CN105855743B - A kind of Weld pool dynamic process on-line monitoring system and method - Google Patents
A kind of Weld pool dynamic process on-line monitoring system and method Download PDFInfo
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- CN105855743B CN105855743B CN201610288460.8A CN201610288460A CN105855743B CN 105855743 B CN105855743 B CN 105855743B CN 201610288460 A CN201610288460 A CN 201610288460A CN 105855743 B CN105855743 B CN 105855743B
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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
- B23K31/00—Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups
- B23K31/12—Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups relating to investigating the properties, e.g. the weldability, of materials
- B23K31/125—Weld quality monitoring
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Abstract
The invention discloses a kind of Weld pool dynamic process on-line monitoring system and methods, the system includes integrated control center, sensor the examination subsystem, motion control subsystem, expert database, welding procedure control subsystem and data transmission interface, integrated control center is used to receive data information, it sends motion control instruction, welding procedure control instruction and transmission data and reads and instruct；Sensor the examination subsystem is used to acquire weld pool image information, technique information, voice signal and temperature；Motion control subsystem is used to complete weld joint tracking, the adjustment of welding gun height and the control of speed；Expert database is used to preserve welding procedure control parameter, motion control parameter and sensing detection information；Welding procedure control subsystem is used to implement the control to welding current, arc voltage, speed；Data transmission interface is used to implement data communication；The method is monitored on-line using monitoring system.The present invention has many advantages, such as that reliability is high, function is highly integrated.
Description
Technical field
The invention belongs to engineering machinery large-sized structural parts automatic welding monitoring technical field, more particularly, to one kind
Weld pool dynamic process on-line monitoring system and method.
Background technology
Currently, during the weld job of large and medium-sized, ultra-large type and mega-construction project machinery large-sized structural parts is carried out, by
In the shadow for many factors such as engineering machinery large-sized structural parts size is big, tonnage is big, welding region weld seam is long, weld seam form is various
It rings, realizes that the difficulty that welding quality controls in welding process is larger, however, the whole matter that welding quality will directly influence product
Amount.
Particularly, engineering machinery large-sized structural parts automatic welding production line is before Product jointing operation is carried out, usually
The product can be directed to and carry out the debugging of welding condition, trial operation work, inevitably need to expend Product jointing operation
Time, artificial input and material, will constrain that production line carries out multiple types, be pilot weld job is cut significantly
Change efficiency.The main reason is that lack the mating welding quality on-line monitoring of engineering machinery large-sized structural parts automated production process
And appearance of weld control is equipped and correlation technique.Therefore, it is badly in need of a kind of welding quality on-line monitoring system of research and design and method
Engineering machinery large-sized structural parts automated production process is monitored and be controlled with forming.
Invention content
For the disadvantages described above or Improvement requirement of the prior art, the present invention provides a kind of Weld pool dynamic process is online
System and method is monitored, wherein by the mutual cooperation of integrated control center and subsystems, realizes welding pool dynamic
The on-line monitoring of process, welding parameter are optimized and revised, weld seam is shared automatically with the forming of, weld seam control, welding relevant information
Function, and engineering machinery large-sized structural parts automatic welding production line scene can be integrated into, solve engineering machinery large scale structure
Welding quality such as is difficult to control at the problems during part automated production, reduce Product jointing operation time, artificial input and
The loss of material etc. improves the switching efficiency that production line carries out multiple types, be pilot weld job.
To achieve the above object, one side according to the invention, it is proposed that a kind of Weld pool dynamic process is supervised online
Examining system, the system include integrated control center, sensor the examination subsystem, motion control subsystem, expert database, Welder
Skill control subsystem and data transmission interface, wherein：
The integrated control center sends movement for receiving the data information that the sensor the examination subsystem collects
Control instruction sends welding procedure control instruction to the welding procedure control subsystem to the motion control subsystem, right
The expert database is written and read operation and through the data transmission interface transmission data and reading control instruction；
The sensor the examination subsystem is used to acquire weld pool image information, welding procedure information, welding process sound
Signal and the Temperature Distribution for welding exemplar；
The motion control subsystem is used to complete the weld joint tracking of welding process, the height adjustment of welding gun and welding speed
The control of degree；
The expert database is used to preserve the welding procedure control parameter of welding process, welding motion control parameter and biography
Feel detection information；
The welding procedure control subsystem is used to implement to welding process welding current, arc voltage, welding wire feeding speed
The control of degree；
The data transmission interface is used to implement the integrated control center and the data of welding production line monitoring center are led to
News.
As it is further preferred that the sensor the examination subsystem includes CCD industrial cameras, arc voltage sensor, suddenly
That current sensor, sound pressure sensor and thermal resistance, wherein, the CCD industrial cameras are used to shoot weld seam path, welding arc
Height and welding pool direct picture；The arc voltage sensor, Hall current sensor are respectively used to acquire welding in real time
Welding arc voltage and welding current in the process；The sound pressure sensor is used to acquire the sound pressure signal in welding process；Institute
Multiple positions that thermal resistance is mounted on welding sample surface are stated, for analyzing temperature of the welding exemplar under the effect of different welding procedures
Spend changes in distribution.
As it is further preferred that the motion control subsystem receives the instruction at the integrated control center, and utilizes
Three-dimensional regulation component realizes the height adjustment of weld joint tracking, welding gun of welding process and the control of speed of welding, wherein, fortune
The welding gun and the deviation distance of weld seam that dynamic control subsystem is obtained according to CCD industrial camera measurements, control welding-torch horizontal face displacement
Adjustment, realize the weld joint tracking of welding process.
As it is further preferred that the welding procedure control subsystem use gas metal-arc welding welding procedure,
And welding current, arc voltage, wire feed rate and droplet transfer are carried out as heat source presentation mode using cold metal transfer technology
The digitlization adjustment control of process.
As it is further preferred that the data transmission interface uses wireless network, data/address bus or LAN as integrated control
Center carries out instruction transmission with welding production line monitoring center, data communication provides data channel.
It is another aspect of this invention to provide that providing a kind of Weld pool dynamic process on-line monitoring method, institute is used
It states Weld pool dynamic process on-line monitoring system to be monitored, which includes technology assessment and process data shares two
A function, the monitoring method include the following steps：
1) start Weld pool dynamic process on-line monitoring system；
2) system function is selected, if carrying out technology assessment, is entered step 3), shares, enters if carrying out process data
Step 9)；
3) for the welding procedure demand of welding exemplar, welding form and welding plate thickness are selected；
4) welding condition preserved in expert database, welding motion control parameter, root are read in integrated control center
According to the welding condition, welding motion control parameter respectively to welding process control sub-system, motion control subsystem into
Row setting starts to weld the welding operation of exemplar；
5) integrated control center controls sensor the examination subsystem, realizes the on-line monitoring to current welding process,
And online monitoring data is preserved into expert database；
6) integrated control center carries out feature extraction, system modelling to the sensing data that sensor the examination subsystem collects
It is evaluated with prediction and welding quality：7) if current welding quality existing defects, enter step；If there is no defect, into
Enter step 8)；
7) integrated control center utilizes established system model, designs controller, realizes to welding condition, welding
The quick adjustment of motion control parameter, is then back to step 5)；
8) integrated control center preserves current welding condition, welding motion control parameter to expert database, real
The update of existing expert database information, is then back to step 2)；
9) instruction of welding production line monitoring center is read at integrated control center using data transmission interface；
10) integrated control center carries out data analysis to instruction：Refer to if the selection of welding production line monitoring center carries out technique
It leads, then enters step 11)；If the selection of welding production line monitoring center carries out the display of welding process on-line monitoring sensing data,
It then enters step 12)；
11) integrated control center, will be by expert database by the technological requirement according to needed for welding production line monitoring center
The welding condition of reading is sent to welding production line monitoring center, and return to step 2 through data transmission interface), until
Line monitoring terminates；
12) on-line monitoring read under the current process parameter that expert database preserved is sensed number by integrated control center
According to being sent to welding production line monitoring center, and return to step 2 through data transmission interface), until on-line monitoring terminates.
In general, by the above technical scheme conceived by the present invention compared with prior art, mainly have following
Technological merit：
1. the present invention includes integrated control center, sensor the examination subsystem, motion control subsystem, expert's number by setting
According to the Weld pool dynamic process on-line monitoring system in library, welding procedure control subsystem and data transmission interface, it can be achieved that weldering
Connect the on-line monitoring of weld pool dynamic process and modeling, welding parameter optimize and revise, weld seam from motion tracking and guiding, weld seam into
Shape controls, and has many advantages, such as that reliability is high, function is highly integrated.
It is automatic that 2. the Weld pool dynamic process on-line monitoring system of the present invention can be integrated into engineering machinery large-sized structural parts
Change welding production line scene, cooperation welding production line monitoring center uses, and solves engineering machinery large-sized structural parts automated production
Welding quality such as is difficult to control at the problems in the process, reduces time, artificial input and material of Product jointing operation etc.
Loss, improve production line carry out multiple types, be pilot weld job switching efficiency.
3. the sensor the examination subsystem of the present invention can effectively realize weld seam path, welding arc height and welding pool front
The shooting of image, and can realize welding arc voltage in welding process, welding current, sound pressure signal, welding exemplar Temperature Distribution
The advantages that real-time acquisition of the parameters such as variation, specific collecting efficiency is high, acquisition precision is high, gathered data is accurately comprehensive.
4. the motion control subsystem of the present invention can utilize weld joint tracking, the welding gun of three-dimensional regulation component realization welding process
Height adjustment and speed of welding control, especially by the deviation of welding gun and weld seam that CCD industrial camera measurements obtain away from
From, control the adjustment of welding-torch horizontal face displacement, realize the weld joint tracking of welding process, have adjust quick and precisely, tracking accuracy
The advantages that high.
5. the present invention also studies Weld pool dynamic process on-line monitoring method, exist to Weld pool dynamic process
Line monitoring system gives guidance with the integrated of engineering machinery large-sized structural parts automatic welding production line, passes through the side of the present invention
The functions such as method can realize technology assessment and process data is shared have many advantages, such as that technique directiveness is strong, dates back.
Description of the drawings
Fig. 1 is the block diagram of Weld pool dynamic process on-line monitoring system of the embodiment of the present invention；
Fig. 2 is the flow chart of Weld pool dynamic process on-line monitoring method of the embodiment of the present invention；
Fig. 3 is the flow chart of the processing of sensing data of the embodiment of the present invention and system modelling；
Fig. 4 is the structure diagram of engineering machinery large-sized structural parts automatic welding platform of the embodiment of the present invention；
Fig. 5 is the acquisition connection of engineering machinery large-sized structural parts automatic welding platform welding of embodiment of the present invention power parameter
Schematic diagram.
Specific embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, with reference to the accompanying drawings and embodiments, it is right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.As long as in addition, technical characteristic involved in the various embodiments of the present invention described below
It does not constitute a conflict with each other and can be combined with each other.
As shown in Figure 1, a kind of Weld pool dynamic process on-line monitoring system disclosed by the invention, mainly includes integrated
Control centre, sensor the examination subsystem, motion control subsystem, expert database, welding procedure control subsystem and data pass
Defeated interface.Wherein, integrated control center sends motion control for receiving the data information that sensor the examination subsystem collects
Instruction sends welding procedure control instruction to welding procedure control subsystem to motion control subsystem, to expert database into
Row read-write operation and through data transmission interface transmission data and read control instruction；Sensor the examination subsystem is molten for acquiring
Pond image information, welding process voice signal, welds exemplar at welding procedure information (mainly including weldingvoltage, electric current etc.)
Temperature Distribution etc.；Motion control subsystem is used to complete the weld joint tracking of welding process, the height adjustment of welding gun and welding speed
The control of degree；Expert database is used to preserve the welding procedure control parameter of welding process, welding motion control parameter, sensing inspection
Measurement information etc.；Welding procedure control subsystem is used to implement to welding process welding current, arc voltage, welding wire feeding speed
Control；Data transmission interface is mainly used for the data communication at integrated control center and welding production line monitoring center.
Subsystems will be described and described in detail respectively below.
Integrated control center, the nucleus module as Weld pool dynamic process on-line monitoring system, on the one hand, receive
Sensor the examination subsystem collects data information, need to sensing data carry out signal processing, feature extraction, system modelling with
Prediction, fault diagnosis and welding quality evaluation, referring specifically to Fig. 3；On the other hand, process is monitored on-line by welding process
Analysis result adjusts the output of motion control subsystem, welding procedure control subsystem, shapes closed loop so as to fulfill welding quality
Control；In addition, integrated control center also needs to analyze the instruction of production line monitoring center, and according to instruction analysis knot
Fruit, the initial data collected to production line monitoring center transmission welding condition information and on-line monitoring process.
Sensor the examination subsystem, by using CCD industrial cameras, arc voltage sensor, Hall current sensor, sound
The sensing modes such as pressure sensor, thermal resistance realize the on-line monitoring of weldquality in welding process.Wherein, used CCD works
On the one hand industry camera shoots weld seam path, to realize that the weld joint tracking in welding process lays the foundation, on the other hand shooting welding
Electric arc height, welding pool direct picture；The acquisition welding in real time respectively of used arc voltage sensor, Hall current sensor
Welding arc voltage, welding current in the process；The position of used sound pressure sensor and welding gun is relatively fixed, for acquiring
Sound pressure signal in welding process；Used thermal resistance is mounted on multiple positions of welding sample surface, and sample is welded for analyzing
Temperature Distribution variation of the part under the effect of different welding procedures.
Motion control subsystem is used to receive the instruction at integrated control center, using three-dimensional regulation component, realizes welding
The height adjustment of weld joint tracking, welding gun and the control of speed of welding of process.Wherein, motion control subsystem is according to CCD
Industrial camera measurement obtains the deviation distance of welding gun and weld seam, controls the adjustment of welding-torch horizontal face displacement, realizes welding process
Weld joint tracking；Motion control subsystem realizes the adjustment of welding arc height in welding process by controlling the height of welding gun；Fortune
Dynamic control subsystem is adjusted by Butt welding gun movement speed, and the influence to study speed of welding and welding forming effect provides
It may.
Expert database as the data center of Weld pool dynamic process on-line monitoring system, is needed for difference
The process requirements of product carry out system division to the welding method needed for it, i.e., under different welding forms, different welding sample
The data such as welding procedure control parameter, welding motion control parameter under part plate thickness are preserved.In addition, for ease of welding process
Subsequent analysis inquires into the influence of the welding qualities forming effects such as welding condition, welding kinematic parameter, expert database meeting
Preserve the sensing detection initial data during welding process on-line monitoring.
Welding procedure control subsystem uses gas metal-arc welding welding procedure, meets engineering machinery large size knot
The technological requirement of component automatic welding production line.Wherein, using cold metal transfer technology as main heat source presentation mode,
The digitlization adjustment for carrying out welding current, arc voltage, wire feed rate and droplet transfer process controls, so as to realize welding matter
Amount forming control provides possibility.
Data transmission interface uses the modes such as wireless network, data/address bus, LAN, is that integrated control center is given birth to welding
Producing line monitoring center carries out instruction transmission, data communication provides data channel.
As shown in Fig. 2, a kind of Weld pool dynamic process on-line monitoring method provided by the invention, using the present invention
Weld pool dynamic process on-line monitoring system carries out Weld pool dynamic process on-line monitoring and appearance of weld control, main
Include the following steps：
1) Weld pool dynamic process on-line monitoring system electrifying startup；
2) Weld pool dynamic process on-line monitoring system carries out function selection, if system carries out technology assessment, enters
Step 3) is shared if system carries out process data, is entered step 9)；
3) for the welding procedure demand of operation product, welding form (such as docking or corner connection), welding plate thickness are selected；
4) welding condition preserved in expert database, welding motion control parameter are read in integrated control center, right
Welding procedure control subsystem, motion control subsystem are configured, and carry out the welding operation of operation product testing exemplar；
5) integrated control center controls sensor the examination subsystem, realizes the on-line monitoring to current welding process,
And online monitoring data is preserved to expert database；
6) integrated control center carries out feature extraction, system modelling to the sensing data that sensor the examination subsystem collects
It is evaluated with prediction and welding quality, if current welding quality existing defects, i.e. weldquality key index are unsatisfactory for reality
7) technological requirement then enters step, if there is no defects for current welding quality, enter step 8)；
7) integrated control center utilizes established system model, designs controller, realizes to the fast of welding condition
Velocity modulation is whole, return to step 5)；
8) integrated control center preserves current welding condition, welding kinematic parameter to expert database, realizes special
The update of family's database information, return to step 2), until dynamic on-line monitoring terminates；
9) integrated control center utilizes data transmission interface, reads the instruction of welding production line monitoring center；
10) integrated control center carries out data analysis to instruction, if production line monitoring center needs to carry out technique guidance,
It then enters step 11), if production line monitoring center needs to carry out the display of welding process on-line monitoring sensing data, enters
Step 12)；
11) integrated control center will be read the technological requirement according to needed for production line monitoring center by expert database
Welding condition, be sent to production line monitoring center, and return to step 2 through data transmission interface), until the online prison of dynamic
Survey terminates；
12) integrated control center senses the on-line monitoring read under the current process parameter that expert database preserved
Detection data is sent to production line monitoring center, and return to step 2 through data transmission interface), until dynamic on-line monitoring knot
Beam.
As shown in figure 3, the present invention carries out sensing data processing using Weld pool dynamic process on-line monitoring system and is
Construction in a systematic way mould, mainly includes the following steps that：
1) integrated control center receives sensor the examination subsystem and collects data information；
2) integrated control center carries out fast Flourier to sensing datas such as the voltages, electric current, sound pressure signal that collect
Transformation according to the spectrum distribution of useful signal, carries out blocking, filtering, reduces the influence of noise in original signal；
3) integrated control center carries out time-frequency domain statistical analysis respectively to pretreated sensing data, obtain average value,
The statistics parameters such as standard variance, power spectral density, degree of skewness, kurtosis index and wavelet packet coefficient realize the spy of sensing data
Sign extraction；
4) whether integrated control center establishes welding process system model, if not establishing system model, enters step
5) it, if having built up system model, enters step 8)；
5) integrated control center, the methods of using artificial neural network, support vector machines, Markov model, to welding
Procedures system is modeled, wherein, time and frequency domain characteristics index and postwelding forming dimension parameter (fusion penetration, molten height, molten wide etc.) conduct
Model is output and input；
6) integrated control center carries out system model training using the characteristic index of part test data；
7) integrated control center carries out system model test using the characteristic index of another part test data, if system
Model output result is met the requirements, then is entered step 8), if conditions are not met, then return to step 5)；
8) integrated control center utilizes established system model, to the time and frequency domain characteristics index of current test sensing data
Analysis, realizes the fault diagnosis to welding process；
9) integrated control center carries out welding quality evaluation, i.e. fault type judgement, failure is fixed according to fault diagnosis result
Position and weldquality key index calculate.
As shown in figure 4, the structure diagram for a specific engineering machinery large-sized structural parts automatic welding platform, such as schemes
It is that a specific engineering machinery large-sized structural parts automatic welding platform welding power parameter acquires connection diagram shown in 5, with
Illustrate the concrete application of Weld pool dynamic process on-line monitoring system of the present invention for it.
The welding platform includes weld joint tracking ccd sensor 1, Electric arc monitoring ccd sensor 7, molten bath monitoring ccd sensor
6, X-axis movement module 8, Y-axis movement module 2, Z axis movement module 3, welding gun 4, sound transducer 5, thermocouple sensor 9 etc..
Wherein, weld joint tracking ccd sensor 1, Electric arc monitoring ccd sensor 7 and molten bath 6 three CCD of monitoring ccd sensor
CCD industrial camera of the sensor as monitoring system realizes weld seam path, welding arc height and welding pool direct picture
Shooting；The three-dimensional regulation component of X-axis movement module 8, Y-axis movement module 2 and Z axis movement module 3 as monitoring system, realizes weldering
The height adjustment of weld joint tracking, welding gun and the control of speed of welding of termination process；Sound of the sound transducer 5 as monitoring system
Pressure sensor realizes the monitoring of welding dynamic process sound pressure signal；Thermocouple sensor 9 is pacified as the thermal resistance of monitoring system
Mounted in multiple positions of welding sample surface, become for analyzing Temperature Distribution of the welding exemplar under the effect of different welding procedures
Change.
After system starts, Z axis moves the height that module 3 adjusts welding gun 4 according to the predetermined altitude that system is set, then, Y-axis
Mobile module 2 will be moved according to the speed of welding of setting control welding gun 4 along Y direction, in this course, on the one hand, weld seam
The deviation that ccd sensor 1 will be measured in X-direction between welding gun 4 and weld seam is tracked, system will be according to the bias adjustment X-axis
Mobile module 8, realize welding process from motion tracking, on the other hand, sound transducer 5, molten bath monitoring ccd sensor 6, electric arc
Monitor ccd sensor 7, thermocouple sensor 9 by weld the sound pressure signal of dynamic process, weld pool surface image, electric arc height,
The information such as weld seam temperature distribution are monitored on-line.
The connection diagram of Fig. 5 includes：The gas shielded arc welding source of welding current 10, Hall current sensor, arc voltage sensing
Device, sensor the examination subsystem, welding gun 4 etc..
Wherein, the output of the gas shielded arc welding source of welding current 10 is connected to welding gun 4；The sensor interface of arc voltage sensor
The positive-negative output end of the gas shielded arc welding source of welding current 10 is connected to, for measuring the output voltage of the gas shielded arc welding source of welding current 10
Difference, i.e. arc voltage；10 output loop of the gas shielded arc welding source of welding current by the sensor interface of Hall current sensor, so as to
Realize the measurement of 10 output current value of the gas shielded arc welding source of welding current.
Engineering machinery large-sized structural parts automatic welding platform so realizes weld pool dynamic process on-line monitoring, and is weldering
Shape control is seamed into lay a good foundation.
As it will be easily appreciated by one skilled in the art that the foregoing is merely illustrative of the preferred embodiments of the present invention, not to
The limitation present invention, all any modification, equivalent and improvement made all within the spirits and principles of the present invention etc., should all include
Within protection scope of the present invention.
Claims (5)
1. a kind of Weld pool dynamic process on-line monitoring method uses Weld pool dynamic process on-line monitoring system to carry out
Monitoring, which includes technology assessment and process data shares two functions, including integrated control center, sensing detection
Subsystem, motion control subsystem, expert database, welding procedure control subsystem and data transmission interface, the monitoring side
Method includes the following steps：
1) start Weld pool dynamic process on-line monitoring system；
2) system function is selected, if carrying out technology assessment, is entered step 3), shares, enters step if carrying out process data
9)；
3) for the welding procedure demand of welding exemplar, welding form and welding plate thickness are selected；
4) welding condition preserved in expert database, welding motion control parameter are read in integrated control center, according to institute
State welding condition, welding motion control parameter respectively sets welding process control sub-system, motion control subsystem
It puts, starts to weld the welding operation of exemplar；
5) integrated control center controls sensor the examination subsystem, realizes the on-line monitoring to current welding process, and will
Online monitoring data is preserved into expert database；
6) sensing data that integrated control center collects sensor the examination subsystem carry out feature extraction, system modelling with it is pre-
It surveys and welding quality is evaluated：7) if current welding quality existing defects, enter step；If there is no defect, enter step
It is rapid 8)；
7) integrated control center utilizes established system model, designs controller, realizes to welding condition, welding movement
The quick adjustment of control parameter, is then back to step 5)；
8) integrated control center preserves current welding condition, welding motion control parameter to expert database, realizes special
The update of family's database information, is then back to step 2)；
9) instruction of welding production line monitoring center is read at integrated control center using data transmission interface；
10) integrated control center carries out data analysis to instruction：If the selection of welding production line monitoring center carries out technique guidance,
It enters step 11)；If the selection of welding production line monitoring center carries out the display of welding process on-line monitoring sensing data, enter
Step 12)；
11) integrated control center will be read the technological requirement according to needed for welding production line monitoring center by expert database
Welding condition, be sent to welding production line monitoring center, and return to step 2 through data transmission interface), until online prison
Survey terminates；
12) the on-line monitoring sensing data that integrated control center will be read under the current process parameter that expert database preserved,
Welding production line monitoring center, and return to step 2 are sent to through data transmission interface), until on-line monitoring terminates.
2. Weld pool dynamic process on-line monitoring method as described in claim 1, which is characterized in that sensing detection
System includes CCD industrial cameras, arc voltage sensor, Hall current sensor, sound pressure sensor and thermal resistance, wherein, institute
CCD industrial cameras are stated for shooting weld seam path, welding arc height and welding pool direct picture；The arc voltage sensing
Device, Hall current sensor are respectively used to acquire the welding arc voltage and welding current in welding process in real time；The acoustic pressure
Sensor is used to acquire the sound pressure signal in welding process；The thermal resistance is mounted on multiple positions of welding sample surface, uses
In Temperature Distribution variation of the analysis welding exemplar under the effect of different welding procedures.
3. Weld pool dynamic process on-line monitoring method as described in claim 1, which is characterized in that motion control
System receives the instruction at the integrated control center, and utilizes three-dimensional regulation component, realizes weld joint tracking, the welding gun of welding process
Height adjustment and speed of welding control, wherein, the welding gun that motion control subsystem is obtained according to CCD industrial camera measurements
With the deviation distance of weld seam, the adjustment of welding-torch horizontal face displacement is controlled, realizes the weld joint tracking of welding process.
4. Weld pool dynamic process on-line monitoring method as described in claim 1, which is characterized in that the welding procedure control
Subsystem uses gas metal-arc welding welding procedure, and using cold metal transfer technology as heat source presentation mode, into
The digitlization adjustment of row welding current, arc voltage, wire feed rate and droplet transfer process controls.
5. Weld pool dynamic process on-line monitoring method as described in claim 1, which is characterized in that the data transmission connects
Mouth uses wireless network, data/address bus or LAN to carry out instruction transmission, number for integrated control center and welding production line monitoring center
Data channel is provided according to communication.
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