钨极氩弧焊熔池动态行为和焊工调控特征信息检测与分析

doi:10.3901/JME.2018.02.027

机械工程学报 ›› 2018, Vol. 54 ›› Issue (2): 27-33.doi: 10.3901/JME.2018.02.027

• 特邀专栏:焊接过程测控与数值模拟 • 上一篇下一篇

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钨极氩弧焊熔池动态行为和焊工调控特征信息检测与分析

樊丁¹, 顿小春², 张刚¹, 石玗¹

1. 兰州理工大学省部共建有色金属先进加工与再利用国家重点实验室兰州 730050;
2. 重庆铁马工业集团有限公司重庆 400050

收稿日期:2017-06-20 修回日期:2017-09-25 出版日期:2018-01-20 发布日期:2018-01-20
通讯作者: 樊丁(通信作者),男,1961年出生,教授,博士研究生导师。主要研究方向为焊接物理及其自动化。E-mail:fand@lut.cn
基金资助:
国家自然科学基金（61365011）和甘肃省基础研究创新群体计划（17JR5RA107）资助项目。

Detection and Analysis of Weld Pool Dynamic Behavior and Welder Control Information in GTAW

FAN Ding¹, DUN Xiaochun², ZHANG Gang¹, SHI Yu¹

1. State Key Laboratory of Advanced Processing and Recycling of Nonferrous Metal, Lanzhou University of Technology Lanzhou 730050;
2. Chongqing TieMa Industries Group Company, Ltd., Chongqing 400050

Received:2017-06-20 Revised:2017-09-25 Online:2018-01-20 Published:2018-01-20

摘要/Abstract

摘要： 深入理解熟练焊工经验和操作技能对实现复杂环境下的机器人智能化及高精度焊接具有重要理论意义和工程应用价值。然而，如何检测传感焊工与熔池交互过程中熔池动态变化特征信息是一个难题。针对该问题基于激光视觉传感原理建立动态熔池和焊工实时调控特征信息同步采集试验系统，研究熔透连续变化时焊工对熔池形态及流态的调控行为，并获得了相应的调控参数（焊接速度、焊接电流、焊接弧长）和焊枪姿态与熔池特征参数之间的关系。通过对比分析焊接规范参数与焊枪姿态调整时的熔池形态和流态变化发现：焊接速度、焊接电流和焊接弧长的调整主要是基于熔池输入能量的调控，表现出熔池形态变化剧烈，易出现焊塌缺陷，焊工调控过程呈现出单一、盲目性。焊枪姿态的调整表现出焊工对熔池形态和液态金属流动状态的多元化和指向性调控，可避免焊接缺陷的产生。

关键词: 焊工经验, 激光视觉, 熔池检测, 钨极氩弧焊

Abstract: To understand welding experience and operation skills of skilled human welders which has theoretical and practical significance for realization intelligence and the high-precision of robot welding in complex situation. There is a big problem that to detect the weld pool dynamic change and characteristic information reflecting the welding experience and operation skills. Aiming at this problem, a synchronous experiment system is setup with laser vision and a dynamic tilt sensor to precisely obtain real-time controlling characteristic information. The correlation between control parameters in welding speed, welding current, arc length and characteristic information of weld pool is obtained. It is found that the energy input in weld pool determines the change of shape of weld pool and flow pattern by adjusting welding speed, welding current, arc length. As a result, the regulation of welder is blindly and simply, the weld pool is unsteady and welding defect occurs. The adjustment of welding torch posture shows the diversity and directional control of welding pool shape and liquid metal flow pattern, overcoming the welding defect.

Key words: GTAW, laser vision, weld pool measurement, welder experience

中图分类号:

TG409

樊丁, 顿小春, 张刚, 石玗. 钨极氩弧焊熔池动态行为和焊工调控特征信息检测与分析[J]. 机械工程学报, 2018, 54(2): 27-33.

FAN Ding, DUN Xiaochun, ZHANG Gang, SHI Yu. Detection and Analysis of Weld Pool Dynamic Behavior and Welder Control Information in GTAW[J]. Journal of Mechanical Engineering, 2018, 54(2): 27-33.

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钨极氩弧焊熔池动态行为和焊工调控特征信息检测与分析

Detection and Analysis of Weld Pool Dynamic Behavior and Welder Control Information in GTAW

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