GMAW短路过渡焊接熔池的视觉检测

针对GMAW短路过渡焊接过程的熔池视觉检测,采用普通工业CCD摄像机,通过光谱分析选择窄带复合滤光器。设置了CCD摄像机曝光时间,分析短路过渡电压波形,确定了CCD摄像机采集时刻并设计了短路检测及CCD摄像机外触发电路,准确地将CCD摄像机的曝光时刻定位于短路过渡阶段。提出了正前方小角度和正后方大角度的图像采集方式。结果表明,采用以上图像采集方案,利用普通工业CCD摄像机可拍摄到连续清晰且不失真的熔池图像。并设计了图像处理算法,提取出完整的熔池边缘。     

Vision-based detection of weld pool width in TIG welding of copper-clad aluminum cable

In order to realize automatic control of the width of weld pool, a visual sensor system for the width of weld pool detection is developed. By initiative arc light, the image of copper plate weld pool is taken back of the torch through the process of weakening and filtering arc light. In order to decrease the time of processing video signals, analog circuit is applied in the processing where video signals is magnified, trimmed and processed into binary on the datum of dynamic average value, therefore the waveform of video signals of weld pool is obtained. The method that is used for detecting the width of weld pool is established. Results show that the vision sensing method for real-time detecting weld pool width to copper-clad aluminum wire TIG welding is feasible. The response cycle of this system is no more than 50 ms, and the testing precision is less than 0. 1 mm.     

活性MAG焊电弧特征及熔池流动分析

提出了活性熔化极气体保护焊新方法,可增加焊接熔深,改善难熔焊接结构的熔合不良,获得高质量的焊接接头.对活性熔化极气体保护焊电弧状态和熔池表面形态进行了采集和分析,用钨粒子示踪法进行试验,分析了电弧形态和熔池流动.结果表明,活性熔化极气体保护焊电弧收缩显著,电弧形态更加集中,熔池内部液态金属的流动方向为从熔池周边向中心流动,熔池流动更为有序.对于钢的活性熔化极气体保护焊方法,熔池流动行为改变是增加焊接熔深的主要因素.     

基于视觉的MAG焊接熔池的标定

焊接熔池几何尺寸能够在一定程度上反映熔透信息,准确可靠的检测出熔池几何尺寸,对于实现熔透控制具有重要的意义.在MAC(metal active gas)焊中,由于熔敷金属在试件表面堆积,使熔池表面与试件上表面形成一定的倾角,导致基于视觉传感器检测到的熔池长度尺寸出现了误差.文中分析了产生误差的原因,给出了修正误差的方法,并从熔池侧面测量了熔池表面的倾角.根据测量得到的数据,对从熔池正前方检测到的熔池长度尺寸进行了修正,得到了较准确的熔池长度.     

Effects of Ti-bearing inclusions on the microstructure and mechanical properties of MAG multilayer weld metal

The metal active gas (MAG) multilayer weld metal consists of the columnar grain zone (CGZ) and the fine grain zone (FGZ). Mechanical properties and microstructure of the CGZ and FGZ have been analyzed and evaluated. The inclusion with a size of 0.2-1.0 μm is typical log-normal distribution. The morphology of inclusions has been analyzed using transmission electron microscope (TEM). With the microalloying element Ti addition, much MnTiO3 phase precipitates on the Mn-silicates matrix, which is beneficial for the nucleation of acicular ferrite (AF). The probable mechanism for the nucleation of AF has been discussed.     

Welding deviation detection method based on weld pool image contour features

Automatic on-line detection of welding deviation based on machine vision is one of the key technologies of arc welding robot tracking welding,in which obtaining high quality weld pool image and accurate welding deviation detection algorithm are two important steps of tracking welding.Through the research and analysis of the weld pool image of gas metal arc welding(GMAW),it was found that the weld pool contains abundant welding information.First,the average gray value of the weld pool image can reflect the interference degree of arc to weld pool image and the heat input of welding process.Secondly,the tip of the weld pool image contour can reflect the center of the groove gap.Finally,the horizontal distance between the center coordinate of the wire contour and the tip coordinate of the weld pool image contour can reflect the welding deviation.On the basis of analyzing the characteristics of weld pool image,this paper proposes a new method of weld seam deviation detection,which includes the collection of weld pool image,image preprocessing,contour extraction and deviation calculation.The results of the tests and analyses showed that the maximum error of the on-line welding deviation obtained was about 2 pixels(0.17 mm) when the welding speed was ≤60 cm/min,and the algorithm was stable enough to meet the requirements of real-time deviation detection for I-groove butt welding.The method can be applied to the on-line automatic welding deviation detection of arc welding robot.     

Classification of MAG weld pool image based on moment invariants and fisher

In order to discover characteristics of various kinds of weld pool image and identify a single image,seven image features are extracted to describe the corresponding surface formation quality by the mo...     

Application of switch back welding to V groove MAG welding

The formation of stable back beads in a root pass weld during one side multi-layer welding is important to achieve high quality welded metal joints in MAG welding. The authors employed the switch back welding method for V groove joints without backing plates. In this switch back welding method, the torch moves forward and backward with an oscillation frequency of 2.5 Hz. In order to achieve this welding, personal computers control the conventional welding robot, the power source characteristic and the wire feeder unit. During the forward, the torch is weaving on the V groove gap without the weld pool. If the weaving width becomes wider than the proper width, the tip of the wire becomes high and a good back bead cannot be obtained. The weaving width is adjusted so as to get the proper width in the switch back welding. The suitability of the welding conditions for each root gap was verified by observation of the arc, the weld pool and the external appearance of back beads. A good back bead was obtained under V groove welding in 2–4 mm gap.     

工件倾角对脉冲MAG焊接熔池形态和焊缝尺寸的影响

在相同MAG焊接参数条件下,采用单因素试验方法对不同倾角的工件进行了上坡焊和下坡焊工艺试验. 通过高速摄像技术以及图像处理技术提取了熔池边缘及尺寸等特征参数信息,并对熔池面积、后拖角等相关参数进行了修正. 分析了工件倾角对熔池宽度、长度、面积、后部面积、后拖角等特征参数以及焊缝成形的影响. 结果表明,当工件倾角超过30°时,工件倾角对熔池形态特征参数和焊缝尺寸有比较明显的影响,且该影响在上坡焊和下坡焊中的表现不同. 研究结果对减少非水平位置焊接产生的焊接缺陷和改善焊接工艺具有重要的指导意义.     

304L不锈钢激光-脉冲MAG复合焊电弧特性及焊缝成形分析

针对SUS304L不锈钢激光-脉冲MAG复合焊接过程激光与脉冲MAG电弧的过程参数匹配及优化控制问题,系统研究了过程参数对电弧特性及焊缝成形尺寸的影响,获得了复合焊接过程的电弧特性及成形控制策略.结果表明,激光的介入会使复合焊接过程稳定性加强,当脉冲MAG电弧处在电流基值时,较大的激光功率会吸引MAG电弧而造成基值电压的波动,并且大功率激光会对脉冲MAG电弧具备一定的压缩作用,但在峰值阶段影响幅度较小.焊缝形貌的几何尺寸与过程参数的耦合效应有着直接的关系,过程参数的匹配优化能够有效控制焊缝成形尺寸.     

Mathematical model and simulation of partial penetrated weld pool

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三光路熔池图像的视觉注意特征提取

焊缝跟踪和熔透控制都是焊接质量控制中的重要部分.试验采用三光路视觉传感系统,在铝合金脉冲GTAW焊接过程中,三个光路同时采集熔池正前方、斜后方、斜下方图像,并投影到同一幅图像上.图像包含了焊缝、正面熔池和背面熔池等丰富的信息.采用视觉注意的方法找到图像各部分与熔池特征参数相关的小区域进行处理,将图像中包含的熔池特征参数提取出来.结果表明,视觉注意方法用于焊接过程中熔池特征的实时检测时,由于只处理感兴趣的小区域,比一般方法具有更高的明确性以及高效性.     

Edge detection and its application to recognition of arc weld image

Abstract Image sensor has been one of the key technologies in intellectualized robotics welding. Edge detection plays an important role when the vision technology is applied in intellectualized welding robotics technologies. There are all kinds of noises in welding environment. The algorithms in common use cannot be applied to the recognition of welding environment directly. The edge of images can be fell into four types. The weld images are classified by the characteristic of welding environment in this paper. This paper analyzes some algorithms of edge detection according to the character of welding image, some relative advantages and disadvantages are pointed out when these algorithms are used in this field, and some suggestions are given. The feature extraction of weld seam and weld pool are two typical problems in the realization of intellectualized welding. Their edge features are extracted and the results show the applicability of different edge detectors. The trndeoff between precision and calculated time is also considered for different application.     

基于视觉的激光深熔焊熔池检测及图像处理

针对不锈钢材料Nd：YAG固体激光深熔焊接,在充分分析熔池辐射光谱特征的基础上,并考虑同轴检测的技术特点,设计了熔池辐射光和YAG激光的传输与分离机构,优选了合适的半透半反镜片、窄带滤光片、中性减光片和变焦镜头等光路系统组件,成功构建了面向Nd：YAG激光深熔焊接的同轴视觉检测系统,获得了清晰的熔池区图像.针对拍摄到的...     

GTAW熔池形状数值模拟精度的改进

采用高斯分布或双椭圆分布热源模式对GTAW熔池形状的数值模拟中发现,计算得到的熔池尾部形状与实际情况有较大差别.文中分析了误差产生原因,提出了数值模拟程序设计中如何确定热源在工件上作用区域计算半径的三个原则.解决了计算结果中熔池尾部后拖不足的问题,提高了GTAW熔池形状数值模拟精度.     

CO2焊接熔池直接视觉图像传感研究

应用被动式视觉传感方法进行CO2焊焊接熔池的形状检测。为了消除弧光干扰并获得清晰的熔池图像,设计了由窄带滤光片、中性密度滤光片和普通焊接滤光片构成的复合滤光系统。基于CO2焊焊接弧光的光谱分布特征,首先确定了窄带滤光窗口机心波长为632．8nm。然后,通过实验确定了中性密度滤光片和普通焊接滤光片的规格,以及它们与窄带滤光片的最佳组合方式。图像检测实验结果表明,该复合滤光系统有效地消除了弧光干扰,获得了高质量的熔池图像。同时,对CO2焊焊接熔池的图像特征进行了初步分析,为进一步进行熔池图像处理和焊缝成型控制的研究奠定了基础。     

基于多经验参数约束的等离子弧焊熔池边缘检测

对等离子弧焊接熔池图像边缘提取算法进行了研究.拍摄了等离子弧焊接正面熔池,发现强烈的正面电弧弧光被熔池液态金属表面反射后在图像中形成大面积的灰度饱和区,弧光区域边界的灰度梯度远大于真实熔池边缘的灰度梯度,导致常规的图像处理算法不能准确地将熔池边界提取出来.针对这一问题,提出多经验参数约束的边缘检测算法,使用前n幅已处理熔池图像边缘信息和弧光最小外接曲线等多种经验参数作为引导信息对图像边缘进行约束,剔除伪边界,检测出真实的熔池边缘信息.将所提取的边缘信息与试验测量结果进行比较,表明所提出的算法能够有效快速地检测出熔池边缘.     

Numerical analysis of weld pool geometry in pulsed current plasma arc welding

Numerical analysis of weld pool shape and size is of great significance for selection and optimization of the process parameters in pulsed current plasma arc welding (PAW). In this paper, a mathematical model and relevant algorithm are developed to determine the temperature profiles and weld pool geometry in pulsed current PAW through employing an adaptive heat source model. The volumetric heat source consists of semi-ellipsoid at upper part and a conic body at lower part along the workpiece thickness direction. The dynamic variation features of weld pool shape during a pulse cycle are numerically simulated. The calculated weld cross-section is consistent with the measure one.     

Relationship between sound signal and weld pool status in plasma arc welding

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