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

Abstract

The present 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 the wire end deviating from the tungsten electrode and the unstable droplet transfer in the GTAW longitudinal swing wire feeding welding, a GTAW longitudinal swing wire feeding intelligent control system and method based on magnetic control is proposed. The relative position of the wire end and the tungsten electrode is controlled by using a visual sensing-based wire end and tungsten electrode relative position adaptive calibration method; the longitudinal swing amplitude of the GTAW wire is controlled by using a magnetic field-based GTAW wire longitudinal swing amplitude control method; the longitudinal swing frequency of the GTAW wire is controlled by using a magnetic field-based GTAW wire longitudinal swing frequency control method; and the wire feeding speed is controlled by using a wire sensing-based wire feeding speed control method.

Description

Technical Field

[0001] This invention relates to the field of GTAW welding and is a magnetically controlled intelligent control system for longitudinal oscillation wire feeding in GTAW welding. Background Technology

[0002] GTAW (Gas Non-Consumable Electrode Welding) has become an indispensable welding technology in high-end manufacturing and critical industrial fields due to its high precision, high purity, and wide material adaptability. Longitudinal oscillating wire feeding can further control the heat input of GTAW, but the problems of the oscillating wire tip deviating from the tungsten electrode and unstable droplet transfer seriously affect its welding stability and weld quality. This invention discloses a magnetically controlled intelligent control system for longitudinal oscillating wire feeding in GTAW. Through the fusion of visual and arc sensor information and real-time electromagnetic field regulation, it achieves the adjustment of the wire tip position before welding and the control of wire oscillation during welding, thus achieving ideal droplet transfer. Summary of the Invention

[0003] A magnetically controlled GTAW longitudinal oscillation wire feeding intelligent control system is used for GTAW welding. The system comprises a slide table system, a welding torch holder, a GTAW welding torch, a GTAW welding power supply, a camera rotation rod, a wire feed tube adjustment mechanism, a magnetically controlled wire oscillation mechanism, a wire feeder, a sensing system, and a communication and control system. The slide table system consists of X-direction guide rails, Y-direction guide rails, and Z-direction guide rails. One end of the welding torch holder is mounted on the Z-direction guide rail, allowing it to move along the X, Y, and Z directions. The other end contains the mounting position for the wire feed tube adjustment mechanism, the middle contains the mounting position for the GTAW welding torch, and the outer side contains the mounting position for the camera rotation rod. The wire feed tube adjustment mechanism includes… Y-axis and Z-axis small guide rails are provided. The Z-axis small guide rail has a mounting position for a magnetically controlled welding wire oscillation mechanism, which can be controlled to move slightly along the Y and Z directions. The magnetically controlled welding wire oscillation mechanism includes two electromagnets, two reaction springs, a wire feed tube, an armature, and an armature guide rail. The sensing system includes a high-speed HDR industrial camera, a Hall voltage sensor, and a data acquisition card. One end of the camera rotating rod is mounted on the outside of the welding torch clamp, allowing it to rotate 90° around the welding torch axis. A mounting position for the high-speed HDR industrial camera is located below it. The communication and control system consists of an electrical control cabinet and a control cabinet. The electrical control cabinet is used to distribute and convert external power, supply power to various components, and ensure power safety. After receiving sensor data, the control cabinet transmits the data to a PLC. The system precisely controls welding process parameters, coordinates welding timing, and links various mechanisms and components. A data exchange channel is established between the sensing system and the communication and control system via a communication bus to acquire data from multiple sensors. The communication and control system controls the movement of the GTAW welding torch, wire feed tube, and high-speed HDR industrial camera in the X, Y, and Z directions through the sliding table system; adjusts the initial position of the welding wire end through the wire feed tube adjustment mechanism; and achieves longitudinal oscillation of the welding wire through a magnetically controlled wire oscillation mechanism. The magnetically controlled GTAW longitudinal oscillation wire feeding intelligent control system is as follows: Figure 1 As shown.

[0004] The GTAW longitudinal oscillation wire feeding intelligent control system based on magnetic control is characterized in that: the GTAW longitudinal oscillation wire feeding intelligent control system utilizes a magnetically controlled wire oscillation mechanism to achieve longitudinal oscillation of the welding wire; two identical electromagnets are respectively installed at the upper and lower ends of the armature guide rail of the magnetically controlled wire oscillation mechanism, and after being connected with excitation current in the same direction, an electromagnetic field in the Z direction is generated; both ends of the armature have sliders, which move in the Z direction in the sliding grooves on the left and right sides of the armature guide rail; the angle of the armature sliders can be adjusted by loosening or loosening the threads before welding to adjust the wire feeding angle; two reaction springs are respectively installed in the sliding grooves on the left and right sides of the armature guide rail, with their upper ends fixed to both ends of the armature, applying a force to the armature so that the armature is located at the highest stroke position of the armature guide rail when it is not under electromagnetic force; the excitation current of the two electromagnets is in the same direction; when the excitation current is positive, the electromagnetic field is upward, and the armature is subjected to an upward electromagnetic force; when the excitation current is negative, the electromagnetic field is downward, and the armature is subjected to a downward electromagnetic force. The installation details of the welding torch and wire feed tube of the magnetically controlled GTAW longitudinal oscillation wire feeding intelligent control system are as follows: Figure 2 As shown, the cross-section of the magnetic welding wire oscillation mechanism is as follows: Figure 3 As shown.

[0005] The GTAW longitudinal oscillation wire-filling intelligent control system based on magnetic control is characterized in that: in the GTAW longitudinal oscillation wire-filling intelligent control system based on magnetic control, the relative position of the welding wire end and the tungsten electrode is controlled by an adaptive calibration method based on vision sensing; the adaptive calibration method based on vision sensing captures images through a camera rotation rod and a sensing system, and the communication and control system calculates and adjusts the position of the welding wire end and the tungsten electrode; the camera rotation rod is perpendicular to the welding torch clamp in the default position. Before welding begins, the wire feeder feeds the welding wire a certain length, and the high-speed HDR industrial camera rotates through the camera rotation rod and captures images of the welding torch and welding wire at different angles. The welding torch axis and the welding wire axis are detected by an algorithm to establish their positional relationship in 3D space; the wire feeding tube adjustment mechanism moves the welding wire to a position intersecting the welding torch axis through movement in the Y direction, so that the welding wire end coincides with the axis of the tungsten electrode. After the position adjustment is completed, the high-speed HDR industrial camera resets to the default position, and the wire feeder retracts the welding wire to its original length.

[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 To set the preset excitation current at the oscillation frequency; the This is the maximum radius of the molten droplet at the end of the welding wire before it swings downwards; if it is detected during the upward movement of the welding wire before reaching the highest swing position... achieve Then adjust The welding wire is controlled to move directly downwards without stopping; To end the hem early or keep the hem for less than The excitation current of the swing arm at that time ; at the preset oscillation frequency In this case, adjust To control the swing speed The time taken for one swing is The oscillation period is , To make To keep it unchanged, that is, to make Unchanged, when remaining When it increases, the absolute value of the excitation current is increased to make To shorten the hem time Thus Unchanged; when the welding wire swings down early or pauses during the upward swing process. When shortening, the absolute value of the excitation current is reduced. To increase the duration of the hem Thus Unchanged; the stated , 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, with a period consistent with the oscillation period of the welding wire. The waveform of the excitation current signal under conditions of normal dwell time, increased dwell time, premature descent, or short dwell time is as follows: Figure 4 As shown, the oscillation period remains constant in all three cases. .

[0008] The GTAW longitudinal oscillating wire feeding intelligent control system based on magnetic control is characterized in that: in the GTAW longitudinal oscillating wire feeding intelligent control system based on magnetic control, the wire feeding speed is controlled by a wire feeding speed control method based on welding wire sensing; the wire feeding speed control method based on welding wire sensing adjusts the wire feeder to control the wire feeding speed through a sensing system and a communication and control system; a 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 of the electric arc exhibits a gradient distribution characteristic, with the highest heat when the welding wire is close to 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 at its highest oscillation position, and the wire feed speed is... The The maximum wire feeding speed is set. and Positive correlation, during the longitudinal oscillation of the welding wire Change, the instant the welding wire comes into contact with the molten pool ,but .

[0009] The invention has beneficial effects;

[0010] This invention relates to the field of GTAW welding, specifically a magnetically controlled intelligent control system and method for GTAW longitudinal oscillation wire filling. Addressing the problems of wire tip deviation from the tungsten electrode and unstable droplet transition in GTAW longitudinal oscillation wire filling welding, this invention proposes a magnetically controlled intelligent control system and method for GTAW longitudinal oscillation wire filling. The system utilizes a vision-sensing-based adaptive calibration method for the relative position of the wire tip and the tungsten electrode to control the relative position; a magnetic field-based GTAW wire longitudinal oscillation amplitude control method to control the longitudinal oscillation amplitude; a magnetic field-based GTAW wire longitudinal oscillation frequency control method to control the longitudinal oscillation frequency; and a wire filling speed control method based on wire sensing to control the wire filling speed. Attached Figure Description

[0011] Figure 1 This is a schematic diagram of a magnetically controlled GTAW longitudinal oscillation filling wire intelligent control system.

[0012] In the diagram, 1 is the X-axis guide rail, 2 is the Y-axis guide rail, 3 is the Z-axis guide rail, 4 is the welding torch fixture, 5 is the GTAW welding torch, 6 is the GTAW welding power supply, 7 is the camera rotation rod, 8 is the high-speed HDR industrial camera, 9 is the wire feed tube adjustment mechanism, 10 is the magnetic control welding wire oscillation mechanism, 11 is the wire feeder, 12 is the Hall voltage sensor, 13 is the electrical control cabinet, and 14 is the control cabinet.

[0013] Figure 2 Detailed diagram of the welding torch and wire feed tube installation.

[0014] In the diagram, 15 is the small guide rail in the Z direction, 16 is the small guide rail in the Y direction, and 17 is the wire feeding tube.

[0015] Figure 3 This is a cross-sectional view of the magnetically controlled welding wire oscillation mechanism.

[0016] In the diagram, 18 is the armature guide rail, 19 is the electromagnet, 20 is the armature, and 21 is the reaction 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 point, the welding wire is at its highest oscillation position. During the welding process, the excitation current in the two electromagnets is controlled. A negative value causes the welding wire to swing downwards. Increase Reduce; when a high-speed HDR industrial camera detects Reduce to At this time, the welding wire is at its lowest swing position, then control... A positive value causes the welding wire to swing upwards. Decrease Increase; when a high-speed HDR industrial camera detects Increase back to When the excitation current is adjusted to 0, the oscillation stops, completing one full longitudinal oscillation of the welding wire. The oscillation amplitude is... .

[0025] Step 3: Control of the longitudinal oscillation frequency of the welding wire.

[0026] In GTAW longitudinal oscillation filler wire welding, it is necessary to control the longitudinal oscillation frequency of the welding wire to maintain a constant droplet transition frequency and ensure uniform weld formation. This invention discloses a magnetic field-based method for controlling the longitudinal oscillation frequency of the GTAW welding wire. During welding, the droplet is considered as a sphere, and a high-speed HDR industrial camera detects the radius of the droplet. The welding wire reaches its highest oscillation position. The high-speed HDR industrial camera pauses for a period of time when it detects... Reaching the maximum radius before swinging downwards When, adjust To control the downward movement of the welding wire, the dwell time is Its excitation current signal is as follows Figure 4 The waveform of the first cycle is shown; if it is detected when the welding wire is rising and has not reached the highest oscillation position. Achieved Then adjust Control the welding wire to move directly downwards without stopping. At the preset oscillation frequency of In this case, adjust To control the swing speed The time taken for one swing is The oscillation period is , In order to make To keep it unchanged, that is, to make Unchanged, when remaining When it increases, the absolute value of the excitation current is increased to make To shorten the hem time 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 magnetically controlled GTAW longitudinal oscillation wire feeding intelligent control system for GTAW welding, characterized in that: The magnetically controlled GTAW longitudinal oscillation wire feeding intelligent control system comprises a slide table system, a welding torch holder, a GTAW welding torch, a GTAW welding power supply, a camera rotation rod, a wire feed tube adjustment mechanism, a magnetically controlled wire oscillation mechanism, a wire feeder, a sensing system, and a communication and control system. The slide table system consists of X-direction guide rails, Y-direction guide rails, and Z-direction guide rails. One end of the welding torch holder is mounted on the Z-direction guide rail, allowing it to move along the X, Y, and Z directions. The other end contains the mounting position for the wire feed tube adjustment mechanism, the middle contains the mounting position for the GTAW welding torch, and the outer side contains the mounting position for the camera rotation rod. The wire feed tube adjustment mechanism includes a small Y-direction guide rail and a small Z-direction guide rail. The guide rail has a mounting position for a magnetically controlled welding wire oscillation mechanism, which can be controlled to move slightly along the Y and Z directions. The magnetically controlled welding wire oscillation mechanism includes two electromagnets, two reaction springs, a wire feed tube, an armature, and an armature guide rail. The sensing system includes a high-speed HDR industrial camera, a Hall voltage sensor, and a data acquisition card. One end of the camera rotating rod is mounted on the outside of the welding torch clamp, allowing it to rotate 90° around the welding torch axis. A mounting position for the high-speed HDR industrial camera is located below it. The communication and control system consists of an electrical control cabinet and a control cabinet. The electrical control cabinet is used to distribute and convert external power, supply power to various components, and ensure power safety. After receiving sensor data, the control cabinet transmits the data to the PLC. The system precisely controls welding process parameters, coordinates welding timing, and links various mechanisms and components. A data exchange channel is established between the sensing system and the communication and control system via a communication bus to acquire data from multiple sensors. The communication and control system controls the movement of the GTAW welding torch, wire feed tube, and high-speed HDR industrial camera in the X, Y, and Z directions via the slide system, adjusts the initial position of the welding wire tip via the wire feed tube adjustment mechanism, and achieves longitudinal oscillation of the welding wire via a magnetically controlled welding wire oscillation mechanism. Before welding begins, the high-speed HDR industrial camera detects the distance between the welding wire tip 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... Return to At that time, the excitation current is adjusted to 0 to complete one longitudinal oscillation, and the oscillation amplitude is... During welding, the molten droplet is treated 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 To set the preset excitation current at the oscillation frequency; the This is the maximum radius of the molten droplet at the end of the welding wire before it swings downwards; if it is detected during the upward movement of the welding wire before reaching the highest swing position... achieve Then adjust The welding wire is controlled to move directly downwards without stopping; To end the hem early or keep the hem for less than The excitation current of the swing arm at that time ; at the preset oscillation frequency In this case, adjust To control the swing speed The time taken for one swing is The oscillation period is , To make To keep it unchanged, that is, to make Unchanged, when remaining When it increases, the absolute value of the excitation current is increased to make To shorten the hem time Shorten, thus Unchanged; when the welding wire swings down prematurely or the dwell time is less than [a certain value] during the upward swing process. When this happens, the absolute value of the excitation current is reduced to make To increase the duration of the hem Growth, thus Unchanged; the stated , 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. The time elapsed during the current cycle is used to determine the period; 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.

2. The intelligent control system for GTAW longitudinal oscillation filling wire based on magnetic control according to claim 1, characterized in that: The magnetically controlled GTAW longitudinal oscillation wire feeding intelligent control system utilizes a magnetically controlled wire oscillation mechanism to achieve longitudinal oscillation of the welding wire. Two identical electromagnets are installed at the upper and lower ends of the armature guide rail of the magnetically controlled wire oscillation mechanism. After being connected with excitation current in the same direction, an electromagnetic field in the Z direction is generated. Each end of the armature has a slider, which moves along the Z direction within the grooves on the left and right sides of the armature guide rail. Before welding, the angle of the armature slider is adjusted by tightening the threads to adjust the wire feeding angle. Two reaction springs are installed in the grooves on the left and right sides of the armature guide rail, with their upper ends fixed to both ends of the armature, applying force to the armature so that the armature is at its highest stroke position on the armature guide rail when not under electromagnetic force. The excitation currents of the two electromagnets are in the same direction. When the excitation current is positive, the electromagnetic field is upward, and the armature experiences an upward electromagnetic force; when the excitation current is negative, the electromagnetic field is downward, and the armature experiences a downward electromagnetic force.

3. The intelligent control system for GTAW longitudinal oscillation filling wire based on magnetic control according to claim 1, characterized in that: In the magnetically controlled GTAW longitudinal oscillating wire feeding intelligent control system, the relative position of the welding wire tip and the tungsten electrode is controlled by a vision-sensing-based adaptive calibration method for the relative position of the welding wire tip and the tungsten electrode. This method uses a camera rotating rod and a sensing system to capture images, and the communication and control system calculates and adjusts the position of the welding wire tip and the tungsten electrode. In its default position, the camera rotating rod is perpendicular to the welding torch clamp. Before welding begins, the wire feeder feeds the welding wire a certain length. A high-speed HDR industrial camera rotates and captures images of the welding torch and welding wire at different angles. An algorithm detects the welding torch axis and the welding wire axis to establish their positional relationship in 3D space. The wire feeding tube adjustment mechanism moves the welding wire to a position intersecting the welding torch axis through movement in the Y direction, thus aligning the welding wire tip with the tungsten electrode axis. After position adjustment, the high-speed HDR industrial camera returns to its default position, and the wire feeder retracts the welding wire to its original length.

4. The intelligent control system for GTAW longitudinal oscillation filling wire based on magnetic control according to claim 1, characterized in that: In the magnetically controlled GTAW longitudinal oscillating wire feeding intelligent control system, the wire feeding speed is controlled by a wire feeding speed control method based on welding wire sensing; the wire feeding speed control method based on welding wire sensing adjusts the wire feeder to control the wire feeding speed through a sensing system and a communication and control system. Hall voltage sensors detect 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 of the electric arc exhibits a gradient distribution characteristic, with the highest heat when the welding wire is close to 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 at its highest oscillation position, and the wire feed speed is... The The maximum wire feeding speed is set. and Positive correlation, during the longitudinal oscillation of the welding wire Change, the instant the welding wire comes into contact with the molten pool ,but .

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