Rotary ring control method for an internal welding machine

Abstract

The application discloses a rotary ring control method of an inner welding machine, belongs to the technical field of welding, and installs a position sensor on the rotating motor shaft of the rotary ring, records a current position value as an arc starting position value through triggering an arc starting position setting instruction, and calculates an arc stopping position value, a limiting position value and a safety protection limiting value; when the system is restarted or the structural component parameters are updated, the current safety protection limiting value is recalculated and consistency check is performed with the saved value of the driver, and after the check passes, the rotary ring is allowed to continuously rotate and operate, the current position value is collected in real time during the operation process, and the current position value is compared with the arc starting position value, the arc stopping position value and the limiting position value respectively, the welding gun is controlled to start arc, the welding gun is controlled to stop arc or the rotary ring is controlled to stop rotating when each key position is reached, the closed-loop control based on real-time position feedback is realized, the method is convenient to operate and has high universality, and the problem that the self-limiting protection of the driver is invalid due to the unsynchronized update of the limiting value after the parameter update or the parameter mismatch can be avoided.

Description

Technical Field

[0001] This invention relates to the field of welding technology, and in particular to a rotary ring control method for an internal welding machine. Background Technology

[0002] The internal welding machine is used to weld the inner circumferential seam of pipelines. It has multiple welding units, each equipped with a welding torch. The rotary ring is the mechanism on the internal welding machine that mounts the welding units. The rotation of the rotary ring drives the rotation of each welding unit, thus completing a full circle of inner circumferential seam welding. The rotary ring determines the arc-starting position, arc-ending position, limit position, and overlap of each welding torch. The accuracy and stability of its control determine the stability of the welding performance. Traditional control methods use contact or inductive limit switches to control each position, which has the following technical problems: (1) The design requires a relatively complex calculation process to determine the installation position of the switch limit block, and different algorithms will be involved for the installation position of the limit block of the inner welding machine with different pipe diameters. (2) Small-sized internal welding machines may be limited by structural space, making it impossible to design a reasonable installation position for the limit switch; (3) The sensitivity of the inductive limit switch will change with temperature, which will cause the welding torch trigger position to shift and thus change the overlap between adjacent welding torches, resulting in welding defects. (4) The adjustment of the arc starting position, arc ending position, limit position, and overlap amount all depend on the physical installation and cooperation of the limit switch and the limit block. This requires a high level of understanding of the principles and operation skills of the staff, and the adjustment is time-consuming. (5) When the limit switch fails, the rotation cannot be stopped normally and the cable will be broken, causing serious damage to the accessories. Summary of the Invention

[0003] The purpose of this invention is to overcome the problems of the prior art and provide a rotary ring control method for an internal welding machine.

[0004] The objective of this invention is achieved through the following technical solution: a control method for a rotary ring of an internal welding machine, wherein a position sensor is installed on the rotating motor shaft of the rotary ring, and the control method includes the following steps: Rotate the rotary ring to the arc starting position and set the arc starting position setting command. In response to the arc starting position setting command, use the position value fed back by the current position sensor as the arc starting position value. The position value per unit length of welding torch movement is calculated based on the structural component parameters, including the reduction ratio, drive wheel diameter, gear ring diameter, and pipe inner diameter. The welding distance is calculated based on the pipe inner diameter, the number of welding torches, and the overlap. The arc-stopping position value is calculated based on the arc-starting position value, the welding distance, and the position value per unit length of welding torch movement. The limit position value is calculated based on the arc-stopping position value, the distance from the arc-stopping position to the limit position, and the position value per unit length of welding torch movement. Finally, the safety protection limit value is calculated based on the arc-starting position value, the distance from the arc-stopping position to the protection position, the welding distance, and the position value per unit length of welding torch movement, and stored in the motor driver. After the internal welding machine control system is restarted or the structural component parameters are updated, the current safety protection limit value is recalculated, and it is determined whether the current safety protection limit value is consistent with the safety protection limit value saved by the motor driver. If they are consistent, the rotary ring is allowed to rotate continuously. During continuous rotation of the slewing ring, the current position value is collected in real time and compared with the arc-starting position value, arc-stopping position value, and limit position value. When the current position value is equal to the arc-starting position value, the welding torch is controlled to start the arc; when the current position value is equal to the arc-stopping position value, the welding torch is controlled to stop the arc; when the current position value is equal to the limit position value, the slewing ring is controlled to stop rotating.

[0005] In one example, before the rotating ring continues to rotate, the following is also included: Choose the welding direction, including clockwise or counterclockwise; When the welding direction is clockwise, the clockwise arc-starting position value is used as the arc-starting position value, which is the position value collected in response to the clockwise arc-starting position setting command; the clockwise arc-stopping position value is used as the arc-stopping position value, which is calculated based on the clockwise arc-starting position value, the welding distance, and the position value of the welding torch moving by a unit length; the clockwise limit position value is used as the limit position value, which is calculated based on the clockwise arc-stopping position value, the distance from the arc-stopping position to the limit position, and the position value of the welding torch moving by a unit length. When the welding direction is counterclockwise, the counterclockwise arc-starting position value is used as the arc-starting position value, which is the position value collected in response to the counterclockwise arc-starting position setting command; the counterclockwise arc-stopping position value is used as the arc-stopping position value, which is calculated based on the counterclockwise arc-starting position value, the welding distance, and the position value of the welding torch moving by a unit length; the counterclockwise limit position value is used as the limit position value, which is calculated based on the counterclockwise arc-stopping position value, the distance from the arc-stopping position to the limit position, and the position value of the welding torch moving by a unit length. During the operation of the rotary ring, when the welding direction is clockwise, the position value is collected in real time as the current position value. The current position value is compared with the clockwise arc start position value, the clockwise arc stop position value, and the clockwise limit position value. When the current position value is equal to the clockwise arc start position value, the welding torch is controlled to start the arc; when the current position value is equal to the clockwise arc stop position value, the welding torch is controlled to stop the arc; when the current position value is equal to the clockwise limit position value, the rotary ring is controlled to stop rotating. When the welding direction is counterclockwise, the position value is collected in real time as the current position value. The current position value is compared with the counterclockwise arc start position value, the counterclockwise arc stop position value, and the counterclockwise limit position value. When the current position value is equal to the counterclockwise arc start position value, the welding torch is controlled to start the arc; when the current position value is equal to the counterclockwise arc stop position value, the welding torch is controlled to stop the arc; when the current position value is equal to the counterclockwise limit position value, the rotary ring is controlled to stop rotating.

[0006] In one example, the calculation of the arc-stop position value and the limit position value also includes: The rotatable distance is calculated based on the welding distance and the distance from the arc-stopping position to the protective position. The current position of the rotary ring is determined based on the rotatable distance. If it is not within the safe rotation range, the rotary ring is controlled to rotate only in a jogging manner and the single continuous rotation time does not exceed the preset time threshold.

[0007] In one example, before allowing the rotary ring to rotate continuously, the following is also included: Retrieve the first driver serial number of the driver that last worked normally and the second driver serial number stored in the motor driver, respectively; Determine whether the serial number of the first driver and the serial number of the second driver are consistent. If they are inconsistent, control the rotary ring to rotate in a jogging manner and ensure that the single continuous rotation time does not exceed the preset time threshold. If they are consistent, obtain the safety protection limit value stored in the motor driver.

[0008] In one example, retrieving the safety protection limit value stored in the motor driver also includes: Determine whether safety protection limit values ​​have been set; If no safety protection limit value is set, the control ring rotates in a jogging manner and the single continuous rotation time does not exceed the preset time threshold. If a safety protection limit value is set, the current position value of the rotary ring is obtained, and it is determined whether the current position value is within the range of the safety protection limit value. If it is not within the range of the safety protection limit value, the rotary ring is controlled to rotate in a jogging manner and the single continuous rotation time does not exceed the preset time threshold. If it is within the range of the safety protection limit value, the step of determining whether the current safety protection limit value is consistent with the safety protection limit value stored in the motor driver is entered.

[0009] In one example, when determining whether the current safety protection limit value is consistent with the safety protection limit value stored in the motor driver, if they are inconsistent, the rotary ring is controlled to rotate in a jogging manner and the single continuous rotation time does not exceed the preset time threshold.

[0010] In one example, after the control rotary ring rotates in a jogging manner and the time of a single continuous rotation does not exceed a preset time threshold, the method further includes: The arc initiation position value is reacquired, the safety protection limit value is calculated and saved in the motor driver, allowing the rotary ring to rotate continuously.

[0011] In one example, controlling the arc ignition of the welding torch includes: Send an opening command to the protective gas solenoid valve to control the protective gas solenoid valve to open; Send an arc-ignition command to the welding power source and control the welding power source to establish an open-circuit voltage; Send a wire feeding command to the wire feeding motor driver to control the wire feeding motor to start feeding wire.

[0012] In one example, controlling the welding torch to stop arc includes: Send a stop wire feeding command to the wire feeding motor driver to control the wire feeding motor to stop feeding wire; A extinguishing command is sent to the welding power source to stop the welding power source from outputting. After a preset delay, a shut-off command is sent to the shielding gas solenoid valve to close the shielding gas solenoid valve.

[0013] In one example, the process of the rotating ring during operation further includes: Convert the real-time collected current position value into the current angle value of the rotating ring; Welding parameters matching the angle value are obtained from the database. These welding parameters include wire feed speed, arc length, welding voltage, and welding current. The welding parameters are then sent to the welding power source and the wire feed motor driver, and the welding parameters are adjusted in real time during the rotation of the rotary ring.

[0014] It should be further noted that the technical features corresponding to the above examples can be combined or replaced to form new technical solutions.

[0015] Compared with the prior art, the beneficial effects of the present invention are: 1. The present invention replaces the traditional limit switch by installing a position sensor on the rotating motor shaft of the rotary ring. The position value of the position sensor is not affected by temperature when it is running at its nominal operating temperature, which can avoid the welding torch triggering position deviation, and does not require mechanical installation space around the rotary ring. After the system restarts or when the structural component parameters are updated, the current safety protection limit value is recalculated and its consistency is verified with the safety protection limit value saved in the motor driver. This ensures that the limit value saved in the driver always matches the current model parameters and automatically verifies the correctness of the limit setting when the parameters change. This avoids the problem of the driver's self-limit protection failing due to the limit value not being updated synchronously after the parameter update or the parameters not matching, which could cause serious damage to the components. When the arc-starting position setting command is triggered, the current position value is recorded as the arc-starting position value. Based on the arc-starting position value, the arc-stopping position value, limit position value, and safety protection limit value are calculated, eliminating the need for manual adjustment of the physical installation position of each limit switch. Simultaneously, during the continuous rotation of the slewing ring, the current position value is collected in real time and compared with the arc-starting position value, arc-stopping position value, and limit position value, and the corresponding position signal is output. This achieves closed-loop control based on real-time position feedback, which can significantly reduce the requirements for the operator's understanding of the principles and operational proficiency.

[0016] 2. By using the rotatable distance, it can determine whether the current position of the rotary ring is within the safe rotation range. If it is not within the safe rotation range, it can control the rotary ring to stop rotating. It can determine whether the current position has exceeded the safety boundary before the rotary ring starts continuous rotation, thus avoiding damage to components such as breaking cables caused by starting continuous rotation outside the limit position.

[0017] 3. By verifying the consistency of the driver serial number, it is possible to prevent incorrect driver connection from causing control chaos or equipment damage.

[0018] 4. When acquiring the safety protection limit value stored in the motor driver, the system sequentially checks whether the safety protection limit value has been set and whether the current position value is within the range of the safety protection limit value. If the safety protection limit value is not set or is not within the range of the safety protection limit value, the slewing ring is prohibited from continuous rotation. If the safety protection limit value is set and is within the range of the safety protection limit value, the system enters the safety protection limit value consistency judgment step, forming a multi-level limit status verification mechanism. This prevents the slewing ring from continuously rotating due to the limit value not being set or being set incorrectly, which could lead to damage to components such as broken cables.

[0019] 5. By recalculating the safety protection limit values ​​and storing them in the motor driver, and allowing the rotary ring to rotate continuously, normal working conditions can be quickly restored without the need for manual troubleshooting and adjustment, thus reducing operational difficulty and downtime.

[0020] 6. Based on the angle value corresponding to the current position, the welding parameters matching the angle value are retrieved from the database. The welding parameters can be automatically adjusted according to the real-time position during the rotation of the rotating ring, realizing refined welding control with different parameters for different angles, thereby optimizing the weld formation quality. Attached Figure Description

[0021] The specific embodiments of the present invention will be further described in detail below with reference to the accompanying drawings. The accompanying drawings are provided to provide a further understanding of the present application and constitute a part of the present application. The same reference numerals are used in these drawings to denote the same or similar parts. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation of the present application.

[0022] Figure 1 This is a flowchart of a method provided in an embodiment of the present invention. Detailed Implementation

[0023] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0024] Furthermore, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0025] This invention discloses a control method for the rotating ring of an internal welding machine. The rotating ring is a ring-shaped mechanism on the internal welding machine that mounts welding units. It is rotatably mounted on the main body of the internal welding machine via bearings or guide rails. Multiple welding units are evenly distributed and fixedly mounted on the rotating ring along its circumference. The rotating ring is driven by a rotary motor through a transmission mechanism to rotate relative to the main body of the internal welding machine. When the rotating ring rotates, it drives the welding units and welding torches on it to rotate synchronously, thereby completing a full circle of internal circumferential seam welding. The transmission mechanism includes a geared motor and a drive wheel mounted on the output shaft of the geared motor. The rotating ring is provided with a geared ring that meshes with the drive wheel. The rotary motor, after being reduced in speed by the geared motor, transmits power to the rotating ring through the meshing of the drive wheel and the geared ring.

[0026] This invention involves mounting position sensors with position feedback on the shaft of a rotary ring motor, including absolute position sensors, incremental position sensors, and angle sensors. The embodiments of this invention are illustrated using an encoder as an example. By acquiring encoder feedback values ​​and combining them with the rotary ring control method, precise and reliable control of each position of the rotary ring is achieved.

[0027] In one embodiment, a rotary ring control method for an internal welding machine can be applied to the control module of the internal welding machine control system. The control module is connected to a position sensor (encoder) and a motor driver of a rotary motor. The system also includes an application module connected to the control module, which has buttons. Further, the application module includes a database storing parameters of the rotary ring structure components, including the drive wheel diameter, gear ring diameter, reduction ratio, number of welding torches, and single-turn encoder value. Figure 1 As shown, the rotary loop control method includes the following steps: S1: Rotate the rotary ring to the arc starting position and set the arc starting position setting command. In response to the arc starting position setting command, use the encoder value read from the encoder by the current motor driver as the arc starting position encoder value.

[0028] In step S1, the operator rotates the rotary ring to the arc-starting position determined by the operator on the weld by jogging, and then triggers the button to generate an arc-starting position setting command. The control module responds to the command by recording the value read from the encoder by the motor driver at the moment the button is pressed as the arc-starting position value, which is used as the basis for subsequent calculations.

[0029] S2: The control module calculates the encoder value per unit length of welding torch movement based on the structural component parameters; calculates the welding distance based on the pipe inner diameter, the number of welding torches, and the overlap; calculates the encoder value at the arc-starting position based on the encoder value, welding distance, and encoder value per unit length of welding torch movement; calculates the encoder value at the limit position based on the encoder value at the arc-stopping position, the distance from the arc-stopping position to the limit position, and encoder value per unit length of welding torch movement; and calculates and stores the safety protection limit value in the motor driver based on the encoder value at the arc-starting position, the distance from the arc-stopping position to the protection position, the welding distance, and encoder value per unit length of welding torch movement.

[0030] In step S2, the encoder value per unit length of welding torch movement is the change in the encoder output when the welding torch moves a unit length along the inner wall of the pipe. This change is determined by structural component parameters such as the reduction ratio, drive wheel diameter, gear ring diameter, and pipe inner diameter. The welding distance is the distance each welding torch needs to travel from arc ignition to arc cessation. The arc cessation position encoder value can be calculated by superimposing the position encoder value corresponding to the welding distance, starting from the arc ignition position encoder value. Similarly, the limit position encoder value can be calculated by superimposing the position encoder value corresponding to the distance from the arc cessation position encoder to the limit position, starting from the arc cessation position encoder value. Simultaneously, to ensure the correct triggering of the driver's hardware limit protection function, the minimum safe protection limit value of the driver is calculated based on the CW arc ignition position encoder value, the distance from the arc cessation position to the protection position, and the encoder value per unit length of welding torch movement. The maximum safe protection limit value of the driver is also calculated based on these parameters.

[0031] S3: After the internal welding machine control system is restarted or the structural component parameters are updated, the current safety protection limit value is recalculated, and it is determined whether the current safety protection limit value is consistent with the safety protection limit value saved by the motor driver. If they are consistent, the rotary ring is allowed to rotate continuously.

[0032] In step S3, when the system restarts or the structural component parameters (such as pipe inner diameter, number of welding torches, etc.) are updated, the structural component parameters stored in the database may have changed. The safety protection limit values ​​stored in the driver are calculated based on the old parameters before the update. If the old and new parameters do not match, the driver's self-limiting protection will not trigger at the correct position. Therefore, after the system restarts or the parameters are updated, the control module recalculates the safety protection limit values ​​based on the latest structural component parameters in the current database and compares them with the safety protection limit values ​​already stored in the driver. If they match, it indicates that the current driver's limit settings match the machine parameters, allowing the rotary ring to rotate continuously. If they do not match, it indicates that the parameters have changed but the driver has not been updated synchronously, requiring recalibration of the arc-starting position and rewriting of the limit values ​​before the method can continue.

[0033] S4: When the rotary ring is running continuously, the current encoder value is acquired in real time, and the current encoder value is compared with the values ​​of the arc start position encoder, the arc stop position encoder, and the limit position encoder respectively. When the current encoder value is equal to the arc start position encoder value, the welding torch is controlled to start the arc; when the current encoder value is equal to the arc stop position encoder value, the welding torch is controlled to stop the arc; when the current encoder value is equal to the limit position encoder value, the rotary ring is controlled to stop rotating.

[0034] In step S4, during the continuous rotation of the rotary ring, the control module reads the current encoder value output by the encoder and compares it in real time with the calculated encoder values ​​for the arc-starting position, arc-stopping position, and limit position. Since the current encoder value changes continuously with the rotation of the rotary ring, when the current encoder value equals the arc-starting position encoder value, it indicates that the rotary ring has reached the arc-starting position, and an arc-starting position signal is output to control the welding torch to start the arc. When the current encoder value equals the arc-stopping position encoder value, it indicates that the rotary ring has reached the arc-stopping position, and an arc-stopping position signal is output to control the welding torch to stop the arc. When the current encoder value equals the limit position encoder value, it indicates that the rotary ring has reached the limit position, and a limit position signal is output to control the rotary ring to stop rotating. This achieves real-time detection of key positions during the operation of the rotary ring and controls the welding torch and rotary ring based on the detection results.

[0035] Preferably, when the current encoder value reaches the welding area between the arc start position and the arc stop position, a welding area signal is output, indicating that the rotary ring is in the normal welding range. At this time, the welding power supply continues to output, the wire feed continues, and the shielding gas continues to be supplied until the arc stop position is reached.

[0036] In one embodiment, the encoder value per unit length of welding torch movement The calculation expression is:

[0037] in, This is the reduction ratio; The diameter of the drive wheel; This is the value for a single-turn encoder; Pi; The diameter of the gear ring; This refers to the inner diameter of the pipe.

[0038] In one embodiment, welding distance The calculation expression is:

[0039] in, This refers to the welding distance; Pi; Where N is the inner diameter of the pipe; N is the number of welding torches. This refers to the overlap amount.

[0040] In one embodiment, before the rotating ring rotates continuously, the following steps are further included: (1) Select the welding direction, including clockwise CW or counterclockwise CCW.

[0041] (2) When the welding direction is CW, the CW arc start position encoder value is used as the arc start position encoder value. The CW arc start position encoder value is the encoder value collected in response to the CW arc start position setting command; the CW arc stop position encoder value is used as the arc stop position encoder value. The CW arc stop position encoder value is calculated based on the CW arc start position encoder value, welding distance and welding torch movement unit length encoder value; the CW limit position encoder value is used as the limit position encoder value. The CW limit position encoder value is calculated based on the CW arc stop position encoder value, distance from arc stop position to limit position and welding torch movement unit length encoder value.

[0042] Optionally, the CW stop-arc position encoder value The calculation expression is:

[0043] in, The encoder value for the CW arc start position (the encoder value read when setting the CW arc start position).

[0044] Optionally, the CW limit position encoder value The calculation expression is:

[0045] in, This is the distance from the arc-stopping position to the limit position.

[0046] (3) When the welding direction is CCW, the CCW arc start position encoder value is used as the arc start position encoder value. The CCW arc start position encoder value is the encoder value collected in response to the CCW arc start position setting command; the CCW arc stop position encoder value is used as the arc stop position encoder value. The CCW arc stop position encoder value is calculated based on the CCW arc start position encoder value, welding distance and welding torch movement unit length encoder value; the CCW limit position encoder value is used as the limit position encoder value. The CCW limit position encoder value is calculated based on the CCW arc stop position encoder value, distance from arc stop position to limit position and welding torch movement unit length encoder value. Optionally, the CCW stop position encoder value The calculation expression is:

[0047] in, The encoder value for the CCW arc start position (the encoder value read when setting the CCW arc start position).

[0048] Optionally, the CCW limit position encoder value The calculation expression is: .

[0049] (4) During the operation of the rotary ring, when the welding direction is CW, the encoder value is collected in real time as the current encoder value. The current encoder value is compared with the encoder values ​​of the CW arc start position, CW arc stop position, and CW limit position respectively. When the current encoder value is equal to the encoder value of the CW arc start position, the welding torch is controlled to start the arc; when the current encoder value is equal to the encoder value of the CW arc stop position, the welding torch is controlled to stop the arc; when the current encoder value is equal to the encoder value of the CW limit position, the rotary ring is controlled to stop rotating.

[0050] When the welding direction is CCW, the encoder value is collected in real time as the current encoder value. The current encoder value is compared with the encoder values ​​of CCW arc start position, CCW arc stop position, and CCW limit position respectively. When the current encoder value is equal to the encoder value of CCW arc start position, the welding torch is controlled to start the arc; when the current encoder value is equal to the encoder value of CCW arc stop position, the welding torch is controlled to stop the arc; when the current encoder value is equal to the encoder value of CCW limit position, the rotary ring is controlled to stop rotating.

[0051] In one embodiment, the calculation expressions for the minimum safety protection limit value and the maximum safety protection limit value are as follows:

[0052]

[0053] in, This is the minimum safety protection limit value for the driver; This refers to the maximum safety protection limit value of the driver. The minimum and maximum safety protection limits of the driver are parameters set in the motor driver. These parameters can be set via communication commands to enable the driver to implement self-limiting protection function and prevent damage to structural components due to failure of normal limit switches.

[0054] In one embodiment, the calculation of the arc-stop position encoder value and the limit position encoder value further includes: (1) Calculate the rotatable distance based on the welding distance and the distance from the arc-stopping position to the protective position. The rotatable distance is equal to the welding distance plus twice the distance from the arc-stopping position to the protective position. The calculation expression is:

[0055] in, This is the rotatable distance.

[0056] (2) Obtain the current encoder value of the rotary ring, and determine whether the current encoder value of the rotary ring is within the safe rotation range based on the rotatable distance. If it is not within the safe rotation range, control the rotary ring to stop rotating or control the rotary ring to rotate only in a jog mode and the single continuous rotation time does not exceed the preset time threshold.

[0057] The control mechanism for stopping the rotation of the rotary ring can be achieved by sending a stop command to the motor driver or cutting off the motor power supply. The rotary ring can only rotate in a jogging manner, and the duration of a single continuous rotation cannot exceed a preset time threshold. A limit flag can be set within the control module. When the limit flag is set, the rotation time of the rotary ring is detected. If the continuous rotation time reaches the preset time threshold, such as 5 seconds, the motor power supply is automatically cut off or a stop command is sent to the motor driver.

[0058] In one embodiment, before allowing the rotating ring to rotate continuously, the method further includes: (1) Obtain the first driver serial number of the driver that was working normally last time and the second driver serial number stored in the motor driver respectively.

[0059] The first driver serial number is stored in the database. After retrieving the arc initiation position value, calculating the safety protection limit value, and saving it to the motor driver, the first driver serial number of the driver that last worked normally is written into the database. The second driver serial number is a unique serial number written to each motor driver at the factory.

[0060] (2) Determine whether the serial number of the first driver and the serial number of the second driver are consistent. If they are inconsistent, control the rotary ring to rotate in a jogging manner and the single continuous rotation time does not exceed the preset time threshold. If they are consistent, obtain the safety protection limit value stored in the motor driver.

[0061] When the control ring rotates in a jogging manner and the single continuous rotation time does not exceed the preset time threshold, the control module can send a command to the driver to set the maximum and minimum limit values ​​to 0 and provide a limit flag to the application module. At this time, the ring cannot be rotated continuously when it is used to operate the ring, and it will stop after rotating for 5 seconds.

[0062] In one embodiment, when obtaining the safety protection limit value stored in the motor driver, the method further includes: (1) Determine whether a safety protection limit value has been set.

[0063] (2) If no safety protection limit value is set, the control ring is rotated in a jog mode and the single continuous rotation time does not exceed the preset time threshold.

[0064] Specifically, the limit position values ​​stored in the motor driver are read. If the minimum safety protection limit value and the maximum safety protection limit value are zero, it is determined that no safety protection limit value is set in the motor driver. A limit flag is output. The limit flag can be a software flag bit or a hardware signal. When the limit flag is set, the control rotary ring can only rotate in a jogging manner, and the single continuous rotation time does not exceed the preset time threshold.

[0065] (3) If a safety protection limit value is set, obtain the current encoder value corresponding to the current position of the rotary ring, and determine whether the current encoder value is within the range of the safety protection limit value; if it is not within the range of the safety protection limit value, control the rotary ring to rotate in a jogging manner and the single continuous rotation time does not exceed the preset time threshold, such as 5 seconds; if it is within the range of the safety protection limit value, proceed to the step of determining whether the current safety protection limit value is consistent with the safety protection limit value stored in the motor driver.

[0066] Specifically, the limit position values ​​stored in the motor driver are read. When both the minimum and maximum safety protection limit values ​​are not zero, it indicates that the minimum and maximum safety protection limit values ​​have been set. Then, the step of determining whether the current encoder value is within the range of the safety protection limit values ​​is executed. Among the safety protection limit values, the CW and CCW limit position encoder values ​​represent the normal control limit positions. The maximum safety protection limit value must be greater than the CW limit position encoder value, and the minimum safety protection limit value must be less than the CCW limit position encoder value.

[0067] In one embodiment, when determining whether the current safety protection limit value is consistent with the safety protection limit value stored in the motor driver, if they are inconsistent, it indicates that they are not the same model or the setting is incorrect, and a limit flag is output. When the limit flag is set, the control rotary ring can only rotate in a jogging manner, and the single continuous rotation time does not exceed a preset time threshold.

[0068] In one embodiment, after controlling the rotary ring to rotate in a jogging manner and ensuring that the duration of a single continuous rotation does not exceed a preset time threshold, the method further includes: The encoder value of the arc starting position is reacquired, the safety protection limit value is calculated and saved in the motor driver, allowing the rotary ring to rotate continuously.

[0069] Specifically, when the rotary ring can only rotate continuously for 5 seconds, the operator needs to reset the arc-starting position. First, the reset button is used to clear the original data. After resetting, the rotary ring CW rotation button is operated, using welding torch 1 on the CW side as a reference, to rotate the CW1 welding torch to the manually determined CW arc-starting position on the weld. At this point, the CW arc-starting position setting button is pressed. Upon receiving this button signal, the application module stores the encoder value read at this time into the database. Then, the rotary ring CCW rotation button is operated, using welding torch 1 on the CCW side as a reference, to rotate the CCW1 welding torch to the manually determined CCW arc-starting position on the weld. The CCW arc-starting position setting button is pressed. Upon receiving this button signal, the application module also stores the encoder value read at this time into the database. Simultaneously, the newly set arc-starting position values ​​on both sides are sent to the control module. The control module recalculates the maximum and minimum safety protection limit values ​​of the driver based on the arc-starting position values ​​and sends a command to the driver to reset the maximum and minimum limit values. It also sends a command to the application module to store the new safety protection limit values ​​in the database. After completing the above process, the restriction of only being able to rotate continuously for 5 seconds will be removed, and the rotary ring can operate normally, meaning that the rotary ring is allowed to rotate continuously.

[0070] In one embodiment, the control module detects the real-time encoder value and compares it with the encoder value at each theoretical position. Combined with the welding direction selected by the user, it outputs the CW arc start position signal, CW arc stop position signal, CW limit position signal, CCW arc start position signal, CCW arc stop position signal, and CCW limit position signal, thereby completing the welding control process in conjunction with the welding wire, welding power source, rotary ring, shielding gas, etc.

[0071] Preferably, when outputting the CW arc ignition position signal and the CCW arc ignition position signal, controlling the welding torch to ignite the arc includes: Send an opening command to the protective gas solenoid valve to control the protective gas solenoid valve to open; Send an arc-ignition command to the welding power source and control the welding power source to establish an open-circuit voltage; Send a wire feeding command to the wire feeding motor driver to control the wire feeding motor to start feeding wire.

[0072] Preferably, when outputting the CW arc-stopping position signal and the CCW arc-stopping position signal, controlling the welding torch to stop the arc includes: Send an arc-extinguishing command to the welding power source to control the welding power source to stop outputting. After a preset delay, send a shut-off command to the shielding gas solenoid valve to control the shielding gas solenoid valve to close. Send a stop wire feeding command to the wire feeding motor driver to control the wire feeding motor to stop feeding wire.

[0073] Specifically, before starting welding, the rotary ring is rotated in the CCW direction and stops rotating when it reaches the CCW limit position. The welding direction on the CW side is selected, and the start welding button is pressed. The control module controls the CW side shielding gas valve to open, sends an arc-ignition command to the welding power source, and controls the welding power source to establish an open-circuit voltage. The rotary ring starts rotating in the CW direction. When it reaches the CW arc-ignition position, the wire feed motor driver starts feeding the wire, and the welding wire contacts the tube wall to start the arc. When it reaches the CW arc-stop position, the rotary ring stops rotating, sends a stop wire feeding command to the wire feed motor driver, and sends an arc-extinguishing command to the welding power source, controlling the welding power source to stop outputting the arc. After a preset delay, such as 3 seconds, a shut-off command is sent to the shielding gas solenoid valve to close the shielding gas valve, completing the CW side welding. The ring rotates in the CW direction until it reaches the CW limit position and stops rotating. Select the CCW side welding direction and press the start welding button. The control module controls the CCW side shielding gas valve to open, sends an arc ignition command to the welding power source, and controls the welding power source to establish an open-circuit voltage. The rotary ring starts rotating in the CCW direction. When it rotates to the CCW arc ignition position, it controls the wire feed motor driver to start feeding wire. The welding wire contacts the pipe wall and starts to ignite the arc. When it rotates to the CCW arc stop position, the rotary ring stops rotating, sends a stop wire feeding command to the wire feed motor driver, and sends an arc extinguishing command to the welding power source, controlling the welding power source to stop outputting. After a preset delay time, such as 3 seconds, it sends a shut-off command to the shielding gas solenoid valve, closing the shielding gas valve and completing the CCW side welding. This completes a full inner ring weld welding process.

[0074] In one embodiment, during the operation of the rotating ring, the following is also included: The real-time acquired encoder value is converted into the current angle value of the rotary ring; Welding parameters matching the angle value are retrieved from the database. These parameters include wire feed speed, arc length, welding voltage, and welding current. The welding parameters are then sent to the welding power source and the wire feed motor driver, and the welding parameters are adjusted in real time during the rotation of the rotary ring.

[0075] Specifically, the encoder acquires the real-time position of the rotary ring and converts it into the current angle value of the rotary ring, enabling more precise control of welding performance by using different welding parameters at different angles. More specifically, the database presets welding power supply performance-related parameters such as wire feed speed, arc length, and voltage for each angle of each welding torch. The arc initiation position is set to 0°. The welding torches are evenly distributed on the rotary ring, and the initial angle of each torch is known. Taking a 6-torch internal welding machine as an example, with 3 torches on each side of the CW and CCW, for the CW side, the starting angle of torch 1 is 0°, torch 2 is 60°, and torch 3 is 120°. The encoder value is converted into an angle, and the control module retrieves the corresponding angle parameters for each torch from the database based on the current rotary ring angle. This information is then sent to the wire feed motor driver and the welding power supply, thereby automatically adjusting different angle parameters to optimize welding performance and reduce defects.

[0076] Combining the above embodiments yields a preferred embodiment of the present invention. This method architecture includes interconnected application and control modules. The application module includes buttons, which can be used to issue commands for setting and resetting reference positions, selecting welding directions, and starting and stopping the rotation of the rotary ring. Furthermore, the application module includes a database storing parameters of the rotary ring structural components, welding process parameters, clockwise arc-starting position encoding values, counter-clockwise arc-starting position encoding values, distance from the arc-stopping position to the limit position, distance from the arc-stopping position to the protection position, driver serial number, and parameters read from the motor driver. The rotary ring structural component parameters include the drive wheel diameter, gear ring diameter, reduction ratio, number of welding torches, and single-turn encoder value; the welding process parameters include pipe diameter, wall thickness, overlap, current, voltage, arc length, and wire feed speed; the parameters read from the motor driver include the driver serial number, maximum and minimum safety protection limit values, and the current encoder value (real-time encoder value). The application module transmits parameters and key information stored in the database to the control module. The control module can then provide feedback to the application module regarding the arc start position, arc stop position, and prohibited rotation position, and also feed back multi-level verification results. This methodological architecture fully leverages the independence, versatility, and portability of the control module.

[0077] First, a position sensor is installed on the rotating motor shaft of the rotary ring. In this embodiment, an encoder is used. Then, the control method includes the following steps: S10: Obtain the first driver serial number of the driver that last worked normally, and read the second driver serial number stored in the motor driver; determine whether the first driver serial number and the second driver serial number are consistent. If they are inconsistent, proceed to step S40; if they are consistent, proceed to step S20. S20: Obtain the safety protection limit value stored in the motor driver. When obtaining the limit value, determine whether the safety protection limit value has been set in the motor driver. If the safety protection limit value has not been set, proceed to step S40. If the safety protection limit value has been set, obtain the current encoder value of the rotary ring and determine whether the current encoder value is within the range of the safety protection limit value. If it is not within the range of the safety protection limit value, proceed to step S40. If it is within the range of the safety protection limit value, proceed to step S30.

[0078] S30: Calculate the safety protection limit value, that is: calculate the minimum safety protection limit value of the driver based on the encoder value of the CW arc start position, the distance from the arc stop position to the protection position, and the encoder value of the welding torch movement unit length, and calculate the maximum safety protection limit value of the driver based on the encoder value of the CW arc start position, the distance from the arc stop position to the protection position, the welding distance, and the encoder value of the welding torch movement unit length. Determine whether the current safety protection limit value is consistent with the safety protection limit value stored in the motor driver. If they are consistent, allow the rotary ring to rotate continuously and proceed to step S50; if they are inconsistent, proceed to step S40. S40: Provides a limit indicator and controls the rotary ring to rotate in a jogging manner, with the single continuous rotation time not exceeding a preset time threshold, such as 5 seconds; The rotary ring is jogged to the arc-starting position and the button is pressed to set the arc-starting position setting command. The encoder value at the time the button is pressed is used as a reference to obtain the arc-starting position encoder value. Based on the arc-starting position encoder value, the safety protection limit value of the driver is calculated and written into the limit register of the driver. The serial number of the current driver is written into the database. After the safety protection limit value is successfully written, the jogging restriction is canceled, and the rotary ring is allowed to rotate continuously. Proceed to step S50. S50: Calculate the position value per unit length of welding torch movement based on structural component parameters; calculate the welding distance based on pipe inner diameter, number of welding torches, and overlap; calculate the rotatable distance based on welding distance and distance from arc stop position to protection position. Choose the welding direction, including clockwise or counterclockwise; When the welding direction is clockwise, the clockwise arc-starting position encoder value is used as the arc-starting position encoder value, which is the encoder value acquired in response to the clockwise arc-starting position setting command; the clockwise arc-stopping position encoder value is used as the arc-stopping position encoder value, which is calculated based on the clockwise arc-starting position encoder value, the welding distance, and the encoder value of the welding torch moving by a unit length; the clockwise limit position encoder value is used as the limit position encoder value, which is calculated based on the clockwise arc-stopping position encoder value, the distance from the arc-stopping position to the limit position, and the encoder value of the welding torch moving by a unit length. When the welding direction is counterclockwise, the counterclockwise arc-starting position encoder value is used as the arc-starting position encoder value, which is the encoder value acquired in response to the counterclockwise arc-starting position setting command; the counterclockwise arc-stopping position encoder value is used as the arc-stopping position encoder value, which is calculated based on the counterclockwise arc-starting position encoder value, the welding distance, and the encoder value of the welding torch moving by a unit length; the counterclockwise limit position encoder value is used as the limit position encoder value, which is calculated based on the counterclockwise arc-stopping position encoder value, the distance from the arc-stopping position to the limit position, and the encoder value of the welding torch moving by a unit length. S60: Determine whether the current position value of the rotary ring is within the safe rotation range based on the rotatable distance. If not, control the rotary ring to stop rotating.

[0079] S70: After the internal welding machine control system restarts or the structural component parameters are updated, the current safety protection limit value is recalculated. It is then determined whether the current safety protection limit value is consistent with the safety protection limit value saved by the motor driver. If they are consistent, the rotary ring is allowed to rotate continuously. If they are inconsistent, the rotary ring is controlled to rotate in a jogging manner, and the time of a single continuous rotation does not exceed a preset time threshold, such as 5 seconds. S80: During continuous rotation of the rotary ring, the current encoder value is collected in real time. When the welding direction is clockwise, the current encoder value is compared with the clockwise arc-starting encoder value, the clockwise arc-stopping encoder value, and the clockwise limit encoder value. When the current encoder value equals the clockwise arc-starting encoder value, the welding torch is controlled to start the arc; when the current encoder value equals the clockwise arc-stopping encoder value, the welding torch is controlled to stop the arc; when the current encoder value equals the clockwise limit encoder value, the rotary ring is controlled to stop rotating. When the welding direction is counterclockwise, the current encoder value is compared with the counterclockwise arc initiation encoder value, the counterclockwise arc cessation encoder value, and the counterclockwise limit encoder value. When the current encoder value equals the counterclockwise arc initiation encoder value, the welding torch is controlled to start the arc; when the current encoder value equals the counterclockwise arc cessation encoder value, the welding torch is controlled to stop the arc; when the current encoder value equals the counterclockwise limit encoder value, the rotary ring is controlled to stop rotating. The process of controlling the arc ignition of the welding torch includes: sending an opening command to the shielding gas solenoid valve to control the shielding gas solenoid valve to open; sending an arc ignition command to the welding power source to control the welding power source to establish an open-circuit voltage; and sending a wire feeding command to the wire feed motor driver to control the wire feed motor to start feeding wire. The process of controlling the arc cessation of the welding torch includes: sending a wire feeding cessation command to the wire feed motor driver to control the wire feed motor to stop feeding wire; sending an arc extinguishing command to the welding power source to control the welding power source to stop outputting wire; and after a preset delay, sending a shut-off command to the shielding gas solenoid valve to control the shielding gas solenoid valve to close. S90: During the operation of the rotary ring, the real-time collected current position value is converted into the current angle value of the rotary ring; welding parameters matching the angle value are obtained from the database according to the angle value, including wire feeding speed, arc length, welding voltage and welding current, and the welding parameters are sent to the welding power supply and wire feeding motor driver, thereby adjusting the welding parameters in real time during the rotation of the rotary ring.

[0080] The preferred embodiments of the present invention have the following technical advantages: (1) The operation is simple and convenient. The operator only needs to operate the button at the arc starting position. After the control module receives the reference position setting command, all other positions are automatically calculated and controlled by the control module. The original settings can also be quickly cleared and reset by operating the reset button. (2) It has strong versatility, no requirements for structural space, and simple installation. The control method of this invention can be used to accurately control the rotary ring of the inner welding machine with different pipe diameters simply by inputting the corresponding structural parameters into the database. (3) The encoder has high precision and strong environmental adaptability, and can ensure high precision and high stability and reliability within the encoder's operating temperature range; (4) A position verification mechanism was designed and feedback reminders were given to the user. The purpose is to ensure that the correct setting and reliable control of each position can still be guaranteed even if the input parameters are updated. (5) In order to prevent the limit switch failure from causing damage to structural components, a dual protection function of control module control limit and driver automatic limit is designed.

[0081] (6) Through real-time position feedback from the encoder, various angle parameters can be preset in the database and the control module can automatically match and adjust the parameters to achieve refined welding performance control.

[0082] The present invention also provides a computer program product, including a computer program that, when executed by a processor, implements the steps of the rotary loop control method for an internal welding machine formed by any or a combination of the above embodiments. The processor may be a single-core or multi-core central processing unit or a specific integrated circuit, or one or more integrated circuits configured to implement the present invention.

[0083] The present invention also provides a storage medium having the same inventive concept as the rotary ring control method for an internal welding machine formed by any or more of the above embodiments, wherein computer instructions are stored thereon, and the computer instructions execute the steps of the rotary ring control method for an internal welding machine formed by any or more of the above embodiments when they are run.

[0084] Based on this understanding, the technical solution of this embodiment, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0085] This invention also provides a terminal that shares the same inventive concept as any or a combination of embodiments corresponding to the aforementioned rotary loop control method for an internal welding machine, including a memory and a processor. The memory stores computer instructions executable on the processor, and the processor executes the steps of the aforementioned rotary loop control method for an internal welding machine when executing the computer instructions. The processor may be a single-core or multi-core central processing unit or a specific integrated circuit, or one or more integrated circuits configured to implement this invention.

[0086] In one embodiment, the terminal, i.e., the electronic device, is manifested in the form of a general-purpose computing device. The components of the electronic device may include, but are not limited to, at least one processing unit (processor), at least one storage unit, and a bus connecting different system components (including storage units and processing units).

[0087] The storage unit stores program code that can be executed by the processing unit, causing the processing unit to perform the steps described in the "Exemplary Methods" section of this specification according to various exemplary embodiments of the present invention. For example, the processing unit can execute the aforementioned rotary ring control method for an internal welding machine.

[0088] The storage unit may include readable media in the form of volatile storage units, such as random access memory (RAM) and / or cache storage units, and may further include read-only memory (ROM).

[0089] The storage unit may also include a program / utility having a set (at least one) of program modules, including but not limited to an operating system, one or more applications, other program modules, and program data. Each or some combination of these embodiments may include an implementation of a network environment.

[0090] A bus can represent one or more of several types of bus structures, including a memory cell bus or memory cell controller, a peripheral bus, a graphics acceleration port, a processing unit, or a local bus that uses any of the various bus structures.

[0091] Through the above description, those skilled in the art will readily understand that the embodiments described herein can be implemented by software or by combining software with necessary hardware. Therefore, the technical solutions according to the embodiments can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (such as a CD-ROM, USB flash drive, external hard drive, etc.) or on a network, including several instructions to cause a computing device (such as a personal computer, server, terminal device, or network device, etc.) to execute the methods of the embodiments of this application.

[0092] The above detailed embodiments are a description of the present invention. It should not be considered that the specific embodiments of the present invention are limited to these descriptions. For those skilled in the art, several simple deductions and substitutions can be made without departing from the concept of the present invention, and all of these should be considered to fall within the protection scope of the present invention.

Claims

1. A rotary ring control method for an internal welding machine, characterized in that, An encoder is installed on the rotating motor shaft of the rotary ring, and the control method includes the following steps: Rotate the rotary ring to the arc starting position and set the arc starting position setting command. In response to the arc starting position setting command, use the current encoder position value fed back by the encoder as the arc starting position encoder value. The encoder value for the unit length of welding torch movement is calculated based on the structural component parameters, including the reduction ratio, drive wheel diameter, gear ring diameter, and pipe inner diameter. The welding distance is calculated based on the pipe inner diameter, the number of welding torches, and the overlap. The encoder value for the arc-stopping position is calculated based on the encoder value for the arc-starting position, the welding distance, and the encoder value for the unit length of welding torch movement. The encoder value for the limit position is calculated based on the encoder value for the arc-stopping position, the distance from the arc-stopping position to the limit position, and the encoder value for the unit length of welding torch movement. Finally, the encoder value for the arc-starting position (clockwise), the distance from the arc-stopping position to the protection position, and the encoder value for the unit length of welding torch movement are calculated. The minimum safety protection limit value of the driver is calculated by the encoder value of the clockwise arc start position, the distance from the arc stop position to the protection position, the welding distance, and the encoder value of the welding torch moving by a unit length. The minimum and maximum safety protection limit values ​​are stored in the motor driver. Among the safety protection limit values, the clockwise limit position encoder value and the counterclockwise limit position encoder value are the limit positions under normal control. The maximum safety protection limit value is greater than the clockwise limit position encoder value, and the minimum safety protection limit value is less than the counterclockwise limit position encoder value. After the internal welding machine control system is restarted or the structural component parameters are updated, the current minimum safety protection limit value and the current maximum safety protection limit value are recalculated. It is then determined whether the current minimum safety protection limit value and the current maximum safety protection limit value are consistent with the minimum safety protection limit value and the maximum safety protection limit value stored in the motor driver. If they are consistent, the rotary ring is allowed to rotate continuously. During continuous rotation of the rotary ring, the current position encoder value is collected in real time and compared with the values ​​of the arc-starting position encoder, the arc-stopping position encoder, and the limit position encoder. When the current position encoder value equals the arc-starting position encoder value, the welding torch is controlled to start the arc; when the current position encoder value equals the arc-stopping position encoder value, the welding torch is controlled to stop the arc; when the current position encoder value equals the limit position encoder value, the rotary ring is controlled to stop rotating. Before the rotating ring rotates continuously, it also includes: Choose the welding direction, including clockwise or counterclockwise; When the welding direction is clockwise, the clockwise arc-starting position encoder value is used as the arc-starting position encoder value, which is the position encoder value acquired in response to the clockwise arc-starting position setting command; the clockwise arc-stopping position encoder value is used as the arc-stopping position encoder value, which is calculated based on the clockwise arc-starting position encoder value, the welding distance, and the encoder value of the welding torch moving by a unit length; the clockwise limit position encoder value is used as the limit position encoder value, which is calculated based on the clockwise arc-stopping position encoder value, the distance from the arc-stopping position to the limit position, and the encoder value of the welding torch moving by a unit length. When the welding direction is counterclockwise, the counterclockwise arc-starting position encoder value is used as the arc-starting position encoder value, which is the position encoder value acquired in response to the counterclockwise arc-starting position setting command; the counterclockwise arc-stopping position encoder value is used as the arc-stopping position encoder value, which is calculated based on the counterclockwise arc-starting position encoder value, the welding distance, and the encoder value of the welding torch moving by a unit length; the counterclockwise limit position encoder value is used as the limit position encoder value, which is calculated based on the counterclockwise arc-stopping position encoder value, the distance from the arc-stopping position to the limit position, and the encoder value of the welding torch moving by a unit length. During the operation of the rotary ring, when the welding direction is clockwise, the position encoder value is collected in real time as the current position encoder value. The current position encoder value is compared with the clockwise arc-starting position encoder value, the clockwise arc-stopping position encoder value, and the clockwise limit position encoder value. When the current position encoder value is equal to the clockwise arc-starting position encoder value, the welding torch is controlled to start the arc; when the current position encoder value is equal to the clockwise arc-stopping position encoder value, the welding torch is controlled to stop the arc; when the current position encoder value is equal to the clockwise limit position encoder value, the rotary ring is controlled to stop rotating. When the welding direction is counterclockwise, the position encoder value is collected in real time as the current position encoder value. The current position encoder value is compared with the counterclockwise arc start position encoder value, the counterclockwise arc stop position encoder value, and the counterclockwise limit position encoder value. When the current position encoder value is equal to the counterclockwise arc start position encoder value, the welding torch is controlled to start the arc; when the current position encoder value is equal to the counterclockwise arc stop position encoder value, the welding torch is controlled to stop the arc; when the current position encoder value is equal to the counterclockwise limit position encoder value, the rotary ring is controlled to stop rotating. Minimum safety protection limit of the drive Maximum safety protection limit of the drive The calculation expression is: ； ； in, This is the encoder value for the clockwise arc starting position; The encoder value per unit length of welding torch movement; This refers to the welding distance; This is the distance from the arc-stopping position to the protection position. Clockwise limit position encoder value Counterclockwise limit position encoder value The calculation expressions are as follows: ； ； in, The distance from the arc-stopping position to the limit position; Clockwise arc stop position encoder value Counterclockwise arc stop position encoder value The calculation expressions are as follows: ； 。 2. The rotary ring control method for the internal welding machine according to claim 1, characterized in that, The calculation of the encoder values ​​for the arc-stop position and the limit position also includes: The rotatable distance is calculated based on the welding distance and the distance from the arc-stopping position to the protective position. The encoder value of the current position of the rotary ring is determined based on the rotatable distance. If it is not within the safe rotation range, the rotary ring can only be rotated in a jogging manner and the single continuous rotation time does not exceed the preset time threshold.

3. The rotary ring control method for the internal welding machine according to claim 1, characterized in that, Before allowing the slewing ring to rotate continuously, the following also applies: Retrieve the first driver serial number of the driver that last worked normally and the second driver serial number stored in the motor driver, respectively; Determine whether the serial number of the first driver and the serial number of the second driver are consistent. If they are inconsistent, control the rotary ring to rotate in a jogging manner and ensure that the single continuous rotation time does not exceed the preset time threshold. If they are consistent, obtain the safety protection limit value stored in the motor driver.

4. The rotary ring control method for the internal welding machine according to claim 3, characterized in that, When retrieving the safety protection limit values ​​stored in the motor driver, the following is also included: Determine whether safety protection limit values ​​have been set; If no safety protection limit value is set, the control ring rotates in a jogging manner and the single continuous rotation time does not exceed the preset time threshold. If a safety protection limit value is set, the current position encoder value of the rotary ring is obtained, and it is determined whether the current position encoder value is within the range of the safety protection limit value. If it is not within the range of the safety protection limit value, the rotary ring is controlled to rotate in a jogging manner and the single continuous rotation time does not exceed the preset time threshold. If it is within the range of the safety protection limit value, the step of determining whether the current safety protection limit value is consistent with the safety protection limit value stored in the motor driver is entered.

5. The rotary ring control method for the internal welding machine according to claim 4, characterized in that, When determining whether the current safety protection limit value is consistent with the safety protection limit value stored in the motor driver, if they are inconsistent, the control ring is to rotate in a jogging manner and the single continuous rotation time does not exceed the preset time threshold.

6. The rotary ring control method for the internal welding machine according to claim 5, characterized in that, After the control rotary ring rotates in a jogging manner and the time of a single continuous rotation does not exceed a preset time threshold, the method further includes: The encoder value of the arc starting position is reacquired, the safety protection limit value is calculated and saved in the motor driver, allowing the rotary ring to rotate continuously.

7. The rotary ring control method for the internal welding machine according to claim 1, characterized in that, The control of the welding torch arc ignition includes: Send an opening command to the protective gas solenoid valve to control the protective gas solenoid valve to open; Send an arc-ignition command to the welding power source and control the welding power source to establish an open-circuit voltage; Send a wire feeding command to the wire feeding motor driver to control the wire feeding motor to start feeding wire.

8. The rotary ring control method for the internal welding machine according to claim 1, characterized in that, The control of stopping the welding torch arc includes: Send a stop wire feeding command to the wire feeding motor driver to control the wire feeding motor to stop feeding wire; A extinguishing command is sent to the welding power source to stop the welding power source from outputting. After a preset delay, a shut-off command is sent to the shielding gas solenoid valve to close the shielding gas solenoid valve.

9. The rotary ring control method for the internal welding machine according to claim 1, characterized in that, The process of rotating ring operation also includes: Convert the real-time acquired encoder value of the current position into the angle value of the rotary ring at the current position; Welding parameters matching the angle value are obtained from the database. These welding parameters include wire feed speed, arc length, welding voltage, and welding current. The welding parameters are then sent to the welding power source and the wire feed motor driver, and the welding parameters are adjusted in real time during the rotation of the rotary ring.

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