WO2019201006A1 - Procédé et système d'identification d'angle dans toutes les positions d'un chalumeau de soudage - Google Patents

Procédé et système d'identification d'angle dans toutes les positions d'un chalumeau de soudage Download PDF

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Publication number
WO2019201006A1
WO2019201006A1 PCT/CN2019/075017 CN2019075017W WO2019201006A1 WO 2019201006 A1 WO2019201006 A1 WO 2019201006A1 CN 2019075017 W CN2019075017 W CN 2019075017W WO 2019201006 A1 WO2019201006 A1 WO 2019201006A1
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Prior art keywords
value
torch
acceleration sensor
axis
welding
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PCT/CN2019/075017
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English (en)
Chinese (zh)
Inventor
何江龙
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Xionggu Electrical Co Ltd
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Xionggu Electrical Co Ltd
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Application filed by Xionggu Electrical Co Ltd filed Critical Xionggu Electrical Co Ltd
Publication of WO2019201006A1 publication Critical patent/WO2019201006A1/fr
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
    • G01B7/30—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring angles or tapers; for testing the alignment of axes

Definitions

  • the invention belongs to the technical field of welding torch angle detection, and particularly relates to a method for identifying the full position angle of a welding torch.
  • the technical solution adopted by the present invention is to provide a method for identifying the full position angle of the welding torch, comprising the following steps:
  • AglX_Value is the voltage value of the X-axis outputted by the three-axis acceleration sensor
  • AglY_Value is the voltage value of the Y-axis output by the three-axis acceleration sensor
  • AglZ_Value is the voltage value of the Z-axis output by the three-axis acceleration sensor
  • the calculation formula of the left torch angle value is:
  • a welding torch full position angle recognition system comprising:
  • the left welding torch is used to weld the left semicircular arc of the pipeline
  • the first three-axis acceleration sensor is mounted on the left welding torch for outputting three voltage values corresponding to the acceleration of the left welding torch on three coordinate axes;
  • a second three-axis acceleration sensor mounted on the right torch for outputting three voltage values corresponding to the acceleration of the right torch on three coordinate axes;
  • a processor for reading three voltage values of the output of the first three-axis acceleration sensor or the second three-axis acceleration sensor, and calculating an angle value of the left torch or the right torch according to the read voltage value specifically including The following program modules:
  • a voltage value reading program for reading a voltage value corresponding to three coordinate axes registered in the first three-axis acceleration sensor or the second three-axis acceleration sensor;
  • the square root calculation program is configured to calculate a square root value Value_y corresponding to the Y axis and a square root value Value_z corresponding to the Z axis according to the three voltage values, and the calculation formula is:
  • AglX_Value is the voltage value of the X-axis outputted by the three-axis acceleration sensor
  • AglY_Value is the voltage value of the Y-axis output by the three-axis acceleration sensor
  • AglZ_Value is the voltage value of the Z-axis output by the three-axis acceleration sensor
  • the arctangent calculation program is configured to calculate an arctangent value Value_y1 corresponding to the Y axis and an arctangent value Value_z1 corresponding to the Z axis according to the square root value, and the calculation formula is:
  • An angle calculation program configured to determine whether the voltage value is from a first triaxial acceleration sensor or a second triaxial acceleration sensor; if it is a first triaxial acceleration sensor, calculating a left torch according to the arc tangent value An angle value ⁇ ; if it is a second three-axis acceleration sensor, the angle value ⁇ of the right torch is calculated according to the arctangent value;
  • the calculation formula of the left torch angle value is:
  • the present invention has the following advantages:
  • the three-axis acceleration sensor can output voltage values corresponding to the three coordinate axes, and then automatically calculate the left welding torch and the right according to the subsequent formula.
  • the real-time actual angle of the torch, the obtained torch angle is more accurate, which facilitates the subsequent steps to accurately match the welding parameters and improve the welding quality of the pipe;
  • the welding parameters can be automatically called according to the calculated torch angle value, no manual intervention is required in the whole process, and the degree of automation is high, which can effectively reduce the labor cost.
  • Figure 1 is a schematic flow chart of the method of the present invention
  • Figure 2 is a schematic illustration of the framework of the system of the present invention.
  • the welding trolley In the actual pipeline welding process, the welding trolley is used to walk on the circular arc track, and the welding torch is clamped on the welding trolley, that is, there are left welding trolley, left welding torch, right welding trolley, right welding torch, and right welding torch adopting Clockwise downward welding, the welding trolley starts from the vicinity of the flat welding PA position, to the PB position of the flat welding, to the vertical welding PC position, to the elevation welding PD position, and then to the overhead welding PE position to achieve the semi-arc welding; The left torch is welded counterclockwise and is axisymmetric with the right torch welding position to achieve welding of the entire pipe.
  • the embodiment provides a method for identifying a full position angle of a welding torch, which includes the following steps:
  • AglX_Value is the voltage value of the X-axis outputted by the three-axis acceleration sensor
  • AglY_Value is the voltage value of the Y-axis output by the three-axis acceleration sensor
  • AglZ_Value is the voltage value of the Z-axis output by the three-axis acceleration sensor
  • the calculation formula of the left torch angle value is:
  • a torch full position angle recognition system including:
  • the left welding torch is used to weld the left semicircular arc of the pipeline
  • the first three-axis acceleration sensor is mounted on the left welding torch for outputting three voltage values corresponding to the acceleration of the left welding torch on three coordinate axes;
  • a second three-axis acceleration sensor mounted on the right torch for outputting three voltage values corresponding to the acceleration of the right torch on three coordinate axes;
  • a processor for reading three voltage values of the output of the first three-axis acceleration sensor or the second three-axis acceleration sensor, and calculating an angle value of the left torch or the right torch according to the read voltage value specifically including The following program modules:
  • a voltage value reading program for reading a voltage value corresponding to three coordinate axes registered in the first three-axis acceleration sensor or the second three-axis acceleration sensor;
  • the square root calculation program is configured to calculate a square root value Value_y corresponding to the Y axis and a square root value Value_z corresponding to the Z axis according to the three voltage values, and the calculation formula is:
  • AglX_Value is the voltage value of the X-axis outputted by the three-axis acceleration sensor
  • AglY_Value is the voltage value of the Y-axis output by the three-axis acceleration sensor
  • AglZ_Value is the voltage value of the Z-axis output by the three-axis acceleration sensor
  • the arctangent calculation program is configured to calculate an arctangent value Value_y1 corresponding to the Y axis and an arctangent value Value_z1 corresponding to the Z axis according to the square root value, and the calculation formula is:
  • An angle calculation program configured to determine whether the voltage value is from a first triaxial acceleration sensor or a second triaxial acceleration sensor; if it is a first triaxial acceleration sensor, calculating a left torch according to the arc tangent value An angle value ⁇ ; if it is a second three-axis acceleration sensor, the angle value ⁇ of the right torch is calculated according to the arctangent value;
  • the calculation formula of the left torch angle value is:
  • a parameter storage program for storing a one-to-one correspondence between the angle of the left torch and the welding parameters, and a one-to-one correspondence between the angle of the right torch and the welding parameters;
  • the parameter calling program is used to call the welding parameter corresponding to the angle value ⁇ to the left welding torch, and to call the welding parameter corresponding to the angle value ⁇ to the right welding torch for welding.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Butt Welding And Welding Of Specific Article (AREA)

Abstract

L'invention concerne un procédé et un système d'identification d'angle dans toutes les positions d'un chalumeau de soudage dans le domaine technique de la détection d'angle. Un chalumeau de soudage gauche et un chalumeau de soudage droit comportent chacun un capteur d'accélération triaxial. Les capteurs d'accélération triaxiaux délivrent en sortie des valeurs de tension correspondant à trois axes de coordonnées. Un processeur lit les valeurs de tension et calcule automatiquement l'angle en temps réel du chalumeau de soudage gauche et celui du chalumeau de soudage droit par l'intermédiaire d'une fonction de racine carrée, d'une fonction de tangente d'arc et d'une fonction de calcul d'angle. Les angles de soudage produits ont une précision accrue, la mise en correspondance précise des paramètres de soudage lors d'une étape ultérieure est facilitée, et la qualité d'un soudage de tuyaux est accrue.
PCT/CN2019/075017 2018-04-20 2019-02-14 Procédé et système d'identification d'angle dans toutes les positions d'un chalumeau de soudage Ceased WO2019201006A1 (fr)

Applications Claiming Priority (2)

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CN201810359902.2 2018-04-20
CN201810359902.2A CN108444379A (zh) 2018-04-20 2018-04-20 一种焊炬全位置角度识别方法和系统

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WO2019201006A1 true WO2019201006A1 (fr) 2019-10-24

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Publication number Priority date Publication date Assignee Title
CN108444379A (zh) * 2018-04-20 2018-08-24 成都熊谷加世电器有限公司 一种焊炬全位置角度识别方法和系统
CN110701640B (zh) * 2019-10-16 2021-06-15 杨梅 智能旋钮及其开关状态获取方法

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JP2003019571A (ja) * 2001-07-06 2003-01-21 Nitta Ind Corp スポット溶接電極の面直度センサ並びに面直度計測方法及び装置
US20120273473A1 (en) * 2011-04-28 2012-11-01 Yuming Zhang Systems and methods to control gas tungsten arc welding and plasma arc welding
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US20160361776A1 (en) * 2015-06-15 2016-12-15 Illinois Tool Works Inc. Method and apparatus for measurement of three-dimensional welding torch orientation for a welding process without using a magnetometer
CN107635709A (zh) * 2015-01-05 2018-01-26 肯塔基大学研究基金会 用于手工电弧焊过程的三维焊炬取向的测量
CN108444379A (zh) * 2018-04-20 2018-08-24 成都熊谷加世电器有限公司 一种焊炬全位置角度识别方法和系统

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Publication number Priority date Publication date Assignee Title
JP2003019571A (ja) * 2001-07-06 2003-01-21 Nitta Ind Corp スポット溶接電極の面直度センサ並びに面直度計測方法及び装置
US20120273473A1 (en) * 2011-04-28 2012-11-01 Yuming Zhang Systems and methods to control gas tungsten arc welding and plasma arc welding
CN107635709A (zh) * 2015-01-05 2018-01-26 肯塔基大学研究基金会 用于手工电弧焊过程的三维焊炬取向的测量
US20160361776A1 (en) * 2015-06-15 2016-12-15 Illinois Tool Works Inc. Method and apparatus for measurement of three-dimensional welding torch orientation for a welding process without using a magnetometer
CN105728904A (zh) * 2016-05-12 2016-07-06 湘潭大学 基于微机械传感器的摆动电弧空间焊缝跟踪系统与方法
CN108444379A (zh) * 2018-04-20 2018-08-24 成都熊谷加世电器有限公司 一种焊炬全位置角度识别方法和系统

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