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在薄壁筒体环缝焊接中,工艺参数及坡口尺寸的波动都会导致焊接熔透状态的变化.为保证稳定的熔透,需要对焊接熔透状态进行实时检测和控制.本文针对薄壁筒体环缝钨级惰性气体保护焊(TIG焊),建立了基于视觉传感的直接传感法,获取了清晰的熔池背面图像,经图像处理得到了满足熔透要求的熔池背面熔宽范围,并通过自整定PID控制器实时调节焊接速度对熔透状态进行自适应控制.结果表明:该方法提取熔透状态信号可靠,基本消除了熔透状态间接传感法的控制盲区.
In the thin-wall cylinder girth welding, the process parameters and the fluctuation of the groove size will lead to the change of the welding penetration state.In order to ensure the stable penetration, the welding penetration state needs to be detected and controlled in real time.In this paper, A Tungsten-inert gas shielded arc welding (TIG welding) was set up based on visual sensing. A clear image of the backside of the weld pool was obtained. The back melt of the weld pool was obtained by image processing And the self-tuning PID controller real-time adjusts the welding speed to control the penetration state adaptively.The results show that this method can extract the signal of the penetration state reliably and basically eliminate the control blind area of the indirect sensing method of the penetration state.