CN114473139A - Self-adaptive control method and system for curved surface of rotary TIG arc welding line - Google Patents

Self-adaptive control method and system for curved surface of rotary TIG arc welding line Download PDF

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Publication number
CN114473139A
CN114473139A CN202210108724.2A CN202210108724A CN114473139A CN 114473139 A CN114473139 A CN 114473139A CN 202210108724 A CN202210108724 A CN 202210108724A CN 114473139 A CN114473139 A CN 114473139A
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tig
curved surface
arc
welding gun
rotary
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CN114473139B (en
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郑学军
秦子濠
郭广飞
周芙蓉
洪波
李湘文
李承波
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Xiangtan University
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K9/00—Arc welding or cutting
    • B23K9/16—Arc welding or cutting making use of shielding gas
    • B23K9/167—Arc welding or cutting making use of shielding gas and of a non-consumable electrode
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K9/00—Arc welding or cutting
    • B23K9/095—Monitoring or automatic control of welding parameters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K9/00—Arc welding or cutting
    • B23K9/32—Accessories

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  • Plasma & Fusion (AREA)
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  • Arc Welding In General (AREA)
  • Arc Welding Control (AREA)

Abstract

The invention discloses a self-adaptive control method and a self-adaptive control system for a curved surface of a rotary TIG arc welding line. The TIG welding gun is combined with the rotating mechanism, so that the electric arc not only stirs a molten pool to repair the surface of the part when rotating, but also can timely acquire position information when the welding gun rotates, and meanwhile, the magnetic field is applied to change the offset distance of the electric arc, so that the sampling efficiency can be improved while the sampling data is increased, and the accuracy of identifying the morphological characteristics of the surface of the part is improved; the triangular mesh surface subdivision of the surface of the part is performed by using a Bowyer-Watson algorithm, the precision of fitting the surface of the part is improved, and the working environment of welding workers is greatly improved by the curved surface self-adaptive control method.

Description

Self-adaptive control method and system for curved surface of rotary TIG arc welding line
Technical Field
The invention relates to the field of welding, in particular to a curved surface self-adaptive control method and a curved surface self-adaptive control system for a rotary TIG arc welding seam.
Background
In the existing free-form surface identification process in workpiece repair in China, the surface of a workpiece is mainly subjected to uninterrupted scanning and sampling through a rotating arc, the sampling information is converted to obtain characteristic information of the surface of the workpiece, and then the identification of the free-form surface of the workpiece is completed. However, when scanning and sampling are performed on a common rotating arc, the arc rotating radius of the common rotating arc cannot be changed in real time according to the surface condition of a workpiece, so that the rotating arc sampling efficiency is limited, and the identification of the free curved surface of the workpiece can be completed only by processing the sampling data in cooperation with a highly complex algorithm, so that the curved surface identification speed of the complex workpiece in the prior art is low, the precision is low, and the repair efficiency is not high.
Disclosure of Invention
The present invention is directed to solving at least one of the problems of the prior art. Therefore, the invention provides a curved surface self-adaptive control method and a curved surface self-adaptive control system for a rotary TIG arc welding line, which can solve the problems that the arc rotary radius cannot be adjusted in real time, the curved surface identification speed is low, the precision is low and the repair efficiency is low in the free curved surface identification of a complex workpiece in the prior art.
According to the embodiment of the first aspect of the invention, the self-adaptive control method for the curved surface of the rotary TIG arc welding seam comprises the following steps:
s100, a rotating mechanism drives a TIG welding gun to rotate around a workpiece to be welded, an excitation device generates a magnetic field to control electric arcs to scan a workpiece groove, and a welding gun position signal and an electric arc voltage signal are collected;
s200, performing triangular mesh subdivision on the surface of the workpiece by using a Bowyer-Watson algorithm, and performing information fusion on corresponding arc voltage signals and welding gun position signals to obtain surface characteristic information of the surface of the workpiece;
s300, comparing the surface curved surface characteristic information of the workpiece with the flat curved surface information, and adjusting the arc rotating speed at the position to enable the solution spreading curved surface to be flat.
The self-adaptive control method for the curved surface of the rotary TIG arc welding seam in the embodiment of the first aspect of the invention at least has the following technical effects: according to the embodiment of the invention, the arc is controlled by the magnetic field generated by the rotating mechanism and the exciting device to carry out workpiece groove scanning, the position sensor and the voltage sensor respectively collect the position signal and the arc voltage signal, and the position signal and the arc voltage signal are subjected to information fusion to identify the curved surface characteristics of the surface of the workpiece, so that the surface of the workpiece is effectively repaired.
According to the embodiment of the invention, the TIG welding gun is combined with the rotating mechanism, so that the electric arc not only stirs the molten pool to repair the surface of the workpiece when rotating, but also can timely acquire the position information of the welding gun when rotating, and meanwhile, the magnetic field is applied to change the offset distance of the electric arc, so that the sampling efficiency can be improved while the sampling data is increased, and the accuracy of identifying the morphological characteristics of the surface of the workpiece is improved; the triangular mesh surface subdivision of the surface of the workpiece is performed by using the Bowyer-Watson algorithm, so that the precision of fitting the surface of the workpiece is improved, the curved surface identification speed is increased, the repair efficiency is improved, and the working environment of welding workers can be greatly improved.
According to some embodiments of the present invention, the specific steps of step S100 are: the rotating mechanism drives the TIG welding gun to rotate, when the TIG welding gun rotates to the section of the position sensor, the position sensor can record the position of the TIG welding gun at the moment to obtain a welding gun position signal, a power supply of the excitation device is started, magnetic fields with different strengths are generated sequentially through currents with different sizes, electric arcs are enabled to be gradually deviated to the rotating center position, and meanwhile, the voltage sensor and the current change time synchronously acquire electric arc voltage signals.
According to some embodiments of the present invention, the specific steps of step S200 are:
s201, collecting arc voltage signals with different radial distances on each characteristic section;
s202, three points with the nearest distance between any two adjacent sections are obtained by using a Bowyer-Watson algorithm to generate a triangular net surface, and arc voltage signals and position information of the three points are subjected to information fusion to calculate a vertical normal vector of the triangular net surface.
According to some embodiments of the present invention, the specific steps of step S300 are: multiplying the vertical normal vector of the triangular net surface by the normal vector of the flat plane; if the obtained result is 1, the screen surface is flat, if the obtained result is not 1, the screen surface is not flat, then transverse magnetic fields in different directions are alternately generated by the exciting device to control the electric arc to rotationally stir the curved surface which is not flat, and the calculated value is 1.
According to the second aspect of the invention, the self-adaptive control system for the curved surface of the rotary TIG electric arc welding seam comprises: the welding device comprises a rotary welding unit and a TIG welding gun, wherein the TIG welding gun is arranged on the rotary mechanism and used for rotating around a welding seam, and a position sensor is arranged on the rotary mechanism and used for collecting position signals of the TIG welding gun; the excitation device is arranged around the TIG welding gun and is used for generating a magnetic field to control the arc deflection angle to radially scan the surface of the workpiece; a voltage sensor for collecting an arc voltage signal; and the signal analysis system is used for receiving the arc voltage signal and the TIG welding gun position signal, performing information fusion on the arc voltage signal and the TIG welding gun position signal, performing curved surface identification on the surface of the workpiece through a Bowyer-Watson algorithm, feeding the obtained curved surface information back to the rotating mechanism, and adjusting the arc rotating speed at the position to enable the solution spreading curved surface to be flat.
The self-adaptive control system for the curved surface of the rotary TIG arc welding seam according to the embodiment of the second aspect of the invention has the following technical effects: according to the embodiment of the invention, the arc is controlled by the magnetic field generated by the rotating mechanism and the exciting device to carry out workpiece groove scanning, the position sensor and the voltage sensor respectively collect the position signal and the arc voltage signal, and the position signal and the arc voltage signal are subjected to information fusion to identify the curved surface characteristics of the surface of the workpiece, so that the surface of the workpiece is effectively repaired.
According to the embodiment of the invention, the TIG welding gun is combined with the rotating mechanism, so that the electric arc not only stirs the molten pool to repair the surface of the workpiece when rotating, but also can timely acquire the position information of the welding gun when rotating, and meanwhile, the magnetic field is applied to change the offset distance of the electric arc, so that the sampling efficiency can be improved while the sampling data is increased, and the accuracy of identifying the morphological characteristics of the surface of the workpiece is improved; the triangular mesh surface subdivision of the surface of the workpiece is performed by using the Bowyer-Watson algorithm, so that the precision of fitting the surface of the workpiece is improved, the curved surface identification speed is increased, the repair efficiency is improved, and the working environment of welding workers can be greatly improved.
According to some embodiments of the invention, the rotating mechanism comprises a motor, a support connecting rod and an annular sleeve, the TIG welding gun is fixed at one end of the support connecting rod, the other end of the support connecting rod is connected with a rotating shaft of the motor to drive the TIG welding gun to rotate, the annular sleeve is sleeved outside a rotating shaft of the motor, a central axis of the annular sleeve is axially overlapped with a center of the rotating shaft of the motor, and the position sensors are distributed on the annular sleeve.
According to some embodiments of the invention, the position sensors are located on a plurality of levels of the annular sleeve, and 8 position sensors are evenly distributed on the outer wall of each level of the annular sleeve.
According to some embodiments of the invention, the number of the excitation devices is two, each excitation device comprises two opposite excitation coils and an excitation power supply, the excitation power supply is connected with the corresponding excitation coil, two pairs of the excitation coils are both installed near the TIG welding gun, and the central axes of the two pairs of the excitation coils are perpendicular to each other.
According to some embodiments of the invention, the signal analysis system performs surface identification of the workpiece surface by a Bowyer-Watson algorithm.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a schematic structural diagram of a curved surface adaptive control system for a rotary TIG arc welding seam in an embodiment of the invention;
FIG. 2 is a schematic view of an embodiment of the present invention in which an arc is deflected to scan a surface of a workpiece;
FIG. 3 is a schematic current-time diagram of an excitation device in an embodiment of the invention;
FIG. 4 is a schematic diagram showing the energizing sequence of four exciting coils in the embodiment of the invention;
fig. 5 is a mesh surface subdivision diagram of the surface of the workpiece in the embodiment of the present invention.
Reference numerals
Motor 100, support link 110, end cover 120, annulus 130, TIG welder 200, position sensor 300, excitation device 400.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
In the description of the present invention, it should be understood that the orientation or positional relationship referred to in the description of the orientation, such as the upper, lower, front, rear, left, right, etc., is based on the orientation or positional relationship shown in the drawings, and is only for convenience of description and simplification of description, but does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.
In the description of the present invention, the meaning of a plurality of means is one or more, the meaning of a plurality of means is two or more, and larger, smaller, larger, etc. are understood as excluding the present number, and larger, smaller, inner, etc. are understood as including the present number. If the first and second are described for the purpose of distinguishing technical features, they are not to be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of the technical features indicated.
In the description of the present invention, unless otherwise explicitly limited, terms such as arrangement, installation, connection and the like should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above terms in the present invention in combination with the specific contents of the technical solutions.
Referring to fig. 1, the adaptive control system for the curved surface of the rotary TIG arc welding line comprises a rotary welding unit, a position sensor 300, an excitation device 400, a voltage sensor and a signal analysis system. The rotary welding unit comprises a rotary mechanism and a TIG welding gun 200, the rotary mechanism comprises a motor 100, a bent support connecting rod 110 and an annular sleeve 130, an end cover 120 is fixed at the upper end of a rotating shaft of the motor 100, the end cover 120 synchronously rotates along with the rotating shaft, the TIG welding gun 200 is fixed on the side edge of the end cover 120 through the support connecting rod 110 so as to drive the TIG welding gun 200 to rotate, the axis center of the TIG welding gun 200 and the rotating shaft of the motor 100 inclines to theta degrees, the annular sleeve 130 is sleeved at the lower end of the rotating shaft of the motor 100, and the central axis of the annular sleeve 130 is axially overlapped with the center of the rotating shaft of the motor 100. The (360/alpha) position sensors 300 are installed at a certain angle alpha at the same horizontal height of the outer wall of the annular sleeve 130, in this embodiment, 8 position sensors 300 are installed at the same horizontal height, that is, alpha is 45, and a circle of position sensors 300 is respectively surrounded on the lower section and the middle section of the annular sleeve 130, so that the position information of the TIG welding gun 200 can be more accurately acquired.
The device comprises two excitation devices 400, each excitation device 400 respectively comprises two excitation coils and an excitation power supply which are arranged oppositely, the excitation power supplies are connected with the corresponding excitation coils, the two excitation coils are arranged near the TIG welding gun 200, the central axes of the two excitation coils are perpendicular to each other and are used for generating a magnetic field to control the arc deflection angle to carry out radial scanning on the surface of a workpiece, the excitation devices 400 comprise a pair of excitation coils and an excitation power supply, the two excitation devices 400 are arranged, the two excitation coils are arranged near the TIG welding gun 200, the central axes of the two excitation coils are perpendicular to each other, in the embodiment, the voltage sensors are Hall sensors and are used for collecting voltage signals of the electric arc, the signal analysis system comprises a server, signals collected by the position sensors 300 and the Hall sensors are subjected to information fusion to carry out curved surface identification on the surface of the workpiece, and obtained curved surface information is fed back to the rotating mechanism, the arc rotation speed is adjusted at the position, so that the solution spreading curved surface becomes flat.
The invention also relates to a rotary TIG arc welding seam curve self-adaptive control method applying the system, which comprises the following steps:
s100, driving the TIG welding gun 200 to rotate around a workpiece to be welded by a rotating mechanism, generating a magnetic field by an exciting device 400 to control electric arcs to scan the groove of the workpiece, and collecting a welding gun position signal and an electric arc voltage signal;
the signal acquisition principle of the invention is as follows: after the motor 100 is powered on, the support connecting rod 110, the TIG welding gun 200 and the magnetic induction coil are driven to rotate together through the rotating shaft, when the TIG welding gun 200 rotates to the section of the position sensor 300, the position sensor 300 can record the position of the TIG welding gun 200 at the moment, signals are transmitted to start an excitation power supply, magnetic fields with different strengths are generated sequentially through currents with different sizes, electric arcs gradually deviate to the center position of rotation, meanwhile, the Hall sensor collects electric arc voltage signals synchronously with the current change time, because the electromagnetic reflection speed is far greater than the mechanical rotation speed, when the TIG welding gun 200 rotates to the sections of different position sensors 300, the Hall sensor quickly collects the electric arc voltage signals of the radial distance of the sections. Fig. 3 shows the amplitude of the arc swing in the radial direction of the arc, which differs with the current magnitude.
S200, a signal analysis system carries out triangular mesh surface subdivision on the surface of the workpiece by using a Bowyer-Watson algorithm, and information fusion is carried out on a corresponding arc voltage signal and a welding gun position signal to obtain the surface curved surface characteristic information of the workpiece;
s300, comparing the workpiece surface curved surface characteristic information with the flat curved surface information, and adjusting the electric arc rotating speed at the position to enable the solution spreading curved surface to be flat, wherein the workpiece surface curved surface characteristic information and the flat curved surface information are normal vectors of corresponding curved surfaces.
The signal analysis method adopted by the signal analysis system specifically comprises the following steps: and (2) acquiring arc voltage signals with different radial distances on each section with characteristics, acquiring three points with the nearest distance between any two adjacent sections by using a Bowyer-Watson algorithm to generate a triangular mesh surface, performing information fusion on the arc voltage signals and position information of the three points to calculate a vertical normal vector of the triangular mesh surface, comparing the calculated value with the normal vector of the flat curved surface, and adjusting the rotation speed of the arc. Fig. 4 shows the sequence of energizing the four field coils so that the arc is rotated to stir the molten bath.
The method comprises the following specific steps: referring to fig. 5, a Bowyer-Watson algorithm is used to generate three adjacent points to divide a triangular mesh surface, the position information of the three points of each triangular mesh surface and an arc voltage signal are fused to generate three dynamic discrete point coordinates, which are M (R1, θ 1, V1), N (R2, θ 2, V2) and P (R3, θ 3, V3), respectively, and the calculation method is as follows: the method comprises the following steps that four points are collected by an electric arc in the radial direction of each Hall sensor, the collected data of the points are electric arc voltages, a signal analysis system sequentially stores the points, a Bowyer-Watson algorithm is a point-by-point insertion method, and the basic idea is that an initial grid is generated by a stored point set, points are added into the grid in sequence according to a Delaunay subdivision principle, and the points are connected again to generate a new grid until all the points are added. The normal vector information O (R, theta, V) of the triangular mesh surface is calculated by using the data of the three points in a way of
Let us consider a vector of n, a straight line p1p2And a straight line p1p3Composed of any two of three points, normal vector being perpendicular to straight line p1p2And p1p3The normal vector is therefore calculated by the following formula:
Figure BDA0003494268130000091
a＝(y2-y1)*(z3-z1)-(y3-y1)*(z2-z1)
b＝(z2-z1)*(x3-x1)-(z3-z1)*(x2-x1)
c＝(x2-x1)*(y3-y1)-(x3-x1)*(y2-y1)
multiplying the normal vector T (T1, T2, T3) of the flat surface by the calculated normal vector O (R, theta, V) by the following calculation formula:
and a, R2T 1+ theta 2T 2+ V2T 3, if the obtained result a is 1, the mesh surface is flat, if the obtained result a is not 1, the mesh surface is not flat, transverse magnetic fields in different directions are alternately generated by the two pairs of magnetic poles, and the alternating magnetic fields control the electric arc to stir the uneven curved surface in a rotating mode until the calculated value of a is 1. The normal vector of the flat surface is the normal T (T1, T2, T3) of the flat surface obtained by measuring the curvature of the outer wall of the workpiece in advance.
The working principle of the invention is that
Referring to fig. 1 and 2, when a pair of magnetic induction coils are energized, one is an N pole and the other is an S pole, a transverse magnetic field is formed on two sides of the TIG welding gun 200, when the TIG welding gun 200 starts arcing, a plasma cutting magnetic induction line in an arc column generates a lorentz force to point to a radial direction, when the lorentz force points to an arc in a radial outer direction, the arc is deflected outwards, and when the lorentz force points to an arc in a radial inner direction, the arc is deflected inwards; when the position of the TIG welding gun 200 moves, the magnetic induction coils still sequentially generate transverse magnetic fields with different magnetic induction intensities, and when the TIG welding gun 200 rotates for a period, arc voltage information in the radial direction of each interface is effectively extracted, and the morphological characteristics of the surface of a part are obtained, so that the rotation speed of the welding gun can be effectively adjusted, and the surface of the part can be effectively repaired.
In conclusion, the TIG welding gun 200 is combined with the rotating mechanism, so that the electric arc not only stirs the molten pool to repair the surface of the part when rotating, but also can timely acquire the position information of the welding gun when rotating, and meanwhile, the magnetic field is applied to change the offset distance of the electric arc, so that the sampling efficiency can be improved while the sampling data is increased, and the accuracy of identifying the morphological characteristics of the surface of the part is improved; the triangular mesh surface subdivision of the surface of the part is performed by using a Bowyer-Watson algorithm, the precision of fitting the surface of the part is improved, and the working environment of welding workers is greatly improved by the curved surface self-adaptive control method.
The embodiments of the present invention have been described in detail with reference to the drawings, but the present invention is not limited to the embodiments, and various changes can be made within the knowledge of those skilled in the art without departing from the gist of the present invention.

Claims (8)

1. A self-adaptive control method for a curved surface of a rotary TIG arc welding seam is characterized by comprising the following steps:
s100, a rotating mechanism drives a TIG welding gun to rotate around a workpiece to be welded, an excitation device generates a magnetic field to control electric arcs to scan a workpiece groove, and a welding gun position signal and an electric arc voltage signal are collected;
s200, performing triangular mesh subdivision on the surface of the workpiece by using a Bowyer-Watson algorithm, and performing information fusion on a corresponding arc voltage signal and a welding gun position signal to obtain surface curved surface characteristic information of the workpiece;
s300, comparing the surface curved surface characteristic information of the workpiece with the flat curved surface information, and adjusting the arc rotating speed at the position to enable the solution spreading curved surface to be flat.
2. The rotary TIG arc weld curve adaptive control method of claim 1, wherein: the specific steps of step S100 are: the rotating mechanism drives the TIG welding gun to rotate, when the TIG welding gun rotates to the section of the position sensor, the position sensor can record the position of the TIG welding gun at the moment to obtain a welding gun position signal, a power supply of the excitation device is started, magnetic fields with different strengths are generated sequentially through currents with different sizes, electric arcs are enabled to be gradually deviated to the rotating center position, and meanwhile, the voltage sensor and the current change time synchronously acquire electric arc voltage signals.
3. The rotary TIG arc weld curve adaptive control method of claim 1, wherein: the specific steps of step S200 are:
s201, collecting arc voltage signals with different radial distances on each characteristic section;
s202, three points with the nearest distance between any two adjacent sections are obtained by using a Bowyer-Watson algorithm to generate a triangular net surface, and arc voltage signals and position information of the three points are subjected to information fusion to calculate a vertical normal vector of the triangular net surface.
4. The rotary TIG arc weld curve adaptive control method of claim 3, wherein: the specific steps of step S300 are: multiplying the vertical normal vector of the triangular net surface with the normal vector of the flat curved surface; if the obtained result is 1, the net surface is flat, if the obtained result is not 1, the net surface is not flat, then transverse magnetic fields in different directions are alternately generated by the exciting device to control the electric arc to rotationally stir the uneven curved surface until the calculated result is 1.
5. The utility model provides a rotatory TIG electric arc welding seam curved surface adaptive control system which characterized in that includes:
the welding device comprises a rotary welding unit and a TIG welding gun, wherein the TIG welding gun is arranged on the rotary mechanism and used for rotating around a welding seam, and a position sensor is arranged on the rotary mechanism and used for collecting position signals of the TIG welding gun;
the excitation device is arranged around the TIG welding gun and used for generating a magnetic field to control an arc deflection angle to radially scan the surface of a workpiece;
a voltage sensor for collecting an arc voltage signal;
and the signal analysis system is used for receiving the arc voltage signal and the TIG welding gun position signal, performing information fusion on the arc voltage signal and the TIG welding gun position signal, performing curved surface identification on the surface of the workpiece through a Bowyer-Watson algorithm, feeding the obtained curved surface information back to the rotating mechanism, and adjusting the arc rotating speed at the position to enable the solution spreading curved surface to be flat.
6. The rotary TIG arc weld curved surface adaptive control system of claim 5, wherein: rotary mechanism includes motor, supporting link and annulus, TIG welder fixes the one end at the supporting link, the other end of supporting link with the axis of rotation of motor links to each other in order to be used for driving TIG welder and rotates, the pivot overcoat of motor is equipped with the annulus, the central axis of annulus with the central axial coincidence of the pivot of motor, position sensor distributes on the annulus.
7. The rotary TIG arc weld curved surface adaptive control system of claim 6, wherein: the position sensors are located on a plurality of horizontal planes of the annular sleeve, and 8 position sensors are uniformly distributed on the outer wall of each horizontal plane of the annular sleeve.
8. The rotary TIG arc weld curved surface adaptive control system of claim 5, wherein: excitation device is two, and every excitation device includes excitation coil and the excitation power supply of two relative settings respectively, the excitation power supply is connected and is corresponded excitation coil, two pairs near TIG welder is all installed to excitation coil and the axis mutually perpendicular of two pairs of excitation coil.
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Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4567347A (en) * 1983-12-15 1986-01-28 Ntt Gijutsu Iten Kabushiki Kaisha Measurement head for welding machines
JPH03291168A (en) * 1990-04-09 1991-12-20 Shizuo Ukita Arc control method for tig welding
KR100687817B1 (en) * 2005-12-30 2007-03-02 삼성중공업 주식회사 Method for detecting welding current data by rotating of welding torch
CN102091854A (en) * 2011-01-14 2011-06-15 湘潭大学 Stepless eccentricity adjustable rotating arc sensor
CN102848052A (en) * 2012-09-26 2013-01-02 湘潭大学 Magnetic control rotating arc sensing real-time weld joint tracking system and method
CN111151852A (en) * 2020-01-03 2020-05-15 湘潭大学 Method for identifying rotating plasma arc sensing free-form surface by adopting variable diameter adjustment

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4567347A (en) * 1983-12-15 1986-01-28 Ntt Gijutsu Iten Kabushiki Kaisha Measurement head for welding machines
JPH03291168A (en) * 1990-04-09 1991-12-20 Shizuo Ukita Arc control method for tig welding
KR100687817B1 (en) * 2005-12-30 2007-03-02 삼성중공업 주식회사 Method for detecting welding current data by rotating of welding torch
CN102091854A (en) * 2011-01-14 2011-06-15 湘潭大学 Stepless eccentricity adjustable rotating arc sensor
CN102848052A (en) * 2012-09-26 2013-01-02 湘潭大学 Magnetic control rotating arc sensing real-time weld joint tracking system and method
CN111151852A (en) * 2020-01-03 2020-05-15 湘潭大学 Method for identifying rotating plasma arc sensing free-form surface by adopting variable diameter adjustment

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