CN110405384A - Method and system for real-time detection insufficient (incomplete) penetration during robot welding - Google Patents
Method and system for real-time detection insufficient (incomplete) penetration during robot welding Download PDFInfo
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- CN110405384A CN110405384A CN201910559439.0A CN201910559439A CN110405384A CN 110405384 A CN110405384 A CN 110405384A CN 201910559439 A CN201910559439 A CN 201910559439A CN 110405384 A CN110405384 A CN 110405384A
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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
- B23K9/00—Arc welding or cutting
- B23K9/12—Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
- B23K9/127—Means for tracking lines during arc welding or cutting
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Plasma & Fusion (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of methods for real-time detection insufficient (incomplete) penetration during robot welding comprising following steps: S1, in real time weldingvoltage, welding current and the speed of welding in acquisition robot welding process；S2, the real-time weld heat input that corresponding segment weld seam is calculated based on weldingvoltage, welding current and speed of welding；Weld heat input average value when S3, statistics corresponding segment weld seam zero defect；S4, judge whether the real-time weld heat input of corresponding segment weld seam is less than weld heat input average value, if then entering step S5, otherwise repeat step S4；S5, early warning corresponding segment weld penetration deficiency defect.
Description
Technical field
The present invention relates to insufficient (incomplete) penetration defect detecting technique fields, more particularly to one kind for during robot welding
The method and system of real-time detection insufficient (incomplete) penetration defect.
Background technique
Insufficient (incomplete) penetration refers to the phenomenon that root of joint not complete penetration in welding, and cannot make effectively sentencing from the appearance
It is disconnected, need instrument to detect.Traditional detection method, which is generally required, to be detected after the completion of work pieces process using special instrument,
I.e. subsequent detection.Insufficient (incomplete) penetration defect will have a direct impact on root of weld fusion situation and hot and cold crack-sensitivity tendency, cause work
Part it is off quality and do over again cause welding robot task efficiency reduction.
Traditional insufficient (incomplete) penetration defects detection generally requires after the completion of product and work pieces process, using special equipment or
Method is detected, with high costs, and can only when detect.
Summary of the invention
How to detect discovery and prevention insufficient (incomplete) penetration defect in time is the technical problems to be solved by the invention, of the invention
Purpose is to provide a kind of method and system for real-time detection insufficient (incomplete) penetration defect during robot welding.
The present invention is to solve above-mentioned technical problem by following technical proposals:
The present invention provides a kind of method for real-time detection insufficient (incomplete) penetration during robot welding, it is characterized in that,
Itself the following steps are included:
S1, in real time weldingvoltage, welding current and the speed of welding in acquisition robot welding process；
S2, the real-time weld heat input that corresponding segment weld seam is calculated based on weldingvoltage, welding current and speed of welding；
Weld heat input average value when S3, statistics corresponding segment weld seam zero defect；
S4, judge whether the real-time weld heat input of corresponding segment weld seam is less than weld heat input average value, if then entering
Otherwise step S5 repeats step S4；
S5, early warning corresponding segment weld penetration deficiency defect.
Preferably, in step s 2, QReal-time weld heat input=η * UVoltage*IElectric current/VSpeed of welding, wherein QReal-time weld heat inputIndicate welding in real time
Heat input, UVoltageIndicate weldingvoltage, IElectric currentIndicate welding current, VSpeed of weldingIndicate speed of welding, η is constant.
The present invention also provides a kind of system for real-time detection insufficient (incomplete) penetration during robot welding, feature exists
In comprising acquisition module, computing module, statistical module, judgment module and warning module；
The acquisition module for acquiring the weldingvoltage in robot welding process, welding current and welding speed in real time
Degree；
The computing module is used to calculate the real-time of corresponding segment weld seam based on weldingvoltage, welding current and speed of welding
Weld heat input；
The statistical module possesses weld heat input average value when statistics corresponding segment weld seam zero defect；
The judgment module is used to judge whether the real-time weld heat input of corresponding segment weld seam to be average less than weld heat input
Value, if then calling warning module, otherwise repeats judgment module；
The warning module is used for early warning corresponding segment weld penetration deficiency defect.
Preferably, the computing module is used to utilize formula QReal-time weld heat input=η * UVoltage*IElectric current/VSpeed of weldingCalculate corresponding segment weldering
The real-time weld heat input of seam, wherein QReal-time weld heat inputIndicate real-time weld heat input, UVoltageIndicate weldingvoltage, IElectric currentIndicate weldering
Meet electric current, VSpeed of weldingIndicate speed of welding, η is constant.
On the basis of common knowledge of the art, above-mentioned each optimum condition, can any combination to get each preferable reality of the present invention
Example.
The positive effect of the present invention is that:
The present invention in view of the above deficiencies, is measured in real time and early warning during robot welding, by advance and thing
In detection, it is effective to prevent insufficient (incomplete) penetration defect, reduce weld blowhole quality problems, reduce two caused by weld blowhole
Secondary maintenance frequency improves production and processing efficiency.Meanwhile reducing detecting instrument procurement payment to a certain extent.
Detailed description of the invention
Fig. 1 is the stream for the method for real-time detection insufficient (incomplete) penetration during robot welding of present pre-ferred embodiments
Cheng Tu.
Fig. 2 is the knot for the system of real-time detection insufficient (incomplete) penetration during robot welding of present pre-ferred embodiments
Structure block diagram.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art
Every other embodiment obtained without making creative work, shall fall within the protection scope of the present invention.
As shown in Figure 1, the present embodiment provides a kind of method for real-time detection insufficient (incomplete) penetration during robot welding,
Itself the following steps are included:
Step 101, in real time weldingvoltage, welding current and the speed of welding in acquisition robot welding process.
Step 102, the real-time sealing wire energy that corresponding segment weld seam is calculated based on weldingvoltage, welding current and speed of welding
Amount, calculation formula QReal-time weld heat input=η * UVoltage*IElectric current/VSpeed of welding, wherein QReal-time weld heat inputIndicate real-time weld heat input, UVoltageTable
Show weldingvoltage, IElectric currentIndicate welding current, VSpeed of weldingIndicate speed of welding, η is constant.
Step 103, by big data count corresponding segment weld seam zero defect when weld heat input average value.
Step 104 judges whether the real-time weld heat input of corresponding segment weld seam is less than weld heat input average value, if then
105 are entered step, step 104 is otherwise repeated.
Step 105, early warning corresponding segment weld penetration deficiency defect.
As shown in Fig. 2, the present embodiment also provides and a kind of is for real-time detection insufficient (incomplete) penetration during robot welding
System comprising acquisition module 1, computing module 2, statistical module 3, judgment module 4 and warning module 5.
The acquisition module 1 for acquiring the weldingvoltage in robot welding process, welding current and welding speed in real time
Degree.
The computing module 2 is used to utilize formula QReal-time weld heat input=η * UVoltage*IElectric current/VSpeed of weldingCalculate the reality of corresponding segment weld seam
When weld heat input, wherein QReal-time weld heat inputIndicate real-time weld heat input, UVoltageIndicate weldingvoltage, IElectric currentIndicate welding current,
VSpeed of weldingIndicate speed of welding, η is constant.
The statistical module 3 is used to count weld heat input average value when corresponding segment weld seam zero defect.
The judgment module 4 is used to judge whether the real-time weld heat input of corresponding segment weld seam to be average less than weld heat input
Value, if then calling warning module, otherwise repeats judgment module.
The warning module 5 is used for early warning corresponding segment weld penetration deficiency defect.
The present invention is measured in real time during robot welding and early warning, by advance with the detection in thing, effectively
Prevention insufficient (incomplete) penetration defect, reduce weld blowhole quality problems, reduce secondary maintenance frequency caused by weld blowhole, mention
High production and processing efficiency.Meanwhile reducing detecting instrument procurement payment to a certain extent.
Although specific embodiments of the present invention have been described above, it will be appreciated by those of skill in the art that these
It is merely illustrative of, protection scope of the present invention is defined by the appended claims.Those skilled in the art is not carrying on the back
Under the premise of from the principle and substance of the present invention, many changes and modifications may be made, but these are changed
Protection scope of the present invention is each fallen with modification.
Claims (4)
1. a kind of method for real-time detection insufficient (incomplete) penetration during robot welding, which is characterized in that it includes following step
It is rapid:
S1, in real time weldingvoltage, welding current and the speed of welding in acquisition robot welding process；
S2, the real-time weld heat input that corresponding segment weld seam is calculated based on weldingvoltage, welding current and speed of welding；
Weld heat input average value when S3, statistics corresponding segment weld seam zero defect；
S4, judge whether the real-time weld heat input of corresponding segment weld seam is less than weld heat input average value, if then entering step
Otherwise S5 repeats step S4；
S5, early warning corresponding segment weld penetration deficiency defect.
2. the method for real-time detection insufficient (incomplete) penetration during robot welding as described in claim 1, which is characterized in that
In step s 2, QReal-time weld heat input=η * UVoltage*IElectric current/VSpeed of welding, wherein QReal-time weld heat inputIndicate real-time weld heat input, UVoltageIt indicates
Weldingvoltage, IElectric currentIndicate welding current, VSpeed of weldingIndicate speed of welding, η is constant.
3. a kind of system for real-time detection insufficient (incomplete) penetration during robot welding, which is characterized in that it includes acquisition mould
Block, computing module, statistical module, judgment module and warning module；
The acquisition module for acquiring weldingvoltage, welding current and speed of welding in robot welding process in real time；
The computing module is used to calculate the real-time welding of corresponding segment weld seam based on weldingvoltage, welding current and speed of welding
Heat input；
The statistical module possesses weld heat input average value when statistics corresponding segment weld seam zero defect；
The judgment module for judging whether the real-time weld heat input of corresponding segment weld seam is less than weld heat input average value, if
It is to call warning module, otherwise repeats judgment module；
The warning module is used for early warning corresponding segment weld penetration deficiency defect.
4. the system for real-time detection insufficient (incomplete) penetration during robot welding as claimed in claim 3, which is characterized in that
The computing module is used to utilize formula QReal-time weld heat input=η * UVoltage*IElectric current/VSpeed of weldingCalculate the real-time sealing wire energy of corresponding segment weld seam
Amount, wherein QReal-time weld heat inputIndicate real-time weld heat input, UVoltageIndicate weldingvoltage, IElectric currentIndicate welding current, VSpeed of weldingIt indicates
Speed of welding, η are constant.
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111872523A (en) * | 2020-07-14 | 2020-11-03 | 中石化石油机械股份有限公司沙市钢管分公司 | Method for optimizing submerged-arc welding process parameters of pipeline steel of digital welding machine |
| CN112268817A (en) * | 2020-10-26 | 2021-01-26 | 长安大学 | Rock shear fracture judging method in normal unloading direct shear test |
| CN112692406A (en) * | 2020-12-14 | 2021-04-23 | 深圳市瑞凌实业股份有限公司 | Welding line energy acquisition device and method |
| CN113076817A (en) * | 2021-03-17 | 2021-07-06 | 上海展湾信息科技有限公司 | Weld pore defect real-time detection method and system |
| CN113500271A (en) * | 2021-05-27 | 2021-10-15 | 卡斯马汽车系统（重庆）有限公司 | Method for obtaining welding parameters of aluminum alloy MIG welding |
| CN114167189A (en) * | 2021-12-08 | 2022-03-11 | 华中科技大学鄂州工业技术研究院 | Welding defect detection method, electronic device and storage medium |
| CN116228703A (en) * | 2023-02-21 | 2023-06-06 | 北京远舢智能科技有限公司 | Defect sample image generation method and device, electronic equipment and medium |
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| CN113500271A (en) * | 2021-05-27 | 2021-10-15 | 卡斯马汽车系统（重庆）有限公司 | Method for obtaining welding parameters of aluminum alloy MIG welding |
| CN114167189A (en) * | 2021-12-08 | 2022-03-11 | 华中科技大学鄂州工业技术研究院 | Welding defect detection method, electronic device and storage medium |
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| CN116228703A (en) * | 2023-02-21 | 2023-06-06 | 北京远舢智能科技有限公司 | Defect sample image generation method and device, electronic equipment and medium |
| CN116228703B (en) * | 2023-02-21 | 2024-01-12 | 北京远舢智能科技有限公司 | Defect sample image generation method and device, electronic equipment and medium |
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Application publication date: 20191105 |