CN115351388A - Automatic welding device for double-wire three-arc submerged arc welding and control method thereof - Google Patents

Abstract

The invention discloses a double-wire three-arc submerged arc welding automatic welding device and a control method thereof, wherein the device comprises an automatic welding trolley, and a welding assembly is arranged on the automatic welding trolley; the laser tracker is used for detecting the position of the welding assembly and the target position of the welded workpiece and obtaining the offset of the welding position according to the detected position of the welding assembly and the target position; the trolley control system is in communication connection with the laser tracker and is used for controlling the automatic welding trolley to move according to the welding position offset when the welding position offset is larger than the preset offset until the position of the welding assembly corresponds to the target position; and the welding controller is in communication connection with the laser tracker and is used for controlling the welding assembly to weld the target position when the position of the welding assembly corresponds to the target position. The invention solves the problems of poor use flexibility and high cost of the existing automatic welding device.

Description

Twin-wire three-arc submerged arc welding automatic welding device and its control method

technical field

The invention relates to the field of welding, in particular to an automatic welding device for twin-wire three-arc submerged arc welding and a control method thereof.

Background technique

With the development of automatic welding technology, automatic welding technology gradually replaces manual welding, so that the welding process is automated and intelligent, which not only greatly improves welding production efficiency, but also has high welding quality, and at the same time completely improves production labor. condition. In the automatic welding process, it is necessary to use the seam tracking equipment to adjust the posture of the welding torch in time.

Robots can be used to realize fully automatic welding, but due to the large size of welding machines or welding robots, they can only be applied to some occasions where the welding space is large, and for places affected by various reasons such as small space or limited space, then It is impossible to use welding planes or welding robots for automatic welding, and the production line cannot be adjusted flexibly and quickly during workshop construction, and the price of welding planes or welding robots is also quite expensive.

Contents of the invention

The main purpose of the present invention is to propose an automatic welding device for twin-wire three-arc submerged arc welding and its control method, aiming at solving the problems of poor flexibility and high cost of existing automatic welding devices.

In order to achieve the above object, the present invention proposes an automatic welding device for double-wire three-arc submerged arc welding, including:

An automatic welding trolley, the welding assembly is installed on the automatic welding trolley;

A laser tracker, the laser tracker is used to detect the position of the welding assembly and the target position of the workpiece to be welded, and obtain the welding position offset according to the detected position of the welding assembly and the target position;

A trolley control system, the trolley control system communicates with the laser tracker, and the trolley control system is used to control the The movement of the automatic welding trolley until the position of the welding assembly corresponds to the target position;

a welding controller, the welding controller is connected in communication with the laser tracker, and the welding controller is used to control the welding assembly to implement the target position when the position of the welding assembly corresponds to the target position welding.

The trolley control system specifically includes an X-axis linear module, a Y-axis linear module, and a Z-axis linear module respectively arranged along the X-axis, Y-axis, and Z-axis. The X-axis linear module, Y-axis linear module Corresponding sliders are installed on the group and the Z-axis linear module;

The welding position offset specifically includes an X coordinate offset, a Y coordinate offset, and a Z coordinate offset, and the trolley control system is specifically used for when the X coordinate offset is greater than the preset X coordinate offset When measuring, control the movement of the slider on the X-axis linear module to adjust the X-coordinate offset;

When the Y coordinate offset is greater than the preset Y coordinate offset, control the movement of the slider on the Y axis linear module to adjust the Y coordinate offset;

When the Z coordinate offset is greater than the preset Z coordinate offset, control the movement of the slider on the Z axis linear module to adjust the Z coordinate offset.

Optionally, the welding controller is specifically configured to when the X coordinate offset is less than or equal to a preset X coordinate offset, and the Y coordinate offset is less than or equal to a preset Y coordinate offset, and When the Z coordinate offset is less than or equal to the preset Z coordinate offset, the welding component is controlled to perform welding on the target position.

Optionally, the welding assembly includes a first welding torch, a second welding torch, a first welding wire and a second welding wire, the tip of the first welding torch is provided with the first welding wire, and the tip of the second welding torch is provided with the second welding wire;

The automatic welding device also includes a double-wire three-arc power supply, the double-wire three-arc power supply includes a first DC source, a second DC source and a full-bridge inverter, the positive pole of the first DC source is connected to the The positive pole of the input terminal of the full-bridge inverter is connected to the first welding torch, the negative pole of the first DC source is connected to the negative pole of the input terminal of the full-bridge inverter, and the positive poles of the second DC source are respectively connected to the positive pole of the input terminal of the full-bridge inverter and the second welding torch;

When the welding assembly performs welding, the welding controller controls the workpiece to be welded to be respectively connected to the first welding wire, the second welding wire and the negative electrode of the second DC source.

Optionally, the automatic welding device for double-wire three-arc submerged arc welding further includes a cloud control system and a power detection component, and the power detection component is connected to the double-wire three-arc power supply for detecting the double-wire three-arc The output current and output voltage of the power supply;

The cloud control system communicates with the power detection component, and is used to calculate the welding power according to the detected output current and output voltage, and control the power of the twin-wire three-arc power supply when the welding power is greater than the preset welding power. The output voltage remains unchanged, and the output current is reduced;

When the welding power is less than the preset welding power, the output voltage of the twin-wire three-arc power supply is controlled to be constant, and the output current is increased.

Optionally, the automatic welding device for double-wire three-arc submerged arc welding also includes a main welding machine, the automatic welding trolley, the laser tracker, the trolley control system, the twin-wire three-arc power supply and the The cloud control system is set to;

The main welding machine communicates with the welding controller, the trolley control system and the cloud control system respectively. After the welding controller, the trolley control system and the cloud control system complete the preparatory work, Respectively output a start reply signal to the main welding machine;

The main welding machine is used to control the corresponding welding components to perform welding when receiving the start reply signals from the welding controller, the trolley control system and the cloud control system.

Optionally, a control switch is provided on the twin-wire three-arc power supply, and the control switch is used to control the output/non-output of electric energy of the twin-wire three-arc power supply, so as to control the welding assembly to start/stop welding.

The present invention proposes a control method for an automatic welding device for double-wire three-arc submerged arc welding. The control method adopts the automatic welding device for double-wire three-arc submerged arc welding as described above. Including an automatic welding trolley installed with welding components, a welding controller, a twin-wire three-arc power supply and a cloud control system, the control method of the twin-wire three-arc submerged arc welding automatic welding device includes the following steps:

Step S10, detecting the position of the welding component and the target position on the workpiece to be welded, and comparing the detected position of the welding component with the target position to obtain a welding position offset;

Step S20, when the offset of the welding position is greater than the preset offset, control the movement of the automatic welding carriage according to the offset of the welding position until the position of the welding assembly corresponds to the target position. When the position of the welding component corresponds to the target position, the welding component is controlled to perform welding on the target position.

Optionally, after the step S20, the following steps are also included:

Step S30, detecting the output voltage and output current of the twin-wire three-arc power supply, and calculating the welding power according to the detected output voltage and the output current;

Step S40. When the welding power is greater than the preset welding power, keep the output voltage unchanged and increase the output current; when the welding power is lower than the preset welding power, keep the output voltage unchanged and increase the Output current.

Optionally, the following steps are also included before controlling the welding assembly to perform welding:

Acquiring a startup reply signal of the welding controller to inquire about the startup status of the welding controller;

After inquiring about the startup state of the welding controller, obtain a startup reply signal of the trolley control system to inquire about the startup status of the trolley control system;

After inquiring about the startup state of the trolley control system, obtain a startup reply signal of the cloud control system to inquire about the startup status of the cloud control system;

After inquiring about the startup state of the cloud control system, control the welding assembly to perform welding.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only These are some embodiments of the present invention. For those skilled in the art, other drawings can also be obtained according to the structures shown in these drawings without creative effort.

Fig. 1 is a functional module schematic diagram of an embodiment of an automatic welding device for double-wire three-arc submerged arc welding of the present invention;

Fig. 2 is a schematic structural view of an embodiment of an automatic welding device for double-wire three-arc submerged arc welding of the present invention;

Fig. 3 is a structural schematic diagram of an embodiment of a twin-wire three-arc power supply in the twin-wire three-arc submerged arc welding automatic welding device of the present invention;

4 is a schematic diagram of functional modules of another embodiment of the automatic welding device for double-wire three-arc submerged arc welding of the present invention;

Fig. 5 is a working sequence diagram of an embodiment of the automatic welding device for double-wire three-arc submerged arc welding of the present invention;

Fig. 6 is a work flow chart of an embodiment of the control method of the automatic welding device for double-wire three-arc submerged arc welding of the present invention;

Fig. 7 is a work flow chart of another embodiment of the control method of the automatic welding device for twin-wire three-arc submerged arc welding of the present invention.

Description of drawings:

label name label name 10 Automatic welding trolley 20 Welded components 30 Car Control System 40 laser tracker 50 welding controller 60 Double wire three arc power supply 70 Cloud Control System 80 master welding machine

The realization of the purpose of the present invention, functional characteristics and advantages will be further described in conjunction with the embodiments and with reference to the accompanying drawings.

Detailed ways

The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention. It should be noted that if there is a directional indication (such as up, down, left, right, front, back...) in the embodiment of the present invention, the directional indication is only used to explain the position in a certain posture (as shown in the accompanying drawing). If the specific posture changes, the directional indication will also change accordingly.

In addition, if there are descriptions involving "first", "second" and so on in the embodiments of the present invention, the descriptions of "first", "second" and so on are only for descriptive purposes, and should not be interpreted as indicating or implying Its relative importance or implicitly indicates the number of technical features indicated. Thus, the features defined as "first" and "second" may explicitly or implicitly include at least one of these features. In addition, the technical solutions of the various embodiments can be combined with each other, but it must be based on the realization of those skilled in the art. When the combination of technical solutions is contradictory or cannot be realized, it should be considered that the combination of technical solutions does not exist , nor within the scope of protection required by the present invention.

Existing special welding machines or welding robots are large in size and can only be used in some occasions where the welding space is large. In the workshop construction, the production line cannot be adjusted flexibly and quickly, and there are problems of poor flexibility and high cost.

The present invention proposes an automatic welding device for double-wire three-arc submerged arc welding, in which an automatic welding trolley 10 drives a welding assembly 20 . During the automatic welding process, the position of the welding assembly 20 is collected by the laser tracker 40, and then linked with the trolley control system 30 to adjust the position of the welding assembly 20 in time, so that the welding assembly 20 can perform welding accurately.

Referring to Fig. 1 and Fig. 2, in one embodiment of the present invention, the double-wire three-arc submerged arc welding automatic welding device includes:

An automatic welding trolley 10, a welding assembly 20 is installed on the automatic welding trolley 10;

Laser tracker 40, the laser tracker 40 is used to detect the position of the welding assembly 20 and the target position of the workpiece to be welded, and obtain the welding position deviation according to the detected position of the welding assembly 20 and the target position displacement;

A trolley control system 30, the trolley control system 30 communicates with the laser tracker 40, and the trolley control system 30 is used to, when the welding position offset is greater than a preset offset, according to the welding position The offset controls the movement of the automatic welding trolley 10 until the position of the welding assembly 20 corresponds to the target position;

Welding controller 50, said welding controller 50 is connected with said laser tracker 40 in communication, said welding controller 50 is used for controlling said welding assembly when the position of said welding assembly 20 corresponds to said target position 20 performing welding on the target position.

In this embodiment, the welding assembly 20 is used to weld the workpiece to be welded. When the automatic welding device is working, it is necessary to adjust the position of the welding assembly 20 in time so that the position of the welding assembly 20 is consistent with the target position to be welded on the workpiece to be welded. Corresponding to achieve precise welding.

In order to make the position of the welding assembly 20 correspond to the target position to be welded on the workpiece to be welded, a calibration point is set on the workpiece to be welded, and the position where the calibration point is set on the workpiece to be welded is the target position where the welding assembly 20 needs to perform welding. The laser tracker 40 verifies the position of the welding assembly 20 , the laser tracker 40 detects the position of the welding assembly 20 and the target position of the workpiece to be welded, and obtains the position offset according to the position of the welding assembly 20 and the target position.

The laser tracker 40 sends the position offset data to the welding controller 50 and the trolley control system 30 . The trolley control system 30 is used to adjust the position of the welding assembly 20, and controls the movement of the automatic welding trolley 10 according to the data of the position offset, so as to control the position change of the welding assembly 20 installed on the automatic welding trolley 10, thereby realizing closed-loop tracking, so that The offset between the position of the welding component 20 and the target position becomes smaller and smaller until the offset between the position of the welding component 20 and the target position is less than or equal to the preset offset. When the position offset sent by the laser tracker 40 is less than or equal to the preset offset, the position of the welding assembly 20 is considered to correspond to the target position, and the dolly control system 30 no longer controls the automatic welding dolly 10 to move, and the welding assembly 20 The position does not change any more, and the positioning of the welding assembly 20 to the target position is realized.

The welding controller 50 is used to control the welding assembly 20 to perform welding. When the position offset sent by the laser tracker 40 is greater than the preset position offset, the position of the welding assembly 20 does not correspond to the target position. The welding controller 50 The welding assembly 20 is not controlled to perform welding. The trolley control system 30 controls the position change of the welding assembly 20, and the position offset sent by the laser tracker 40 becomes smaller and smaller. When the position offset sent by the laser tracker 40 is less than or equal to the preset position offset, the welding The position of the component 20 is considered to correspond to the target position, and the welding controller 50 controls the welding component 20 to perform welding, so that the welding component 20 performs welding on the target position.

It should be noted that the position, target position and position offset of the welding assembly 20 may be based on a position in a one-dimensional coordinate system, a position in a two-dimensional coordinate system, and a position in a three-dimensional coordinate system.

Assume that the position of the welding assembly 20 detected by the laser tracker 40 is a, the target position is b, and the preset position offset is c. The position offset between the position of the welding component 20 and the target position is ∣a-b|, if ∣a-b| is greater than c, the trolley control system 30 controls the trolley to drive the welding component 20 to move toward the target position ∣a-b|, the trolley is moving During the process, the value of |a-b| will decrease until |a-b| is less than or equal to c, the trolley control system 30 no longer controls the movement of the trolley, and the welding controller 50 controls the welding assembly 20 to perform welding.

The working principle of this embodiment is: the position and the target position of the welding assembly 20 detected by the laser tracker 40, and the position offset is obtained according to the detected position of the welding assembly 20 and the target position, and the data of the position offset is sent To the trolley control system 30 and the welding controller 50. When the position offset is greater than the preset position offset, the trolley control system 30 controls the trolley to drive the welding controller 50 to move to the target position, and the welding controller 50 does not work; when the position offset is less than or equal to the preset position offset When measuring, the trolley control system 30 does not work, and the welding controller 50 controls the welding assembly 20 to perform welding, so that the position of the welding assembly 20 corresponds to the target position, and welding is performed at the target position, realizing the automatic work of the welding assembly 20.

In the present invention, the automatic welding device for double-wire three-arc submerged arc welding is provided with an automatic welding trolley 10 , a laser tracker 40 , a trolley control system 30 and a welding controller 50 . Among them, the welding assembly 20 is installed on the automatic welding trolley 10; the laser tracker 40 is used to detect the position of the welding assembly 20 and the target position of the workpiece to be welded, and obtain the welding position deviation according to the detected position of the welding assembly 20 and the target position. displacement; the dolly control system 30 is used to control the movement of the automatic welding trolley 10 according to the welding position offset when the welding position offset is greater than the preset offset, until the position of the welding assembly 20 corresponds to the target position; welding control The device 50 is used to control the welding assembly 20 to perform welding on the target position when the position of the welding assembly 20 corresponds to the target position. During work, the position of the welding assembly 20 detected by the laser tracker 40 and the target position obtain the position offset. When the position offset is greater than the preset position offset, the trolley control system 30 controls the trolley to drive the welding controller 50 to the target. When the position moves, the welding controller 50 does not work; when the position offset is less than or equal to the preset position offset, the trolley control system 30 does not work, and the welding controller 50 controls the welding assembly 20 to perform welding. The positioning of the welding assembly 20 is realized by the laser tracker 40 and the trolley control system 30. After the welding assembly 20 is positioned, the welding controller 50 controls the welding assembly 20 to perform welding, thereby realizing the automation of the welding process. Compared with the existing special welding machine or welding robot, the welding device adopted in the present invention controls the welding assembly 20 through the welding trolley, has a smaller volume, can flexibly and quickly adjust the production line, and has lower cost. The invention solves the problems of poor use flexibility and high cost of the existing automatic welding device.

In one embodiment, the trolley control system 30 includes an X-axis linear module, a Y-axis linear module, and a Z-axis linear module respectively arranged along the X-axis, Y-axis, and Z-axis. The X-axis linear module Corresponding sliders are installed on the group, Y-axis linear module and Z-axis linear module;

The welding position offset specifically includes an X coordinate offset, a Y coordinate offset, and a Z coordinate offset. When shifting, control the movement of the slider on the X-axis linear module to adjust the X-coordinate offset;

When the Y coordinate offset is greater than the preset Y coordinate offset, control the movement of the slider on the Y axis linear module to adjust the Y coordinate offset;

When the Z coordinate offset is greater than the preset Z coordinate offset, control the movement of the slider on the Z axis linear module to adjust the Z coordinate offset.

In this embodiment, the position, target position and position offset of the welding assembly 20 are based on the three-dimensional coordinate system.

Assume that the position of the welding assembly 20 detected by the laser tracker 40 is (a1, a2, a3), the target position is (b1, b2, b3), and the preset position offset is (c1, c2, c3). The position offset between the position of the welding component 20 and the target position is (|a1-b1|, |a2-b2|, |a3-b3|).

If ∣a1-b1∣ is greater than c1, control the slider on the X-axis linear module to move to the target position, so as to control the trolley to drive the welding assembly 20 to move to the target position X-axis ∣a1-b1∣ until ∣a1-b1∣ is less than Or equal to c1, the slider on the X-axis linear module no longer works. If ∣a2-b2∣ is greater than c2, control the slider on the Y-axis linear module to move to the target position, so as to control the trolley to drive the welding assembly 20 to move to the target position X-axis ∣a2-b2∣ until ∣a2-b2∣ is less than or equal to c2, the slider on the Y-axis linear module no longer works. If ∣a3-b3∣ is greater than c3, control the slider on the Z-axis linear module to move to the target position, so as to control the trolley to drive the welding assembly 20 to move to the target position Z-axis ∣a3-b3∣ until ∣a3-b3∣ is less than Or equal to c3, the slider on the Z-axis linear module no longer works.

In one embodiment, the welding controller 50 is specifically configured to make the X coordinate offset less than or equal to the preset X coordinate offset, and the Y coordinate offset less than or equal to the preset Y coordinate offset amount, and the Z coordinate offset is less than or equal to the preset Z coordinate offset, the welding assembly 20 is controlled to perform welding on the target position.

In this embodiment, the position of the welding assembly 20 needs to correspond to the target position in the three directions of X, Y and Z at the same time. Assume that the position of the welding assembly 20 detected by the laser tracker 40 is (a1, a2, a3), the target position is (b1, b2, b3), and the preset position offset is (c1, c2, c3). The position offset between the position of the welding assembly 20 and the target position is (∣a1-b1∣, ∣a2-b2∣, ∣a3-b3∣), and it is necessary to satisfy that ∣a1-b1∣ is less than or equal to c1,∣ a2-b2| is less than or equal to c2 and |a3-b3| is less than or equal to c3.

Referring to FIG. 3 , in one embodiment, the welding assembly 20 includes a first welding gun G1, a second welding gun G2, a first welding wire S1 and a second welding wire S2, the tip of the first welding gun G1 is provided with the first welding wire S1, The tip of the second welding gun G2 is provided with a second welding wire S2;

The automatic welding device also includes a twin-wire three-arc power supply 60, and the twin-wire three-arc power supply 60 includes a first DC source, a second DC source and a full-bridge inverter, and the positive poles of the first DC source are respectively It is connected to the positive pole of the input terminal of the full-bridge inverter and the first welding torch G1, the negative pole of the first DC source is connected to the negative pole of the input terminal of the full-bridge inverter, and the second DC source The positive pole of the full-bridge inverter is respectively connected to the positive pole of the input end of the full-bridge inverter and the second welding gun G2;

When the welding assembly 20 performs welding, the welding controller 50 controls the workpiece W to be welded to be respectively connected to the first welding wire S1 , the second welding wire S2 and the negative electrode of the second DC source.

In this embodiment, the direction of the current flowing from the first DC source and the second DC source to the welding assembly 20 is controlled by the full-bridge inverter circuit. During the welding process, both the first welding wire S1 and the second welding wire S2 are energized, and the first welding wire S1 and the second welding wire S2 generate a third arc A3. When the current is output by the first DC source, the current flows to the first welding wire S1. To the workpiece W to be welded, the first arc A1 is formed between the first welding wire S1 and the workpiece W to be welded. When the current is output by the second DC source, the current flows from the second welding wire S2 to the workpiece W to be welded. The second welding wire S2 A second arc A2 is formed with the workpiece W to be welded.

The double-wire three-arc welding in this embodiment can not only effectively increase the welding wire deposition rate, but also effectively reduce the welding heat input, and can solve the contradiction between increasing the welding wire deposition rate and reducing the welding heat input, so it is currently the most ideal and efficient method. Arc welding method.

In one embodiment, the automatic welding device for double-wire three-arc submerged arc welding further includes a cloud control system 70 and a power detection component, and the power detection component is connected to the double-wire three-arc power supply 60 for detecting the The output current and output voltage of the double-wire three-arc power supply 60;

The cloud control system 70 is communicatively connected with the power detection component, and is used to calculate the welding power according to the detected output current and output voltage, and control the twin-wire three-arc power supply when the welding power is greater than the preset welding power The output voltage of 60 remains unchanged, and the output current is reduced;

When the welding power is less than the preset welding power, the output voltage of the twin-wire three-arc power supply 60 is controlled to remain unchanged, and the output current is increased.

In this embodiment, the power detection component and the cloud control system 70 realize real-time monitoring and calculation of the working power of the twin-wire three-arc power supply 60, and can judge whether there is abnormal welding quality in the whole welding process, thereby realizing the supervision of the welding quality in the whole process.

The output current and output voltage of the twin-wire three-arc power supply 60 are detected by the power detection component, and the cloud control system 70 calculates the working power through the output current and output voltage, and controls the working power of the twin-wire three-arc power supply 60 to be consistent with the preset welding power . The cloud control system 70 keeps the output voltage of the twin-wire three-arc power supply 60 stable, and changes the output current of the twin-wire three-arc power supply 60 through network communication, thereby realizing the stability of welding power.

Referring to Fig. 4 and Fig. 5, in one embodiment, the automatic welding device for double-wire three-arc submerged arc welding also includes a main welding machine 80, which is connected to the welding controller 50 and the trolley respectively. The control system 30 and the cloud control system 70 are connected by communication, and the welding controller 50, the trolley control system 30 and the cloud control system 70 respectively output a start reply to the main welding machine 80 after completing the preparatory work. Signal;

The main welding machine 80 is used to control the corresponding welding assembly 20 to perform welding when receiving the start reply signals from the welding controller 50 , the trolley control system 30 and the cloud control system 70 .

In this embodiment, the main welding machine 80 actively sends data to search for equipment, and when the main welding machine finds the equipment, other equipment enters normal data polling in a question-and-answer manner.

In a working cycle, firstly, the main welding machine 80 sends a data inquiry to the welding controller 50, and the welding controller 50 replies to the data inquiry sent by the main welding machine 80 after the data is ready, and the main welding machine 80 controls the trolley again. System 30 sends data inquiry, and trolley control system 30 also replies to main welding machine 80 after data is ready, and main welding machine 80 sends data inquiry to cloud control system 70 again, and cloud control system 70 also answers main welding machine after data is ready. Machine 80 replies. The main welding machine 80 starts working after successively receiving replies from the welding controller 50 , the trolley control system 30 and the cloud control system 70 .

In Fig. 5, the communication from F01 to F03 is a work cycle, the main power supply is the sequential work of the main welding machine 80, and the secondary power supply is the sequential work of the welding controller 50. F01 communication is the data inquiry process of the main welding machine 80 to the welding controller 50, F02 communication is the data inquiry process of the main welding machine 80 to the trolley control system 30, F03 communication is the data inquiry process of the main welding machine 80 to the cloud control system 70 .

In one embodiment, the twin-wire three-arc power supply 60 is provided with a control switch, and the control switch is used to control the twin-wire three-arc power supply 60 to output/not output electric energy, so as to control the welding assembly 20 to turn on/off Stop soldering.

In this embodiment, there may be data delay due to network reasons, or the actual working conditions are different from the preset conditions, and the welding needs to be actively controlled by humans.

A hardware switch is used to start/stop the equipment for welding, and each twin-wire three-arc power supply 60 is provided with a slave control switch to control the welding assembly 20 connected to the twin-wire three-arc power supply 60 to implement/stop welding.

The present invention proposes a control method for an automatic welding device for double-wire three-arc submerged arc welding. The automatic welding device for double-wire three-arc submerged arc welding includes an automatic welding trolley 10 equipped with a welding assembly 20, a welding controller 50, a double-wire three-arc power supply 60, and a cloud control system 70. The double-wire three-arc submerged arc welding The control method of automatic welding device comprises the following steps:

Step S10, detecting the position of the welding assembly 20 and the target position on the workpiece to be welded, and comparing the detected position of the welding assembly 20 with the target position to obtain a welding position offset;

Step S20, when the offset of the welding position is greater than the preset offset, control the movement of the automatic welding trolley 10 according to the offset of the welding position until the position of the welding assembly 20 corresponds to the target position. When the position of the welding assembly 20 corresponds to the target position, the welding assembly 20 is controlled to perform welding on the target position.

In this embodiment, the position and target position of the detected welding assembly 20 are detected, and the position offset is obtained according to the detected position and target position of the welding assembly 20, and the data of the position offset is sent to the trolley control system 30 and welding controller 50. When the position offset is greater than the preset position offset, the trolley control system 30 controls the trolley to drive the welding controller 50 to move to the target position, and the welding controller 50 does not work; when the position offset is less than or equal to the preset position offset When measuring, the trolley control system 30 does not work, and the welding controller 50 controls the welding assembly 20 to perform welding, so that the position of the welding assembly 20 corresponds to the target position, and welding is performed at the target position, realizing the automatic work of the welding assembly 20.

In one embodiment, after the step S20, the following steps are further included:

Step S30, detecting the output voltage and output current of the twin-wire three-arc power supply 60, and calculating the welding power according to the detected output voltage and the output current;

Step S40. When the welding power is greater than the preset welding power, keep the output voltage unchanged and increase the output current; when the welding power is lower than the preset welding power, keep the output voltage unchanged and increase the Output current.

In this embodiment, in order to ensure the welding quality of the whole process, the working power of the twin-wire three-arc power supply 60 should be consistent with the preset power.

The output voltage of the twin-wire three-arc power supply 60 does not remain unchanged during the welding process, and the output current of the twin-wire three-arc power supply 60 is adjusted to keep the welding power of the twin-wire three-arc power supply 60 stable.

In one embodiment, the following steps are also included before controlling the welding assembly 20 to perform welding:

Acquiring a startup reply signal of the welding controller 50 to inquire about the startup status of the welding controller 50;

After inquiring about the startup state of the welding controller 50, obtain the startup reply signal of the trolley control system 30 to inquire about the startup status of the trolley control system 30;

After inquiring about the startup state of the trolley control system 30, obtain the startup reply signal of the cloud control system 70 to inquire about the startup status of the cloud control system 70;

After inquiring about the activation status of the cloud control system 70, the welding assembly 20 is controlled to perform welding.

In this embodiment, in one working cycle, firstly, the main welding machine 80 sends a data inquiry to the welding controller 50, and the welding controller 50 replies to the data inquiry sent by the main welding machine 80 after the data is ready, and the main welding Machine 80 sends data inquiry to trolley control system 30 again, and trolley control system 30 also replies to main welding machine 80 after data is ready, and main welding machine 80 sends data inquiry to cloud control system 70 again, and cloud control system 70 is in data preparation. Also reply to main welding machine 80 when ready. The main welding machine 80 starts working after successively receiving replies from the welding controller 50 , the trolley control system 30 and the cloud control system 70 .

The above descriptions are only optional embodiments of the present invention, and do not limit the patent scope of the present invention. Under the conception of the present invention, the equivalent structural transformation made by using the description of the present invention and the contents of the accompanying drawings, or direct/indirect use All other relevant technical fields are included in the patent protection scope of the present invention.

Claims (9)

1. An automatic welding device for double-wire three-arc submerged arc welding, characterized in that it comprises: An automatic welding trolley, the welding assembly is installed on the automatic welding trolley; A laser tracker, the laser tracker is used to detect the position of the welding assembly and the target position of the workpiece to be welded, and obtain the welding position offset according to the detected position of the welding assembly and the target position; A trolley control system, the trolley control system communicates with the laser tracker, and the trolley control system is used to control the The movement of the automatic welding trolley until the position of the welding assembly corresponds to the target position; a welding controller, the welding controller is connected in communication with the laser tracker, and the welding controller is used to control the welding assembly to implement the target position when the position of the welding assembly corresponds to the target position welding; The trolley control system specifically includes an X-axis linear module, a Y-axis linear module, and a Z-axis linear module respectively arranged along the X-axis, Y-axis, and Z-axis. The X-axis linear module, Y-axis linear module Corresponding sliders are installed on the group and the Z-axis linear module; The welding position offset specifically includes an X coordinate offset, a Y coordinate offset, and a Z coordinate offset, and the trolley control system is specifically used for when the X coordinate offset is greater than the preset X coordinate offset When measuring, control the movement of the slider on the X-axis linear module to adjust the X-coordinate offset; When the Y coordinate offset is greater than the preset Y coordinate offset, control the movement of the slider on the Y axis linear module to adjust the Y coordinate offset; When the Z coordinate offset is greater than the preset Z coordinate offset, control the movement of the slider on the Z axis linear module to adjust the Z coordinate offset. 2. The automatic welding device for twin-wire three-arc submerged arc welding as claimed in claim 1, wherein the welding controller is specifically used for when the X-coordinate offset is less than or equal to the preset X-coordinate offset , when the Y coordinate offset is less than or equal to the preset Y coordinate offset, and the Z coordinate offset is less than or equal to the preset Z coordinate offset, control the welding assembly to implement the target position welding. 3. The automatic welding device for twin-wire three-arc submerged arc welding as claimed in claim 1, wherein the welding assembly includes a first welding torch, a second welding torch, a first welding wire and a second welding wire, and the first welding torch the tip is provided with a first welding wire, and the tip of the second welding torch is provided with a second welding wire; The automatic welding device also includes a double-wire three-arc power supply, the double-wire three-arc power supply includes a first DC source, a second DC source and a full-bridge inverter, the positive pole of the first DC source is connected to the The positive pole of the input terminal of the full-bridge inverter is connected to the first welding torch, the negative pole of the first DC source is connected to the negative pole of the input terminal of the full-bridge inverter, and the positive poles of the second DC source are respectively connected to the positive pole of the input terminal of the full-bridge inverter and the second welding torch; When the welding assembly performs welding, the welding controller controls the workpiece to be welded to be respectively connected to the first welding wire, the second welding wire and the negative electrode of the second DC source. 4. The automatic welding device for twin-wire three-arc submerged arc welding as claimed in claim 3, characterized in that, the automatic welding device for twin-wire three-arc submerged arc welding also includes a cloud control system and a power detection component, and the power detection The component is connected to the twin-wire three-arc power supply, and is used to detect the output current and output voltage of the twin-wire three-arc power supply; The cloud control system communicates with the power detection component, and is used to calculate the welding power according to the detected output current and output voltage, and control the power of the twin-wire three-arc power supply when the welding power is greater than the preset welding power. The output voltage remains unchanged, and the output current is reduced; When the welding power is less than the preset welding power, the output voltage of the twin-wire three-arc power supply is controlled to be constant, and the output current is increased. 5. twin-wire three-arc submerged-arc automatic welding device as claimed in claim 4, is characterized in that, described twin-wire three-arc submerged arc welding automatic welding device also comprises main welding machine, and described main welding machine is connected with said main welding machine respectively The welding controller, the trolley control system and the cloud control system are connected by communication. After the preparation work is completed, the welding controller, the trolley control system and the cloud control system respectively output to the main welding machine start reply signal; The main welding machine is used to control the corresponding welding components to perform welding when receiving the start reply signals from the welding controller, the trolley control system and the cloud control system. 6. The automatic welding device for twin-wire three-arc submerged arc welding according to claim 5, wherein a control switch is provided on the twin-wire three-arc power supply, and the control switch is used to control the twin-wire three-arc The power supply outputs/does not output electric energy to control the welding assembly to start/stop welding. 7. A control method for an automatic welding device for double-wire three-arc submerged arc welding, characterized in that the control method for the automatic welding device for double-wire three-arc submerged arc welding is as described in any one of claims 1 to 6. The automatic welding device for double-wire three-arc submerged arc welding, the automatic welding device for double-wire three-arc submerged arc welding includes an automatic welding trolley equipped with welding components, a welding controller, a double-wire three-arc power supply and a cloud control system. A control method for an automatic welding device for twin-wire three-arc submerged arc welding includes the following steps: Step S10, detecting the position of the welding component and the target position on the workpiece to be welded, and comparing the detected position of the welding component with the target position to obtain a welding position offset; Step S20, when the offset of the welding position is greater than the preset offset, control the movement of the automatic welding carriage according to the offset of the welding position until the position of the welding assembly corresponds to the target position. When the position of the welding component corresponds to the target position, the welding component is controlled to perform welding on the target position. 8. The control method of the twin-wire three-arc submerged arc welding automatic welding device as claimed in claim 7, characterized in that, after the step S20, the following steps are also included: Step S30, detecting the output voltage and output current of the twin-wire three-arc power supply, and calculating the welding power according to the detected output voltage and the output current; Step S40. When the welding power is greater than the preset welding power, keep the output voltage unchanged and increase the output current; when the welding power is lower than the preset welding power, keep the output voltage unchanged and increase the Output current. 9. The control method of the twin-wire three-arc submerged arc welding automatic welding device as claimed in claim 7, further comprising the following steps before controlling the welding assembly to perform welding: Acquiring a startup reply signal of the welding controller to inquire about the startup status of the welding controller; After inquiring about the startup state of the welding controller, obtain a startup reply signal of the trolley control system to inquire about the startup status of the trolley control system; After inquiring about the startup state of the trolley control system, obtain a startup reply signal of the cloud control system to inquire about the startup status of the cloud control system; After inquiring about the startup state of the cloud control system, control the welding assembly to perform welding.

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