TIG (Tungsten Inert Gas) automatic locating immersion arc welding control system

Abstract

The utility model relates to a TIG (Tungsten Inert Gas) automatic locating immersion arc welding control system which comprises a transverse arm, a longitudinal arm and a servo motor, the servo motor is connected with a servo driver, and the servo driver is in communication connection with a PLC (Programmable Logic Controller); a tracking sensor is arranged on the welding gun fixing plate, and the output end of the tracking sensor is electrically connected with the analog input end of the PLC. The PLC is in communication connection with a network module, and the PLC is in wireless communication connection with a remote controller through the network module; a monitoring module is arranged at the position close to the welding gun mechanism and connected with a network module, and the monitoring module is in wireless communication connection with a remote controller. The servo driver is arranged to improve the control precision of the system, the PLC is combined to complete automatic welding, the tracking sensor is arranged to provide a hardware basis for automatic locating, the PLC is in communication connection with the remote controller through the network module, and the position of the welding gun can be finely adjusted through the remote controller.

Description

Technical Field

[0001] The utility model relates to the technical field of TIG welding, in particular to a TIG automatic positioning immersion arc welding control system. Background Art

[0002] The existing TIG welding of steel plates and other plates mostly uses manual seam alignment and handheld welding guns for welding, which is inefficient. During the welding process, the operator needs to adjust the welding gun at any time, and the accuracy is affected by the welding technology and the level varies. Therefore, fully automatic welding equipment has been developed, such as CN106984891A, which discloses a mobile robot TIG welding system to realize automatic welding of workpieces. However, the existing weld tracking structure is relatively complex, and there are slight differences between the plates. It is impossible to perform manual fine-tuning during the welding process using the existing automatic welding equipment, resulting in unsatisfactory welding results. Summary of the invention

[0003] In order to solve the problems of low automatic positioning accuracy of existing automatic welding equipment and inability to make manual adjustments during operation, the utility model proposes a TIG automatic positioning immersion arc welding control system, arranges a servo driver to improve the system control accuracy, combines with a PLC controller to complete automatic welding, arranges a tracking sensor to provide a hardware basis for realizing automatic positioning, and the PLC controller realizes communication connection with a remote controller through a network module, and fine-tuning of the welding gun can be achieved through the remote controller.

[0004] To achieve the above purpose, the utility model proposes a TIG automatic positioning immersion arc welding control system, including a welding gun mechanism, a wire filling device, a positioner, a cross arm manipulator and a swing mechanism, the cross arm manipulator includes a cross arm and a longitudinal arm, the cross arm manipulator, the positioner and the swing mechanism all include a servo motor, the servo motor is connected to a servo driver, and the servo driver is communicatively connected to a PLC controller;

[0005] The welding gun mechanism includes a welding gun and a welding gun fixing plate, the welding gun fixing plate is provided with a tracking sensor, and the output end of the tracking sensor is electrically connected to the analog input end of the PLC controller;

[0006] The PLC controller is connected to the network module through communication, and the PLC controller is connected to the remote controller through wireless communication of the network module;

[0007] A monitoring module is arranged near the welding gun mechanism, the monitoring module is connected to the network module, and the monitoring module is wirelessly connected to the remote controller.

[0008] Furthermore, a slider is fixedly provided in the middle of the transverse arm, a slide rail is fixedly provided on the longitudinal arm, the slide rail and the slider are slidably connected, a chain is provided on the slider, the chain is connected to the output shaft of the servo motor through a sprocket machine, the servo motor is provided at the top of the longitudinal arm, and a drag chain is provided between the transverse arm and the longitudinal arm.

[0009] The chain is arranged to drive the welding gun mechanism to move up and down by retracting and extending the chain.

[0010] Furthermore, the cross arm includes a linear slide, the screw of the linear slide is connected to a worm gear reducer, and the other end of the worm gear reducer is connected to the output shaft of the servo motor;

[0011] The slide block of the linear slide is fixed to the welding gun mechanism.

[0012] The left and right movement of the welding gun mechanism is achieved through a linear slide.

[0013] Furthermore, the swing mechanism also includes a connecting plate, the connecting plate is connected to the cross arm, a servo motor is arranged on the connecting plate, and an output shaft of the servo motor is fixedly connected to a welding gun fixing plate.

[0014] A swing mechanism is provided to realize swing adjustment of the welding gun mechanism.

[0015] Further, the tracking sensor includes an arc sensor.

[0016] The arc sensor uses the change of welding parameters caused by the change of distance between the welding gun and the workpiece to detect the height and left and right deviation of the welding gun. It has a simple structure and fast response.

[0017] Furthermore, the network module includes a LORA wireless module, and the PLC controller is connected to the remote control via the LORA wireless module communication.

[0018] Furthermore, the remote controller includes an HMI module, and the HMI module is communicatively connected to the monitoring module via a LORA wireless module.

[0019] Furthermore, the servo motor is connected to an encoder, and an output end of the encoder is connected to a servo driver.

[0020] Setting the encoder to detect the motor rotation parameters provides a hardware basis for adopting negative feedback control.

[0021] Through the above technical solution, the beneficial effects of the utility model are:

[0022] The utility model adopts a servo control system, including a servo motor, a servo driver, a PLC controller and an encoder. Through the operation accuracy of the positioner, the cross arm manipulator and the swing mechanism, the position adjustment of the welding gun is more accurate. A tracking sensor is set near the welding gun to detect the position relationship between the welding gun and the welding point, providing a hardware basis for automatically adjusting the welding gun position. The welding effect is monitored through the monitoring module. A remote controller is set in combination with the monitoring module and the PLC controller, and a network module is used to build a communication network. The staff can check the welding effect and other parameters on the remote controller, and can manually issue control instructions to the PLC controller through the remote controller, thereby providing a hardware basis for manually controlling the welding operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 This is a schematic diagram of the structure of a TIG automatic positioning immersion arc welding control system of the utility model;

[0024] Figure 2 for Figure 1 A magnified image of point A;

[0025] Figure 3 It is a partial structural schematic diagram of a TIG automatic positioning immersion arc welding control system of the utility model;

[0026] Figure 4 The utility model is a circuit structure diagram of a TIG automatic positioning immersion arc welding control system.

[0027] Figure numbers: 1 is a welding gun mechanism, 2 is a wire filling device, 3 is a swing mechanism, 4 is a horizontal arm, 5 is a longitudinal arm, 6 is a servo motor, 7 is a servo driver, 8 is a PLC controller, 9 is a welding gun fixing plate, 10 is a tracking sensor, 11 is a network module, 12 is a remote control, 13 is a monitoring module, 14 is a chain, 15 is a drag chain, 16 is a worm gear reducer, and 17 is an encoder. DETAILED DESCRIPTION

[0028] The utility model is further described below in conjunction with the accompanying drawings and specific embodiments:

[0029] Example 1

[0030] like Figures 1 to 4 As shown, a TIG automatic positioning immersion arc welding control system includes a welding gun mechanism 1, a wire filling device 2, a positioner, a cross arm manipulator and a swing mechanism 3, wherein the cross arm manipulator includes a cross arm 4 and a longitudinal arm 5, and is characterized in that the cross arm manipulator, the positioner and the swing mechanism 3 all include a servo motor 6, the servo motor 6 is connected to a servo driver 7, and the servo driver 7 is communicatively connected to a PLC controller 8;

[0031] The welding gun mechanism 1 includes a welding gun and a welding gun fixing plate 9, and a tracking sensor 10 is arranged on the welding gun fixing plate 9, and the output end of the tracking sensor 10 is electrically connected to the analog input end of the PLC controller 8;

[0032] The PLC controller 8 is communicatively connected to a network module 11, and the PLC controller is wirelessly connected to a remote controller 12 via the network module 11;

[0033] A monitoring module 13 is disposed near the welding gun mechanism 1 . The monitoring module 13 is connected to the network module 11 . The monitoring module 13 is wirelessly connected to the remote controller 12 .

[0034] A slider is fixedly provided at the middle part of the cross arm 4, a slide rail is fixedly provided on the longitudinal arm 5, the slide rail and the slider are slidably connected, a chain 14 is provided on the slider, the chain 14 is connected to the output shaft of the servo motor 6 through a sprocket machine, the servo motor 6 is arranged at the top of the longitudinal arm 5, and a drag chain 15 is provided between the cross arm 4 and the longitudinal arm 5.

[0035] The cross arm 4 includes a linear slide, the screw of the linear slide is connected to a worm gear reducer 16, and the other end of the worm gear reducer 16 is connected to the output shaft of the servo motor 6;

[0036] The slide block of the linear slide is fixed to the welding gun mechanism 1 .

[0037] The swing mechanism 3 further comprises a connecting plate, which is connected to the cross arm 4 . A servo motor 6 is arranged on the connecting plate, and an output shaft of the servo motor 6 is fixedly connected to a welding gun fixing plate 9 .

[0038] The tracking sensor 10 includes an arc sensor.

[0039] The network module 11 includes a LORA wireless module, and the PLC controller 8 is connected to the remote controller 12 via the LORA wireless module.

[0040] The remote controller 12 includes an HMI module, and the HMI module is communicatively connected with the monitoring module 13 via a LORA wireless module.

[0041] The servo motor is connected to an encoder 17 , and an output end of the encoder 17 is connected to a servo driver 7 .

[0042] The PLC controller 8 is provided with a control box, and the control box is provided with function buttons. The PLC controller 8 is connected to a host computer via an RS232 serial port, and the host computer can adjust the working parameters of the PLC controller 8. After the parameters are preset by the host computer, the button is pressed and the system starts.

[0043] The PLC controller 8 controls the servo motor 6 on the linear slide to work through the servo driver 7. The slider on the linear slide moves toward the weld position according to the set distance. During the operation of the servo motor 6, the encoder detects the rotation parameters of the servo motor 6. The PLC controller 8 determines whether the welding gun is above the working welding point through the rotation parameters (the number of rotations of the servo motor). When the welding gun reaches the set position, the servo motor 6 on the linear slide is powered off and is in a locked shaft state under the action of the worm gear reducer 16.

[0044] The PLC controller 8 controls the servo motor 6 of the longitudinal arm 5 to work through the servo driver 7, and the servo motor 6 drives the chain 14, the chain 14 extends, and the welding gun descends. At the same time, the encoder detects the rotation parameters of the servo motor 6. When the welding gun reaches the welding point, the PLC controller 8 controls the servo motor 6 of the longitudinal arm 5 to cut off the power through the servo driver 7. The chain 14 is locked.

[0045] During operation, when the welding gun contacts the workpiece, the gun is automatically lifted to the welding height according to the above movement mode to start arc pre-melting. After the pre-melting time is up, the gun is continued to be lowered to immerse the depth to the set height and then perform telescopic straight seam welding or rotary circular seam welding. The use of immersion penetration welding can achieve better welding effects. During the welding process, the arc sensor works, and the PLC controller 8 controls the cross arm manipulator, positioner and swing mechanism 3 to correct the position through the arc sensor detection parameters, so that the welding gun always works along the weld.

[0046] When the swing mechanism 3 is in operation, the PLC controller 8 controls the servo motor 6 connected to the welding gun fixing plate 9 to be powered on and operated through the servo driver 7 .

[0047] After the welding operation is completed, the PLC controller 8 controls the multiple servo motors 6 through the multiple servo drivers 7 to reset the welding equipment.

[0048] In this embodiment, the monitoring module 13 is a motion camera with a built-in network module. During the welding process, the monitoring module 13 performs video monitoring of the molten pool, and the HMI module displays parameters such as the molten pool video, current, arc voltage and speed. The staff can issue control instructions to the PLC controller 8 through the HMI module, so that the PLC controller 8 controls the cross arm manipulator, positioner and swing mechanism 3 to fine-tune the position of the welding gun, thereby improving the flexibility of the welding operation.

[0049] The embodiments described above are only preferred embodiments of the present invention and are not intended to limit the scope of implementation of the present invention. Therefore, any equivalent changes or modifications made based on the structures, features and principles described in the patent scope of the present invention should be included in the patent application scope of the present invention.

Claims

1. A TIG automatic positioning immersion arc welding control system, comprising a welding gun mechanism (1), a wire filling device (2), a positioner, a cross arm manipulator and a swing mechanism (3), wherein the cross arm manipulator comprises a cross arm (4) and a longitudinal arm (5), and is characterized in that: The cross arm manipulator, the positioner and the swing mechanism (3) all include a servo motor (6), the servo motor (6) is connected to a servo driver (7), and the servo driver (7) is communicatively connected to a PLC controller (8); The welding gun mechanism (1) comprises a welding gun and a welding gun fixing plate (9), a tracking sensor (10) being arranged on the welding gun fixing plate (9), and an output end of the tracking sensor (10) being electrically connected to an analog input end of the PLC controller (8); The PLC controller (8) is communicatively connected to a network module (11), and the PLC controller is wirelessly connected to a remote controller (12) via the network module (11); A monitoring module (13) is provided near the welding gun mechanism (1), the monitoring module (13) is connected to the network module (11), and the monitoring module (13) is wirelessly connected to the remote controller (12).

2. A TIG automatic positioning immersion arc welding control system according to claim 1, characterized in that: A slider is fixedly arranged at the middle of the transverse arm (4), a slide rail is fixedly arranged on the longitudinal arm (5), the slide rail and the slider are slidably connected, a chain (14) is arranged on the slider, the chain (14) is connected to the output shaft of the servo motor (6) through a sprocket machine, the servo motor (6) is arranged at the top of the longitudinal arm (5), and a drag chain (15) is arranged between the transverse arm (4) and the longitudinal arm (5).

3. A TIG automatic positioning immersion arc welding control system according to claim 1, characterized in that: The cross arm (4) comprises a linear slide, the screw of the linear slide is connected to a worm gear reducer (16), and the other end of the worm gear reducer (16) is connected to the output shaft of the servo motor (6); The slide block of the linear slide is fixed to the welding gun mechanism (1).

4. A TIG automatic positioning immersion arc welding control system according to claim 1, characterized in that: The swing mechanism (3) further comprises a connecting plate, the connecting plate being connected to the cross arm (4), a servo motor (6) being arranged on the connecting plate, and an output shaft of the servo motor (6) being fixedly connected to a welding gun fixing plate (9).

5. A TIG automatic positioning immersion arc welding control system according to claim 1, characterized in that: The tracking sensor (10) comprises an arc sensor.

6. A TIG automatic positioning immersion arc welding control system according to claim 1, characterized in that: The network module (11) comprises a LORA wireless module, and the PLC controller (8) is connected to the remote controller (12) via the LORA wireless module communication.

7. A TIG automatic positioning immersion arc welding control system according to claim 6, characterized in that: The remote controller (12) comprises an HMI module, and the HMI module is communicatively connected to the monitoring module (13) via a LORA wireless module.

8. The TIG automatic positioning immersion arc welding control system according to claim 1, characterized in that: The servo motor is connected to an encoder (17), and an output end of the encoder (17) is connected to a servo driver (7).

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