CN103586603B - Weld joint change detection method and welding method and device - Google Patents
Weld joint change detection method and welding method and device Download PDFInfo
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- CN103586603B CN103586603B CN201310547077.6A CN201310547077A CN103586603B CN 103586603 B CN103586603 B CN 103586603B CN 201310547077 A CN201310547077 A CN 201310547077A CN 103586603 B CN103586603 B CN 103586603B
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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
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
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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
- B23K10/00—Welding or cutting by means of a plasma
- B23K10/02—Plasma welding
Abstract
The invention provides a weld joint change detection method and a welding method and device. The weld joint change detection method includes the following steps that air flows pass through weld joint gaps to generate a sound signal, and the sound signal is collected; the sound signal is compared with a benchmarking signal, so that change information of the weld joint gaps is obtained; the air flows pass through the weld joint gaps to cause high-low changes of vibration frequency, so that the sound signal is formed. According to the technical scheme, anti-interference performance is high, and detection precision of the changes of the weld joint gaps can be improved.
Description
Technical field
The present invention relates to welding procedure field, in particular to a kind of weld gap change detecting method, welding method and welder.
Background technology
Beam-plasma welding is a kind of common high energy beam welding method, welds compared to traditional TIG, has speed of welding fast, the features such as penetration ability is strong.But the thermal source that plasma-arc is concentrated as a kind of energy height, its group treating welder's part has higher requirement to gap.When uneven or unexpected change, easily cause the defects such as appearance of weld is bad, weldering leakages to gap in workpiece group, this is also limit the one of the main reasons that this technology applies further in actual welding is produced.Therefore between welding, pre-acquired is carried out in the change of butt welding weld gap, the true quantizating index obtaining the weld gap inequality caused due to factors such as retaining wall on slope precision, assembling precisions easily, and instruct the formulation of welding procedure and feedback regulation just to seem very important with this.
In the technology had now, THE WELD SEAM TRACKING TECHNOLOGY can realize the detection of butt welded seam gap change by the collection of butt welded seam and groove information and analysis.Current THE WELD SEAM TRACKING TECHNOLOGY can be divided three classes, and is respectively contact, direct-arc formula and contactless, its principle and feature as follows:
1, the THE WELD SEAM TRACKING TECHNOLOGY of touch sensor is adopted: touch sensor is generally arranged on welding gun front, adopt a sidewall contact of guide rod or guide wheel workpiece and weld gap, by guide rod or guide wheel, the change of sidewall locations is converted to the signal of telecommunication by the mode such as slide rheostat, force sensing, weld seam is followed the tracks of to control welding system, its feature is that antijamming capability is strong, but its precision is poor.
2, the THE WELD SEAM TRACKING TECHNOLOGY of direct-arc formula sensor is adopted: the distance change between welding electrode and welded piece can cause the change of arc current (GMAW) or arc voltage (GTAW), direct-arc formula sensor make use of this physical phenomenon and comes detection tabs groove center, its advantage is that accessibility is good, stability is strong, the life-span is long, cost is low, and shortcoming is difficult to follow the tracks of to the docking of sheet member and lap joint.
3, the THE WELD SEAM TRACKING TECHNOLOGY of noncontacting proximity sensor is adopted: the noncontacting proximity sensor be most widely used is mainly vision sensor, vision sensor adopts unit sensitive component, obtain the image information of weld seam and periphery thereof, and carry out calculation process by computer to image, thus the vision realizing butt welded seam is followed the tracks of.Its advantage is that accuracy of detection is good, wide accommodation, and its shortcoming is the interference being subject to the factors such as arc light, arc heat, splashing, smog.
In addition, a kind of method of supersonic sensing is also had in the THE WELD SEAM TRACKING TECHNOLOGY of application noncontacting proximity sensor, the method adopts active ultrasonic transducer send ultrasonic wave to workpiece and detect its reflective sound wave, the tracking at butt welded seam groove center is realized by the change detecting ultrasonic wave sound path, it is simple that the method has principle, feature with low cost, because its precision is poor and there is the shortcomings such as blind area, application is not very extensive at present.
In sum, there is following defect in existing THE WELD SEAM TRACKING TECHNOLOGY:
1, existing THE WELD SEAM TRACKING TECHNOLOGY all carries out detecting and tracking in a butt welded seam groove center, lacks the Data acquisition and issuance feedback of butt welded seam gap change;
2, visual sensing THE WELD SEAM TRACKING TECHNOLOGY antijamming capability is low, and equipment price is high.
Summary of the invention
The present invention aims to provide a kind of weld gap change detecting method, welding method and welder, and anti-interference is comparatively strong, can improve the accuracy of detection of weld gap change.
To achieve these goals, according to an aspect of the present invention, provide a kind of weld gap change detecting method, comprise the following steps: gather the audio signal that air-flow produces through weld gap; And contrast described audio signal and to marking signal, obtain weld gap change information; Wherein, described audio signal refers to that the vibration frequency caused through described weld gap due to described air-flow just changes the signal formed.
Further, the step of audio signal that described collection air-flow produces through weld gap comprises: control described air-flow and move along the bearing of trend of described weld gap; Gather the described audio signal that described air-flow produces in motion process; And be the signal of telecommunication by described Audio Signal Processing.
Further, gather by sound transducer the described audio signal that described air-flow produces in motion process.
Further, described is that the step of the signal of telecommunication comprises by described Audio Signal Processing: amplify described audio signal; Filtering is carried out to described audio signal; Detect the peak value of described audio signal; And shaping output is carried out to described audio signal, form the described signal of telecommunication.
Further, the described audio signal of described contrast with to mark signal, the step obtaining weld gap change information comprises: obtain described to marking signal; Described audio signal and the described of acquisition are contrasted marking signal; And obtain weld gap change information according to comparing result.
Further, the described step to mark signal of described acquisition comprises: from described to mark signal to obtaining mark database; Wherein, described to mark database refer to the feature audio frequency set of signals in advance multiple thickness of slab and bevel for welding form gathered under set up even weld gap.
Further, describedly obtain weld gap change information according to comparing result and comprise: described Audio Meter signal is lower than the described level signal to mark signal; The width obtaining described weld gap is greater than the described width to the even weld gap corresponding to mark signal; And described Audio Meter signal is higher than the described level signal to mark signal; The width obtaining described weld gap is less than the described width to the even weld gap corresponding to mark signal.
According to a further aspect in the invention, provide a kind of welding method, comprise the following steps: gather the audio signal that air-flow produces through weld gap; Contrast described audio signal and to marking signal, obtain weld gap change information; And regulate predetermined welding procedure according to described weld gap change information; Wherein, described audio signal refers to that the vibration frequency caused through described weld gap due to described air-flow just changes the signal formed.
According to a further aspect in the invention, provide a kind of welder, comprising: sound transducer, for gathering the audio signal that air-flow produces through weld gap; And contrast device, be connected with described sound transducer, for by described audio signal with contrast marking signal, to obtain weld gap change information; Wherein, described audio signal refers to that the vibration frequency caused through described weld gap due to described air-flow just changes the signal formed.
Further, between described sound transducer and described contrast device, be also connected with processor, for being the signal of telecommunication by described Audio Signal Processing.
Further, described processor comprises: amplifying circuit, for described audio signal being amplified; Bandwidth-limited circuit, for carrying out filtering by described audio signal; Peak-detector circuit, for detecting the peak value of described audio signal; And shaping output circuit, for carrying out shaping output to described audio signal, form the described signal of telecommunication.
Apply technical scheme of the present invention, utilize air-flow through weld gap, the height change of airstream vibration frequency can be produced due to the change of weld gap, and then produce air-flow this physical phenomenon of the height change of tuneization, gather the audio signal that airstream vibration change of frequency produces, and this audio signal is compared, obtain the information of weld gap change, principle is simple, method is easy to operation, anti-arc light interference is strong, and better than the proximity of existing THE WELD SEAM TRACKING TECHNOLOGY, various weld seam can be adapted to.
Accompanying drawing explanation
The Figure of description forming a application's part is used to provide a further understanding of the present invention, and schematic description and description of the present invention, for explaining the present invention, does not form inappropriate limitation of the present invention.In the accompanying drawings:
Fig. 1 shows schematic diagram according to an embodiment of the invention;
Fig. 2 shows scheme implementation schematic diagram according to an embodiment of the invention.
Detailed description of the invention
Below with reference to the accompanying drawings and describe the present invention in detail in conjunction with the embodiments.It should be noted that, when not conflicting, the embodiment in the application and the feature in embodiment can combine mutually.
As shown in Figure 1, according to embodiments of the invention, provide a kind of weld gap change detecting method, comprising:
The audio signal that S100, collection air-flow produce through weld gap; And
S200, contrast audio signal with to mark signal, acquisition weld gap change information.
Wherein, audio signal refers to that the vibration frequency caused through weld gap due to air-flow just changes the signal formed.
" air-flow is through weld gap " comprises the bearing of trend process of air-flow along weld gap, and also comprise air-flow along the bearing of trend process perpendicular to weld gap, preferably air-flow passes through along the bearing of trend of weld gap.
" process " comprises air-flow and the contacting at least partially of side forming weld gap.
Principle of the present invention is: when a large amount of gas is gushed out from a less outlet, the gas in exit can produce vibration, sends the sound with a tone, be similar to " the whistle sound " in daily life, and when weld gap changes, the vibration frequency of this " whistle sound " can be caused to change, tone is acoustically caused to there occurs change, in general, when weld gap diminishes, frequency is high, tone is caused to uprise, when weld gap becomes large, frequency is low, causes tone step-down.The present invention proposes weld gap change detecting method according to above principle exactly, namely voice collection device is first utilized to gather the audio signal produced by air-flow and weld gap acting in conjunction, then the audio signal collected and selected are compared analysis to marking signal, the changing value along the weld gap at least partially on weld seam path can be obtained, thus understand the actual change situation of weld gap.
Technical scheme of the present invention has the features such as simple, with low cost, the anti-arc light interference of principle is strong, and has good proximity compared to existing technologies, can detect, improve the adaptability between different weld seam to the weld seam of accessibility difference.
Preferably, voice collection device is sound transducer, and utilize sound transducer to gather the audio signal produced in air motion process, result is more accurate.
Preferably, weld gap is the weld gap of groove welding.
Pass through for the bearing of trend of air-flow along weld gap below, butt welded seam gap detection method describes in detail:
Preferably, S100, gather the audio signal that produces through weld gap of air-flow and comprise: first control air-flow extends along weld gap the weld seam path formed and moves, then gather air-flow because the audio signal of weld gap change generation in motion process, then be the signal of telecommunication that can be used for analyzing feedback by the Audio Signal Processing collected.
Wherein, the signal of telecommunication refers to the signal comprising acoustic information.
Preferably, be can be used for analyzing the signal of telecommunication fed back to comprise by the Audio Signal Processing collected: the audio signal collected is amplified, then filtering is carried out to audio signal, detect the peak value of audio signal again, finally shaping output is carried out to audio signal, form the signal of telecommunication that can be used for analyzing feedback.
Preferably, S200, contrast audio signal with to marking signal, obtain weld gap change information to comprise: from applicable to mark signal to choosing mark database, then will be converted into the audio signal of the signal of telecommunication and selected contrasting marking signal, then obtain weld gap change information according to comparing result.
Wherein, audio signal and signal presents is all oscillogram to mark, during contrast, that the discrete point in the oscillogram of audio signal is compared with to marking discrete point corresponding in the oscillogram of signal, the oscillogram obtaining audio signal with to the difference of oscillogram marking signal, thus draw weld gap change information.
Mark database is referred to the feature audio frequency set of signals under the even weld gap in advance multiple thickness of slab and bevel for welding form set up, to mark database be to process after the basis that is analyzed of audio signal.
Preferably, the weld gap change information obtained according to comparing result comprises following two kinds:
The first: if Audio Meter signal is lower than the level signal to mark signal, then the width of known weld gap is greater than the width to the even weld gap corresponding to mark signal;
The second: if Audio Meter signal is higher than the level signal to mark signal, then the width of known weld gap is less than the width to the even weld gap corresponding to mark signal.
When control air-flow along perpendicular to the bearing of trend of weld gap through out-of-date, weld gap detection method is similar with aforesaid method, and the direction of motion being air-flow changes.
Present invention also offers a kind of welding method, comprising:
The audio signal that S100, collection air-flow produce through weld gap;
S200, contrast audio signal with to mark signal, acquisition weld gap change information;
S300, regulate predetermined welding procedure according to weld gap change information.
Wherein, audio signal refers to that the vibration frequency caused through weld gap due to air-flow just changes the signal formed.
" air-flow is through weld gap " comprises the bearing of trend process of air-flow along weld gap, and also comprise air-flow along the bearing of trend process perpendicular to weld gap, preferably air-flow passes through along the bearing of trend of weld gap.
" process " comprises air-flow and the contacting at least partially of side forming weld gap.
Adopt welding method of the present invention, owing to having merged aforesaid weld gap change detecting method, welding procedure can be made more to adapt to the change of weld gap, automatically predetermined welding procedure is compensated and corrected, to reach the adaptive object of the inhomogeneities in butt welded seam gap in automatic Arc Welding, improve welding quality.
Preferably, voice collection device is sound transducer, utilizes sound transducer to gather the audio signal produced in air motion process.
Preferably, weld gap is the weld gap of groove welding.
Pass through for the bearing of trend of air-flow along weld gap below, welding method described in detail:
Preferably, S100, gather the audio signal that produces through weld gap of air-flow and comprise: first control air-flow extends along weld gap the weld seam path formed and moves, then gather air-flow because the audio signal of weld gap change generation in motion process, then be the signal of telecommunication that can be used for analyzing feedback by the Audio Signal Processing collected.
Wherein, the signal of telecommunication refers to the signal comprising acoustic information.
Preferably, be can be used for analyzing the signal of telecommunication fed back to comprise by the Audio Signal Processing collected: the audio signal collected is amplified, then filtering is carried out to audio signal, detect the peak value of audio signal again, finally shaping output is carried out to audio signal, form the signal of telecommunication that can be used for analyzing feedback.
Preferably, S200, contrast audio signal with to marking signal, obtain weld gap change information to comprise: from applicable to mark signal to choosing mark database, then will be converted into the audio signal of the signal of telecommunication and selected contrasting marking signal, then obtain weld gap change information according to comparing result.
Wherein, audio signal and signal presents is all oscillogram to mark, during contrast, that the discrete point in the oscillogram of audio signal is compared with to marking discrete point corresponding in the oscillogram of signal, the oscillogram obtaining audio signal with to the difference of oscillogram marking signal, thus draw weld gap change information.
Mark database is referred to the feature audio frequency set of signals under the even weld gap in advance multiple thickness of slab and bevel for welding form set up, to mark database be to process after the basis that is analyzed of audio signal.
Preferably, the weld gap change information obtained according to comparing result comprises following two kinds:
The first: if Audio Meter signal is lower than the level signal to mark signal, then the width of known weld gap is greater than the width to the even weld gap corresponding to mark signal;
The second: if Audio Meter signal is higher than the level signal to mark signal, then the width of known weld gap is less than the width to the even weld gap corresponding to mark signal.
Therefore, weld gap change information is relative to for the even weld gap corresponding to mark signal.
Preferably, S300, regulate predetermined welding procedure to comprise according to weld gap change information:
According to audio signal and the level signal that the comparison of mark signal is drawn just difference to the welding current in predetermined welding procedure, weldingvoltage, speed of welding and swing parameter and regulate, with the actual change making the welding procedure after adjustment more press close to weld gap, improve welding effect.
Adapt with aforesaid welding method, present invention also offers a kind of welder, comprise the sound transducer and contrast device that connect successively, wherein sound transducer with air-flow through weld gap, to gather the audio signal that air-flow produces in this course, and audio signal is sent to contrast device, after contrast device received audio signal, by audio signal with to marking contrasting marking signal of obtaining database, the comparing result obtained is weld gap change information, can be revised predetermined welding procedure by this this comparing result, improve the quality of welding.
Preferably, between sound transducer and contrast device, be connected with processor, the audio signal that sound transducer gathers can be converted into the signal of telecommunication, facilitate and contrast marking signal.
Preferably, processor comprises the amplifying circuit, bandwidth-limited circuit, peak-detector circuit and the shaping output circuit that connect successively, wherein amplifying circuit is used for audio signal to amplify, bandwidth-limited circuit is used for audio signal to carry out filtering, peak-detector circuit is for detecting the peak value of audio signal, shaping output circuit is used for carrying out shaping output to audio signal, final formed can with to the signal of telecommunication marked signal and contrast.
In conjunction with see Fig. 2, below in conjunction with practical operation scheme, the present invention will be further elaborated.
As shown in Figure 2, welding work pieces 1 is all kinds of practical work pieces simplified, weld seam between two welding work pieces 1 can be all kinds of common linear pattern and circular arc, weld groove form can be common I type, V-type, X-type etc., weld gap 2 is the interval between the bevel for welding of two welding work pieces 1, two welding work pieces 1 when assembling, the present invention is particularly useful for the comparatively sharp keen and welding between two welding work pieces 1 that gap is less of bevelled edge, welding gun 3 is plasma gun or the compound welding gun based on beam-plasma, before weldering, there is the plasma air-flow of large discharge to spray from the compression aperture of the nozzle of welding gun 3, sound transducer 4 is the sensor that can gather acoustic signals, it is wide that this sound transducer 4 has detection range, the feature that highly sensitive and antijamming capability is strong.
In prior art, plasma-arc is a kind of by the coefficient high compression electric arc of mechanical compress, hot compression and pinch effect, plasma-arc can be divided into two kinds, one is untransferable arc, namely burn between the constricting nozzles such as tungsten electrode, one is transferred arc, namely burns between tungsten electrode and workpiece.This practical operation scheme is for untransferable arc, when untransferable arc by high-frequency generator excite the starting the arc after, under the force feed of high speed plasma air-flow, spray from the compression aperture of the nozzle of welding gun 3, form flame passes, this flame passes has the features such as straightness is high, directive property good, plasma air-flow is large.When plasma air-flow blows over weld gap, a large amount of plasma air-flows is gushed out from a less outlet, and the gas in exit produces vibration, sends the sound with a tone, is similar to " whistle sound " in daily life.And when the weld gap of groove changes, the tone (frequency) of this " whistle sound " can be caused to change, in general, during gap smaller, tone uprises (frequency is high), tone step-down (frequency is low) when gap becomes large.
In practical operation, first the audio signal utilizing sound transducer 4 to produce the weld gap acting in conjunction by plasma air-flow and groove gathers, and pass through amplifying circuit, bandwidth-limited circuit, peak-detector circuit, Audio Signal Processing is become can be used for the signal of telecommunication analyzing feedback by shaping output circuit, then analysis is compared with selected to marking signal, the weld gap change information along weld seam path can be obtained, the backoff algorithm preset finally is adopted to compensate and correct predetermined welding procedure, to reach the adaptive object of the inhomogeneities in butt welded seam gap in automatic Arc Welding.
Pass through for the bearing of trend of air-flow along weld gap, the concise and to the point implementation process of this practical operation scheme is as follows:
1, group is positioned to two welding work pieces 1 right, and these two welding work pieces 1 are fixedly placed on corresponding jig, complete centering and other welds prepares work of welding gun 3;
2, welding gun 3, sound transducer 4 and amplifying circuit, bandwidth-limited circuit, peak-detector circuit, shaping output circuit is opened, adopt the method for artificial teaching or weld joint tracking to make welding gun 3 along path of welding prerun once, and collection just change because weld gap changes the plasma air-flow vibration frequency caused the audio signal formed in the process;
3, the audio signal gathered is amplified, filtering, peak value test and shaping output processing, and to contrast mark signal with selected, obtaining the quantitative information that weld gap changes;
4, welding piece, regulates the quantitative information of selected from standard bonding processes specification predetermined welding procedure according to the weld gap change obtained in previous step in real time before welding, realizes the Automatic adjusument of butt welded seam gap change in welding process.
As can be seen from the above description, the above embodiments of the present invention achieve following technique effect:
1, the present invention adopts sound transducer to detect the audio signal produced by plasma air-flow and weld gap acting in conjunction, and by being analyzed with to marking signal the quantitative information obtaining weld gap and change, have the advantages that principle is simple, characteristic quantity is obvious, operand is little, precision is higher;
2, the sound characteristic amount detected in the present invention is different physical quantitys from the electric arc arc light utilized in prior art, and sound characteristic measurer has stronger anti-interference, and it is long that sound transducer used also has the life-span, feature with low cost.
3, the present invention is better than the proximity of general THE WELD SEAM TRACKING TECHNOLOGY, can detect the weld seam of accessibility difference.
The foregoing is only the preferred embodiments of the present invention, be not limited to the present invention, for a person skilled in the art, the present invention can have various modifications and variations.Within the spirit and principles in the present invention all, any amendment done, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (11)
1. a weld gap change detecting method, is characterized in that, comprises the following steps:
Gather the audio signal that air-flow produces through weld gap; And
Contrast described audio signal and to marking signal, obtain weld gap change information;
Wherein, described audio signal refers to that the vibration frequency caused through described weld gap due to described air-flow just changes the signal formed.
2. weld gap change detecting method according to claim 1, is characterized in that, described collection air-flow comprises through the step of the audio signal that weld gap produces:
Control described air-flow to move along the bearing of trend of described weld gap;
Gather the described audio signal that described air-flow produces in motion process; And
Be the signal of telecommunication by described Audio Signal Processing.
3. weld gap change detecting method according to claim 2, is characterized in that, gathers by sound transducer the described audio signal that described air-flow produces in motion process.
4. weld gap change detecting method according to claim 2, is characterized in that, described is that the step of the signal of telecommunication comprises by described Audio Signal Processing:
Described audio signal is amplified;
Filtering is carried out to described audio signal;
Detect the peak value of described audio signal; And
Shaping output is carried out to described audio signal, forms the described signal of telecommunication.
5. weld gap change detecting method according to claim 1, is characterized in that, the described audio signal of described contrast with to mark signal, the step of acquisition weld gap change information comprises:
Obtain described to mark signal;
Described audio signal and the described of acquisition are contrasted marking signal; And
Weld gap change information is obtained according to comparing result.
6. weld gap change detecting method according to claim 5, is characterized in that, the described step to mark signal of described acquisition comprises:
From described to mark signal to obtaining mark database;
Wherein, described to mark database refer to the feature audio frequency set of signals in advance multiple thickness of slab and bevel for welding form gathered under set up even weld gap.
7. weld gap change detecting method according to claim 5, is characterized in that, describedly obtains weld gap change information according to comparing result and comprises:
Described Audio Meter signal is lower than the described level signal to mark signal, and the width obtaining described weld gap is greater than the described width to the even weld gap corresponding to mark signal; And
Described Audio Meter signal is higher than the described level signal to mark signal, and the width obtaining described weld gap is less than the described width to the even weld gap corresponding to mark signal.
8. a welding method, comprises the following steps:
Gather the audio signal that air-flow produces through weld gap;
Contrast described audio signal and to marking signal, obtain weld gap change information; And
Predetermined welding procedure is regulated according to described weld gap change information;
Wherein, described audio signal refers to that the vibration frequency caused through described weld gap due to described air-flow just changes the signal formed.
9. a welder, is characterized in that, comprising:
Sound transducer, for gathering the audio signal that air-flow produces through weld gap; And
Contrast device, be connected with described sound transducer, for by described audio signal with contrast marking signal, to obtain weld gap change information;
Wherein, described audio signal refers to that the vibration frequency caused through described weld gap due to described air-flow just changes the signal formed.
10. welder according to claim 9, is characterized in that, is also connected with processor between described sound transducer and described contrast device, for being the signal of telecommunication by described Audio Signal Processing.
11. welders according to claim 10, is characterized in that, described processor comprises:
Amplifying circuit, for amplifying described audio signal;
Bandwidth-limited circuit, for carrying out filtering by described audio signal;
Peak-detector circuit, for detecting the peak value of described audio signal; And
Shaping output circuit, for carrying out shaping output to described audio signal, forms the described signal of telecommunication.
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| CN104181907B (en) * | 2014-08-18 | 2016-09-28 | 如冈自动化控制技术(上海)有限公司 | The numerical control tracker on non contact metal gap and surface and tracking |
| CN105921854B (en) * | 2016-05-04 | 2018-02-02 | 江苏科技大学 | A kind of rotating the arc narrow gap MAG welding line deviation identification devices and method |
| EP3406389A1 (en) | 2017-05-23 | 2018-11-28 | Siemens Aktiengesellschaft | Method for detecting and processing defined contours in the cutting of a solid body by means of a high energy beam |
| CN110376281A (en) * | 2019-06-28 | 2019-10-25 | 三一汽车起重机械有限公司 | Weld inspection method, device, detection device and storage medium |
| CN112091374B (en) * | 2020-09-11 | 2022-03-22 | 中国航发贵州黎阳航空动力有限公司 | Automatic argon arc welding method under dynamic change of welding gap |
| CN112756859B (en) * | 2020-12-30 | 2023-03-21 | 中核北方核燃料元件有限公司 | Method for confirming gap between end plug and inner welding seam of cladding tube |
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| CN101767242A (en) * | 2009-01-06 | 2010-07-07 | 清华大学 | On-line decision-making method of narrow-gap arc welding based on vision detection |
| CN101486124A (en) * | 2009-02-13 | 2009-07-22 | 南京工程学院 | Multi-structured light binocular composite vision weld joint tracking method and device |
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| CN102794566A (en) * | 2012-08-24 | 2012-11-28 | 无锡汉神电气有限公司 | Paraxial CCD (Charge Coupled Device)-based laser welding quality online monitoring device |
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