CN1262158A - Arc voltage method and system for sensing perforation state of plasma welding's molten bath - Google Patents
Arc voltage method and system for sensing perforation state of plasma welding's molten bath Download PDFInfo
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Abstract
An arc voltage method for sensing the perforation state of molten bath in plasma welding includes such steps as real-time acquisition of plasma arc voltage with signal acquisition system, storing it to computer, processing the obtained signals to obtain Tus and SUMu sensed signals used for quantitatively determining if the molten bath is perforated, and comparing TuS and SUMu with dual thresholds to judge the perforation state of molten bath. Its advantages are simple structure, low cost and high practicality.
Description
The invention belongs to plasma welding Quality Control Technology field.
In electron beam, laser and plasma three big high energy beam material processing methods, the manufacturing process that beam-plasma is simple owing to equipment, realization is easy, relative low price is widely used in various alloy materials and important structure, plasma welding technology especially is widely adopted in aerospace industry.Utilize the big characteristics of plasma arc energy density and penetration power, can under the suitable parameter condition, realize the welding of fusion piercing type, as shown in Figure 1, plasma arc forms an aperture 12 that penetrates workpiece workpiece 10 complete penetrations and by plasma jet power in molten bath 11, aperture is followed plasma arc and moved forward.Obtaining " keyhole effect " in welding is the important method that guarantees complete penetration of weld seam and Forming Quality.Yet the fluctuation of various normality conditions is unavoidable in the actual production, will certainly influence the stability of " keyhole effect ", and for example: aperture is closed in welding process, causes occurring not defective such as penetration and has a strong impact on the welding product quality.Propose to detect in real time automatically the Research on Sensing of " aperture " state, so that provide condition for the quality control of weld seam penetration for this reason.
In delivering a child product and research, plasma welding uses following several molten baths aperture condition detection method as shown in Figure 2 both at home and abroad at present.Wherein the method from back of work detection molten bath aperture state has: back side photoelectric detection method, back side contact conductive method and back side sound detection method.Back side photoelectric detection method is shown in Fig. 2 a, and this method is to utilize the various photoelectric devices 201 that are placed in workpiece 200 back sides to detect the arc light radiation of the plasma flame flow 202 of passing aperture, and the back of work arc light was very strong when aperture existed, and aperture disappearance back arc light is very weak.Back side contact conductive method is shown in Fig. 2 b, this method is that a copper drafting board 203 is placed on workpiece 204 back sides and keeps certain distance with workpiece, when the molten bath aperture exists, passing the plasma flame flow 205 of aperture gets on the copper drafting board 203, because plasma flame flow has conductive characteristic, so with on the resistance R that copper drafting board 203 links to each other electric current will be arranged, the while rectification circuit will have output U
o, and its size is proportional to the size in molten hole.Find that in a large amount of piping production practices and research during the perforation of molten bath, plasma jet pours tube chamber at a high speed, sends loud sound.The appearing and subsiding of voice signal and the formation of aperture and sealing are synchronous.The back side sound detection method of utilizing this phenomenon is shown in Fig. 2 c, and this method is to detect the sound that sends when electric arcs 207 interact with workpiece tube wall 208 and judge the method for sensing whether molten hole exists by being placed in microphone 206 in the tube chamber.More than the common defects of various detection methods be that sensor must be placed in back of work, so its application is subjected to the restriction of workpiece and working condition, promptly the accessibility of sensor is poor.From the positive detection method that detects molten bath aperture state of workpiece spectrographic method and CCD camera method are arranged.Spectrographic method is shown in Fig. 2 d, this method is to detect in the workpiece 210 frontal arc light signals 211 hydrogen with respect to line strength of argon by optical fiber 209 and spectroanalysis instrument, and utilizes under the aperture state of different molten baths the hydrogen rule different with respect to line strength of argon to judge whether the molten bath aperture exists.The CCD camera method is shown in Fig. 2 e, and this method then is from the positive shape of taking welding process molten bath aperture in real time of workpiece, obtains the information whether aperture exists by image processing method.These two kinds of methods are difficult to popularization and application because causes such as complex structure equipment price costliness also are in the research and development stage on producing.
The objective of the invention is to for overcoming the weak point of prior art, a kind of arc voltage method for sensing and device of molten bath for plasma welding perforation state are proposed, this detection method is the sensing molten bath state of whether boring a hole effectively, can be the plasma of realizing cut deal and welds automatic Penetration control necessary feedback information is provided.This method owing to directly utilized electric arc as sensor source signal, therefore has advantages such as system architecture is simple, accessibility good, practical cheapness applicable to the different sources of welding current and different workpieces material, promotes the use of in the actual production manufacturing easily.
The arc voltage detection method of a kind of molten bath for plasma welding perforation state that the present invention proposes is characterized in that, may further comprise the steps:
1) at first utilize signal acquiring system that plasma electric arc voltage u (t) is gathered and be stored into computing machine in real time;
2) processing that the arc voltage signal of gathering is carried out T algorithm and SUM algorithm is handled, and obtaining can be for the quantitative molten bath of machine recognition whether bore a hole transducing signal TuS and SUMu;
3) whether TuS and SUMu and molten bath are bored a hole dual threshold judgment criterion compares, to judge the state of molten bath perforation at that time.
Said arc voltage signal is processed the T algorithm of processing, may further comprise the steps:
1) gets one section arc voltage signal u (t) (t=t
1～t
2), at first calculate arc voltage signal average in this time period
, the absolute value and the summation of calculating the deviation of interior arc voltage u (t) of this time period and its average Eu then are designated as
2) in the whole time period, handle u (t) signal and can get Tu (t), it is promptly obtained transducing signal TuS (t) after level and smooth by above-mentioned steps.
Said arc voltage signal is processed the SUM algorithm of processing, may further comprise the steps:
1) gets one section arc voltage signal u (t) (t=t
1～t
2), at first it is carried out the FFT conversion and gets its mould being designated as | U (f) |, promptly | U (f) |=| FFT (u (t)) |, then to f=0～100Hz | U (f) | summation can obtain transducing signal
2) in the whole time period, handle u (t) signal and can get SUMu (t) by above-mentioned steps.
In the above-mentioned arc voltage detection method, the molten bath dual threshold judgment criterion of whether boring a hole is: set penetration forecast threshold value and penetration and confirm threshold value, when TuS and SUMu signal amplitude are higher than the penetration forecast threshold value of setting, send the penetration warning signal, the molten bath is a transition state; When signal amplitude descends again and be lower than penetration affirmation threshold value, can confirm that the molten bath has entered the penetration state of boring a hole fully; And when signal amplitude is lower than penetration forecast threshold value and be higher than penetration affirmation threshold value, judge that then the molten bath is puncherless not penetration state.
Principle of the present invention be since penetration perforation state along with the carrying out of welding process in continuous change, will inevitably the article on plasma arc shape and behavior exert an influence, therefore just might extract relevant information from electric arc feeds back the perforation state.
Method of the present invention realizes principle as shown in Figure 3.At first utilize the signal acquiring system of design that arc voltage signal u (t) is gathered and be stored into computing machine in real time reliably.Arc voltage signal itself can not be as transducing signal and directly in order to judge whether the molten bath aperture exists, but this signal is carrying the characteristic information that can reflect molten bath perforation and puncherless state, this characteristic information is handled by the two kinds of transducing signal extraction algorithm-T algorithms of exploitation and the processing of SUM algorithm, and just having obtained two kinds can be for quantitative the molten bath perforation state transducing signal TuS and the SUMu of machine recognition.Further combined with the molten bath dual threshold judgment criterion of whether boring a hole of design, whether TuS and SUMu signal just can exist in order to detect the molten bath aperture.Wherein transducing signal extraction algorithm and dual threshold judgment criterion are to realize by the program software that is stored in the establishment in advance in the computing machine.
Plasma-arc voltage signal acquisition of the present invention system is made up of voltage sensor, low-pass filter circuit, data collecting card, computing machine and relevant interface, as shown in Figure 4, among the figure, arc voltage signal is at first introduced the input end of voltage sensor, the input end of the output termination low-pass filter circuit of voltage sensor, the input terminal of the output termination data collecting card of low-pass filter circuit, data collecting card directly inserts the associated socket of computing machine.Wherein, arc voltage signal is directly by drawing between welding gun tungsten electrode 40 and the workpiece 41, the high-frequency high-voltage signal that voltage sensor produces when isolating the welding striking, low-pass filter circuit filtering high-frequency interferencing signal, data collecting card is finished signals collecting, analog to digital conversion in conjunction with the data collection application of the present invention's exploitation, and utilizes the interface of capture card and computing machine to realize the storage of signal in computing machine.
Two kinds of algorithms and corresponding signal extraction of extracting molten bath perforation state transducing signal from the characteristic information that the plasma-arc voltage signal carries of the present invention is as described below:
Algorithm 1 directly detects signal processing algorithm-T algorithm and the TuS signal extraction whether bore a hole in the molten bath from arc voltage deviates from the degree of its average, its flow process is shown in Fig. 5 a.
Get one section arc voltage signal u (t) (t=t
1～t
2), at first calculate arc voltage signal average in this time period
, the absolute value and the summation of calculating the deviation of interior arc voltage u (t) of this time period and its average Eu then are designated as Tu, promptly
Adopt above method in the whole time period, to handle u (t) signal and can get Tu (t), it is promptly obtained transducing signal TuS (t) after level and smooth.
Algorithm 2 detects the signal processing algorithm-SUM algorithm of whether boring a hole in the molten bath and the extraction of SUMu signal from the arc voltage spectrum information, its flow process is shown in Fig. 5 b.
Get one section arc voltage signal u (t) (t=t
1～t
2), at first it is carried out the FFT conversion and gets its mould being designated as | U (f) | (f is a frequency), and promptly | U (f) |=| FFT (u (t)) |, then to f=0～100Hz | U (f) | summation can obtain transducing signal SUMu, promptly
Adopt above method in the whole time period, to handle u (t) signal and can get SUMu (t).
The state judgment criterion is bored a hole as shown in Figure 6 in the dual threshold molten bath of the present invention's design, and horizontal ordinate is the time among the figure, and ordinate is TuS and SUMu signal amplitude, and the rule signal over time of TuS and SUMu signal is as curve S.Can see that TuS and SUMu signal have the similar characteristics of reflection molten bath perforation state: when the molten bath when boring a hole the penetration state fully, signal amplitude is minimum, shown in B point on the time shaft is later; When the molten bath was puncherless not penetration state, signal amplitude was higher, shown in before the A point on the time shaft; And the molten bath is perforation during transition state, and signal amplitude is very high, as on the time shaft between the AB point shown in.According to the characteristics of molten bath for perforation TuS and SUMu signal during transition state, available its as the penetration warning signal, and set penetration forecast threshold value T1 and penetration is confirmed threshold value T2, adopt the dual threshold method to carry out the molten bath and whether bore a hole and detect, with the interference resistance of raising signal.The dual threshold method judges that the process of whether bore a hole in the molten bath is: when the penetration that is higher than setting when TuS and SUMu signal amplitude forecasts threshold value T1, send the penetration warning signal, the molten bath is a transition state; When signal amplitude descends again and be lower than penetration affirmation threshold value T2, confirm that the molten bath has entered the penetration state of boring a hole fully; And when signal amplitude is lower than penetration forecast threshold value T1 and be higher than penetration affirmation threshold value T2, judge that then the molten bath is puncherless not penetration state.
Detection method of the present invention is the sensing molten bath state of whether boring a hole effectively, can be the plasma of realizing cut deal and welds automatic Penetration control necessary feedback information is provided.This method is applicable to the different sources of welding current and different workpieces material, owing to directly utilized electric arc as sensor source signal, therefore have advantages such as system architecture is simple, accessibility good, practical cheapness with respect to other detection method, in the actual production manufacturing, promote the use of easily.
Brief Description Of Drawings:
Fig. 1 realizes fusion piercing type welding synoptic diagram under the suitable parameter condition.
Fig. 2 is several molten bath perforation condition detection method synoptic diagram in the prior art; Wherein, Fig. 2 a is a back side photoelectric detection method, and Fig. 2 b is a back side contact conductive method, and Fig. 2 c is a back side sound detection method, and Fig. 2 d is a spectrographic method, and Fig. 2 e is the CCD camera method.
Fig. 3 is that method of the present invention realizes theory diagram.
Fig. 4 is that plasma-arc voltage signal acquisition of the present invention system forms synoptic diagram.
Fig. 5 is the two kinds of algorithms and the corresponding signal extraction FB(flow block) of extraction of the present invention molten bath perforation state transducing signal; Wherein, Fig. 5 a is T algorithm and TuS signal extraction FB(flow block), and Fig. 5 b is SUM algorithm and SUMu signal extraction FB(flow block).
The molten bath that Fig. 6 designs for the present invention dual threshold judgment criterion synoptic diagram of whether boring a hole.
Fig. 7 is a system embodiment low-pass filter circuit schematic diagram of the present invention.Among the figure, I is an arc voltage ratio amplifying circuit, and III is the arc voltage low-pass filter circuit.
Fig. 8 is the software flow block diagram that the algorithm of present embodiment is realized.Wherein, Fig. 8 a is the FB(flow block) that software is realized the T algorithm, and Fig. 8 b is the FB(flow block) that software is realized the SUM algorithm.
Fig. 9 a is the back side fluting Workpiece structure synoptic diagram of present embodiment,
Fig. 9 b is that the back of weld of Fig. 9 a correspondence is shaped,
Fig. 9 c is the molten bath perforation status detection sign picture as a result of present embodiment,
Fig. 9 d is transducing signal TuS (t) curve map that present embodiment obtains,
Fig. 9 e is transducing signal SUMu (t) curve map that present embodiment obtains.
The arc voltage method for sensing and the system embodiment thereof of a kind of molten bath for plasma welding perforation state of the present invention's design are described with reference to the accompanying drawings as follows:
Consider the variation of conditions such as radiating condition in the actual production, thickness of workpiece and welding conditions, present embodiment adopts back side fluting workpiece, welding variables is set guarantees at the thick 6mm of workpiece place puncherlessly, and the certain perforation in 4mm place uses inverter type welder to weld on stainless steel work-piece.Back side fluting workpiece and corresponding back of weld thereof are shaped respectively shown in Fig. 9 a and Fig. 9 b, can see that weld seam has experienced puncherless, perforation and middle transition state.
The arc voltage signal acquisition system of present embodiment is made up of voltage sensor, low-pass filter circuit, data collecting card, computing machine and relevant interface, as shown in Figure 4.Arc voltage signal is directly by drawing between welding gun tungsten electrode 40 and the workpiece 41, at first through the buffer action of overvoltage sensor, voltage sensor is selected magnetic balance type voltage sensor " the sea KV100A of section " for use, its former limit circuit and secondary circuit insulation, insulation voltage is the 6000V effective value, the high-frequency high-voltage signal in the time of can effectively isolating the welding striking; Introduce low-pass filter circuit as shown in Figure 7 through the arc voltage signal after isolating by input connector 1, signal is at first decayed shown in I among Fig. 7 by the ratio amplifying circuit, to offset the amplification of filtering circuit to signal, pass through the voltage-controlled active low-pass filter circuit filtering of second order high-frequency interferencing signal then shown in III among Fig. 7, the cutoff frequency of filtering circuit is 10kHz, last signal is exported to data collecting card by the output connector, (II is a flame current ratio amplifying circuit to whole low-pass filter circuit among Fig. 7 by 2 power supplies of input connector by D.C. regulated power supply, IV is the flame current low-pass filter circuit, and this two parts circuit does not relate in the present embodiment); Arrive data collecting card reliably through isolation and filtered arc voltage signal, data collecting card is selected " PCI-9118HG " for use, 12 of precision, picking rate 330kHz, each image data capacity can reach 64M, data collecting card is finished signals collecting in conjunction with the data collection application of the present invention's exploitation, analog to digital conversion, and utilize the interface of capture card and computing machine to realize the storage of signal in computing machine.
The arc voltage method for sensing of the molten bath for plasma welding of present embodiment perforation state is: at first with the sample frequency of 30kHz the arc voltage signal in the welding process is gathered computing machine in real time with above-mentioned signal acquiring system, simultaneously with the optical auxiliary signal real time record accurate transition moment of molten bath perforation state.Adopt arc voltage T algorithm, arc voltage amplitude-frequency low-frequency range SUM algorithm that the arc voltage signal that deposits in the computing machine is handled subsequently, Fig. 8 is the process flow diagram with the software implementation algorithm.Wherein, realize that with software the flow process of T algorithm is shown in Fig. 8 a.At first call in the arc voltage signal u (t) that collects behind the working procedure from computing machine, getting numu=16000 data point according to the time sequencing of welding then from u (t), to constitute a length be 16000 data segment utemp.Calculate the average of this data segment arc voltage signal
, calculate this data segment arc voltage signal again
Obtain casting out after the Tu value delay=500 point of data segment section head, order inserts 500 new data to reconstitute a length is 16000 data segment utemp from u (t) again, judge whether to have finished predefined calculation times ku then, be whether j value (being set to 1 when program begins) equals ku, if " be not equal to " then the j value increases by 1, repeat above computing; If " equaling " then withdraws from circular treatment, obtained Tu (t) signal this moment, obtains transducing signal TuS (t) shown in Fig. 9 d just it is carried out smoothing processing, and horizontal ordinate is the time among Fig. 9 d, and unit is s, and ordinate is the amplitude of TuS signal, and unit is V.Fig. 8 b is the process flow diagram that software is realized the SUM algorithm, equally at first call in the arc voltage signal u (t) that collects behind the working procedure from computing machine, getting nffts=32768 data point according to the time sequencing of welding then from u (t), to constitute a length be 32768 data segment utemp.Calculate the average of this data segment arc voltage signal, the arc voltage signal that deducts after the average is udm, and this step is that signal is done pre-service before the FFT conversion.Udm done the FFT conversion, to gained delivery as a result, just obtain then | U (f) |, calculate this data segment arc voltage signal again
Obtain casting out after the SUMu value delay=500 point of data segment utemp section head, order inserts 500 new data to reconstitute a length is 32768 data segment from u (t) again, judge whether to have finished predefined calculation times ku then, be whether j value (being set to 1 when program begins) equals ku, if " be not equal to " then the j value increases by 1, repeat above computing; If " equaling " then withdraws from circular treatment, obtained transducing signal SUMu (t) this moment shown in Fig. 9 e, and horizontal ordinate is the time among Fig. 9 e, and unit is s, and ordinate is the amplitude of SUMu signal, and unit is FFTamp..Realize that with software the programmed environment of above algorithm is Matlab 5.01.
Table 1 has been listed penetration forecast threshold value, the penetration of TuS and SUMu signal under the variety classes source of welding current and the workpiece material condition and has been confirmed threshold value and threshold value bandwidth.
Table 1
| Transducing signal | Penetration forecast threshold value | Penetration is confirmed threshold value | Threshold value bandwidth=forecast threshold value-affirmation threshold value | ||||||
| Inverter type welder | The magnetic amplifier welding machine | Inverter type welder | The magnetic amplifier welding machine | Inverter type welder | The magnetic amplifier welding machine | ||||
| Stainless steel | Mild carbon steel | Stainless steel | Stainless steel | Mild carbon steel | Stainless steel | Stainless steel | Mild carbon steel | Stainless steel | |
| TuS | ?660 | ?450 | ?350 | ?180 | ?280 | ?210 | ?480 | ?170 | ?140 |
| SUMu | ?104 | ?3500 | ?3500 | ?1000 | ?1000 | ?1000 | ?9000 | ?2500 | ?2500 |
With T algorithm and SUM algorithm to arc voltage signal handle obtain transducing signal TuS and SUMu after, from table one, find corresponding to the TuS of inverter type welder stainless steel work-piece and the penetration forecast threshold value (TuS-660 of SUMu signal, SUMu-10000) and penetration confirm threshold value (TuS-180, SUMu-1000), according to dual threshold molten bath perforation state judgment criterion, when TuS and SUMu signal amplitude are higher than the penetration forecast threshold value 660 of setting respectively and 10000 the time, send the penetration warning signal, the judgement molten bath is a transition state; When signal amplitude descends again and be lower than penetration affirmation threshold value 180 and 1000 respectively, can confirm that the molten bath has entered the penetration state of boring a hole fully; And when signal amplitude is lower than penetration forecast threshold value and be higher than penetration affirmation threshold value, judge that then the molten bath is puncherless not penetration state.Use the result of TuS and SUMu input molten bath perforation state to be marked among Fig. 9 c, wherein the AB section is puncherless not penetration state, the BC section is a transition state, the CD section is the penetration state of boring a hole fully, can see that testing result conforms to the demonstration of back of weld shaping to molten bath perforation state with the structure of back side fluting workpiece, this testing result and optical auxiliary signal also are consistent to the record of molten bath perforation state in addition, and this detection technique perforation of sensing molten bath and puncherless state exactly are described thus.
Table 1 shows that welding machine type, materials to be welded and welding variables all can cause the difference of aperture transducing signal threshold value, needs in actual use to select suitable arc voltage transducing signal disposal route and judgment threshold for use according to concrete welding implementation condition for this reason.
Claims (5)
1, a kind of arc voltage detection method of molten bath for plasma welding perforation state is characterized in that, may further comprise the steps:
1) at first utilize signal acquiring system that plasma electric arc voltage u (t) is gathered and be stored into computing machine in real time;
2) processing that the arc voltage signal of gathering is carried out T algorithm and SUM algorithm is handled, and obtaining can be for the quantitative molten bath of machine recognition whether bore a hole transducing signal TuS and SUMu;
3) whether TuS and SUMu and molten bath are bored a hole dual threshold judgment criterion compares, to judge the state of molten bath perforation at that time.
2. arc voltage detection method as claimed in claim 1 is characterized in that, said arc voltage signal is processed the T algorithm of processing, may further comprise the steps:
1) gets one section arc voltage signal u (t) (t=t
1～t
2), at first calculate arc voltage signal average in this time period
, the absolute value and the summation of calculating the deviation of interior arc voltage u (t) of this time period and its average Eu then are designated as
2) in the whole time period, handle u (t) signal and can get Tu (t), it is promptly obtained transducing signal TuS (t) after level and smooth by above-mentioned steps.
3. arc voltage detection method as claimed in claim 1 is characterized in that, said arc voltage signal is processed the SUM algorithm of processing, may further comprise the steps:
1) gets one section arc voltage signal u (t) (t=t
1～t
2), at first it is carried out the FFT conversion and gets its mould being designated as | U (f) |, promptly | U (f) |=| FFT (u (t)) |, then to f=0～100Hz | U (f) | summation can obtain transducing signal
2) in the whole time period, handle u (t) signal and can get SUMu (t) by above-mentioned steps.
4. arc voltage detection method as claimed in claim 1 is characterized in that; The said molten bath dual threshold judgment criterion of whether boring a hole is: set penetration forecast threshold value and penetration and confirm threshold value, when TuS and SUMu signal amplitude are higher than the penetration forecast threshold value of setting, send the penetration warning signal, the molten bath is a transition state; When signal amplitude descends again and be lower than penetration affirmation threshold value, can confirm that the molten bath has entered the penetration state of boring a hole fully; And when signal amplitude is lower than penetration forecast threshold value and be higher than penetration affirmation threshold value, judge that then the molten bath is puncherless not penetration state.
5. plasma-arc voltage signal acquisition system in the method according to claim 1, it is characterized in that, form by voltage sensor, low-pass filter circuit, data collecting card, computing machine and relevant interface, wherein, arc voltage signal is at first introduced the input end of voltage sensor, the input end of the output termination low-pass filter circuit of voltage sensor, the input terminal of the output termination data collecting card of low-pass filter circuit, data collecting card directly inserts the associated socket of computing machine.
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103071902A (en) * | 2013-01-11 | 2013-05-01 | 北京工业大学 | Method and device for controlling welding process based on stability of perforated molten bath |
| CN103264216A (en) * | 2013-05-15 | 2013-08-28 | 山东大学 | Controlled perforation plasma-arc welding system and process on basis of back small-hole visual inspection |
| CN107824989A (en) * | 2017-10-26 | 2018-03-23 | 大族激光科技产业集团股份有限公司 | The detection method and system of a kind of laser beam perforation |
| CN112967259A (en) * | 2021-03-16 | 2021-06-15 | 山东建筑大学 | Plasma arc welding perforation state prediction method and system based on molten pool image |
-
2000
- 2000-03-17 CN CN 00103233 patent/CN1105617C/en not_active Expired - Fee Related
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103071902A (en) * | 2013-01-11 | 2013-05-01 | 北京工业大学 | Method and device for controlling welding process based on stability of perforated molten bath |
| CN103071902B (en) * | 2013-01-11 | 2015-06-17 | 北京工业大学 | Method and device for controlling welding process based on stability of perforated molten bath |
| CN103264216A (en) * | 2013-05-15 | 2013-08-28 | 山东大学 | Controlled perforation plasma-arc welding system and process on basis of back small-hole visual inspection |
| CN103264216B (en) * | 2013-05-15 | 2016-05-04 | 山东大学 | Based on controlled plasma arc welding system and the technique of back side aperture vision-based detection |
| CN107824989A (en) * | 2017-10-26 | 2018-03-23 | 大族激光科技产业集团股份有限公司 | The detection method and system of a kind of laser beam perforation |
| CN107824989B (en) * | 2017-10-26 | 2019-11-12 | 大族激光科技产业集团股份有限公司 | A kind of detection method and system of laser beam perforation |
| CN112967259A (en) * | 2021-03-16 | 2021-06-15 | 山东建筑大学 | Plasma arc welding perforation state prediction method and system based on molten pool image |
| CN112967259B (en) * | 2021-03-16 | 2023-10-13 | 山东建筑大学 | Plasma arc welding perforation state prediction method and system based on molten pool image |
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