding wire, and the staying time is , and the excitation current signal is shown in the waveform of the first period of Figure 4 ; when the welding wire is in the rising process and has not reached the highest swing position, if it is detected that the radius has reached , then the is adjusted to control the welding wire to move downward directly without staying, . In the case that the preset swing frequency is , the is adjusted to control the swing speed to be , the time used for one swing is , and the swing period is , . In order to keep the constant, that is, to keep the constant, when the staying time increases, the absolute value of the excitation current is increased to so as to shorten the downward swing time and make Thus The excitation current signal remains unchanged, as shown below. Figure 4 The waveform of the second cycle is shown; when the welding wire swings down prematurely or the dwell time is too long during the upward swing process. When shortening, the absolute value of the excitation current is reduced. To increase the duration of the hem Thus The excitation current signal remains unchanged, as shown below. Figure 4 The waveform of the third cycle is shown. , The absolute value is based on the distance between the end of the welding wire and the workpiece before the lowering of the swing, obtained from actual testing. Determined by the time elapsed in the current cycle. The excitation current signal during the oscillation process is a square wave signal, and its period is consistent with the oscillation period of the welding wire.

[0027] Step 4: Controlling the filling speed.

[0028] In GTAW longitudinal oscillating filler wire welding, it is necessary to control the filler wire speed so that the wire tip remains on the tungsten electrode axis during the oscillation process. This invention discloses a filler wire speed control method based on filler wire sensing. Figure 1 The Hall voltage sensor detects the arc voltage between the welding wire and the workpiece in real time. , It is positively correlated with the arc length between the welding wire and the workpiece, and with the distance between the end of the welding wire and the tungsten electrode. Negative correlation. The heat from the electric arc exhibits a gradient distribution, with the highest heat occurring near the tungsten electrode and the lowest heat at the end of the arc. It is positively correlated with the heat received by the welding wire. After successful arc ignition, the welding wire is in its highest oscillation position, at which point the wire feed speed is the set maximum wire feed speed. . and Positive correlation, wire feeder control during the longitudinal oscillation of the welding wire. With real-time detection Change, the instant the welding wire comes into contact with the molten pool ,but .

Claims

1. A GTAW longitudinal oscillation wire feeding intelligent control system based on magnetic control, used for GTAW welding, characterized in that: The GTAW longitudinal swing wire feeding intelligent control system based on magnetic control is composed of a sliding table system, a welding torch clamp, a GTAW welding torch, a GTAW welding power source, a camera rotating rod, a wire feeding pipe adjusting mechanism, a magnetic control wire swing mechanism, a wire feeder, 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; one end of the welding torch clamp is installed on the Z-direction guide rail, and the whole can move in the X, Y and Z directions; the other end contains a wire feeding pipe adjusting mechanism installation position, the middle contains a GTAW welding torch installation position, and the outer side contains a camera rotating rod installation position; the wire feeding pipe adjusting mechanism contains a Y-direction small guide rail and a Z-direction small guide rail, and the Z-direction small guide rail has a magnetic control wire swing mechanism installation position, which can control the magnetic control wire swing mechanism to move in the Y and Z directions with a small amplitude; the magnetic control wire swing mechanism contains two electromagnets, two counterforce springs, a wire feeding pipe, an armature and an armature guide rail; the sensing system contains a high-speed HDR industrial camera, a Hall voltage sensor and a data acquisition card; one end of the camera rotating rod is installed on the outer side of the welding torch clamp and can rotate 90° around the welding torch axis, and the lower side has a high-speed HDR industrial camera installation position; 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 the sensor data, the control cabinet precisely controls the welding process parameters, coordinates the welding timing and links each mechanism component; 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 movement of the GTAW welding torch, the wire feeding pipe and the high-speed HDR industrial camera in the X, Y and Z directions through the control of the sliding table system, realizes the adjustment of the initial position of the welding wire end through the wire feeding pipe adjusting mechanism, and realizes the longitudinal swing of the welding wire through the magnetic control wire swing mechanism.

2. The intelligent control system for GTAW longitudinal oscillation filling wire based on magnetic control according to claim 1, characterized in that: The GTAW longitudinal swing wire feeding intelligent control system based on magnetic control realizes the longitudinal swing of the welding wire by using the magnetic control wire swing mechanism; two identical electromagnets are respectively installed on the upper and lower ends of the armature guide rail of the magnetic control wire swing mechanism, and a Z-direction electromagnetic field is generated after the same direction excitation current is connected; the armature has a sliding block at both ends, the sliding block moves in the Z-direction in the sliding groove left and right of the armature guide rail, and the sliding block angle of the armature can be adjusted by thread tightness before welding to adjust the wire feeding angle; the two counterforce springs are respectively installed in the sliding grooves left and right of the armature guide rail, the upper ends of the two counterforce springs are fixedly connected with the two ends of the armature, and the armature is located at the highest stroke position of the armature guide rail when not subjected to electromagnetic force; the excitation current directions of the two electromagnets are the same, when the excitation current is positive, the electromagnetic field direction is upward, and the armature is subjected to upward electromagnetic force; when the excitation current is negative, the electromagnetic field direction is downward, and the armature is subjected to downward electromagnetic force.

3. The GTAW longitudinal weaving wire-feeding intelligent control system based on magnetic control according to claim 1, characterized in that: In the GTAW longitudinal swing wire feeding intelligent control system based on magnetic control, the relative position of the wire end and the tungsten electrode is controlled by a wire end and tungsten electrode relative position adaptive calibration method based on visual sensing; the wire end and tungsten electrode relative position adaptive calibration method based on visual sensing shoots images through a camera rotating rod and a sensing system, and a communication and control system calculates and adjusts the position of the wire end and the tungsten electrode; the camera rotating rod is perpendicular to the welding torch clamp at the default position, before welding, the wire feeder feeds the wire out for a length, the high-speed HDR industrial camera rotates through the camera rotating rod and shoots images of the welding torch and the wire at different angles, the axis of the welding torch and the axis of the wire are detected through an algorithm to establish the positional relationship of the two in the 3D space; the wire feeding pipe adjusting mechanism moves the wire to the position intersecting with the axis of the welding torch through the movement in the Y direction, so that the axis of the wire end coincides with the axis of the tungsten electrode, after the position adjustment is completed, the high-speed HDR industrial camera is reset to the default position, and the wire feeder withdraws the wire to the original length.

4. The GTAW magnetic control-based longitudinal weaving wire-feeding intelligent control system according to claim 1, characterized in that: In the GTAW longitudinal swing wire feeding intelligent control system based on magnetic control, the longitudinal swing amplitude of the wire is controlled by a GTAW wire longitudinal swing amplitude control method based on magnetic field; the GTAW wire longitudinal swing amplitude control method based on magnetic field adjusts the size of the excitation current through the sensing system and the communication and control system to realize the control of the longitudinal swing amplitude of the wire; Before welding begins, a high-speed HDR industrial camera detects the distance between the end of the welding wire and the tungsten electrode when the armature is at its highest travel position on the guide rail. Distance between the end of the welding wire and the workpiece Therefore, the distance between the tungsten electrode and the workpiece is... Then, through the up-and-down movement of the welding torch clamp, Adjust to The up-and-down movement of the wire feeding tube adjustment mechanism will... Adjust to The The preset distance between the tungsten electrode and the workpiece, The distance between the tip of the welding wire and the tungsten electrode is preset, which corresponds to the highest position of the welding wire oscillation; during welding, the excitation current in the two electromagnets is controlled. When the value is negative, the welding wire swings downwards. Increase Reduce; when a high-speed HDR industrial camera detects Reduce to At that time, control When the value is positive, the welding wire swings upward. Decrease Increase; the The minimum position for the welding wire oscillation is set; when the high-speed HDR industrial camera detects... Increase back to At that time, the excitation current is adjusted to 0 to complete one longitudinal oscillation, and the oscillation amplitude is... .

5. The GTAW longitudinal weave wire-feeding intelligent control system based on magnetic control according to claim 1, characterized in that: The longitudinal swing wire intelligent control system based on GTAW magnetic control, the longitudinal swing frequency of the welding wire is controlled by the GTAW welding wire longitudinal swing frequency control method based on magnetic field; the GTAW welding wire longitudinal swing frequency control method based on magnetic field realizes the detection and control of the droplet size and the control of the swing frequency through the sensing system and the communication and control system; the droplet is regarded as a sphere during welding, and the high-speed HDR industrial camera detects the radius of the droplet , the welding wire stops at the highest swing position, when it is detected that reaches the set , the is adjusted to control the downward movement of the welding wire, and the stopping time is ; the is the preset excitation current under the set swing frequency; the is the maximum radius of the droplet at the end of the welding wire before downward swing; when the welding wire is rising and has not reached the highest swing position, if it is detected that reaches , the is adjusted to control the welding wire to move downward directly without stopping; the is the downward swing excitation current when the advance downward swing or the stopping time is less than , ; under the condition that the preset swing frequency is , the is adjusted to control the swing speed to be , the time used for one swing is , and the swing period is , ; in order to keep unchanged, that is, to keep unchanged, when the stopping time increases, the absolute value of the excitation current is increased to make so as to shorten the downward swing time to make shorten, thereby keeping unchanged; when the advance downward swing or the stopping time during the upward swing of the welding wire is less than , the stopping time is 0, , the absolute value of the excitation current is reduced to make so as to increase the downward swing time to make increase, thereby keeping unchanged; the , absolute value is determined according to the distance between the end of the welding wire and the workpiece before the start of the downward swing and the time passed in the current period; the excitation current signal in the swing process is a square wave signal, and the period is consistent with the swing period of the welding wire.

6. The GTAW longitudinal weave wire-feeding intelligent control system based on magnetocontrol according to claim 1, characterized in that: In the GTAW longitudinal swing wire feeding intelligent control system based on magnetic control, the wire feeding speed is controlled by a wire feeding speed control method based on wire sensing; the wire feeding speed control method based on wire sensing adjusts the wire feeder through the sensing system and the communication and control system to control the wire feeding speed; The Hall voltage sensor detects the arc voltage between the welding wire and the workpiece in real time , The arc length between the welding wire and the workpiece is positively correlated with the distance between the end of the welding wire and the tungsten electrode ; the arc heat presents a gradient distribution characteristic, the heat is highest when the welding wire is close to the tungsten electrode, and the heat is lowest at the end of the arc ; the heat received by the welding wire is positively correlated with the heat; after the arc striking is successful, the welding wire is located at the highest swing position, the wire feeding speed is ; the is the set maximum wire feeding speed ; the is positively correlated with the change of the wire feeding speed during the longitudinal swing of the welding wire, the wire feeding speed is at the moment when the welding wire is in contact with the molten pool , and then .

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