Method and system for detecting insufficient depth of fusion in real time in robot welding process

Abstract

The invention discloses a method for detecting the insufficient depth of fusion in real time in a robot welding process. The method comprises the following steps of S1, collecting the welding voltage,the welding current and the welding speed in the robot welding process in real time; S2, calculating a real-time welding line energy of a corresponding section weld seam on the basis of the welding voltage, the welding current and the welding speed; S3, counting the welding line energy average value when the corresponding section weld seams have no defect; S4, judging whether the real-time welding line energy of the corresponding section weld seam is smaller than the welding line energy average value or not, if yes, entering a step S5, and otherwise repeating the step S4; and S5, pre-warningthe defects of insufficient depth of fusion of the corresponding section weld seam.

Description

technical field [0001] The invention relates to the technical field of detection of insufficient penetration defects, in particular to a method and system for real-time detection of insufficient penetration defects during robot welding. Background technique [0002] Insufficient penetration refers to the phenomenon that the root of the joint is not completely penetrated during welding, and no effective judgment can be made from the appearance, which requires instrument detection. Traditional detection methods generally require the use of special instruments for detection after the workpiece is processed, that is, after-the-fact detection. Insufficient penetration defects will directly affect the fusion of the weld root and the sensitive tendency of cold and hot cracks, resulting in unqualified workpiece quality and reduced work efficiency of welding robots due to rework. [0003] The traditional detection of insufficient penetration defects often requires the use of special...

AI Technical Summary

Problems solved by technology

Insufficient penetration defects will directly affect the fusion of the weld root and the sensitive tendency of cold and hot cracks, resulting in unqualified workpiece quality and reduced work efficiency of welding robots due to rework

[0003] The traditional insufficient penetration defect detection often needs to use special equipment or methods to detect after the product and workpiece are processed, which is expensive and can only be detected in time

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