CN114749799B - Automatic composite welding device of monitoring - Google Patents
Automatic composite welding device of monitoring Download PDFInfo
- Publication number
- CN114749799B CN114749799B CN202210664894.9A CN202210664894A CN114749799B CN 114749799 B CN114749799 B CN 114749799B CN 202210664894 A CN202210664894 A CN 202210664894A CN 114749799 B CN114749799 B CN 114749799B
- Authority
- CN
- China
- Prior art keywords
- temperature
- molten pool
- control unit
- central control
- welding
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- 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
- B23K26/20—Bonding
- B23K26/21—Bonding by 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
- B23K26/70—Auxiliary operations or equipment
- B23K26/702—Auxiliary equipment
Abstract
The invention relates to an automatic monitoring composite welding device, which relates to the technical field of composite welding and comprises a rack unit, a composite welding unit, a temperature image unit and a central control unit. The composite welding device acquires a heat sensing temperature image by arranging the temperature image unit at one side of the composite welding unit, and performs data conversion on the heat sensing temperature image by the central control unit, so that the central control unit can accurately monitor the real-time temperature value of each position of a welded part, the adjustment accuracy of the central control unit is improved, meanwhile, the welding range of the composite welding device can be accurately controlled within the area range of a standard molten pool, and the central control unit adjusts the pulse width and the welding power of the composite welding unit in real time according to the temperature of the central point of the molten pool, the difference temperature between the central position and the average temperature of the edge and the difference temperature between the positions of the edge, thereby ensuring the stable temperature distribution of the area of the welded part and improving the edge quality of the welding area.
Description
Technical Field
The invention relates to the technical field of hybrid welding, in particular to an automatic monitoring hybrid welding device.
Background
The composite welding is a technology of welding by adopting a composite heat source, and in the composite welding technology, laser composite welding is mostly used for high-efficiency precision welding, the laser composite welding process belongs to a heat conduction type, namely, laser radiation heats the surface of a workpiece, surface heat is diffused inwards through heat conduction, the workpiece is melted to form a specific molten pool by controlling parameters such as the width, energy, peak power, repetition frequency and the like of laser pulse, and the composite welding is successfully applied to the precision welding of micro and small parts due to the unique advantages of the composite welding.
Chinese patent publication no: CN114043105A, which discloses a laser beam-combining coaxial detection and automatic adjustment system for a laser welding device; the laser beam combination is coaxial by swinging the double motors on the optical fiber laser beam path and using the laser collimation adjustable unit on one side of the blue laser beam, so that the laser welding efficiency is improved.
Disclosure of Invention
Therefore, the invention provides an automatic monitoring composite welding device which is used for solving the problem that the edge quality of a welding area is low due to the fact that a welded molten pool of laser composite welding is easy to generate heat concentration in the prior art.
To achieve the above object, the present invention provides an automatic monitoring hybrid welding apparatus, comprising,
the welding machine comprises a rack unit and a welding machine unit, wherein the rack unit comprises an operation platform, the operation platform is used for placing a welded part, one side of the operation platform is provided with a welding machine cabin, the welding machine cabin is used for providing energy for the composite welding device, the upper part of the welding machine cabin is provided with a fixed arm, the upper end of the fixed arm is provided with a welding mechanical arm, one end of the welding mechanical arm is provided with a welding head connector, and the welding mechanical arm is used for driving the welding head connector to move in a three-dimensional space in an area above the operation platform;
the composite welding unit is connected with the rack unit, is arranged at one end of the welding head connector and comprises a laser welding head, the laser welding head is used for outputting composite laser beams and carrying out real-time mobile welding on a welded part under the driving of the welding mechanical arm, and the pulse width and the welding power of the composite welding unit are adjustable;
the temperature image unit is arranged on one side of the composite welding unit and is used for detecting the temperature of the surface of the welded piece and generating a heat transfer and temperature sensing image;
the central control unit is connected with the rack unit, the composite welding unit and the temperature detection unit respectively, a standard molten pool area range is arranged in the central control unit, the central control unit determines the real-time molten pool area according to a heat transfer and temperature sensitivity image detected by the temperature image unit and judges whether the real-time molten pool area is in the standard molten pool area range, and when the real-time molten pool area is not in the standard range, the central control unit adjusts the pulse width of the composite welding unit according to the real-time molten pool area until the real-time molten pool area reaches the standard molten pool area range, and stops adjusting the pulse width of the composite welding unit; when the real-time molten pool area is within the standard range, the central control unit compares and judges the molten pool central point temperature of the molten pool area image with a first preset central point temperature and a second preset central point temperature which are set in the central control unit so as to determine whether the welding state of the composite welding device is adjusted, the central control unit calculates an edge temperature difference according to the edge average temperature of the molten pool area image and the molten pool central point temperature, and compares the edge temperature difference with the molten pool standard temperature difference which is set in the central control unit so as to determine whether the composite welding device is in the standard welding state.
Further, a standard molten pool area Sa and a standard molten pool area difference delta Sa are arranged in the central control unit, when the composite welding unit performs moving welding on the welded piece, the temperature image unit transmits a heat transfer and temperature sensitivity image of the surface of the welded piece to the central control unit, the central control unit determines a real-time molten pool area Se according to the heat transfer and temperature sensitivity image, the central control unit calculates a real-time molten pool area difference delta Se, delta Se = | Sa-Se | according to the real-time molten pool area Se and the standard molten pool area Sa, the central control unit compares the real-time molten pool area difference delta Se with the standard molten pool area difference delta Sa,
when the delta Se is less than or equal to the delta Sa, the central control unit judges that the real-time molten pool area difference does not exceed the standard molten pool area difference, and the central control unit judges the molten pool temperature of a welded part to determine whether to adjust the welding state of the composite welding device;
and when the delta Se is larger than the delta Sa, the central control unit judges that the real-time molten pool area difference exceeds the standard molten pool area difference, compares the real-time molten pool area with the standard molten pool area, and adjusts the welding state of the composite welding device according to the comparison result.
Further, the central control unit is provided with an initial pulse width Rc of the composite welding unit, when the central control unit judges that the real-time molten pool area difference exceeds the standard molten pool area difference, the central control unit compares the real-time molten pool area Se with the standard molten pool area Sa,
when Se is less than Sa, the central control unit judges that the real-time molten pool area of the welded piece is lower than the standard molten pool area range, the central control unit transmits the pulse width Rc ', Rc' = Rc + Rc [ (Sa-Se)/Sa ] of the composite welding unit, the temperature imaging unit transmits the heat and temperature sensing image of the surface of the welded piece after the pulse width is adjusted to the central control unit, the central control unit determines the real-time molten pool area Se ', calculates the real-time molten pool area difference delta Se' according to the real-time molten pool area Se 'and the standard molten pool area Sa, the central control unit repeats the operation of adjusting the pulse width of the composite welding unit according to the comparison judgment of the real-time molten pool area difference and the standard molten pool area difference, and stops adjusting the pulse width of the composite welding unit until the delta Se' is less than or equal to the delta Sa;
when Se is larger than Sa, the central control unit judges that the real-time molten pool area of the welded piece is higher than the standard molten pool area range, the central control unit transmits the pulse width Rc ', Rc' = Rc-Rc [ (Se-Sa)/Sa ] of the composite welding unit, the temperature imaging unit transmits the heat and temperature sensing image of the surface of the welded piece after the pulse width is adjusted to the central control unit, the central control unit determines the real-time molten pool area Se ', calculates the real-time molten pool area difference delta Se' according to the real-time molten pool area Se 'and the standard molten pool area Sa, the central control unit repeats the operation of adjusting the pulse width of the composite welding unit according to the comparison judgment of the real-time molten pool area difference and the standard molten pool area difference, and the central control unit stops adjusting the pulse width of the composite welding unit until the delta Se' is smaller than or equal to the delta Sa.
Furthermore, a first preset central temperature T1 and a second preset central temperature T2 are arranged in the central control unit, wherein T1 is less than T2, when the central control unit judges that the real-time pool area difference does not exceed the standard pool area difference, the central control unit determines a pool central point according to a pool area image corresponding to the real-time pool area in the heat-transfer temperature-sensitive image and determines a pool central point temperature Ts, the central control unit compares the pool central point temperature Ts with the first preset central temperature T1 and the second preset central temperature T2,
when Ts is less than T1, the central control unit judges that the temperature of the central point of the molten pool is lower than a first preset central temperature, and the central control unit adjusts the welding power of the composite welding unit according to the temperature of the central point of the molten pool;
when T1 is not less than Ts is not less than T2, the central control unit judges that the temperature of the central point of the molten pool is between a first preset central temperature and a second preset central temperature, and the central control unit judges the edge temperature of the molten pool area to determine whether to adjust the welding state of the composite welding device;
when Ts is larger than T2, the central control unit judges that the temperature of the central point of the molten pool is higher than a second preset central temperature, and the central control unit judges the temperature of the central point of the molten pool to determine whether to stop the composite welding device.
Further, the central control unit is provided with the initial welding power Gc of the composite welding unit, when the central control unit judges that the temperature of the center point of the molten pool is lower than the first preset center temperature, the central control unit adjusts the welding power of the composite welding unit to Gc ', Gc' = Gc + Gc [ (T1 + T2)/2-Ts ]/(T1 + T2)/2, after the welding power of the composite welding unit is adjusted, the temperature image unit transmits the adjusted heat transfer temperature image of the surface of the welded part to the central control unit, the central control unit determines the temperature Ts 'of the central point of the molten pool after the welding power is adjusted, the central control unit repeats the operation of adjusting the welding power of the composite welding unit according to the temperature of the central point of the molten pool, and the central control unit stops adjusting the welding power of the composite welding unit until the temperature Ts' is more than or equal to T1.
Furthermore, a molten pool standard temperature difference Tn is arranged in the central control unit, the central control unit is also provided with an initial pulse width Rc of the composite welding unit, when the central control unit judges that the temperature of the central point of the molten pool is between a first preset central temperature and a second preset central temperature, the central control unit obtains the real-time temperature of each position on the edge of the image of the molten pool area and calculates an edge average temperature Tj, the central control unit calculates an edge temperature difference Tm and Tm = | Ts-Tj | according to the edge average temperature Tj and the temperature Ts of the central point of the molten pool, the central control unit compares the edge temperature difference Tm with the molten pool standard temperature difference Tn,
when Tm is less than or equal to Tn, the central control unit judges that the edge temperature difference does not exceed the standard temperature difference of the molten pool, and the central control unit judges the real-time temperature of each position on the edge of the molten pool area image so as to determine whether the composite welding device is in a normal welding state or not;
when Tm > Tn, the central control unit judges that the edge temperature difference exceeds the standard temperature difference of the molten pool, the central control unit adjusts the pulse width of the composite welding unit to Rc = Rc × (Tm/Tn), and when the pulse width of the composite welding unit is adjusted to Rc ", the central control unit adjusts the standard molten pool area to Sa ', Sa' = Sa + Sa [ (Rc '-Rc)/Rc' ].
Further, an edge standard temperature difference Tf is set in the central control unit, when the central control unit judges that the edge temperature difference does not exceed the molten pool standard temperature difference, the central control unit acquires the real-time temperature of each position on the edge of the molten pool area image and calculates the real-time temperature difference Ty between any two real-time temperatures, the central control unit compares the real-time temperature difference Ty with the edge standard temperature difference Tf,
when Ty is less than or equal to Tf, the central control unit judges that the real-time temperature difference does not exceed the edge standard temperature difference, and the central control unit judges that the composite welding device is in a normal welding state and does not adjust the composite welding device;
and when Ty is more than Tf, the central control unit judges that the real-time temperature difference exceeds the edge standard temperature difference, the central control unit judges that the edge area temperature difference of the real-time molten pool of the welded part is not in the standard range, and the central control unit controls the composite welding device to carry out shutdown inspection.
Furthermore, the central control unit is provided with initial welding power Gc of the composite welding unit, the central control unit is also provided with maximum molten pool temperature Tz of the welded piece, when the central control unit judges that the temperature of the central point of the molten pool is higher than a second preset central temperature, the central control unit compares the temperature Ts of the central point of the molten pool with the maximum temperature Tz of the molten pool,
and when Ts is less than or equal to Tz, the central control unit judges that the temperature of the central point of the molten pool is less than or equal to the maximum temperature of the molten pool, and the central control unit adjusts the welding power of the composite welding unit to Gc ', Gc' = Gc-Gc [ (Ts-T2)/T2 ].
And when Ts is larger than Tz, the central control unit judges that the temperature of the central point of the molten pool is higher than the maximum temperature of the molten pool, and the central control unit controls the composite welding device to stop and inspect the welded part.
Furthermore, the central control unit is provided with a molten pool determined temperature of the welded piece, the temperature image unit transmits a heat transfer temperature image of the surface of the welded piece to the central control unit, the central control unit compares the temperature of each position in the heat transfer temperature image with the molten pool determined temperature, and a region higher than the molten pool determined temperature is selected as a molten pool region image in the heat transfer temperature image.
Further, the central point of the molten pool is the intersection point of any two area bisectors of the molten pool area in the molten pool area image.
Compared with the prior art, the invention has the advantages that the temperature image unit is arranged on one side of the composite welding unit, the real-time temperature detection is carried out on the surface of the welded part at the welding position of the composite welding unit, the heat transfer and temperature sensing image is generated, the data conversion is carried out on the heat transfer and temperature sensing image through the central control unit, the central control unit can accurately monitor the real-time temperature value of each position of the welded part, the adjustment accuracy of the central control unit is improved, meanwhile, the welding range of the composite welding device can be accurately controlled through the area range of the standard molten pool arranged in the central control unit, the central control unit can adjust the pulse width and the welding power of the composite welding unit in real time according to the temperature of the central point of the molten pool, the temperature difference between the central position and the average temperature of the edge and the temperature difference between each position of the edge, the temperature distribution stability of the molten pool area of the welded part is ensured, the quality influence caused by cooling of the molten pool is reduced, and the edge quality of the welding area is improved.
Particularly, the difference between the standard molten pool area and the standard molten pool area is set in the central control unit, the real-time molten pool area is obtained from the heat transfer and temperature sensitivity image, the real-time molten pool area difference is calculated according to the real-time molten pool area and the standard molten pool area, the real-time molten pool area difference is compared with the standard molten pool area difference, whether the real-time molten pool area of the welded piece is in the standard range or not is determined, the depth-width ratio of the molten pool in laser welding is relatively fixed, the purpose of controlling the penetration and the fusion width can be achieved by controlling the molten pool area, the real-time molten pool area is controlled in a certain range, the state of a heat affected zone can be guaranteed, and the welding quality of composite laser welding is improved.
Furthermore, when the central control unit judges that the real-time molten pool area difference exceeds the standard molten pool area difference, the central control unit adjusts the initial pulse width of the composite welding unit in real time according to the real-time molten pool area, so that the pulse width adjustment value of the composite welding unit can change according to the change of the real-time molten pool area, the composite welding unit quickly reaches a standard state, the judgment efficiency is further improved, and the normal operation of the composite welding device is guaranteed.
Particularly, when the central control unit judges that the real-time molten pool area difference does not exceed the standard molten pool area difference, the welding area of the welded piece is standard and stable, but the adopted composite welding technology has large influence on the temperature of the molten pool area and can cause the defect of cooling the molten pool area, so that the temperature of the central point of the molten pool is obtained and judged to determine whether the real-time welding temperature is in a standard state or not, and the welding defect caused by the fluctuation of the welding temperature and even the damage to the welded base metal are prevented.
Furthermore, when the central control unit judges that the temperature of the central point of the molten pool is lower than the first preset central temperature, the welding temperature of the molten pool area is low, and incomplete fusion of the welding seam area can be caused, so that the welding power of the composite welding unit is adjusted, the molten pool area reaches a standard temperature state through real-time feedback detection and repeated adjustment, and the quality of the welding area is further improved.
Particularly, when the central control unit judges that the temperature of the central point of the molten pool is between the first preset central temperature and the second preset central temperature, the temperature of the central position of the molten pool area is in a standard range, the central control unit calculates and judges the temperature difference between the central position and the edge position, the uniform condition of the temperature of the molten pool area can be clearly judged, and the temperature of the central position area is always higher than that of the edge area, which is the reason of poor quality of the edge of the welding area, so the heat influence efficiency of the central position is improved, the edge temperature is improved, and the quality of the edge of the welding area is also improved to the greatest extent by adjusting the pulse width of the composite welding unit.
And further, calculating real-time temperature difference values of all positions on the edge of the molten pool area image, comparing the real-time temperature difference values with an edge standard temperature difference set in the central control unit, wherein in the moving welding process, one side is a cooling part for completing welding, and the other side is a part just entering welding fusion, so that a certain temperature difference value exists in the edge temperature of the molten pool area, the temperature difference value is judged, and the phenomenon that the welding quality is influenced by the generation of cooling internal stress caused by overlarge temperature difference values in the molten pool part is avoided.
Furthermore, when the central control unit judges that the temperature of the central point of the molten pool is higher than the second preset central temperature, the real-time central temperature of the molten pool is over-high, so that the temperature of the central point of the molten pool is compared with the maximum molten pool temperature which can meet the requirement of a welded piece, the temperature of the central point of the molten pool is less than or equal to the maximum molten pool temperature, the temperature of the central point of the molten pool is reduced by adjusting the welding power of the composite welding unit, and when the temperature of the central point of the molten pool is higher than the maximum molten pool temperature, the composite welding device is controlled to be stopped in time, so that the damage to the base metal of the welded piece caused by the over-high temperature is avoided, the safety of the composite welding device is improved, and the quality of a welding area is guaranteed.
Drawings
Fig. 1 is a schematic structural diagram of an automatic monitoring hybrid welding apparatus according to this embodiment.
Detailed Description
In order that the objects and advantages of the invention will be more clearly understood, the invention is further described in conjunction with the following examples; it should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are only for explaining the technical principle of the present invention, and do not limit the scope of the present invention.
It should be noted that in the description of the present invention, the terms of direction or positional relationship indicated by the terms "upper", "lower", "left", "right", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, which are only for convenience of description, and do not indicate or imply that the device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.
Furthermore, it should be noted that, in the description of the present invention, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
Referring to fig. 1, which is a schematic structural diagram of an automatic monitoring hybrid welding apparatus according to the present embodiment, the present embodiment discloses an automatic monitoring hybrid welding apparatus, which includes a rack unit 1, a work platform 101, a welding machine room 102, a fixing arm 103, a welding robot 104, a welding head connector 105, a hybrid welding unit 2, a laser welding head 201, a temperature imaging unit 3, and a central control unit (not shown in the figure), wherein,
the frame unit 1 comprises a working platform 101, wherein the working platform 101 is used for placing a welded part, a welding machine cabin 102 is arranged on one side of the working platform 101, the welding machine cabin 102 is used for providing energy for the composite welding device, a fixed arm 103 is arranged at the upper part of the welding machine cabin 102, a welding mechanical arm 104 is arranged at the upper end of the fixed arm 103, a welding head connector 105 is arranged at one end of the welding mechanical arm 104, and the welding mechanical arm 104 is used for driving the welding head connector 105 to move in a three-dimensional space in an area above the working platform 101;
the composite welding unit 2 is connected with the rack unit 1, the composite welding unit 2 is arranged at one end of the welding head connector, the composite welding unit 2 comprises a laser welding head 201, the laser welding head 201 is used for outputting composite laser beams and carrying out real-time mobile welding on a welded part under the driving of the welding mechanical arm 104, and the pulse width and the welding power of the composite welding unit 2 are adjustable;
a temperature imaging unit 3 disposed on one side of the hybrid welding unit 2, the temperature imaging unit 3 being configured to detect a temperature of a surface of a workpiece to be welded and generate a heat-transfer temperature-sensitive image;
the central control unit is connected with the rack unit 1, the composite welding unit 2 and the temperature detection unit respectively, a standard molten pool area range is arranged in the central control unit, the central control unit determines the real-time molten pool area according to a heat transfer and temperature sensitivity image detected by the temperature image unit 3 and judges whether the real-time molten pool area is in the standard molten pool area range, and when the real-time molten pool area is not in the standard range, the central control unit adjusts the pulse width of the composite welding unit 2 according to the real-time molten pool area until the real-time molten pool area reaches the standard molten pool area range, and the adjustment of the pulse width of the composite welding unit 2 is stopped; when the real-time molten pool area is within the standard range, the central control unit compares and judges the molten pool central point temperature of the molten pool area image with a first preset central temperature and a second preset central temperature which are set inside the central control unit to determine whether the welding state of the composite welding device is adjusted, the central control unit calculates the edge temperature difference according to the edge average temperature of the molten pool area image and the molten pool central point temperature, and compares the edge temperature difference with the molten pool standard temperature difference which is set inside the central control unit to determine whether the composite welding device is in the standard welding state.
The composite welding device has the advantages that the temperature image unit 3 is arranged on one side of the composite welding unit 2, the surface of a welded part at the welding position of the composite welding unit 2 is subjected to real-time temperature detection, a heat transfer and temperature sensing image is generated, the heat transfer and temperature sensing image is subjected to data conversion through the central control unit, the central control unit can accurately monitor the real-time temperature value of each position of the welded part, the adjustment accuracy of the central control unit is improved, meanwhile, the welding range of the composite welding device can be accurately controlled within the standard molten pool area range, the pulse width and the welding power of the composite welding unit 2 are adjusted in real time by the central control unit according to the temperature of the central point of the molten pool, the difference temperature of the central position and the average temperature of the edge and the difference temperature of each position of the edge, the stable temperature distribution of the molten pool area of the welded part is guaranteed, and the quality influence caused by the cooling of the molten pool is reduced, the edge quality of the weld area is improved.
In the present embodiment, each position in the heat transfer temperature sensing image is the detection accuracy of the temperature imaging unit 3 and is combined with the detection accuracy pixel in the generated heat transfer temperature sensing image.
Specifically, a standard molten pool area Sa and a standard molten pool area difference Δ Sa are arranged in the central control unit, when the composite welding unit 2 performs mobile welding on a welded piece, the temperature image unit 3 transmits a heat transfer and temperature sensitivity image of the surface of the welded piece to the central control unit, the central control unit determines a real-time molten pool area Se according to the heat transfer and temperature sensitivity image, the central control unit calculates a real-time molten pool area difference Δ Se, Δ Se = | Sa-Se | according to the real-time molten pool area Se and the standard molten pool area Sa, the central control unit compares the real-time molten pool area difference Δ Se with the standard molten pool area difference Δ Sa,
when the delta Se is less than or equal to the delta Sa, the central control unit judges that the real-time molten pool area difference does not exceed the standard molten pool area difference, and the central control unit judges the molten pool temperature of a welded part so as to determine whether to adjust the welding state of the composite welding device or not;
and when the delta Se is larger than the delta Sa, the central control unit judges that the real-time molten pool area difference exceeds the standard molten pool area difference, compares the real-time molten pool area with the standard molten pool area, and adjusts the welding state of the composite welding device according to the comparison result.
The method comprises the steps of setting a standard molten pool area and a standard molten pool area difference in a central control unit, obtaining a real-time molten pool area in a heat transfer and temperature sensitivity image, calculating the real-time molten pool area difference according to the real-time molten pool area and the standard molten pool area, comparing the real-time molten pool area difference with the standard molten pool area difference, and determining whether the real-time molten pool area of a welded piece is within a standard range.
Specifically, the central control unit is provided with an initial pulse width Rc of the hybrid welding unit 2, when the central control unit judges that the real-time molten pool area difference exceeds the standard molten pool area difference, the central control unit compares the real-time molten pool area Se with the standard molten pool area Sa,
when Se is less than Sa, the central control unit judges that the real-time molten pool area of the welded piece is lower than the standard molten pool area range, the central control unit transmits the pulse width Rc ', Rc' = Rc + Rc [ (Sa-Se)/Sa ] of the composite welding unit 2, the temperature imaging unit 3 transmits the heat transfer and temperature sensitivity image of the surface of the welded piece after the pulse width is adjusted to the central control unit, the central control unit determines the real-time molten pool area Se ', calculates the real-time molten pool area difference delta Se' according to the real-time molten pool area Se 'and the standard molten pool area Sa, and the central control unit repeats the operation of adjusting the pulse width of the composite welding unit 2 according to the comparison judgment of the real-time molten pool area difference and the standard molten pool area difference until the delta Se' is less than or equal to the delta Sa, and stops adjusting the pulse width of the composite welding unit 2;
when Se is larger than Sa, the central control unit judges that the real-time molten pool area of the welded piece is higher than the standard molten pool area range, the central control unit transmits the pulse width Rc ', Rc' = Rc-Rc [ (Se-Sa)/Sa ] of the composite welding unit 2, the temperature imaging unit 3 transmits the heat transfer and temperature sensitivity image of the surface of the welded piece after the pulse width is adjusted to the central control unit, the central control unit determines the real-time molten pool area Se ', calculates the real-time molten pool area difference delta Se' according to the real-time molten pool area Se 'and the standard molten pool area Sa, and the central control unit repeats the operation of adjusting the pulse width of the composite welding unit 2 according to the comparison judgment of the real-time molten pool area difference and the standard molten pool area difference until the delta Se' is smaller than or equal to the delta Sa, and stops adjusting the pulse width of the composite welding unit 2.
When the central control unit judges that the real-time molten pool area difference exceeds the standard molten pool area difference, the central control unit adjusts the initial pulse width of the composite welding unit 2 in real time according to the real-time molten pool area, so that the pulse width adjustment value of the composite welding unit 2 can be changed according to the change of the real-time molten pool area, the state of quickly reaching the standard is realized, the judgment efficiency is further improved, and the normal operation of the composite welding device is ensured.
Specifically, a first preset central temperature T1 and a second preset central temperature T2 are arranged in the central control unit, wherein T1 is less than T2, when the central control unit judges that the real-time pool area difference does not exceed the standard pool area difference, the central control unit determines a pool central point according to a pool area image corresponding to the real-time pool area in the heat-transfer temperature-sensitive image and determines a pool central point temperature Ts, the central control unit compares the pool central point temperature Ts with the first preset central temperature T1 and the second preset central temperature T2,
when Ts is less than T1, the central control unit judges that the temperature of the central point of the molten pool is lower than a first preset central temperature, and the central control unit adjusts the welding power of the composite welding unit 2 according to the temperature of the central point of the molten pool;
when T1 is not less than Ts is not less than T2, the central control unit judges that the temperature of the central point of the molten pool is between a first preset central temperature and a second preset central temperature, and the central control unit judges the edge temperature of the molten pool area to determine whether to adjust the welding state of the composite welding device;
when Ts is larger than T2, the central control unit judges that the temperature of the central point of the molten pool is higher than a second preset central temperature, and the central control unit judges the temperature of the central point of the molten pool to determine whether to stop the composite welding device.
When the central control unit judges that the real-time molten pool area difference does not exceed the standard molten pool area difference, the welding area of the welded piece is standard and stable, but the adopted composite welding technology has large influence on the temperature of the molten pool area and can cause the defect of cooling the molten pool area, so that the temperature of the central point of the molten pool is obtained and judged to determine whether the real-time welding temperature is in a standard state or not, and the welding defect caused by the fluctuation of the welding temperature and even the damage to the welded piece base metal are prevented.
Specifically, the central control unit is provided with the initial welding power Gc of the hybrid welding unit 2, when the central control unit judges that the temperature of the center point of the molten pool is lower than the first preset center temperature, the central control unit adjusts the welding power of the composite welding unit 2 to Gc ', Gc' = Gc + Gc [ (T1 + T2)/2-Ts ]/(T1 + T2)/2, after the welding power of the composite welding unit 2 is adjusted, the temperature image unit 3 transmits the adjusted heat transfer temperature image of the surface of the welded part to the central control unit, the central control unit determines the temperature of the center point of the molten pool Ts 'after the welding power is adjusted, the central control unit repeats the operation of adjusting the welding power of the composite welding unit 2 according to the temperature of the center point of the molten pool until the temperature Ts' is greater than or equal to T1, and the central control unit stops adjusting the welding power of the composite welding unit 2.
When the central control unit judges that the temperature of the central point of the molten pool is lower than the first preset central temperature, the welding temperature of the molten pool area is low, and incomplete fusion of the welding seam area can be caused, so that the welding power of the composite welding unit 2 is adjusted, the molten pool area reaches a standard temperature state through real-time feedback detection and repeated adjustment, and the quality of the welding area is further improved.
Specifically, the central control unit is provided with a standard temperature difference Tn of a molten pool, the central control unit is further provided with an initial pulse width Rc of the composite welding unit 2, when the central control unit judges that the temperature of the central point of the molten pool is between a first preset central temperature and a second preset central temperature, the central control unit obtains the real-time temperature of each position on the edge of the image of the molten pool area and calculates an edge average temperature Tj, the central control unit calculates an edge temperature difference Tm, Tm = | Ts-Tj | according to the edge average temperature Tj and the temperature of the central point of the molten pool Ts, the central control unit compares the edge temperature difference Tm with the standard temperature difference Tn of the molten pool,
when Tm is less than or equal to Tn, the central control unit judges that the edge temperature difference does not exceed the standard temperature difference of the molten pool, and the central control unit judges the real-time temperature of each position on the edge of the molten pool area image so as to determine whether the composite welding device is in a normal welding state or not;
when Tm > Tn, the central control unit determines that the edge temperature difference exceeds the standard temperature difference of the molten pool, adjusts the pulse width of the hybrid welding unit 2 to Rc ″ = Rc × (Tm/Tn), and when the pulse width of the hybrid welding unit 2 is adjusted to Rc ", the central control unit adjusts the standard molten pool area to Sa ', Sa' = Sa + Sa [ (Rc" -Rc)/Rc "].
When the central control unit judges that the temperature of the central point of the molten pool is between the first preset central temperature and the second preset central temperature, the central control unit indicates that the temperature of the central position of the molten pool area is in a standard range, the central control unit calculates and judges the temperature difference between the central position and the edge position, the uniform condition of the temperature of the molten pool area can be clearly judged, and the central position area is often higher than the edge area in stability, which is just the reason of poor quality of the edge of the welding area, so the heat influence efficiency of the central position is improved, the edge temperature is improved, and the quality of the edge of the welding area is also improved to the maximum degree by adjusting the pulse width of the composite welding unit 2.
Specifically, the central control unit is provided with an edge standard temperature difference Tf, when the central control unit judges that the edge temperature difference does not exceed the molten pool standard temperature difference, the central control unit acquires the real-time temperature of each position on the edge of the molten pool area image and calculates the real-time temperature difference Ty between any two real-time temperatures, the central control unit compares the real-time temperature difference Ty with the edge standard temperature difference Tf,
when Ty is less than or equal to Tf, the central control unit judges that the real-time temperature difference does not exceed the edge standard temperature difference, and the central control unit judges that the composite welding device is in a normal welding state and does not adjust the composite welding device;
and when Ty is more than Tf, the central control unit judges that the real-time temperature difference exceeds the edge standard temperature difference, the central control unit judges that the edge area temperature difference of the real-time molten pool of the welded part is not in the standard range, and the central control unit controls the composite welding device to carry out shutdown inspection.
The real-time temperature difference value of each position on the edge of the molten pool area image is calculated and compared with the edge standard temperature difference set in the central control unit, and in the moving welding process, one side is a cooling part for welding completion, and the other side is a part just entering the welding fusion, so that the edge temperature of the molten pool area has a certain temperature difference value, the temperature difference value is judged, and the generation of cooling internal stress caused by overlarge temperature difference value in the molten pool part is avoided, and the welding quality is not influenced.
Specifically, the central control unit is provided with the initial welding power Gc of the composite welding unit 2, the central control unit is also provided with the maximum molten pool temperature Tz of the welded piece, when the central control unit judges that the central point temperature of the molten pool is higher than the second preset central temperature, the central control unit compares the central point temperature Ts of the molten pool with the maximum molten pool temperature Tz,
and when Ts is less than or equal to Tz, the central control unit judges that the temperature of the central point of the molten pool is less than or equal to the maximum temperature of the molten pool, and the central control unit adjusts the welding power of the composite welding unit 2 to Gc ', Gc' = Gc-Gc [ (Ts-T2)/T2 ].
And when Ts is larger than Tz, the central control unit judges that the temperature of the central point of the molten pool is higher than the maximum temperature of the molten pool, and the central control unit controls the composite welding device to stop and inspect the welded part.
When the central control unit judges that the temperature of the central point of the molten pool is higher than the second preset central temperature, the real-time central temperature of the molten pool is over-high, so that the temperature of the central point of the molten pool is compared with the maximum molten pool temperature which can meet the requirement of a welded piece, when the temperature of the central point of the molten pool is less than or equal to the maximum molten pool temperature, the welding power of the composite welding unit 2 is adjusted to reduce the temperature of the central point of the molten pool, and when the temperature of the central point of the molten pool is higher than the maximum molten pool temperature, the composite welding device is controlled to be stopped in time, so that the damage caused by the over-high temperature to the base metal of the welded piece is avoided, and the safety of the composite welding device is improved.
Specifically, the central control unit is provided with a molten pool determination temperature of the workpiece, the temperature imaging unit 3 transmits a heat-transfer temperature image of the surface of the workpiece to the central control unit, the central control unit compares the temperature of each position in the heat-transfer temperature image with a molten pool determination temperature, and selects a region higher than the molten pool determination temperature in the heat-transfer temperature image as a molten pool region image, wherein the molten pool determination temperature is determined by the material and the component of the workpiece.
Specifically, the central point of the molten pool is the intersection point of any two area bisectors of the molten pool area in the molten pool area image, and the molten pool for laser composite welding is mostly irregular and circular-like, so that the central position is determined by adopting the intersection point of any two area bisectors of the molten pool area in the molten pool area image, and the calculation speed of the central control unit is improved.
So far, the technical solutions of the present invention have been described in connection with the preferred embodiments shown in the drawings, but it is easily understood by those skilled in the art that the scope of the present invention is obviously not limited to these specific embodiments. Equivalent changes or substitutions of related technical features can be made by those skilled in the art without departing from the principle of the invention, and the technical scheme after the changes or substitutions can fall into the protection scope of the invention.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention; various modifications and alterations to this invention will become apparent to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. An automatic monitoring composite welding device is characterized by comprising,
the welding machine comprises a rack unit and a welding machine unit, wherein the rack unit comprises an operation platform, the operation platform is used for placing a welded part, one side of the operation platform is provided with a welding machine cabin, the welding machine cabin is used for providing energy for the composite welding device, the upper part of the welding machine cabin is provided with a fixed arm, the upper end of the fixed arm is provided with a welding mechanical arm, one end of the welding mechanical arm is provided with a welding head connector, and the welding mechanical arm is used for driving the welding head connector to move in a three-dimensional space in an area above the operation platform;
the composite welding unit is connected with the rack unit, is arranged at one end of the welding head connector and comprises a laser welding head, the laser welding head is used for outputting composite laser beams and carrying out real-time mobile welding on a welded part under the driving of the welding mechanical arm, and the pulse width and the welding power of the composite welding unit are adjustable;
the temperature image unit is arranged on one side of the composite welding unit and is used for detecting the temperature of the surface of a welded part and generating a heat transfer and temperature sensing image;
the central control unit is connected with the rack unit, the composite welding unit and the temperature detection unit respectively, a standard molten pool area range is arranged in the central control unit, the central control unit determines the real-time molten pool area according to a heat transfer and temperature sensitivity image detected by the temperature image unit and judges whether the real-time molten pool area is in the standard molten pool area range, and when the real-time molten pool area is not in the standard range, the central control unit adjusts the pulse width of the composite welding unit according to the real-time molten pool area until the real-time molten pool area reaches the standard molten pool area range, and stops adjusting the pulse width of the composite welding unit; when the real-time molten pool area is within the standard range, the central control unit compares and judges the molten pool central point temperature of the molten pool area image with a first preset central temperature and a second preset central temperature which are set inside the central control unit to determine whether the welding state of the composite welding device is adjusted, the central control unit calculates the edge temperature difference according to the edge average temperature of the molten pool area image and the molten pool central point temperature, and compares the edge temperature difference with the molten pool standard temperature difference which is set inside the central control unit to determine whether the composite welding device is in the standard welding state.
2. The automatic monitoring composite welding device according to claim 1, wherein a standard molten pool area Sa and a standard molten pool area difference Δ Sa are provided in the central control unit, the temperature image unit transmits a heat and temperature sensing image of the surface of the welded piece to the central control unit when the composite welding unit performs moving welding on the welded piece, the central control unit determines a real-time molten pool area Se according to the heat and temperature sensing image, the central control unit calculates a real-time molten pool area difference Δ Se, Δ Se = | Sa-Se |, according to the real-time molten pool area Se and the standard molten pool area Sa, the central control unit compares the real-time molten pool area difference Δ Se with the standard molten pool area difference Δ Sa,
when the delta Se is less than or equal to the delta Sa, the central control unit judges that the real-time molten pool area difference does not exceed the standard molten pool area difference, and the central control unit judges the molten pool temperature of a welded part so as to determine whether to adjust the welding state of the composite welding device or not;
and when the delta Se is larger than the delta Sa, the central control unit judges that the real-time molten pool area difference exceeds the standard molten pool area difference, compares the real-time molten pool area with the standard molten pool area, and adjusts the welding state of the composite welding device according to the comparison result.
3. The automatically monitored hybrid welding device according to claim 2, wherein an initial pulse width Rc of the hybrid welding unit is set in the central control unit, and when the central control unit determines that the real-time pool area difference exceeds the standard pool area difference, the central control unit compares the real-time pool area Se with the standard pool area Sa,
when Se is less than Sa, the central control unit judges that the real-time molten pool area of the welded piece is lower than the standard molten pool area range, the central control unit transmits the pulse width Rc ', Rc' = Rc + Rc [ (Sa-Se)/Sa ] of the composite welding unit, the temperature imaging unit transmits the heat and temperature sensing image of the surface of the welded piece after the pulse width is adjusted to the central control unit, the central control unit determines the real-time molten pool area Se ', calculates the real-time molten pool area difference delta Se' according to the real-time molten pool area Se 'and the standard molten pool area Sa, the central control unit repeats the operation of adjusting the pulse width of the composite welding unit according to the comparison judgment of the real-time molten pool area difference and the standard molten pool area difference, and stops adjusting the pulse width of the composite welding unit until the delta Se' is less than or equal to the delta Sa;
when Se is larger than Sa, the central control unit judges that the real-time molten pool area of the welded piece is higher than the standard molten pool area range, the central control unit transmits the pulse width Rc ', Rc' = Rc-Rc [ (Se-Sa)/Sa ] of the composite welding unit, the temperature imaging unit transmits the heat and temperature sensing image of the surface of the welded piece after the pulse width is adjusted to the central control unit, the central control unit determines the real-time molten pool area Se ', calculates the real-time molten pool area difference delta Se' according to the real-time molten pool area Se 'and the standard molten pool area Sa, the central control unit repeats the operation of adjusting the pulse width of the composite welding unit according to the comparison judgment of the real-time molten pool area difference and the standard molten pool area difference, and the central control unit stops adjusting the pulse width of the composite welding unit until the delta Se' is smaller than or equal to the delta Sa.
4. The automatic monitoring hybrid welding device according to claim 2, wherein a first preset central temperature T1 and a second preset central temperature T2 are set in the central control unit, wherein T1 < T2, when the central control unit determines that the real-time molten pool area difference does not exceed the standard molten pool area difference, the central control unit determines a molten pool central point according to a molten pool area image corresponding to the real-time molten pool area in the heat-transfer temperature-sensitive image and determines a molten pool central point temperature Ts, the central control unit compares the molten pool central point temperature Ts with the first preset central temperature T1 and the second preset central temperature T2,
when Ts is less than T1, the central control unit judges that the temperature of the central point of the molten pool is lower than a first preset central temperature, and the central control unit adjusts the welding power of the composite welding unit according to the temperature of the central point of the molten pool;
when T1 is not less than Ts is not less than T2, the central control unit judges that the temperature of the central point of the molten pool is between a first preset central temperature and a second preset central temperature, and the central control unit judges the edge temperature of the molten pool area to determine whether to adjust the welding state of the composite welding device;
when Ts is larger than T2, the central control unit judges that the temperature of the central point of the molten pool is higher than a second preset central temperature, and the central control unit judges the temperature of the central point of the molten pool to determine whether to stop the composite welding device.
5. The automatic monitoring hybrid welding device according to claim 4, wherein the central control unit is provided with an initial welding power Gc of the hybrid welding unit, when the central control unit determines that the temperature of the center point of the weld pool is lower than a first preset center temperature, the central control unit adjusts the welding power of the hybrid welding unit to Gc ', Gc ' = Gc + Gc [ (T1 + T2)/2-Ts ]/(T1 + T2)/2, after the adjustment of the welding power of the hybrid welding unit is completed, the temperature imaging unit transmits the adjusted temperature image of the heat transfer coefficient of the surface of the welded object to the central control unit, the central control unit determines the temperature Ts ' of the center point of the weld pool after the adjustment of the welding power, and the central control unit repeats the operation of adjusting the welding power of the hybrid welding unit according to the temperature of the center point of the weld pool, and when Ts' ≧ T1, the central control unit stops adjusting the welding power of the composite welding unit.
6. The automatic monitoring hybrid welding device according to claim 4, wherein a standard temperature difference Tn of the molten pool is set in the central control unit, an initial pulse width Rc of the hybrid welding unit is also set in the central control unit, when the central control unit determines that the temperature of the central point of the molten pool is between a first preset central temperature and a second preset central temperature, the central control unit obtains real-time temperatures of positions on the edge of the image of the molten pool area and calculates an edge average temperature Tj, the central control unit calculates an edge temperature difference Tm, Tm = | Ts-Tj | according to the edge average temperature Tj and the temperature of the central point of the molten pool Ts, and the central control unit compares the edge temperature difference Tm with the standard temperature difference Tn of the molten pool,
when Tm is less than or equal to Tn, the central control unit judges that the edge temperature difference does not exceed the standard temperature difference of the molten pool, and the central control unit judges the real-time temperature of each position on the edge of the molten pool area image so as to determine whether the composite welding device is in a normal welding state or not;
when Tm > Tn, the central control unit judges that the edge temperature difference exceeds the standard temperature difference of the molten pool, the central control unit adjusts the pulse width of the composite welding unit to Rc = Rc × (Tm/Tn), and when the pulse width of the composite welding unit is adjusted to Rc ", the central control unit adjusts the standard molten pool area to Sa ', Sa' = Sa + Sa [ (Rc '-Rc)/Rc' ].
7. The automatic monitoring hybrid welding device according to claim 6, characterized in that an edge standard temperature difference Tf is set in the central control unit, when the central control unit judges that the edge temperature difference does not exceed the bath standard temperature difference, the central control unit obtains real-time temperatures of positions on the edge of the image of the molten pool area and calculates a real-time temperature difference Ty between any two real-time temperatures, the central control unit compares the real-time temperature difference Ty with the edge standard temperature difference Tf,
when Ty is less than or equal to Tf, the central control unit judges that the real-time temperature difference does not exceed the edge standard temperature difference, and the central control unit judges that the composite welding device is in a normal welding state and does not adjust the composite welding device;
and when Ty is larger than Tf, the central control unit judges that the real-time temperature difference exceeds the edge standard temperature difference, the central control unit judges that the edge area temperature difference of the real-time molten pool of the welded part is not in the standard range, and the central control unit controls the composite welding device to carry out shutdown inspection.
8. The automatic monitoring hybrid welding device according to claim 4, wherein the central control unit is provided with an initial welding power Gc of the hybrid welding unit, and is further provided with a maximum molten pool temperature Tz of a welded member, and when the central control unit determines that the molten pool center temperature is higher than a second preset center temperature, the central control unit compares the molten pool center temperature Ts with the maximum molten pool temperature Tz,
when Ts is less than or equal to Tz, the central control unit judges that the temperature of the central point of the molten pool is less than or equal to the maximum temperature of the molten pool, the central control unit adjusts the welding power of the composite welding unit to Gc ', Gc' = Gc-Gc [ (Ts-T2)/T2 ],
and when Ts is larger than Tz, the central control unit judges that the temperature of the central point of the molten pool is higher than the maximum temperature of the molten pool, and the central control unit controls the composite welding device to stop and inspect the welded part.
9. The automatic monitoring hybrid welding device according to claim 2, wherein the central control unit is provided with a molten pool determination temperature of the welded object, the temperature imaging unit transmits a heat sensing image of the surface of the welded object to the central control unit, the central control unit compares the temperature of each position in the heat sensing image with the molten pool determination temperature, and selects a region higher than the molten pool determination temperature as a molten pool region image in the heat sensing image.
10. The automatically monitored hybrid welding device as set forth in claim 4, wherein the molten pool center point is an intersection point of any two area bisectors of the molten pool area in the molten pool area image.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210664894.9A CN114749799B (en) | 2022-06-14 | 2022-06-14 | Automatic composite welding device of monitoring |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210664894.9A CN114749799B (en) | 2022-06-14 | 2022-06-14 | Automatic composite welding device of monitoring |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114749799A CN114749799A (en) | 2022-07-15 |
| CN114749799B true CN114749799B (en) | 2022-08-26 |
Family
ID=82336240
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210664894.9A Active CN114749799B (en) | 2022-06-14 | 2022-06-14 | Automatic composite welding device of monitoring |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114749799B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115229397B (en) * | 2022-09-22 | 2022-12-20 | 江苏友邦精工实业有限公司 | Combined welding device for automobile frame |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH06126475A (en) * | 1992-10-16 | 1994-05-10 | Toyota Motor Corp | Method for deciding abnormality in laser-clad machine |
| CN103506756A (en) * | 2013-09-11 | 2014-01-15 | 上海交通大学 | Laser lap welding gap detecting system and laser lap welding gap detecting method based on molten pool image visual sensing |
| CN106841177A (en) * | 2017-03-20 | 2017-06-13 | 哈尔滨工业大学（威海） | Defect inline diagnosis method in laser cladding process |
| CN108883501A (en) * | 2016-03-18 | 2018-11-23 | 日立汽车系统株式会社 | High-energy beam welding quality determination method, quality judging device and welding management system using the determination method |
| CN109507187A (en) * | 2018-11-23 | 2019-03-22 | 哈尔滨工业大学（威海） | A kind of laser gain material manufacturing defect diagnostic method and its device |
-
2022
- 2022-06-14 CN CN202210664894.9A patent/CN114749799B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH06126475A (en) * | 1992-10-16 | 1994-05-10 | Toyota Motor Corp | Method for deciding abnormality in laser-clad machine |
| CN103506756A (en) * | 2013-09-11 | 2014-01-15 | 上海交通大学 | Laser lap welding gap detecting system and laser lap welding gap detecting method based on molten pool image visual sensing |
| CN108883501A (en) * | 2016-03-18 | 2018-11-23 | 日立汽车系统株式会社 | High-energy beam welding quality determination method, quality judging device and welding management system using the determination method |
| CN106841177A (en) * | 2017-03-20 | 2017-06-13 | 哈尔滨工业大学（威海） | Defect inline diagnosis method in laser cladding process |
| CN109507187A (en) * | 2018-11-23 | 2019-03-22 | 哈尔滨工业大学（威海） | A kind of laser gain material manufacturing defect diagnostic method and its device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114749799A (en) | 2022-07-15 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US20170259373A1 (en) | Method and Apparatus for Joining Workpieces at a Lap Joint | |
| CA2792322C (en) | Laser processing head and method for processing a workpiece by means of a laser beam | |
| JPH029538B2 (en) | ||
| CN114749799B (en) | Automatic composite welding device of monitoring | |
| CA2774745A1 (en) | Welding head and method for joining a workpiece | |
| JPH03151180A (en) | Joint chasing type precision laser welding system | |
| US20160031038A1 (en) | Laser Processor and Laser Processing Method | |
| CN204934867U (en) | The laser weld monitoring system of multisensor | |
| CN110576261B (en) | Laser stitch welding device and welding method thereof | |
| CN110480157A (en) | Continuous variable cross section workpiece laser welding method and system | |
| JP2017113789A (en) | Laser welding apparatus | |
| KR20190085313A (en) | Blue Laser Combined Laser Welding and Monitoring System | |
| US20210354232A1 (en) | Methods for the automated determination of the influence of a laser processing parameter on a laser processing operation, laser processing machine, and computer program product | |
| JP2014117730A (en) | Focal position setting method in fiber laser machining apparatus, fiber laser machining apparatus, and fiber laser machining method | |
| CN110548990B (en) | Light beam control method and system for laser welding of precise structural part of power battery | |
| US20210394305A1 (en) | Laser welding method and apparatus | |
| CN208743921U (en) | A kind of online laser-beam welding machine | |
| CN110023025B (en) | Core adjusting method | |
| CN210648953U (en) | Welding system | |
| CN115229397B (en) | Combined welding device for automobile frame | |
| JP3407655B2 (en) | Laser welding monitoring method | |
| CN103949752B (en) | A kind of real-time observation device suitable for ultrahigh frequency pulses TIG weldering fields of welding temperature | |
| JP2005138126A (en) | Welding system | |
| CN104999178A (en) | Laser welding device carrying multiple sensors | |
| KR20180138176A (en) | Method of welding laminated metal foils |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of invention: An automatic monitoring compound welding device Effective date of registration: 20220923 Granted publication date: 20220826 Pledgee: Postal Savings Bank of China Limited by Share Ltd. Weifang branch Pledgor: SHANDONG YATAI MACHINERY Co.,Ltd. Registration number: Y2022980015890 |