CN114473139B - Self-adaptive control method and system for rotating TIG arc welding seam curved surface - Google Patents
Self-adaptive control method and system for rotating TIG arc welding seam curved surface Download PDFInfo
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- CN114473139B CN114473139B CN202210108724.2A CN202210108724A CN114473139B CN 114473139 B CN114473139 B CN 114473139B CN 202210108724 A CN202210108724 A CN 202210108724A CN 114473139 B CN114473139 B CN 114473139B
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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
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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
- B23K9/095—Monitoring or automatic control of welding parameters
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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
- B23K9/32—Accessories
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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 seam. Combining the TIG welding gun 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 simultaneously, the magnetic field is applied to change the distance of the electric arc deflection, thereby increasing the sampling data and the sampling efficiency, and further improving the accuracy of identifying the morphological features of the surface of the part; triangular mesh surface subdivision of the part surface is carried out by using a Bowyer-Watson algorithm, so that the precision of fitting the part surface is improved, and the working environment of a welder is greatly improved by the curved surface self-adaptive control method.
Description
Technical Field
The invention relates to the field of welding, in particular to a self-adaptive control method and a self-adaptive control system for a curved surface of a rotary TIG arc welding seam.
Background
At present, the free-form surface identification process in work piece restoration in China mainly comprises the steps of carrying out uninterrupted scanning sampling on the surface of a work piece through a rotating arc, and obtaining characteristic information of the surface of the work piece after conversion treatment of sampling information, so that the identification of the free-form surface of the work piece is completed. However, when the common rotating arc is scanned and sampled, the arc rotating radius cannot be changed in real time according to the surface condition of the 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 combination with a highly complex algorithm, so that the identification speed of the curved surface of the complex workpiece is slow, the precision is low and the repair efficiency is low in the prior art.
Disclosure of Invention
The present invention aims to solve at least one of the technical problems existing in the prior art. Therefore, the invention provides a self-adaptive control method and a self-adaptive control system for a rotating TIG arc welding seam curved surface, which can solve the problems that in the prior art, in the process of identifying a free curved surface of a complex workpiece, the arc rotating radius cannot be adjusted in real time, the curved surface identification speed is low, the precision is low and the repairing efficiency is low.
According to an embodiment of the first aspect of the invention, the 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 an electric arc to scan a workpiece groove, and a welding gun position signal and an electric arc voltage signal are collected;
s200, performing triangular mesh surface 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 corresponding 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 rotation speed at the position to enable the solution spreading curved surface to be flat.
The self-adaptive control method for the rotating TIG arc welding seam curved surface according to the embodiment of the first aspect of the invention has at least 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 scan the workpiece groove, the position signal and the arc voltage signal are respectively acquired by the position sensor and the voltage sensor, and the position signal and the arc voltage signal are subjected to information fusion to identify the surface curved surface characteristics 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 when the arc rotates, not only is the molten pool stirred to repair the surface of a workpiece, but also the position information of the welding gun during rotation can be timely acquired, and meanwhile, the magnetic field is applied to change the distance of arc offset, so that the sampling efficiency is improved while the sampling data is increased, and the accuracy of identifying the morphological characteristics of the surface of the workpiece is improved; triangular net surface subdivision of the workpiece surface is performed by using a Bowyer-Watson algorithm, so that the accuracy of fitting the workpiece surface is improved, the curved surface recognition 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 specific steps of the 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, and a power supply of the excitation device is started, magnetic fields with different intensities are generated through currents with different magnitudes in sequence, so that an electric arc gradually deviates to the rotating center position, and meanwhile, the voltage sensor and the current change time synchronously acquire an electric arc voltage signal.
According to some embodiments of the invention, the specific steps of the step S200 are:
s201, acquiring arc voltage signals with different radial distances at the section of each characteristic;
s202, three points with any two nearest adjacent sections are acquired by using a Bowyer-Watson algorithm to generate a triangular mesh surface, and arc voltage signals and position information of the three points are subjected to information fusion to calculate the vertical normal vector of the triangular mesh surface.
According to some embodiments of the invention, the specific steps of the 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 net surface is flat, if the obtained result is not 1, the net surface is uneven, and then transverse magnetic fields in different directions are alternately generated by an excitation device to control electric arcs to stir the uneven curved surface in a rotating way until the calculated value is 1.
According to a second aspect of the present invention, a rotary TIG arc welding seam curved surface adaptive control system includes: the rotary welding unit comprises a rotating mechanism and a TIG welding gun, wherein the TIG welding gun is installed on the rotating mechanism and used for rotating around a welding line, and a position sensor is arranged on the rotating mechanism and used for collecting a TIG welding gun position signal; 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 the workpiece; the voltage sensor is used for collecting arc voltage signals; the signal analysis system is used for receiving the arc voltage signal and the TIG welding gun position signal, carrying out information fusion on the arc voltage signal and the welding gun position signal, carrying out surface identification on the surface of a workpiece through a Bowyer-Watson algorithm, feeding back the obtained surface information to the rotating mechanism, and adjusting the arc rotating speed at the position so that the solution spreading curved surface becomes flat.
According to the rotating TIG arc welding seam curved surface self-adaptive control system provided by the embodiment of the second aspect of the invention, at least the following technical effects are achieved: 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 scan the workpiece groove, the position signal and the arc voltage signal are respectively acquired by the position sensor and the voltage sensor, and the position signal and the arc voltage signal are subjected to information fusion to identify the surface curved surface characteristics 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 when the arc rotates, not only is the molten pool stirred to repair the surface of a workpiece, but also the position information of the welding gun during rotation can be timely acquired, and meanwhile, the magnetic field is applied to change the distance of arc offset, so that the sampling efficiency is improved while the sampling data is increased, and the accuracy of identifying the morphological characteristics of the surface of the workpiece is improved; triangular net surface subdivision of the workpiece surface is performed by using a Bowyer-Watson algorithm, so that the accuracy of fitting the workpiece surface is improved, the curved surface recognition 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 for driving the TIG welding gun to rotate, the annular sleeve is sleeved outside the rotating shaft of the motor, the central axis of the annular sleeve axially coincides with the 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 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.
According to some embodiments of the present invention, the number of the excitation devices is two, each excitation device includes two excitation coils and an excitation power supply which are oppositely arranged, the excitation power supply is connected with the corresponding excitation coils, the two pairs of excitation coils are all installed near the TIG welding gun, and the central axes of the two pairs of excitation coils are mutually perpendicular.
According to some embodiments of the invention, the signal analysis system performs surface identification on the surface of the workpiece through 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 foregoing and/or additional aspects and advantages of the invention will become apparent and may be better understood from the following description of embodiments taken in conjunction with the accompanying drawings in which:
FIG. 1 is a schematic diagram of a rotational TIG arc welding seam surface adaptive control system in an embodiment of the present invention;
FIG. 2 is a schematic view of an arc deflection scanning workpiece surface in accordance with an embodiment of the present invention;
FIG. 3 is a schematic diagram of current versus time of an excitation device according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of an energizing sequence of four exciting coils according to an embodiment of the present invention;
fig. 5 is a schematic diagram of a mesh subdivision of a surface of a workpiece in an embodiment of the invention.
Reference numerals and signs
Motor 100, support link 110, end cap 120, annular sleeve 130, TIG welding gun 200, position sensor 300, and excitation device 400.
Detailed Description
Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative only and are not to be construed as limiting the invention.
In the description of the invention, it should be understood that references to orientation descriptions such as upper, lower, front, rear, left, right, etc. are based on the orientation or positional relationship shown in the drawings, are merely for convenience in describing the invention and simplifying the description, and do not indicate or imply that the device or element in question must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the invention.
In the description of the invention, the meaning of a number is one or more, the meaning of a plurality is two or more, and greater than, less than, exceeding, etc. are understood to not include the present number, and the above, below, within, etc. are understood to include the present number. The description of the first and second is for the purpose of distinguishing between technical features only and should not be construed 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 explicitly defined otherwise, terms such as arrangement, installation, connection, etc. should be construed broadly and the specific meaning of the terms in the present invention can be reasonably determined by a person skilled in the art in combination with the specific contents of the technical scheme.
Referring to fig. 1, a rotational TIG arc welding seam curved surface adaptive control system includes a rotational 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 that the TIG welding gun 200 is driven to rotate, the TIG welding gun 200 and the shaft center of the rotating shaft of the motor 100 tend to be at an angle of θ, 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 axially coincides with the center of the rotating shaft of the motor 100. The position sensor 300 is installed at a certain angle alpha and the like on 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, namely, alpha is 45, and a circle of position sensors 300 are respectively arranged around 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 acquired more accurately.
The number of the excitation devices 400 is two, each excitation device 400 comprises two excitation coils and two excitation power supplies which are oppositely arranged, the excitation power supplies are connected with the corresponding excitation coils, the two pairs of excitation coils are installed near the TIG welding gun 200, the central axes of the two pairs of excitation coils are mutually perpendicular, so that a magnetic field is generated to control an arc deflection angle to radially scan the surface of a workpiece, the excitation device 400 consists of one pair of excitation coils and one excitation power supply, the two pairs of excitation coils are installed near the TIG welding gun 200, the central axes of the two pairs of excitation coils are mutually perpendicular, the voltage sensor is a Hall sensor in the embodiment, the voltage sensor is used for acquiring voltage signals of an arc, the signal analysis system consists of a server, the position sensor 300 and the Hall sensor acquire signals to perform information fusion to identify curved surfaces of parts, the obtained curved surface information is fed back to the rotating mechanism, and the rotation speed of the arc at the position is adjusted, so that the curved surface of a spreading solution becomes flat.
The invention also relates to a self-adaptive control method for the curved surface of the rotary TIG arc welding seam by using the system, which comprises the following steps:
s100, the rotating mechanism drives the TIG welding gun 200 to rotate around a workpiece to be welded, the exciting device 400 generates a magnetic field to control an electric arc to scan a workpiece groove, and a welding gun position signal and an electric arc voltage signal are collected;
the signal acquisition principle of the invention is as follows: after the motor 100 is electrified, the supporting 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 and transmit signals to start the exciting power supply, magnetic fields with different intensities are generated through currents with different magnitudes in sequence, so that the electric arc gradually deviates to the rotating central position, meanwhile, the Hall sensor and the current change time synchronously acquire an electric arc voltage signal, and because the electromagnetic reflection speed is far greater than the mechanical rotation speed, when the TIG welding gun 200 rotates to the section of the position sensor 300, the Hall sensor rapidly acquires the electric arc voltage signal of the radial distance of the section. Fig. 3 shows the swing amplitude of the control arc in the radial direction, and the swing amplitude of the arc varies with the current.
S200, performing triangular mesh surface subdivision on the surface of the workpiece by using a Bowyer-Watson algorithm by using a signal analysis system, and performing information fusion on a corresponding arc voltage signal and a corresponding 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 rotation speed at the position to enable the solution spreading curved surface to be flat, wherein the surface curved surface characteristic information of the workpiece and the flat curved surface information are normal vectors of the corresponding curved surfaces.
The signal analysis method adopted by the signal analysis system specifically comprises the following steps: and acquiring arc voltage signals with different radial distances at the cross section of each characteristic, acquiring three points with any two adjacent cross sections nearest to each other by using a Bowyer-Watson algorithm to generate a triangular mesh surface, carrying out information fusion on the arc voltage signals and position information of the three points to calculate the vertical normal vector of the triangular mesh surface, comparing the calculated value with the normal vector of a flat curved surface, and adjusting the rotation speed of the arc. Fig. 4 shows the sequence of energizing the four field coils such that the arc rotates and agitates the puddle.
The method comprises the following steps: referring to fig. 5, a Bowyer-Watson algorithm is utilized to generate three adjacent points to perform triangle mesh surface subdivision, and the position information and arc voltage signals of the three points of each triangle mesh surface are subjected to information fusion to generate three dynamic discrete point coordinates which are respectively M (R1, theta 1, V1), N (R2, theta 2, V2) and P (R3, theta 3, V3), wherein the calculation method comprises the following steps: the arc in the radial direction of each Hall sensor can collect four points, the data of the collected points are arc voltages, the signal analysis system can sequentially store the points, the Bowyer-Watson algorithm is a point-by-point insertion method, the basic idea is that an initial grid is firstly generated by a stored point set, then the points are added into the grid successively according to the Delaunay subdivision principle, and new grids are generated by reconnecting until all the points are added. The normal vector information O (R, theta, V) of the triangular net surface is calculated by using the data of the three points in the following calculation mode
The vector is taken as n, the straight line p 1 p 2 And straight line p 1 p 3 Is composed of any two of three points, and the normal vector is perpendicular to the straight line p 1 p 2 And p 1 p 3 The normal vector is thus calculated by the following formula:
a＝(y 2 -y 1 )*(z 3 -z 1 )-(y 3 -y 1 )*(z 2 -z 1 )
b＝(z 2 -z 1 )*(x 3 -x 1 )-(z 3 -z1)*(x 2 -x 1 )
c＝(x 2 -x 1 )*(y 3 -y 1 )-(x 3 -x 1 )*(y 2 -y 1 )
multiplying the normal vector T (T1, T2, T3) of the flat surface with the calculated normal vector O (R, theta, V), wherein the calculation formula is as follows:
a=o·t=r2×t1+θ2× t2+v2×t3, if the obtained result a is 1, it indicates that the mesh surface is flat, if the obtained result a is not 1, it indicates that the mesh surface is uneven, at this time, two pairs of magnetic poles alternately generate transverse magnetic fields in different directions, and the alternating magnetic fields control the electric arc to stir the uneven curved surface in a rotating manner until the calculated value of a is 1. The normal vector of the flat surface is obtained by measuring the curvature of the outer wall of the workpiece in advance and then obtaining the normal T (T1, T2 and T3) of the flat surface.
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 N-pole and one is S-pole, a transverse magnetic field is formed at both sides of TIG welding gun 200, after TIG welding gun 200 is started, plasma cutting magnetic induction lines in an arc column generate lorentz force to point in a radial direction, the arc is deflected outwards when the lorentz force points in a radially outer direction, and the arc is deflected inwards when the lorentz force points in a radially inner direction; 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 one period, arc voltage information on the radial direction of each interface is effectively extracted, and the morphological characteristics of the surface of the part are obtained, so that the rotating speed of the welding gun can be effectively adjusted, and the surface of the part can be effectively repaired.
In summary, the TIG welding gun 200 is combined with the rotating mechanism, so that when the arc rotates, not only the surface of the part is repaired by stirring the molten pool, but also the position information of the welding gun during rotation can be timely acquired, and meanwhile, the magnetic field is applied to change the distance of arc offset, so that the sampling efficiency is improved while the sampling data is increased, and the accuracy of identifying the morphological features of the surface of the part is improved; triangular mesh surface subdivision of the part surface is carried out by using a Bowyer-Watson algorithm, so that the precision of fitting the part surface is improved, and the working environment of a welder 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 accompanying drawings, but the present invention is not limited to the above embodiments, and various changes can be made within the knowledge of one of ordinary skill in the art without departing from the spirit of the present invention.
Claims (6)
1. The self-adaptive control method for the rotating TIG arc welding seam curved surface is characterized by comprising the following steps of:
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 an electric arc to scan a workpiece groove, and a welding gun position signal and an electric arc voltage signal are collected;
s200, performing triangular mesh surface 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 corresponding 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 rotation speed at the position to enable the solution spreading curved surface to be flat;
the specific steps of the step S100 are as follows: 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, and a power supply of the excitation device is started, magnetic fields with different intensities are generated through currents with different magnitudes in sequence, so that an electric arc gradually deviates to the rotating center position, and meanwhile, the voltage sensor and the current change time synchronously acquire an electric arc voltage signal.
2. The rotational TIG arc welding seam curved surface adaptive control method according to claim 1, wherein: the specific steps of the step S200 are as follows:
s201, acquiring arc voltage signals with different radial distances at the section of each characteristic;
s202, three points with any two nearest adjacent sections are acquired by using a Bowyer-Watson algorithm to generate a triangular mesh surface, and arc voltage signals and position information of the three points are subjected to information fusion to calculate the vertical normal vector of the triangular mesh surface.
3. The rotational TIG arc welding seam curved surface adaptive control method according to claim 2, wherein: the specific steps of the step S300 are as follows: multiplying the vertical normal vector of the triangular mesh surface by 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 uneven, and then transverse magnetic fields in different directions are alternately generated through an excitation device to control electric arcs to stir the uneven curved surface in a rotating mode until the calculated result is 1.
4. The utility model provides a rotatory TIG arc welding seam curved surface self-adaptation control system which characterized in that includes:
the rotary welding unit comprises a rotating mechanism and a TIG welding gun, wherein the TIG welding gun is installed on the rotating mechanism and used for rotating around a welding line, and a position sensor is arranged on the rotating mechanism and used for collecting a TIG welding gun position signal;
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 the workpiece;
the voltage sensor is used for collecting arc voltage signals;
the signal analysis system is used for receiving the arc voltage signal and the TIG welding gun position signal, carrying out information fusion on the arc voltage signal and the welding gun position signal, carrying out surface identification on the surface of a workpiece through a Bowyer-Watson algorithm, feeding back the obtained surface information to the rotating mechanism, and adjusting the arc rotating speed at the position so as to enable a solution spreading curved surface to be flat;
the rotating mechanism comprises a motor, a supporting connecting rod and an annular sleeve, the TIG welding gun is fixed at one end of the supporting connecting rod, the other end of the supporting 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 the rotating shaft of the motor, the central axis of the annular sleeve is axially coincident with the center of the rotating shaft of the motor, and the position sensors are distributed on the annular sleeve.
5. The rotational TIG arc welding seam surface adaptive control system of claim 4, 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.
6. The rotational TIG arc welding seam surface adaptive control system of claim 4, wherein: the two excitation devices are respectively provided with two excitation coils and two excitation power supplies which are oppositely arranged, the two excitation power supplies are connected with the corresponding excitation coils, the two pairs of excitation coils are arranged near the TIG welding gun, and the central axes of the two pairs of excitation coils are mutually perpendicular.
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| 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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2022
- 2022-01-28 CN CN202210108724.2A patent/CN114473139B/en active Active
Patent Citations (6)
| 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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