SU1660888A1 - Device for control of the position of a robotъs electric welding burner - Google Patents

Abstract

The invention relates to mechanical engineering and is intended to automate electric arc welding of fillet welds in a protective gas and submerged arc. The aim of the invention is to improve the quality of the weld. The device comprises a torch oscillator, a series-connected shunt, a welding current magnitude sensor, a band-pass filter, a synchronous detector, an amplifier, a low-pass filter, and a drive for moving an electric welding torch across the junction. When a burner deviates from the joint, the device ensures perpendicularity of its oscillations relative to the joint line and stabilizes the amplitude of the welding speed vector. The device allows a geometric adaptation of the welding robots by orienting the velocity vector tangentially to the flat joint line. 4 il.

Description

WITH

WITH

The invention relates to mechanical engineering and is intended to automate the electrode for the welding and welding of sectioned and fillet welds in a protective gas or submerged atmosphere.

The aim of the invention is to improve the quality of the seam.

FIG. 1 is a functional diagram of a device for controlling the position of a robot electric welding torch; 2 shows a kinematic circuit for the case where the direction of the butt line with the Y axis and the torch oscillations are perpendicular to the butt line; FIG. 3 is a kinematic diagram for the case when the direction of the butt line is with the axis Y and angle a, and there is no perpendicularity of the torch oscillations to the butt line; Fig. 4 shows a kinematic diagram for the case when the direction of the butt line is with the axis Y and angle a, but the device ensures that the torch is rotated by an angle, thereby achieving perpendicular torch oscillations to the butt line.

The device contains a welding current magnitude sensor 1 connected to the shunt 2 in the welding current circuit, the output of sensor 1 is connected to the input of the band-pass filter 3. its output is connected to the signal input of the synchronous detector 4, the control input of which is connected to the sensor 5 of the burner deflection sign, input which is connected to the output of the oscillator 6 burner. The output of the synchronous detector 4 is connected via an amplifier 7 and a low-frequency filter 8 to the first input of the signal divider 9 and to the input of the drive 10 for moving the electric welding torch across the junction. The second input of the divider 9 is connected to the output of the setpoint 11 of the speed of movement of the burner. Output

About CN O 00

with

00

the divider 9 is connected to the input of the arcsine transducer 12, the output of which is connected to the inputs of the cosine transducer 13 and the reversal actuator 14 of the electric welding torch. The output of the cosine converter 13 is connected to the first input, signal multiplier 15, the second input of which is connected to the output of setpoint 11. The output of the multiplier is connected to the drive input / 16 of the displacement of the burner along the junction line.

The device works as follows.

The oscillator 6 of the burner operates continuously during the welding process and provides the necessary amplitude of the torch oscillations. The total value of the welding current passing through the shunt 2 is converted by the welding current amount sensor 1 into a signal fed to the input of the band-pass filter 3, which selects the harmonic component of the welding current at the oscillation frequency of the electrode. After the band-pass filter 3, the signal is fed to the signal input of the synchronous detector 4, which detects it, since the control input of the synchronous detector 4 receives a signal from sensor 5, and then it passes to the inputs of amplifier 7 and low-pass filter 8, the latter smoothes the signal ripples . This signal is then divided into the signal coming from the setting device 11, in the signal divider 9, and the signal representing the division result is passed to the input of the arcsine converter 12, from the output of which goes to the input of the cosine converter 13 and to the input of the driver 14. At the same time, the signal from the output of the low-frequency filter 8 is fed to the drive 10 of moving an electric welding torch across the joint. The signal from the cosine converter 13 Multiplies with the signal / um, coming from the setting device 11, in the signal multiplier 15 and then the signal representing the product of two signals enters the input of the burner moving actuator 16 along the junction line (Y-axis).

Thus, the angle of rotation of the electric welding torch relative to the X and Y coordinate axes depends on the arcsine of the ratio of the magnitude of the signal input to the drive input of the torch movement relative to the joint to the magnitude of the signal coming from the setpoint speed of the torch

(one)

and the component of the welding speed along the Y axis is

0

five

0

five

0

five

0

five

/ Y

V

VCB VCB-cos (arcsin) VCB cos a. (2)

iv CB

where a is the angle corresponding to the turn

electric welding torch from the initial position, consistent with the Y axis, and

in case of a joint line with the Y axis,

“0; VCB is the transverse correction speed of an electric welding torch when welding a rectilinear flat joint in case of its 5 deviation from the movement path specified by the program. This speed is also a component of the speed of movement.

burners along the X axis; VЈB is a component of the speed of the burner moving along the Y axis; VCB torch travel speed along the joint (welding speed).

Claims (1)

Claims of the Invention Electro-welding torch position control device comprising a torch oscillator, a series-connected shunt, a welding current value sensor, a band-pass filter, a synchronous detector, an amplifier, a low-pass filter and a torch displacement drive across the junction, an electrically-welded torch drive along the junction line, moreover, a clock input A synchronous detector is associated with the output of a burner deflection mark sensor, characterized in that, in order to improve the quality of the seam, it is equipped with a signal divider. arcs, cosine and cosine transducers, a reversing drive for an electric welding torch, a multiplier of signals and set-speed displacement electric welding torch, the output of which is connected to the second input of the signal divider, the first input of which is connected to the output of the low-frequency filter, the output of the signal divider is connected to the input of the arcsine converter, the output of which is connected to the inputs of the reversal drive of the electric welding torch and the cosine converter, the output of which is connected to the first input of the signal multiplier, the second input of which is connected with the output of the setpoint of the movement speed of the electric welding torch, and the output of the movement of the signals is connected to the input rivoda electric welding torch along the joint line. PPP7 d FIG. 2 in tf FiZ FIG. H