CN107150158A - Blind area weld seam online evaluation and control system based on thermal infrared imager - Google Patents
Blind area weld seam online evaluation and control system based on thermal infrared imager Download PDFInfo
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- CN107150158A CN107150158A CN201710516095.6A CN201710516095A CN107150158A CN 107150158 A CN107150158 A CN 107150158A CN 201710516095 A CN201710516095 A CN 201710516095A CN 107150158 A CN107150158 A CN 107150158A
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- 238000011156 evaluation Methods 0.000 title claims abstract description 21
- 238000003466 welding Methods 0.000 claims abstract description 219
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- 238000012544 monitoring process Methods 0.000 claims abstract description 5
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- 229910052782 aluminium Inorganic materials 0.000 description 8
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 8
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/12—Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
- B23K9/127—Means for tracking lines during arc welding or cutting
- B23K9/1272—Geometry oriented, e.g. beam optical trading
- B23K9/1274—Using non-contact, optical means, e.g. laser means
Abstract
Blind area weld seam online evaluation and control system are realized present disclose provides one kind.The blind area weld seam online evaluation and control system, including：Welding system, is welded for treating welding base metal；Thermal infrared imager, is directed at the observable region of welding base metal, provides the temperature field information in observable region, for carrying out welded condition monitoring to the welding base metal；Motion, for adjusting position of the welding system relative to welding base metal；Controller, for receiving the temperature field information that infrared hot line instrument is provided, obtains welded condition information according to the temperature field information and produces welding control instruction and motion control instruction；Wherein, motion adjusts position of the welding system relative to welding base metal according to the welding control instruction, and welding system is treated welding base metal according to the motion control instruction and welded.The disclosure can estimate the positional information in molten bath in real time, and motion control instruction is provided for motion, realize closed-loop control, effectively and reliably complete weld task.
Description
Technical field
This disclosure relates to which welding automatization technology field, more particularly to one kind can realize online evaluation and control to blind area weld seam
The solution of system.
Background technology
Welding pool includes abundant information, and the research of molten bath sensing and control system is welding one important neck of research
Domain.Welding pool is to influence the key factor of welding quality, the size (positive molten wide, fusion penetration or back bead width, reinforcement) in molten bath
It is directly connected to stabilization being ensured of very for welding quality of pool size in the mechanical property of welding point, welding process
Important；In addition, including abundant information in molten bath, in welding practice, skilled welder is mainly by observing molten bath
The factor such as change obtain satisfied appearance of weld to adjust welding parameter.
But welding operating mode always varies, and is frequently encountered to-be-welded region position narrow space, Gong Rencao
Make extremely difficult.If it is too small that weld seam appears in operating space, relatively even shelter, welder can not directly be seen with eye
Weld seam is observed, thus welding job is difficult to be smoothed out, it is referred to as " blind as this weld task is we term it " blind area welding "
Weldering ".Blind area weld task requires high to the technical merit of workman.Generally the only extremely outstanding skilled Welder talent can win
Appoint, they may also rely on ear, feel and other itself sensations are operated, without for many years in addition to by eyes
Experience accumulation be often difficult to grasp this technical ability.
By taking the connectivity problem of aluminium electroloysis industry bus junction cathode steel bar and aluminium-steel explosion welding plate as an example, work to be welded
Position is located underground, very inconvenient when being operated, and seriously adds difficulty of construction, above mentioned problem is to speed up aluminium manufacturer's overhaul always
The bottleneck of progress.When realizing the connection of cathode steel bar and blast welding steel piece according to electro-gas (enclosed) welding technology, weld seam surrounding is by welding
Mother metal and water cooling sliding block are blocked, it is difficult to directly obtain weld pool resonance by vision and other sensing means, form blind area weldering
Seam.Fig. 8 is to-be-welded region blind area schematic diagram, as shown in figure 8, due to using electro-gas (enclosed) welding technique, negative electrode steel plate, aluminum steel blast
Welding plate and water cooling sliding block block the to-be-welded region to be formed as vision dead zone everywhere, cause weld seam spatially without suitable
Position and angle are directly observed molten bath.
Existing arc voltage sensing technology can realize the automatic lifting of welding gun, it is ensured that welding gun lifts speed and molten bath rising
Match somebody with somebody；But the full closed loop control of welding can not be realized, it is easy to cause and mother metal haircuts and hit rifle, have a strong impact on welding quality and
Efficiency.A system that blind area weld seam online evaluation can be provided with controlling is necessary as can be seen here, by indirect
Analysis obtain the positional information of welding gun, and then effectively control welding quality.
Disclosure
(1) technical problem to be solved
Present disclose provides a kind of blind area weld seam online evaluation based on thermal infrared imager and control system, with least partly
Solve technical problem set forth above.
(2) technical scheme
Present disclose provides a kind of blind area weld seam online evaluation based on thermal infrared imager and control system, for using gas
Electric vertical position welding technology carries out automatic connection of the realization to small space blind area weld seam during weld job, including：Welding system, for pair
Mother metal to be welded is welded；Thermal infrared imager, is directed at the observable region of welding base metal, provides the temperature field in observable region
Information, for carrying out welded condition monitoring to the welding base metal；Motion, for adjusting welding system relative to welding base metal
Position；Controller, is connected to welding system, thermal infrared imager and motion, for receiving the temperature that infrared hot line instrument is provided
Field information is spent, welded condition information is obtained according to the temperature field information and welding control instruction and motion control instruction is produced；Its
In, motion adjusts welding system relative to the position of welding base metal according to the welding control instruction, and welding system is according to this
Motion control instruction is treated welding base metal and welded.
Preferably, in some embodiments of the present disclosure, thermal infrared imager includes：Infrared image acquisition module, for root
The change of whole welding base metal temperature is caused according to welding process, welding base metal observable regional temperature field information is observed,
Storage and transport module, for being stored to the temperature field information that infrared image acquisition module is gathered, and are transferred to controller,
The positional information to molten bath makes real-time estimation indirectly, obtains welded condition information.
Preferably, in some embodiments of the present disclosure, controller includes：Thermal imaging infrared image acquisition device, for reality
Now to the collection of the temperature field image in welding base metal observable region；Thermal imaging temperature profile extractor, for utilizing temperature field
The feature in image zooming-out temperature field, obtains electric arc thermonuclear thermonuclear area corresponding with molten bath；Molten bath position estimator, for utilizing temperature
The characteristic information in the temperature field of field picture and extraction is spent, using the finite element analysis means of temperature field of molten pool, is contrasted, obtained
Molten bath estimated location；Motion positioner, for the molten bath estimated location for feeding back the estimator of molten bath position
For closed-loop control, the control to welding process is realized in adjustment motion position, and then change welding torch position in real time；Welding
Weldingvoltage and current parameters are adjusted in system controller, the starting the arc for controlling welding process, arc extinguishing, welding process；Master control
Module, is connected to thermal imaging infrared image acquisition device, thermal imaging temperature profile extractor, molten bath position estimator, motion
Positioner and welding system controller, for thermal imaging infrared image acquisition device, thermal imaging temperature profile extractor, molten
Pond position estimator, motion positioner and welding system controller are coordinated and controlled.
Preferably, in some embodiments of the present disclosure, controller also includes：Error handler, is connected to main control module,
For controlling the various faulty operations in whole welding process reliable and stablely, it is ensured that system is run.
Preferably, in some embodiments of the present disclosure, welding system includes：Welding gun, is carried out for treating welding base metal
Welding, welding gun ensures not contact weld station, prevents from hitting rifle；Motion includes：Hoisting mechanism, for welding gun in welding process
Lifting；Swing mechanism, for realizing horizontal reciprocating movement in welding process；And attitude-adjusting system, for adjusting welding gun
With the relative pose of station to be welded.
Preferably, in some embodiments of the present disclosure, welding system also includes：The source of welding current, for welding process control
System, adjustment weldingvoltage, current parameters, controls wire feed rate；Water-cooling system, including water cooling sliding block and water cooling box, water cooling sliding block
Ensure that molten bath will not effluent, normal work of the water cooling box for ensureing whole water circulation system for being adjacent to welding base metal；And
Gas cylinder, for providing welding protection gas.
Preferably, in some embodiments of the present disclosure, main control module, for being become according to the temperature field of welding plate outer surface
Whether change situation, judge welding-torch horizontal motion parallel to welding plate：If molten bath correspondence thermonuclear is held essentially constant, show welding gun water
Square to remaining parallel with welding plate；If molten bath correspondence thermonuclear becomes big or diminished, show that welding gun and welding plate are pasted excessively near
Or too far；Motion positioner, for controlling welding gun to the judged result of molten bath correspondence thermonuclear according to main control module
Horizontal movement, makes welding gun be located at the center of weld seam.
Preferably, in some embodiments of the present disclosure, main control module, for being become according to the temperature field of welding plate outer surface
Change situation, judges whether welding gun lifting speed matches with the molten bath rate of climb：If electric arc thermonuclear length keeps constant, show
Welding gun vertical-lifting speed is stable；If electric arc thermonuclear is elongated or shortens, show that welding gun lifting is too fast or excessively slow；
Motion positioner, for according to judged result control welding gun lifting speed of the main control module to electric arc thermonuclear.
Preferably, in some embodiments of the present disclosure, main control module, for being become according to the temperature field of welding plate outer surface
Change situation, judges whether water cooling sliding block is adjacent to：If the shape in temperature field is destroyed, show that the water cooling sliding block of certain side is not pasted
Tightly；Motion positioner, for keeping water cooling sliding block to be adjacent to the judged result of temperature field shape according to main control module
Welding base metal.
Preferably, in some embodiments of the present disclosure, main control module, in the case where setting fusion penetration, correspondence to be hot
Distribution situation sets welding parameter, if temperature field heat distribution is different with theoretical analysis model, readjusts welding parameter.
(3) beneficial effect
It can be seen from the above technical proposal that blind area weld seam online evaluation of the disclosure based on thermal infrared imager is with control
System at least has the advantages that one of them：
(1) blind area weld seam is directed to, welding base metal observable regional temperature field information, Ke Yishi are obtained by thermal infrared imager
When estimate molten bath positional information, so as to provide motion control instruction for motion, realize closed-loop control, effectively may be used
Weld task is completed by ground.
(2) as a result of thermal infrared imager, using infrared characteristic, compared to traditional vision system, the system can
With installed in open region, it is not necessary to for molten bath, welder's experience and feel are relied on not too much.Either outstanding welder is still
Current existing molten bath vision sensing equipment, can not all possess the advantage of disclosed technique scheme.
(3) because the technology can be applied to aluminium electrolysis shop, so that on the premise of labor strength is reduced, reliably
Ensure and complete weld task, the pressure drop of bus junction can also be greatly lowered, not only energy-saving consumption-reducing, and electrolysis can be ensured
Cell current is uniform, effectively improves bath life.In addition, the technology applies also for other blind area weld seam scenes.
Brief description of the drawings
Fig. 1 is blind area weld seam online evaluation and the structural representation of control system based on thermal infrared imager.
Fig. 2 is based on steel billet temperature schematic diagram.
Fig. 3 is motion schematic diagram.
Fig. 4 is welding gun movement locus schematic diagram.
Fig. 5 is water cooling slide block structure figure.
Fig. 6 is welding gun dimensional drawing.
Fig. 7 is controller architecture block diagram.
Fig. 8 is to-be-welded region blind area schematic diagram.
Embodiment
There is soldered mother metal in welding pool and water cooling sliding block is blocked, and space does not have position to place sensing equipment sense
Know the situation in molten bath, it is difficult to complete welding.For blind area weld task, the disclosure is realized to narrow and small sky using electro-gas (enclosed) welding technology
Between blind area weld seam automatic connection, obtain the temperature field information in mother metal observable region by thermal infrared imager, system is to control
Device is that core is coordinated, in real time estimation molten bath positional information, and then provides control instruction for motion, and then ensures effective
It is reliably completed weld task.
For the purpose, technical scheme and advantage of the disclosure are more clearly understood, below in conjunction with specific embodiment, and reference
Accompanying drawing, the disclosure is further described.
The some embodiments of the disclosure will be done with reference to appended accompanying drawing in rear and more comprehensively describe to property, some of but not complete
The embodiment in portion will be illustrated.In fact, the various embodiments of the disclosure can be realized in many different forms, and it should not be construed
To be limited to this several illustrated embodiment；Relatively the disclosure is caused to meet applicable legal requirement there is provided these embodiments.
Commented online there is provided a kind of blind area weld seam based on thermal infrared imager in an exemplary embodiment of the disclosure
Estimate and control system.Fig. 1 is the structural representation of the illustrative examples of the disclosure first.As shown in figure 1, the disclosure based on red
The blind area weld seam online evaluation and control system of outer thermal imaging system, for using realization pair during electro-gas (enclosed) welding technology progress weld job
The automatic connection of small space blind area weld seam, including：
Welding system, is welded for treating welding base metal；
Thermal infrared imager, is directed at the observable region of the welding base metal, provides the temperature field information in observable region, uses
In to welding base metal progress welded condition monitoring；
Motion, for adjusting position of the welding system relative to welding base metal；
Controller, is connected to the welding system, thermal infrared imager and motion, is provided for receiving infrared hot line instrument
Temperature field information, according to the temperature field information obtain welded condition information and produce welding control instruction and motion control refer to
Order；
Wherein, the motion adjusts position of the welding system relative to welding base metal according to the welding control instruction,
The welding system is treated welding base metal according to the motion control instruction and welded.
Each part of the present embodiment is described in detail individually below.
Thermal infrared imager, for welded condition monitoring, in the case where directly not observing molten bath, provides welded condition letter
Breath.
Fig. 2 is based on steel billet temperature schematic diagram.As shown in Fig. 2 because welding process can cause whole welding base metal temperature
The change of degree, can be observed welding base metal observable regional temperature field information by thermal infrared imager, indirectly to molten
The positional information in pond makes real-time estimation, and then motion control instruction can be provided for motion, effectively and reliably completes weldering
Take over business.Welding thermal process can cause the change on the outside of aluminum steel explosion welding plate, by directly observing the change in temperature field, can obtain
Weld pool resonance, without will directly observe molten bath.
The thermal infrared imager includes：Infrared image acquisition module, for causing whole welding base metal according to welding process
The change of temperature, is observed welding base metal observable regional temperature field information；Storage and transport module, for infrared figure
As the temperature field information that acquisition module is gathered is stored, and the controller is transferred to, indirectly to the positional information in molten bath
Real-time estimation is made, welded condition information is obtained.Thermal infrared imager selects DT-9868, the key parameter such as table of thermal infrared imager：
| Technical indicator | Parameter value |
| Temperature measurement range | -20℃-300℃ |
| Precision | ± 2% |
| Picture catching frequency | 9Hz |
| Infrared spectral band | 6.5μm-14μm |
| Image display pattern | Molten metal |
| It can be seen that light pixel | 48608 |
Motion, the motion for realizing part in welding process, including：Hoisting mechanism, swing mechanism, and posture
Adjustment mechanism.
Fig. 3 is motion schematic diagram.As shown in figure 3, in the motion, hoisting mechanism is used to weld in welding process
The lifting of rifle, can automatically be lifted in welding process according to the rising in molten bath；Swing mechanism realizes welding process reclaimed water
It is flat to move back and forth, so as to ensure the uniformity of welding；Attitude-adjusting system can adjust the relative position of welding gun and station to be welded
Appearance, because certainly existing relative pose deviation between the platform of motion and station to be welded, it is necessary to by extra mechanism
To make up.Fig. 4 is welding gun movement locus schematic diagram.As shown in figure 4, the existing horizontal reciprocating movement of welding gun movement locus, and not
End is lifted with molten bath.
Welding system, for realizing welding, including the source of welding current, water-cooling system, welding gun and gas cylinder.
In the welding system, the source of welding current is used for Control Welding Process, can adjust weldingvoltage, current parameters, controls
Wire feed rate processed；Water-cooling system includes water cooling sliding block and water cooling box：Water cooling sliding block be adjacent to welding base metal ensure molten bath will not effluent,
It is illustrated in figure 5 water cooling slide block structure figure；Water cooling box ensures the normal work of whole water circulation system；Fig. 6 is welding gun dimensional drawing,
As shown in fig. 7, welding gun is as flat as possible, it is ensured that not contact weld station, prevent from hitting rifle；Gas cylinder is used to provide welding protection gas.
Using welding parameter such as table：
Controller module, the work for controlling whole system, Fig. 7 is controller architecture block diagram, as shown in fig. 7, control
Device includes following functions module：Thermal imaging system infrared image acquisition device, thermal imaging temperature profile extractor, molten bath position estimator,
Motion positioner and welding system controller, error handler, main control module.
In the controller module, thermal imaging infrared image acquisition device can realize the temperature to welding base metal observable region
Spend the collection, transmission and storage of field picture；Thermal imaging temperature profile extractor can be with the feature of Extracting temperature, such as electric arc and molten
Pond correspondence thermonuclear area, for being that subsequent treatment and action provide foundation；Molten bath position estimator is by the information gathered before
And using the finite element analysis means of temperature field of molten pool, contrasted, estimation is made to the actual position in molten bath；Motion
The molten bath position fed back is used for closed-loop control by positioner, in real time adjustment motion position, and then changes welding gun
Position, realizes the control to welding process；Welding system controller is used for the starting the arc for controlling welding process, arc extinguishing, welding process
Middle adjustment weldingvoltage and current parameters；Error handler can control the various faulty operations in whole welding process, so that
It can ensure that system is run reliable and stablely；Main control module, is connected to the thermal imaging infrared image acquisition device, thermal imaging temperature
Feature extractor, molten bath position estimator, motion positioner, welding system controller and error handler, are used for
Above-mentioned module is coordinated and controlled.
According to the change of temperature field situation of aluminum steel explosion welding plate outer surface, it can be determined that whether welding gun motion conditions meet
It is required that.Following several situations can be specifically divided into：
1st, whether welding-torch horizontal motion is parallel to aluminum steel explosion welding plate：If welding-torch horizontal direction remains flat with welding plate
OK, then temperature field center thermonuclear is held essentially constant, if with welding plate paste it is excessively near, or farther out, it is observed that correspondingly
Molten bath thermonuclear become big or diminish, can all cause the adhesion of welding gun and side wall, the welding quality of influence side, development can burn
Ignition tip, by detection can ensure that welding gun is always positioned at the center of weld seam, it is ensured that inside and outside welding quality.
2nd, whether welding gun lifting speed matches with the molten bath rate of climb：If welding gun vertical-lifting speed is stable, base
Originally arc length can be kept constant, if lifting it is too fast or excessively slow, it is observed that corresponding electric arc thermonuclear it is elongated or
Shorten, so cause electric arc it is too long for gap may arc extinguishing, electric arc is too short to burn ignition tip.
3rd, whether water cooling sliding block is adjacent to：If the water cooling sliding block of certain side is not adjacent to, molten metal can be caused to flow out,
The distribution situation of high temperature field, the shape of fail temperature will be influenceed.
4th, whether fusion penetration meets requirement：Judge whether welding gun motion meets fusion penetration requirement with reference to above-mentioned 1st kind of situation.In weldering
In the case of rifle motion specification, rational welding parameter is also vital.In the case where ensureing certain fusion penetration, conjunction is had
The welding parameter of reason, correspondence heat distribution situation, if heat distribution and theory analysis are different it is necessary to readjust welding parameter,
To meet requirement.
Either outstanding welder or at present existing molten bath vision sensing equipment, can not possess this solution
Advantage：Because for human eye, infrared is non-visible light；For traditional vision system, the present apparatus may be mounted at open area
It is unpractical to install molten bath camera under domain, it is not necessary to for molten bath, and narrow and small operating environment.
The technology of the disclosure is mainly used in aluminium electrolysis shop, and guarantee is reliably completed weld task, in reduction workman's work
On the premise of intensity, the pressure drop of bus junction can also be greatly lowered, not only energy-saving consumption-reducing, and electrolyzer electric can be ensured
Stream is uniform, effectively improves bath life.In addition, the technology applies also for other blind area weld seam scenes.
So far, the embodiment of the present disclosure is described in detail combined accompanying drawing.It should be noted that in accompanying drawing or saying
In bright book text, the implementation for not illustrating or describing is form known to a person of ordinary skill in the art in art, and
It is not described in detail.In addition, the above-mentioned definition to each element and method be not limited in mentioning in embodiment it is various specific
Structure, shape or mode, those of ordinary skill in the art simply can be changed or be replaced to it.
It should also be noted that, the direction term mentioned in embodiment, for example " on ", " under ", "front", "rear", " left side ",
" right side " etc., is only the direction of refer to the attached drawing, not for limiting the protection domain of the disclosure.Through accompanying drawing, identical element by
Same or like reference is represented.When understanding of this disclosure may be caused to cause to obscure, conventional structure will be omitted
Or construction.
And the shape and size of each part do not reflect actual size and ratio in figure, and only illustrate the embodiment of the present disclosure
Content.In addition, in the claims, any reference symbol between bracket should not be configured to the limit to claim
System.
Otherwise numerical parameter unless there are known entitled phase in meaning, this specification and appended claims is approximation, energy
Enough required characteristic changings according to as obtained by content of this disclosure.Specifically, it is all to be used in specification and claim
The numeral of the middle content for representing composition, reaction condition etc., it is thus understood that repaiied by the term of " about " in all situations
Decorations.Generally, the implication of its expression refers to include by specific quantity ± 10% change in certain embodiments, at some
± 5% change in embodiment, ± 1% change in certain embodiments, in certain embodiments ± 0.5% change.
Furthermore, word "comprising" does not exclude the presence of element or step not listed in the claims.Before element
Word "a" or "an" does not exclude the presence of multiple such elements.
Those skilled in the art, which are appreciated that, to be carried out adaptively to the module in the equipment in embodiment
Change and they are arranged in one or more equipment different from the embodiment.Can be the module or list in embodiment
Member or component be combined into a module or unit or component, and can be divided into addition multiple submodule or subelement or
Sub-component.In addition at least some in such feature and/or process or unit exclude each other, it can use any
Combination is disclosed to all features disclosed in this specification (including adjoint claim, summary and accompanying drawing) and so to appoint
Where all processes or unit of method or equipment are combined.Unless expressly stated otherwise, this specification (including adjoint power
Profit is required, summary and accompanying drawing) disclosed in each feature can or similar purpose identical, equivalent by offer alternative features come generation
Replace.If also, in the unit claim of equipment for drying is listed, several in these devices can be by same hard
Part is embodied.
Similarly, it will be appreciated that in order to simplify the disclosure and help to understand one or more of each open aspect, exist
Above in the description of exemplary embodiment of this disclosure, each feature of the disclosure is grouped together into single implementation sometimes
In example, figure or descriptions thereof.However, the method for the disclosure should be construed to reflect following intention：It is i.e. required to protect
The disclosure of shield requires features more more than the feature being expressly recited in each claim.More precisely, such as following
Claims reflect as, open aspect is all features less than single embodiment disclosed above.Therefore,
Thus the claims for following embodiment are expressly incorporated in the embodiment, wherein each claim is in itself
All as the separate embodiments of the disclosure.
Particular embodiments described above, purpose of this disclosure, technical scheme and beneficial effect have been carried out further in detail
Describe in detail bright, should be understood that the specific embodiment that the foregoing is only the disclosure, be not limited to the disclosure, it is all
Within the spirit and principle of the disclosure, any modification, equivalent substitution and improvements done etc. should be included in the guarantor of the disclosure
Within the scope of shield.
Claims (10)
1. a kind of blind area weld seam online evaluation and control system based on thermal infrared imager, for being carried out using electro-gas (enclosed) welding technology
The automatic connection to small space blind area weld seam is realized during weld job, including：
Welding system, is welded for treating welding base metal；
Thermal infrared imager, is directed at the observable region of the welding base metal, provides the temperature field information in observable region, for pair
The welding base metal carries out welded condition monitoring；
Motion, for adjusting position of the welding system relative to welding base metal；
Controller, is connected to the welding system, thermal infrared imager and motion, for receiving the temperature that infrared hot line instrument is provided
Field information is spent, welded condition information is obtained according to the temperature field information and welding control instruction and motion control instruction is produced；
Wherein, the motion adjusts position of the welding system relative to welding base metal according to the welding control instruction, described
Welding system is treated welding base metal according to the motion control instruction and welded.
2. weld seam online evaluation in blind area according to claim 1 and control system, wherein, the thermal infrared imager includes：
Infrared image acquisition module, the change for causing whole welding base metal temperature according to welding process, can to welding base metal
Viewing area temperature field information is observed,
Storage and transport module, for being stored to the temperature field information that infrared image acquisition module is gathered, and are transferred to institute
Controller is stated, the positional information to molten bath makes real-time estimation indirectly, obtains welded condition information.
3. weld seam online evaluation in blind area according to claim 2 and control system, wherein, the controller includes：
Thermal imaging infrared image acquisition device, the collection for realizing the temperature field image to welding base metal observable region；
Thermal imaging temperature profile extractor, for the feature using temperature field image Extracting temperature, obtains electric arc thermonuclear and molten
Pond correspondence thermonuclear area；
Molten bath position estimator, for the characteristic information using temperature field image and the temperature field of extraction, using temperature field of molten pool
Finite element analysis means, contrasted, obtain molten bath estimated location；
Motion positioner, the molten bath estimated location for the estimator of molten bath position to be fed back is used for closed loop control
System, in real time adjustment motion position, and then change welding torch position, realizes the control to welding process；
Weldingvoltage and electric current ginseng are adjusted in welding system controller, the starting the arc for controlling welding process, arc extinguishing, welding process
Number；
Main control module, is connected to the thermal imaging infrared image acquisition device, thermal imaging temperature profile extractor, molten bath location estimation
Device, motion positioner and welding system controller, for the thermal imaging infrared image acquisition device, thermal imaging temperature
Degree feature extractor, molten bath position estimator, motion positioner and welding system controller are coordinated and controlled.
4. weld seam online evaluation in blind area according to claim 3 and control system, wherein, the controller also includes：
Error handler, is connected to the main control module, for controlling the various faulty operations in whole welding process, it is ensured that be
System is run reliable and stablely.
5. blind area weld seam online evaluation and control system according to any one of claim 3 to 4, wherein：
The welding system includes：
Welding gun, is welded for treating welding base metal, and the welding gun ensures not contact weld station, prevents from hitting rifle；
The motion includes：
Hoisting mechanism, the lifting for welding gun in welding process；
Swing mechanism, for realizing horizontal reciprocating movement in welding process；And
Attitude-adjusting system, the relative pose for adjusting welding gun and station to be welded.
6. weld seam online evaluation in blind area according to claim 5 and control system, wherein, the welding system also includes：
The source of welding current, for Control Welding Process, adjustment weldingvoltage, current parameters control wire feed rate；
Water-cooling system, including water cooling sliding block and water cooling box, water cooling sliding block ensure that molten bath will not effluent, water for being adjacent to welding base metal
Ice chest is used for the normal work for ensureing whole water circulation system；And
Gas cylinder, for providing welding protection gas.
7. weld seam online evaluation in blind area according to claim 6 and control system, wherein,
The main control module, for the change of temperature field situation according to welding plate outer surface, judges whether welding-torch horizontal motion is put down
Row is in welding plate：
If molten bath correspondence thermonuclear is held essentially constant, show that welding-torch horizontal direction remains parallel with welding plate；
If molten bath correspondence thermonuclear becomes big or diminished, show that welding gun and welding plate paste excessively closely or too far；
The motion positioner, for controlling welding gun water to the judged result of molten bath correspondence thermonuclear according to main control module
Flat motion, makes welding gun be located at the center of weld seam.
8. weld seam online evaluation in blind area according to claim 6 and control system, wherein,
The main control module, for the change of temperature field situation according to welding plate outer surface, judge welding gun lifting speed whether with
Molten bath rate of climb matching：
If electric arc thermonuclear length keeps constant, show that welding gun vertical-lifting speed is stable；
If electric arc thermonuclear is elongated or shortens, show that welding gun lifting is too fast or excessively slow；
The motion positioner, for according to judged result control welding gun lifting speed of the main control module to electric arc thermonuclear
Degree.
9. weld seam online evaluation in blind area according to claim 6 and control system, wherein,
The main control module, for the change of temperature field situation according to welding plate outer surface, judges whether water cooling sliding block is adjacent to：Such as
The shape in fruit temperature field is destroyed, then shows that the water cooling sliding block of certain side is not adjacent to；
The motion positioner, for keeping water cooling sliding block to the judged result of temperature field shape according to main control module
It is adjacent to welding base metal.
10. weld seam online evaluation in blind area according to claim 6 and control system, wherein,
The main control module, in the case where setting fusion penetration, correspondence heat distribution situation to set welding parameter, if temperature field
Heat distribution is different with theoretical analysis model, then readjusts welding parameter.
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