CN108672937A - A kind of real-time monitoring and regulating system of laser-MAG welding penetrations - Google Patents

A kind of real-time monitoring and regulating system of laser-MAG welding penetrations Download PDF

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Publication number
CN108672937A
CN108672937A CN201810283379.XA CN201810283379A CN108672937A CN 108672937 A CN108672937 A CN 108672937A CN 201810283379 A CN201810283379 A CN 201810283379A CN 108672937 A CN108672937 A CN 108672937A
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welding
laser
spectral intensity
mag
real
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杨涛
戴为
陈卫林
陈辉
庄园
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Southwest Jiaotong University
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Southwest Jiaotong University
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Priority to CN201810283379.XA priority Critical patent/CN108672937A/en
Publication of CN108672937A publication Critical patent/CN108672937A/en
Priority to CN201910236139.9A priority patent/CN109848561B/en
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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
    • B23K26/00—Working by laser beam, e.g. welding, cutting or boring
    • B23K26/346—Working by laser beam, e.g. welding, cutting or boring in combination with welding or cutting covered by groups B23K5/00 - B23K25/00, e.g. in combination with resistance welding
    • B23K26/348—Working by laser beam, e.g. welding, cutting or boring in combination with welding or cutting covered by groups B23K5/00 - B23K25/00, e.g. in combination with resistance welding in combination with arc heating, e.g. TIG [tungsten inert gas], MIG [metal inert gas] or plasma welding
    • 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
    • B23K26/00—Working by laser beam, e.g. welding, cutting or boring
    • B23K26/02—Positioning or observing the workpiece, e.g. with respect to the point of impact; Aligning, aiming or focusing the laser beam
    • B23K26/06—Shaping the laser beam, e.g. by masks or multi-focusing
    • B23K26/062—Shaping the laser beam, e.g. by masks or multi-focusing by direct control of the laser beam
    • B23K26/0626—Energy control of the laser beam
    • 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
    • B23K26/00—Working by laser beam, e.g. welding, cutting or boring
    • B23K26/70—Auxiliary operations or equipment
    • B23K26/702—Auxiliary equipment
    • 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
    • B23K26/00—Working by laser beam, e.g. welding, cutting or boring
    • B23K26/70—Auxiliary operations or equipment
    • B23K26/702—Auxiliary equipment
    • B23K26/705—Beam measuring device

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  • Physics & Mathematics (AREA)
  • Optics & Photonics (AREA)
  • Engineering & Computer Science (AREA)
  • Plasma & Fusion (AREA)
  • Mechanical Engineering (AREA)
  • Laser Beam Processing (AREA)

Abstract

A kind of real-time monitoring and regulating system of laser MAG welding penetrations, including laser, MAG welding machines and welding robot, it is characterised in that：Further include the spectrometer for the welding position characteristic wavelength λ spectral intensities for monitoring weldment in welding process in real time, the characteristic wavelength λ spectral intensities acquired in real time are transferred to integrated control center by spectrometer；The integrated control center includes determining whether portion and adjustment portion and control unit；Determination unit determines a need for welding parameters and is adjusted；Adjustment portion is according to formulation regulation scheme and is transferred to control unit；Control unit is connect with laser, MAG welding machines and welding robot, and the welding parameter of laser MAG welding is controlled to adjust according to regulation scheme.The real-time monitoring system can monitor the fusion penetration variation of laser MAG welding and carry out real-time monitoring to fusion penetration in real time, to obtain the high quality laser weld joint of constant fusion penetration.

Description

A kind of real-time monitoring and regulating system of laser-MAG welding penetrations
Technical field
Carried out the present invention relates to a kind of fusion penetration variation that can monitor laser-MAG welding in real time and to fusion penetration monitoring in real time and The system of regulation and control, belongs to welding technology field.
Background technology
Laser-MAG welding is a kind of welding combined using high energy density laser beam with MAG electric arcs as welding heat source Method.Laser energy density is high, and directive property is good, and fusion penetration is big, but bridging capability is poor, and MAG welding energies density the, electric arc is unstable Calmly, fusion penetration is small, and bridging capability is strong, and the two is compound to become a kind of efficient, high quality welding method with advantage and disadvantage complementation.
But since spatially there are larger fluctuations in physical characteristic for MAG electric arcs, if laser long-time work Also result in that laser power is unstable, along with the plasma in MAG electric arcs plays the role of laser to absorb scattering, laser The decaying that power occurs is known from experience by unstable arc plasma, so laser-MAG welding is a unstable process, Eventually result in the fusion penetration of whole process and uneven.And the uneven meeting of weld seam is so that residual stress concentrations, Weld Performance decline.
The prior art is that the matching of different welding parameters is realized based on experiment experience mostly, obtains a relatively uniform weldering Seam, can not solve long weld seam power attenuation, electric arc it is unstable caused by fusion penetration variation the problems such as, can not butt welding to tap into row real-time Monitoring and control.
Invention content
The goal of the invention of the present invention is to provide a kind of real-time monitoring and regulating system of laser-MAG welding penetrations.This is adjusted in real time Control system can monitor the fusion penetration variation of laser-MAG welding and carry out real-time monitoring to fusion penetration and be obtained to stablize fusion penetration in real time The uniform high quality weld seam of fusion penetration.
The present invention realizes that its goal of the invention is adopted the technical scheme that：A kind of real-time monitoring of laser-MAG welding penetrations Regulator control system, including laser, MAG welding machines and welding robot, are structurally characterized in that：Further include being monitored in real time in welding process The spectrometer of the welding position characteristic wavelength λ spectral intensities of weldment, spectrometer pass the characteristic wavelength λ spectral intensities acquired in real time It is defeated by integrated control center；The integrated control center includes determining whether portion and adjustment portion and control unit；
The determination unit presets the spectral intensity difference threshold value Δ I of characteristic wavelength λ, according to the welding position feature acquired in real time The average spectrum intensity value i that wavelength X spectral intensity and preliminary experiment obtain calculates the spectral intensity difference DELTA of monitored welding position I, if Δ i≤Δ I, judgement does not need welding parameters and is adjusted, and welding is normally carried out；If Δ i ＞ Δ I, sentence Surely it needs welding parameters to be adjusted, and the spectral intensity difference DELTA i of monitored welding position is transferred to adjustment portion；
The adjustment portion is preset between the spectral intensity difference DELTA i of characteristic wavelength λ and the welding parameter of laser-MAG welding Relational database and according to the material category of weldment, thickness and the experience welding parameter for it is expected fusion penetration L selection, according to being monitored The spectral intensity difference DELTA i of welding position and the relational database formulate regulation scheme and are transferred to control unit；
The control unit is connect with laser, MAG welding machines and welding robot, and laser-is controlled to adjust according to regulation scheme The welding parameter of MAG welding.
The principle of the present invention, that is, advantageous effect is：
In laser-MAG welding, electric arc is plasma, base metals and protection gas during laser is acted on base material Absorbing a large amount of laser energies at branch can also ionize to form plasma, and the two plasma can merge, complicated component.Production In raw plasma, there is various particles very high energy, the bound electron that excitation state is in atom to transit to compared with low energy It will produce a kind of radiation, referred to as imprisoned radiation when state, not line spectrum (the light of characteristic wavelength λ possessed by homoatomic or ion Spectral intensity is the spectral intensity of element-specific spectral line) it is different.
When one timing of welding parameter, theoretically characteristic wavelength λ spectral intensities are to maintain constant, but due to MAG electric arcs Spatially there are larger fluctuations in physical characteristic for itself；First, if laser, which works long hours, also results in laser Power is unstable, and plasma increases, and thermal lensing effect etc. can all cause the variation of weld penetration in laser beam welding.Its It is secondary, when also other various destabilizing factors such as deformation can cause weld penetration to change in welding process.And fusion penetration changes, Molten bath is unstable, and when weld size changes, certain specific wavelength the intensity of spectral line of plasma will change namely characteristic wave The spectral intensity of long λ can change, it is possible to the fluctuating change of the spectral intensity of wavelength X is levied by monitoring to judge weld seam Fusion penetration changes.The present invention is to carry out spectroscopic diagnostics by spectral intensity difference DELTA i and the I comparisons of spectral intensity difference threshold value Δ, by light The mutation difference judgement welding of spectral intensity changes with the presence or absence of fusion penetration.In welding process by spectral intensity difference DELTA i, according to Relationship between spectral intensity difference DELTA i and the welding parameter of laser-MAG welding calculates the compensation rate of welding parameter, and docks Parameter is adjusted in real time, reduces spectral intensity difference DELTA i, it is made to be less than spectral intensity difference threshold value Δ I in real time, realizes that welding is permanent Determine fusion penetration control.
Present system is according to the material category of weldment, thickness and the experience welding parameter for it is expected fusion penetration L selections, butt-welding fitting It is welded, spectrometer monitors the spectral intensity of welding position characteristic wavelength λ in real time while welding, here for ensureing to reach The spectral intensity that every 10ms acquires a characteristic wavelength λ, the characteristic wavelength λ that spectrometer will acquire in real time can be arranged in " real-time " Spectral intensity is transferred to integrated control center；
The determination unit at integrated control center presets the spectral intensity difference threshold value Δ I of characteristic wavelength λ, according to the weldering acquired in real time It connects position feature wavelength X spectral intensity and average spectrum intensity value i that preliminary experiment obtains, calculates the spectrum of monitored welding position (acquisition can make the difference to obtain a Δ i) strength difference Δ i every time, if Δ i≤Δ I, illustrate Δ i waves in normal range (NR) Dynamic, fusion penetration variation is negligible, and judgement does not need welding parameters and is adjusted, and welding is normally carried out；If Δ i ＞ Δ I, explanation Δ i is not fluctuated in normal range (NR), and fusion penetration variation be can not ignore, then judgement needs welding parameters to be adjusted, and will be supervised The spectral intensity difference DELTA i for surveying welding position is transferred to adjustment portion.
The specific method for the average spectrum intensity value i that preliminary experiment obtains is：Choose identical as plank to be welded material category and The test plate (panel) of thickness selects experience welding parameter (different laser as test piece for welding, according to the material category of test piece for welding and thickness The corresponding welding parameter of fusion penetration) test piece for welding is welded, weldering is recorded by the measurement head of spectrometer in real time in welding process The characteristic wavelength λ spectral intensities of each welding position in termination process, and the average spectrum intensity of entire welding process is calculated Value i.
The adjustment portion at integrated control center presets the weldering of the spectral intensity difference DELTA i and laser-MAG welding of characteristic wavelength λ Connect the relational database between parameter and according to the material category of weldment, thickness and the experience welding parameter for it is expected fusion penetration L selections； After adjustment portion receives the spectral intensity difference DELTA i for the monitored welding position that determination unit sends over, pass through relational database Calculating the welding parameter that the laser-MAG corresponding to spectral intensity difference DELTA i is welded, (be approximately considered is actual real-time welding ginseng Number), and obtain according to the material category of weldment, thickness and experience welding parameter (the optimal welding of welding for it is expected fusion penetration L selections Parameter) regulation scheme that the welding parameter of the laser-MAG welding corresponding to spectral intensity difference DELTA i is adjusted, the tune Section scheme is to adjust the welding parameter of the laser-MAG welding corresponding to spectral intensity difference DELTA i to experience welding parameter.
Below by taking the laser power of welding parameter as an example, if passing through the calculated spectral intensity difference DELTA of relational database The laser power of laser-MAG welding corresponding to i is P, and laser power is P in experience welding parametersIt (is initially set in laser The laser output power set), there are difference DELTA P=P-P for the twos；The laser output power for then adjusting laser is PsΔ P, this Sample ensures that actual real-time welding parameter close to experience welding parameter.
The control unit at integrated control center is according to regulation scheme, control laser, robot and MAG welding machines, to butt welding It connects parameter to be adjusted, by the i controls of spectral intensity difference DELTA below spectral intensity difference threshold value Δ I so that welding process tends to Stable state can then ensure to obtain the weld seam of constant fusion penetration, improve the consistency of appearance of weld and performance, save experiment at This.
Further, the hot spot of the measurement head alignment laser of spectrometer of the present invention, apart from laser facula 80-120mm, weldering Welding position characteristic wavelength λ spectral intensities are monitored in termination process in real time.
Experimental verification is optimal acquisition position apart from laser facula 80-120mm, it should be noted that determining characteristic wave In the experiment of the spectral intensity difference threshold value Δ I of long λ, the welding of the spectral intensity difference DELTA i and laser-MAG welding of characteristic wavelength λ The experiment of relational database between parameter neutralizes in actual welding, it is necessary to assure the acquisition position for stating the measurement head of spectrometer is complete It is exactly the same.
Further, in determination unit of the present invention the spectral intensity difference threshold value Δ I of preset characteristic wavelength λ determination method It is：
The test plate (panel) of S1, selection material category identical as plank to be welded and thickness are as test piece for welding, according to test piece for welding Material category, thickness and expectation fusion penetration L selections experience welding parameter weld test piece for welding, pass through spectrum in welding process The measurement head of instrument records the characteristic wavelength λ spectral intensities of each welding position in welding process in real time, and calculates and entirely welded The average spectrum intensity value i of journey；
S2, using different welding parameters, test piece for welding is welded, passes through the measurement head of spectrometer in welding process The characteristic wavelength λ spectral intensities of each welding position in welding process are recorded in real time, and calculate the feature at different welding positions Difference between the average spectrum intensity value i that wavelength X spectral intensity and step S1 are obtained, characteristic wave at as different welding positions The spectral intensity difference DELTA i of long λ；
The fusion penetration of different welding positions is calculated by cutting metallographic specimen after the completion of welding, and is calculated at different welding positions Fusion penetration and it is expected the difference between fusion penetration L, the fusion penetration difference DELTA L at as different welding positions；
The spectral intensity difference DELTA i and fusion penetration difference DELTA L of characteristic wavelength λ at corresponding record difference welding position, and root According to fusion penetration difference DELTA L setting spectral intensity difference threshold value Δs I.
Further, the specific method of the present invention according to fusion penetration difference DELTA L setting spectral intensity difference threshold value Δs I is： The spectral intensity difference DELTA i ranges corresponding to fusion penetration difference DELTA L≤2mm are recorded, and will be within the scope of the spectral intensity difference DELTA i Maximum spectral intensity difference DELTA i is denoted as spectral intensity difference threshold value Δ I.
Further, weldment of the present invention is the 304L stainless steel plates that thickness is 3mm, is monitored in real time in the welding process Characteristic wavelength λ spectral intensities refer to FeI spectral line spectral intensities, preset spectral intensity difference threshold value Δ I is 2500 in determination unit.
Experimental verification, weldment are the 304L stainless steel plates that thickness is 3mm, and FeI spectral line spectral intensity difference DELTAs i is less than 2500 When, fusion penetration change is not obvious, and is maintained within 0.2mm, and fusion penetration begins to have a greater change when more than 2500, so setting Spectral intensity difference threshold value Δ I is 2500.
Further, the welding parameter of laser-MAG of the present invention welding includes that the laser power of laser welding, hot spot are straight The weldingvoltage of diameter, defocusing amount and MAG welding.
Experimental verification, it is straight by the laser power to laser welding, hot spot in the welding parameter of laser-MAG welding The adjusting of weldingvoltage this four welding parameters of diameter, defocusing amount and MAG welding can guarantee the stabilization of fusion penetration.
Further, the spectral intensity difference DELTA i of preset characteristic wavelength λ and laser-MAG is welded in adjustment portion of the present invention Relational database between the welding parameter connect is established by quadratic general rotary Fertilizer Test of Regression Design method.
Further, the spectral intensity difference DELTA i of preset characteristic wavelength λ and laser-MAG is welded in adjustment portion of the present invention Relational database between the welding parameter connect includes spectral intensity difference DELTA i and laser power, spot diameter, defocusing amount, weldering Connect the quadratic general rotary regression equation between voltage.
The foundation experiment of quadratic general rotary regression equation is set using four factors, five level quadratic regression universal rotary combination Meter, four setting laser power, spot diameter, defocusing amount, weldingvoltage factors, each factor respectively sets five levels, and in total 20 Group experiment.Every group of experiment defocusing amount and the weldingvoltage that after spot diameter setting, record changes in real time, laser power, and it is synchronous The spectral intensity of the characteristic wavelength λ of spectrometer collection is acquired, in this way, i.e. spectral intensity of acquisition corresponds to four welding ginsengs in real time Number generates tables of data record after acquisition.In 20 groups of experiments, every group is tested to obtain mass data.It is counted using Design-Expert Analysis software carries out Mathematical to experimental result, acquires complete quadratic general rotary regression equation (control algolithm).
Specific implementation mode
Embodiment
A kind of real-time monitoring and regulating system of laser-MAG welding penetrations, including laser, MAG welding machines and welding robot People, it is characterised in that：Further include the spectrum for the welding position characteristic wavelength λ spectral intensities for monitoring weldment in welding process in real time The characteristic wavelength λ spectral intensities acquired in real time are transferred to integrated control center by instrument, spectrometer；The integrated control center includes Determination unit and adjustment portion and control unit；
The determination unit presets the spectral intensity difference threshold value Δ I of characteristic wavelength λ, according to the welding position feature acquired in real time The average spectrum intensity value i that wavelength X spectral intensity and preliminary experiment obtain calculates the spectral intensity difference DELTA of monitored welding position I, if Δ i≤Δ I, judgement does not need welding parameters and is adjusted, and welding is normally carried out；If Δ i ＞ Δ I, sentence Surely it needs welding parameters to be adjusted, and the spectral intensity difference DELTA i of monitored welding position is transferred to adjustment portion；
The adjustment portion is preset between the spectral intensity difference DELTA i of characteristic wavelength λ and the welding parameter of laser-MAG welding Relational database and according to the material category of weldment, thickness and the experience welding parameter for it is expected fusion penetration L selection, according to being monitored The spectral intensity difference DELTA i of welding position and the relational database formulate regulation scheme and are transferred to control unit；
The control unit is connect with laser, MAG welding machines and welding robot, and laser-is controlled to adjust according to regulation scheme The welding parameter of MAG welding.
The welding parameter of the welding of laser-MAG described in this example includes laser power, spot diameter, the defocus of laser welding The weldingvoltage of amount and MAG welding；The spectral intensity difference DELTA i and laser-MAG of preset characteristic wavelength λ in the adjustment portion Relational database between the welding parameter of welding include spectral intensity difference DELTA i with laser power, spot diameter, defocusing amount, Quadratic general rotary regression equation between weldingvoltage.
The hot spot of the measurement head alignment laser of spectrometer described in this example, apart from laser facula apart from laser facula 80- 120mm monitors welding position characteristic wavelength λ spectral intensities in welding process in real time.
The determination method of the spectral intensity difference threshold value Δ I of preset characteristic wavelength λ is in determination unit described in this example：
The test plate (panel) of S1, selection material category identical as plank to be welded and thickness are as test piece for welding, according to test piece for welding Material category, thickness and expectation fusion penetration L selections experience welding parameter weld test piece for welding, pass through spectrum in welding process The measurement head of instrument records the characteristic wavelength λ spectral intensities of each welding position in welding process in real time, and calculates and entirely welded The average spectrum intensity value i of journey；
S2, using different welding parameters, test piece for welding is welded, passes through the measurement head of spectrometer in welding process The characteristic wavelength λ spectral intensities of each welding position in welding process are recorded in real time, and calculate the feature at different welding positions Difference between the average spectrum intensity value i that wavelength X spectral intensity and step S1 are obtained, characteristic wave at as different welding positions The spectral intensity difference DELTA i of long λ；
The fusion penetration of different welding positions is calculated by cutting metallographic specimen after the completion of welding, and is calculated at different welding positions Fusion penetration and it is expected the difference between fusion penetration L, the fusion penetration difference DELTA L at as different welding positions；
The spectral intensity difference DELTA i and fusion penetration difference DELTA L of characteristic wavelength λ at corresponding record difference welding position, and root According to fusion penetration difference DELTA L setting spectral intensity difference threshold value Δs I.
It is according to the specific method of fusion penetration difference DELTA L setting spectral intensity difference threshold value Δs I described in this example：It is poor to record fusion penetration It is worth the spectral intensity difference DELTA i ranges corresponding to Δ L≤2mm, and by maximum spectrum within the scope of the spectral intensity difference DELTA i Strength difference Δ i is denoted as spectral intensity difference threshold value Δ I.
This example system is used to weld thickness for the 304L stainless steel plates of 3mm, the spy monitored in real time in welding process It refers to FeI spectral line spectral intensities to levy wavelength X spectral intensity, passes through the determination of the spectral intensity difference threshold value Δ I of features described above wavelength X Spectral intensity difference threshold value Δ I determined by method is 2500.
The foundation experiment of quadratic general rotary regression equation uses the general rotation of four factors, five level quadratic regression in this example Combination Design, four setting laser power, spot diameter, defocusing amount, weldingvoltage factors, each factor respectively set five levels, 20 groups of experiments in total.In 20 groups of experiments welding parameter variation range be laser power 1500W~2500W, defocusing amount -5mm~+ 5mm, weldingvoltage 30V~40V, spot diameter 0.2mm~1mm.Every group of experiment defocusing amount is remembered in real time with after spot diameter setting Weldingvoltage, the laser power of variation, and the spectral intensity of the characteristic wavelength λ of synchronous acquisition spectrometer collection are recorded, in this way, adopting Spectral intensity of collection corresponds to four real-time welding parameters, and tables of data record is generated after acquisition.In 20 groups of experiments, every group is tested To mass data.Mathematical is carried out to experimental result using Design-Expert statistical analysis softwares, is acquired complete secondary logical With rotational regression equation.
Preset experience welding parameter in the adjustment portion at integrated control center (namely the setting of laser, MAG welding machines is initial The initial weld parameter that welding parameter and welding robot mechanical arm initial position determine) it is laser power Ps=2700W, welding Voltage Vs=36V, spot diameter Ds=0.5mm, defocusing amount fs=0.
After adjustment portion receives the spectral intensity difference DELTA i for the monitored welding position that determination unit sends over, first pass through The laser power of laser-MAG welding corresponding to quadratic general rotary regression equation calculation spectral intensity difference DELTA i, hot spot are straight Diameter, defocusing amount, weldingvoltage (it is actual real-time welding parameter to be approximately considered), and obtain rule of thumb welding parameter (welding Optimal welding parameter) adjusting that the welding parameter of the laser-MAG welding corresponding to spectral intensity difference DELTA i is adjusted Scheme：
If laser-MAG the welderings corresponding to the spectral intensity difference DELTA i gone out by quadratic general rotary regression equation calculation The laser power connect is P, spot diameter D, defocusing amount f, weldingvoltage V；Above-mentioned welding parameter is welded with the experience There are differences for parameter：Δ P=P-Ps, Δ D=D-Ds, Δ f=f-fs, Δ V=V-Vs, then adjust the laser output work of laser Rate is PsΔ P, adjusting laser spot diameter are DsΔ D, it is f to adjust laser welding defocusing amount by mechanical armsΔ f is adjusted The weldingvoltage V of MAG welding machiness-ΔV.Actual real-time welding parameter is ensured that in this way close to experience welding parameter, thus Ensure that fusion penetration is stablized.

Claims (8)

1. a kind of real-time monitoring and regulating system of laser-MAG welding penetrations, including laser, MAG welding machines and welding robot, It is characterized in that：Further include the spectrometer for the welding position characteristic wavelength λ spectral intensities for monitoring weldment in welding process in real time, light The characteristic wavelength λ spectral intensities acquired in real time are transferred to integrated control center by spectrometer；The integrated control center includes determining whether Portion and adjustment portion and control unit；
The determination unit presets the spectral intensity difference threshold value Δ I of characteristic wavelength λ, according to the welding position characteristic wavelength acquired in real time The average spectrum intensity value i that λ spectral intensities and preliminary experiment obtain calculates the spectral intensity difference DELTA i of monitored welding position, such as Fruit Δ i≤Δ I, then judgement do not need welding parameters and are adjusted, and welding is normally carried out；If Δ i ＞ Δ I, judge to need It wants welding parameters to be adjusted, and the spectral intensity difference DELTA i of monitored welding position is transferred to adjustment portion；
The adjustment portion presets the pass between the spectral intensity difference DELTA i of characteristic wavelength λ and the welding parameter of laser-MAG welding The experience welding parameter for being database and being selected according to the material category of weldment, thickness and expectation fusion penetration L, is welded according to monitoring The spectral intensity difference DELTA i of position and the relational database formulate regulation scheme and are transferred to control unit；
The control unit is connect with laser, MAG welding machines and welding robot, and laser-MAG welderings are controlled to adjust according to regulation scheme The welding parameter connect.
2. a kind of real-time monitoring and regulating system of laser-MAG welding penetrations according to claim 1, it is characterised in that：Institute The hot spot of the measurement head alignment laser of spectrometer is stated, it is real in laser facula 80-120mm, welding process apart from laser facula When monitor welding position characteristic wavelength λ spectral intensities.
3. a kind of real-time monitoring and regulating system of laser-MAG welding penetrations according to claim 1, it is characterised in that：Institute Stating the determination method of the spectral intensity difference threshold value Δ I of preset characteristic wavelength λ in determination unit is：
The test plate (panel) of S1, selection material category identical as plank to be welded and thickness are as test piece for welding, according to the material of test piece for welding Type, thickness and expectation fusion penetration L selections experience welding parameter weld test piece for welding, pass through spectrometer in welding process Measurement head records the characteristic wavelength λ spectral intensities of each welding position in welding process in real time, and calculates entire welding process Average spectrum intensity value i；
S2, using different welding parameters, test piece for welding is welded, it is real-time by the measurement head of spectrometer in welding process The characteristic wavelength λ spectral intensities of each welding position in welding process are recorded, and calculate the characteristic wavelength λ at different welding positions Difference between the average spectrum intensity value i that spectral intensity and step S1 are obtained, characteristic wavelength λ at as different welding positions Spectral intensity difference DELTA i；
The fusion penetration of different welding positions is calculated by cutting metallographic specimen after the completion of welding, and is calculated molten at different welding positions It is deep and it is expected the difference between fusion penetration L, the fusion penetration difference DELTA L at as different welding positions；
The spectral intensity difference DELTA i and fusion penetration difference DELTA L of characteristic wavelength λ at corresponding record difference welding position, and according to molten Deep difference DELTA L setting spectral intensity difference threshold value Δs I.
4. a kind of real-time monitoring and regulating system of laser-MAG welding penetrations according to claim 3, it is characterised in that：Institute State is according to the specific method of fusion penetration difference DELTA L setting spectral intensity difference threshold value Δs I：It records corresponding to fusion penetration difference DELTA L≤2mm Spectral intensity difference DELTA i ranges, and maximum spectral intensity difference DELTA i within the scope of the spectral intensity difference DELTA i is denoted as Spectral intensity difference threshold value Δ I.
5. a kind of real-time monitoring and regulating system of laser-MAG welding penetrations according to claim 1 or 4, feature exist In：The weldment is the 304L stainless steel plates that thickness is 3mm, and the characteristic wavelength λ spectrum monitored in real time in the welding process are strong Degree refers to FeI spectral line spectral intensities, and preset spectral intensity difference threshold value Δ I is 2500 in determination unit.
6. a kind of real-time monitoring and regulating system of laser-MAG welding penetrations according to claim 1, it is characterised in that：Institute The welding parameter for stating laser-MAG welding includes the welding of the laser power, spot diameter, defocusing amount and MAG welding of laser welding Voltage.
7. a kind of real-time monitoring and regulating system of laser-MAG welding penetrations according to claim 1, it is characterised in that：Institute State the relationship between the spectral intensity difference DELTA i of preset characteristic wavelength λ and the welding parameter of laser-MAG welding in adjustment portion Database is established by quadratic general rotary Fertilizer Test of Regression Design method.
8. a kind of real-time monitoring and regulating system of laser-MAG welding penetrations according to claim 6, it is characterised in that：Institute State the relationship between the spectral intensity difference DELTA i of preset characteristic wavelength λ and the welding parameter of laser-MAG welding in adjustment portion Database includes the quadratic general rotation between spectral intensity difference DELTA i and laser power, spot diameter, defocusing amount, weldingvoltage Turn regression equation.
CN201810283379.XA 2018-04-02 2018-04-02 A kind of real-time monitoring and regulating system of laser-MAG welding penetrations Pending CN108672937A (en)

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CN111015006A (en) * 2019-12-16 2020-04-17 哈尔滨工业大学（威海） Online monitoring method for laser-arc hybrid welding quality based on spectral information
CN111015006B (en) * 2019-12-16 2021-07-13 哈尔滨工业大学（威海） Online monitoring method for laser-arc hybrid welding quality based on spectral information
CN111136382A (en) * 2019-12-29 2020-05-12 北京航空航天大学合肥创新研究院 Laser manufacturing process regulation and control method based on sound wave monitoring
CN111805087A (en) * 2020-05-20 2020-10-23 中车青岛四方机车车辆股份有限公司 Double-beam laser welding method and welding device
CN113751429A (en) * 2021-08-11 2021-12-07 北京工业大学 High-precision positioning and motion compensation method for mechanical arm assisted laser processing
CN113751429B (en) * 2021-08-11 2022-08-02 北京工业大学 High-precision positioning and motion compensation method for mechanical arm assisted laser processing
CN116000475A (en) * 2023-03-23 2023-04-25 深圳欧斯普瑞智能科技有限公司 Laser cutting head control method, device, computer equipment and storage medium

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