CN107552932A - It is a kind of based on the variable-polarity plasma welding method of quality control controlled keyhole profile and device - Google Patents
It is a kind of based on the variable-polarity plasma welding method of quality control controlled keyhole profile and device Download PDFInfo
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- CN107552932A CN107552932A CN201710982405.3A CN201710982405A CN107552932A CN 107552932 A CN107552932 A CN 107552932A CN 201710982405 A CN201710982405 A CN 201710982405A CN 107552932 A CN107552932 A CN 107552932A
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Abstract
The present invention discloses a kind of based on the variable-polarity plasma welding method of quality control controlled keyhole profile and device, in welding process, a set of visual sensing system is added at workpiece back, follows plasma gun synchronizing moving, ensures welding gun with high-speed camera in same axis；The Current Voltage in welding process is gathered with data collecting card simultaneously, gathers welding data, dynamic analysis, and the perforation Plasma Welding quality control of adjustment welding process parameter in real time in real time.
Description
Technical field
The invention belongs to welding quality control method field, more particularly to it is a kind of based on the Variable Polarity controlled keyhole profile
Plasma Welding method of quality control and device.
Background technology
Variable Polarity perforation plasma arc is the new and effective welding method for being directed to aluminium alloy and developing, and it combines pole-changing
Property GTAW (non-consumable gas shielded arc welding) with plasma high energy beam the advantages of, can reasonable distribution electric arc heat, meeting workpiece
Fusing, in the case of removing workpiece surface oxide-film and the progress simultaneously of discharge welding point inner air vent, reduce to greatest extent
The scaling loss of tungsten electrode, the characteristic of high-energy-density possessed by plasma beam is effectively utilized, perforation is formed in welding process
Molten bath, realize Aluminum Alloy Plate one side welding with back formation.
In welding process, the molten bath process the most complicated as it, for welding quality, welding efficiency and speed of welding all
There is important influence.The characteristics of variable polarity plasma arc welding arc is by its high-energy-density and temperature, perforation is formed in welding process
Molten bath, the shape and size welding quality of keyhole pool are particularly important.A large amount of scholar are carried out to keyhole pool behavior both at home and abroad
Research, shows that welding current, ion-gas flow, speed of welding, silk feeding quantity etc. all have important contact to aperture back side form.
Therefore, control punch molten bath aperture form, it is one of important control method for obtaining good welds joint.Largely tried according to early stage
The weldquality highest bright, keyhole pool back side circular arc aperture form obtains is verified, so should be by parameter regulation molten bath
Back side aperture control is within circular arc error range.
Method of quality control of the present invention realizes monitoring and the signal of welding pool back side form by easy regulating system
Feedback, the method for quality control can not only be monitored in real time to welding process, and keyhole pool behavior can be carried out real-time
Regulation.Both the blind area to the observation of conventional plasma arc-welding back side Molten Pool Shape had been improved, and can welding quality is carried out in line traffic control
System, avoid to imitate so as to be greatly enhanced welding and produce could observe welding quality after welding terminates the defects of
Rate, realize high-quality, efficient welding.
The content of the invention
Present invention aims to overcome that the defects of existing perforation Plasma Welding and deficiency, propose a kind of be based on to hole-shaped
The variable-polarity plasma welding method of quality control and device of looks control, add and regard on the basis of conventional through-hole Plasma Welding
Feel tracking and real-time feedback system, adapt to and various working environments, realize welding quality On-line Control, increase solder yield
And production efficiency.
Based on the variable-polarity plasma welding quality control apparatus controlled keyhole profile and method, principle is to weld
Cheng Zhong, a set of visual sensing system is added at workpiece back, follow plasma gun synchronizing moving, ensure welding gun and high-speed camera
In same axis；The Current Voltage in welding process is gathered with data collecting card simultaneously, gathers welding data, dynamic point in real time
Analysis, and the perforation Plasma Welding quality control of adjustment welding process parameter in real time.
In order to achieve the above object, the present invention adopts the following technical scheme that：
It is a kind of based on the variable-polarity plasma welding quality control apparatus controlled keyhole profile, including：Variable Polarity etc. from
The sub- source of welding current and control system (1), cooling water tank (2), plasma gun, high-speed camera (6), optical filter (32), synchronization
Kinetic control system (20), current acquisition card (9), voltage acquisition card (10), synchronizer trigger (11), signal feedback system (3),
Wherein high-speed camera (6) is individually fixed in the both ends of Synchronous motion control system (20) with plasma gun, it is ensured that welded
Journey middle punch Molten Pool Shape is within high-speed camera observation window；Optical filter (32) is in same axis with high-speed camera (6),
Ensure the quality of crater image；Electric arc electric signal and keyhole pool picture signal simultaneous display are in Industrial PC (4) in welding process
Interface, the molten bath aperture in welding process is compared in real time according to the keyhole pool aperture preset under identical parameters, if welding
During molten bath aperture in error range, then continue to weld；If molten bath aperture exceedes default error range in welding process,
Then according to the real time status on four borders up and down, corresponding signal to variable polarity plasma arc welding is sent by reponse system (3) and welded
Power supply and control system (1) are connect, to adjust the corresponding of wire-feed motor (21), ion-gas (8), telecontrol equipment (20) and welding current
Action, control in molten bath aperture to respective range；Wherein Synchronous motion control device (20) --- high-speed camera (6) --- etc.
Ion welding gun forms simultaneous movement system；Optical filter (32) --- high-speed camera (6) --- capture card (5) forms IMAQ
System；Voltage sensor (10) and current sensor (9) --- capture card (5), form electrical signal collection system；Industrial PC
(4) --- reponse system (3) --- variable-polarity plasma welding power supply and control system (1) composition looped system.
The present invention also provide it is a kind of based on the variable-polarity plasma welding method of quality control controlled keyhole profile, including
Following steps：
(1) the aperture canonical parameter scope reached needed for qualified welding quality is set；
(2) welding preparation works.First, welding workpiece and the welding wire to match is ready, workpiece need not open slope
Mouthful.Adjust the position of high-speed camera and plasma gun, be at same axis, then adjust wire feed position, it is ensured that welding wire with
Workpiece is parallel and is sent into molten bath close to workpiece surface；Ion-gas, protection gas and water route necessary to welding gun conventionally connect；
(3) routinely the variable polarity plasma arc welding starting the arc sequentially, passes through high frequency and plays the pre- heated work pieces of arc maintenance, play minor arc pre-punching；When
Perforation is completed, and welding gun starts to walk while trigger high-speed camera and electrical signal collection；In welding process, high-speed camera passes through synchronization
Kinematic system is synchronized with the movement with welding gun.
(4) normal weld.Monitor weld keyhole behavior and the change of welding electrical parameters in real time by Industrial PC in the process
Change, and Real-time Feedback aperture behavioural information is to variable polarity plasma arc welding power supply and control system, if aperture scope exceedes preset standard
Scope, then control system make corresponding actions to adjust welding parameter, control within aperture to critical field, so as to realize to wearing
The On-line Control of hole variable-polarity plasma welding quality.
The present invention based on the variable-polarity plasma welding method of quality control controlled keyhole profile and device, for welding
Range monitoring variable polarity plasma arc welding keyhole pool pattern is taken over, according to molten bath back side orifice size (such as length and width, circularity), in real time
Adjust quality control system of the welding parameter in the form of correcting keyhole pool.Whole method include the source of welding current, electrical signal collection,
Visual sensing and feedback regulation etc., welding is fed back to according to visual sensing system on-line monitoring orifice size, and by signal
Power supply and control system adjust the parameters such as angle of welding gun, wire feed position and voltage x current in real time, and correct orifice size and row
The good control to keyhole pool to be realized, so as to realize the control of welding quality.The device and method can monitor in real time
Keyhole pool pattern simultaneously feeds back molten bath state, to adjust welding process parameter, optimization Variable Polarity etc. from welding quality, improve weldering
Connect efficiency.
Compared with prior art, it is as follows the advantages of the inventive method：
1st, compared with traditional variable-polarity plasma welding method of quality control, the present invention can not only be welded with on-line monitoring
Journey, compare the fluctuation of welding pool pattern and electrical parameter in real time, most significant feature is online feedback aperture behavioural information, wait from
Sub- power supply, wire-feed motor, walking mechanism receive feedback information, make corresponding actions control aperture form.
2nd, compared with traditional quality control method, the present invention can realize real-time, effectively on-line monitoring in welding process,
The defects of so as to overcome conventional plasma welding quality to control afterwards, solve by stop arc checking welding quality mode when
Between waste, the problem of efficiency is low.
3rd, the variable-polarity plasma welding method of quality control in the present invention, reaches qualified weldquality by presetting
Required standard aperture parameter area, the aperture parameter in welding process is gathered in real time, compare each boundary parameter value and join with standard
Number scope, judges whether aperture behavior instantly meets standard, and feedback information to the variable polarity plasma arc welding immediately that finds to go beyond the scope welds
Power supply and control system (1) are connect, makes corresponding actions, control aperture etalon time is within critical field.
Brief description of the drawings
Fig. 1 is the overall work schematic diagram of this welding quality control method.
Fig. 2 is the feedback regulation operating diagram of this welding quality control method.
In figure：1st, variable-polarity plasma welding power supply and control system, 2, cooling water tank, 3, feedback regulation unit, 4, work
Industry PC, 5, electric signal and picture signal capture card, 6, high-speed camera, 7, protection gas bottle (argon), 8, ion gas bottle (argon),
9th, voltage sensor unit, 10, current sensor unit, 11, high-speed camera punishment unit, 12, ion gas meter, 13, protection gas
Table, 14, cooling water enter, 15, cooling water go out, 16, welding gun cooling water go out, 17, welding gun cooling water enter (band logical electrical cables), 18, protect
Protect gas, 19, ion-gas, 20, Synchronous motion control system, 21, wire-feed motor, 22, welding wire, 23, welding gun protective case, 24, compression spray
Mouth, 25, tungsten electrode, 26, the preceding surface of weld seam, 27, surface after weld seam, 28, overall weld seam, 29, plasma arc, 30, keyhole pool,
31st, workpiece, 32, aperture back form, 33, interface in aperture standard, 34, interface under aperture standard, 35, the left boundary of aperture standard
Face, 36, aperture standard right interface, 37, welding parameter control unit.
Embodiment
Embodiment of the present invention is specifically described below with reference to accompanying drawing, but the present invention is not limited to following examples.
As shown in figure 1, present invention offer is a kind of based on the variable-polarity plasma welding quality control controlled keyhole profile
Device, including：Variable-polarity plasma welding power supply and control system (1), cooling water tank (2), the workpiece (31) to match and weldering
Silk (22), special tungsten electrode (25), the stable welding arc of nozzle (24) offer is restrained, avoid disturbing keyhole pool aperture, subtract
Small error；Synchronous motion control device (20) connection high-speed camera (6) and plasma gun, plasma gun is set to be taken the photograph with high speed
Camera (6) remains at same axial location, avoids the error in the molten bath aperture caused by shooting angle；Synchronous triggering device
(11) it is used for the collection (10) for triggering high-speed camera (6), current sensor (9) and voltage sensor, is summarized in capture card (5),
And real-time display is in Industrial PC (4).Keyhole pool aperture according to presetting under identical parameters is compared in welding process in real time
Molten bath aperture, if molten bath aperture is in error range in welding process, continue to weld；If molten bath aperture surpasses in welding process
Default error range is crossed, then according to the real time status on four borders up and down, corresponding signal is sent by reponse system (3)
To variable-polarity plasma welding power supply and control system (1), with adjust wire-feed motor (21), ion-gas (8), telecontrol equipment (20) with
And welding current, control in molten bath aperture to respective range；Wherein Synchronous motion control device (20) --- high-speed camera
(6) --- plasma gun forms simultaneous movement system；Optical filter (32) --- high-speed camera (6) --- capture card (5) group
Into image capturing system；Voltage sensor (10) and current sensor (9) --- capture card (5), form electrical signal collection system；
Industrial PC (4) --- reponse system (3) --- variable-polarity plasma welding power supply and control system (1) composition Real-time Feedback regulation
System.
The present invention also provide it is a kind of based on the variable-polarity plasma welding method of quality control controlled keyhole profile, including
Following steps：
(1) the keyhole pool size reached needed for qualified welding quality, including the scope on four borders up and down are set；
(2) molten bath aperture is monitored in welding process in real time；
(3) keyhole profile gathered in real time and the standard size range are compared, judges the perforation of ongoing welding
Whether molten bath is within the critical field；
(4) the molten bath aperture in such as monitoring continues executing with step (2) within critical field；Aperture in such as monitoring surpasses
Cross outside critical field, judgement is which of four borders border, and feedback signal is adjusted in real time to unit is regulated and controled up and down
Welding parameter corresponding to section, is continued executing with
Step (2).
Further, the orifice size of qualified welding quality is to make a reservation in advance in the step (1).
Further, four borders are respectively the tangent line of aperture molten bath coboundary up and down in the step (1), lower boundary
Tangent line, the tangent line of left margin and the tangent line of right margin.
Further, molten bath aperture is monitored in the step (2) in real time, Motion is received for Labview image windows
Studio real-time image signal.
Further, the border overruned is judged in the step (4), and feedback signal is to unit is regulated and controled, wherein when small
Hole size exceedes coboundary scope, adjusts current signal；When more than lower boundary scope, regulation wire feed rate；When more than left and right side
During boundary, wire feed position is adjusted.
Further, the regulation and control unit described in the step (4), for receiving and feeding back welding process middle punch molten bath shape
Looks, compared with critical field.
Embodiment 1：
First, welding workpiece 31 and the welding wire 22 that matches is ready, it is parallel with welding direction to send out welding wire position,
And its axis is set to exist with waiting locus from welding gun in same level, another regulation high-speed camera 6 with the axle center of constricting nozzle 24
Same horizontal line.Open protection gas 7, ion-gas 8, the switch of cooling water 2, it is ensured that welding gun and other required gas circuits during welding
Correctly connected with water route.Variable-polarity plasma welding power supply and control system 1 are connected, is required according to Variable Polarity perforation plasma,
Protection gas 19 and ion-gas 18 are sent out in advance, direct current arc maintenance is played by high frequency, the pre- heated work pieces 31 after arc maintenance is stable, are then risen
Ion minor arc 29, the monitoring software of Industrial PC is observed, after keyhole pool is observed, while trigger welding gun walking mechanism 20, send
Silk machine 21, synchronizer trigger 11 (including high-speed camera 6, current sensor 9 and voltage sensor 10), it is real-time by LabVIEW
Welding current, voltage and workpiece back aperture form 38 are monitored, implements to compare with standard aperture scope.
As illustrated in fig. 1 and 2, in welding process, the aperture scope 33 if keyhole pool back side aperture coboundary is above standard,
Feedback signal, to reduce speed of welding, makes aperture range regulation to standard to variable-polarity plasma welding power supply and control system 1
Within the scope of；If aperture left margin is above standard, aperture scope 35 or aperture left margin are above standard aperture scope 36, feed back
Signal, to adjust wire feed position, adjusts aperture behavior in real time to the source of welding current and control system 1；If aperture left margin exceedes mark
Quasi- aperture scope 34, then feedback signal to the source of welding current and control system 1, to adjust wire feed rate, adjust aperture behavior in real time；
The aperture scope if the multiple borders of aperture are above standard simultaneously, adjusts welding current, to reduce orifice size；Realize welding process
In in real time regulation aperture behavior to standard aperture within the scope of, so as to realize the accurate control to thermal weld stress and appearance of weld
System, to improve welding quality, reach the purpose for improving welding efficiency.
Claims (8)
- It is 1. a kind of based on the variable-polarity plasma welding quality control apparatus controlled keyhole profile, it is characterised in that including：Become Polarity plasma welding inverter of aluminum power supply and control system (1), cooling water tank (2), the workpiece (31) and welding wire (22), tungsten electrode to match (25), restrain nozzle (24) and stable welding arc is provided, avoid disturbing keyhole pool aperture, reduce error；Synchronous motion control Device (20) connection high-speed camera (6) and plasma gun, plasma gun is set to be remained at together with high-speed camera (6) One axial location；Synchronous triggering device (11) is for triggering high-speed camera (6), current sensor (9) is adopted with voltage sensor Collect (10), be summarized in capture card (5), and real-time display is in Industrial PC (4).According to the keyhole pool preset under identical parameters Aperture compares the molten bath aperture in welding process in real time, if molten bath aperture is in error range in welding process, continues to weld； If molten bath aperture exceedes default error range in welding process, according to the real time status on four borders up and down, pass through Reponse system (3) sends corresponding signal to variable-polarity plasma welding power supply and control system (1), with adjust wire-feed motor (21), Ion-gas (8), telecontrol equipment (20) and welding current, control in molten bath aperture to respective range；Wherein, Synchronous motion control Device (20), high-speed camera (6), plasma gun composition simultaneous movement system；Optical filter (32), high-speed camera (6), adopt Truck (5) forms image capturing system；Voltage sensor (10) and current sensor (9), capture card (5) composition electrical signal collection System；Industrial PC (4), reponse system (3), variable-polarity plasma welding power supply and control system (1) composition Real-time Feedback regulation System.
- 2. as claimed in claim 1 based on the variable-polarity plasma welding quality control apparatus controlled keyhole profile, it is special Sign is, in welding process, the aperture scope if keyhole pool back side aperture coboundary is above standard, and feedback signal to Variable Polarity Plasma Welding power supply and control system, to reduce speed of welding, make within aperture range regulation to critical field；If aperture is left Aperture scope that border is above standard aperture scope or aperture left margin is above standard, then feedback signal to the source of welding current and control system System, to adjust wire feed position, aperture behavior is adjusted in real time；The aperture scope if aperture left margin is above standard, feedback signal is extremely The source of welding current and control system, to adjust wire feed rate, aperture behavior is adjusted in real time；If the multiple borders of aperture are above standard simultaneously Aperture scope, then adjust welding current, to reduce orifice size；Realize that regulation aperture behavior in real time is small to standard in welding process Within the scope of hole, so as to realize the accurate control to thermal weld stress and appearance of weld.
- It is 3. a kind of based on the variable-polarity plasma welding method of quality control controlled keyhole profile, it is characterised in that including following Step：(1) the keyhole pool size reached needed for qualified welding quality, including the scope on four borders up and down are set；(2) molten bath aperture is monitored in welding process in real time；(3) keyhole profile gathered in real time and the standard size range are compared, judges the keyhole pool of ongoing welding Whether within the critical field；(4) the molten bath aperture in such as monitoring continues executing with step (2) within critical field；Aperture in such as monitoring exceedes mark Outside quasi- scope, judgement is which of four borders border up and down, and feedback signal is to unit is regulated and controled, regulation pair in real time The welding parameter answered, continue executing with step (2).
- 4. it is according to claim 3 based on the variable-polarity plasma welding method of quality control controlled keyhole profile, its It is characterised by：The orifice size of qualified welding quality is to make a reservation in advance in the step (1).
- 5. it is according to claim 3 based on the variable-polarity plasma welding method of quality control controlled keyhole profile, its It is characterised by：Four borders are respectively the tangent line of aperture molten bath coboundary up and down in the step (1), and lower boundary is cut Line, the tangent line of left margin and the tangent line of right margin.
- 6. it is according to claim 3 based on the variable-polarity plasma welding method of quality control controlled keyhole profile, its It is characterised by：Molten bath aperture is monitored in the step (2) in real time, receives Motion Studio's for Labview image windows Real-time image signal.
- 7. it is according to claim 3 based on the variable-polarity plasma welding method of quality control controlled keyhole profile, its It is characterised by：Judge the border overruned in the step (4), and feedback signal is to unit is regulated and controled, wherein working as orifice size More than coboundary scope, current signal is adjusted；When more than lower boundary scope, regulation wire feed rate；When more than right boundary, adjust Save wire feed position.
- 8. it is according to claim 3 based on the variable-polarity plasma welding method of quality control controlled keyhole profile, its It is characterised by：Regulation and control unit described in the step (4), for receiving and feeding back welding process middle punch Pool, with Critical field compares.
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| CN108544068A (en) * | 2018-04-19 | 2018-09-18 | 北京工业大学 | According to the welding quality of variable polarity plasma arc welding arc positive and negative electric arc temperature difference characterization and control system and method |
| CN109175597A (en) * | 2018-09-20 | 2019-01-11 | 北京博清科技有限公司 | Welding parameter real-time regulating method and system based on weld width identification |
| CN109332957A (en) * | 2018-11-28 | 2019-02-15 | 合肥常青机械股份有限公司 | Welding robot Automation of Welding control system |
| CN110238487A (en) * | 2019-05-22 | 2019-09-17 | 北京航空航天大学 | A kind of the cut deal aluminium alloy deep penetration welding system and control method of view-based access control model sensing |
| CN111633303A (en) * | 2020-04-30 | 2020-09-08 | 北京卫星制造厂有限公司 | Aluminum alloy variable polarity plasma arc piercing welding arc starting and stopping quality control method and system |
| CN112059384A (en) * | 2020-08-14 | 2020-12-11 | 湘潭大学 | Self-adaptive control method for magnetic control plasma arc, wire end part and molten pool distance |
| CN112621005A (en) * | 2020-12-29 | 2021-04-09 | 北京工业大学 | Control method and device for effectively improving polarity-variable plasma arc asymmetric weld joint |
| CN112894101A (en) * | 2019-12-03 | 2021-06-04 | 山东大学 | Perforated plasma arc welding molten pool state prediction method based on deep learning algorithm |
| CN113681118A (en) * | 2021-09-06 | 2021-11-23 | 上海沪工焊接集团股份有限公司 | Welding parameter determination method and device, electronic equipment and medium |
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| CN115502529A (en) * | 2022-09-30 | 2022-12-23 | 北京工业大学 | Control device and method for crystallization process of plasma arc welding seam based on temperature field |
| CN115890055A (en) * | 2023-02-15 | 2023-04-04 | 重庆交通大学 | Welding experiment frame and method for exploring association rule of molten pool and welding quality |
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| CN108544068A (en) * | 2018-04-19 | 2018-09-18 | 北京工业大学 | According to the welding quality of variable polarity plasma arc welding arc positive and negative electric arc temperature difference characterization and control system and method |
| CN109175597A (en) * | 2018-09-20 | 2019-01-11 | 北京博清科技有限公司 | Welding parameter real-time regulating method and system based on weld width identification |
| CN109332957A (en) * | 2018-11-28 | 2019-02-15 | 合肥常青机械股份有限公司 | Welding robot Automation of Welding control system |
| CN110238487B (en) * | 2019-05-22 | 2020-09-22 | 北京航空航天大学 | Medium plate aluminum alloy deep fusion welding system based on visual sensing and control method |
| CN110238487A (en) * | 2019-05-22 | 2019-09-17 | 北京航空航天大学 | A kind of the cut deal aluminium alloy deep penetration welding system and control method of view-based access control model sensing |
| CN112894101B (en) * | 2019-12-03 | 2022-04-01 | 山东大学 | Perforated plasma arc welding molten pool state prediction method based on deep learning algorithm |
| CN112894101A (en) * | 2019-12-03 | 2021-06-04 | 山东大学 | Perforated plasma arc welding molten pool state prediction method based on deep learning algorithm |
| CN111633303A (en) * | 2020-04-30 | 2020-09-08 | 北京卫星制造厂有限公司 | Aluminum alloy variable polarity plasma arc piercing welding arc starting and stopping quality control method and system |
| CN112059384A (en) * | 2020-08-14 | 2020-12-11 | 湘潭大学 | Self-adaptive control method for magnetic control plasma arc, wire end part and molten pool distance |
| CN112059384B (en) * | 2020-08-14 | 2022-01-25 | 湘潭大学 | Self-adaptive control method for magnetic control plasma arc, wire end part and molten pool distance |
| CN112621005A (en) * | 2020-12-29 | 2021-04-09 | 北京工业大学 | Control method and device for effectively improving polarity-variable plasma arc asymmetric weld joint |
| CN113681194A (en) * | 2021-08-20 | 2021-11-23 | 江苏徐工工程机械研究院有限公司 | Multilayer and multichannel welding process monitoring and optimizing system and method based on image recognition |
| CN113681118A (en) * | 2021-09-06 | 2021-11-23 | 上海沪工焊接集团股份有限公司 | Welding parameter determination method and device, electronic equipment and medium |
| CN113681118B (en) * | 2021-09-06 | 2023-10-31 | 上海沪工焊接集团股份有限公司 | Welding parameter determination method and device, electronic equipment and medium |
| CN114669833A (en) * | 2022-05-13 | 2022-06-28 | 南京航空航天大学 | Device and method for regulating and controlling forming stability of electric arc additive performance in real time based on molten pool monitoring |
| CN115502529A (en) * | 2022-09-30 | 2022-12-23 | 北京工业大学 | Control device and method for crystallization process of plasma arc welding seam based on temperature field |
| CN115890055A (en) * | 2023-02-15 | 2023-04-04 | 重庆交通大学 | Welding experiment frame and method for exploring association rule of molten pool and welding quality |
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