Welding Deviation Detection Algorithm Based on Extremum of Molten Pool Image Contour

The welding deviation detection is the basis of robotic tracking welding, but the on-line real-time measurement of welding deviation is still not well solved by the existing methods. There is plenty of information in the gas metal arc welding（GMAW） molten pool images that is very important for the control of welding seam tracking. The physical meaning for the curvature extremum of molten pool contour is revealed by researching the molten pool images, that is, the deviation information points of welding wire center and the molten tip center are the maxima and the local maxima of the contour curvature, and the horizontal welding deviation is the position difference of these two extremum points. A new method of weld deviation detection is presented, including the process of preprocessing molten pool images, extracting and segmenting the contours, obtaining the contour extremum points, and calculating the welding deviation, etc. Extracting the contours is the premise, segmenting the contour lines is the foundation, and obtaining the contour extremum points is the key. The contour images can be extracted with the method of discrete dyadic wavelet transform, which is divided into two sub contours including welding wire and molten tip separately. The curvature value of each point of the two sub contour lines is calculated based on the approximate curvature formula of multi-points for plane curve, and the two points of the curvature extremum are the characteristics needed for the welding deviation calculation. The results of the tests and analyses show that the maximum error of the obtained on-line welding deviation is 2 pixels（0.16 ram）, and the algorithm is stable enough to meet the requirements of the pipeline in real-time control at a speed of less than 500 mm/min. The method can be applied to the on-line automatic welding deviation detection.

Acquisition and processing of coaxial image of molten pool and keyhole in Nd:YAG laser welding with high power

An experimental setup of acquiring the coaxial visual image of the molten pool and keyhole in high power Nd:YAG laser welding is introduced in this paper. It is one of the most difficult problems in acquiring coaxial image that the coaxial imaging signal of molten pool and keyhole must be separated from the laser beam with high power. This problem was resolved by designing a dichroitic spectroscope. The characteristics of imaging signal were analyzed and the coaxial image of molten pool and keyhole was acquired. A smoothing filter and a homomorphic filter were designed to remove the low frequency noise and to enhance the image according to the characteristics of imaging signal. At last, edges of molten pool and keyhole were detected and extracted based on image segmentation with threshold.

Heat Transfer Characteristic of Molten Pool for Twin-Roll Strip Casting

Body-fitted coordinate transformation equation was deduced and used to generate the body-fitted grids of molten pool for twin-roll strip casting.The orthogonality of the grids on the boundary was modified by adjusting source item.The energy equation and the boundary conditions were transformed from physical space to computational space.The velocity field model proposed by Hirohiko Takuda was used to calculate the temperature field of molten steel,and the influence of technical factors was also discussed.

ON THE COMPOSITION UNIFORMITY AND SHAPE COEFFICIENT OF MOLTEN POOL BY LASER ALLOYING

The effect of the laser processing parameters on the composition uniformity and shape coefficient of fusion zone with laser surface alloyed Cr plated on medium carbon low alloy steel has been studied.It was found that the composition uniformity depends on the shape coefficient of fusion zone,and the later is a function of both power density and interaction time.If the power density is fixed to a certain value,the shape coefficient is directly,propor- tional to the interaction time.A completely,uniform molten pool can be obtained,when the shape coefficient is between 1.6 and 3.0.

Molten pool and temperature field in CO_2 laser welding

Two measuring methods, high-speed camera and optical monitoring system, were used to study processes of laser welding. Molten pool, cooling time and temperature field were analyzed based on real measured images and optical signal data. The results show that the width of molten pool is almost equal to the width of weld, and length is about 7. 8 mm. The solidification time is about 0. 5 s and the temperature gradient is great, so HAZ is very small. The method and results will be of benefit to build the relationship between welding parameters and microstructure.

Edge detection of molten pool and weld line for CO_2 welding based on B-spline wavelet

Due to the disturbances of spatters, dusts and strong arc light, it is difficult to detect the molten pool edge and the weld line location in CO_2 welding processes. The median filtering and self-multiplication was employed to preprocess the image of the CO_2 welding in order to detect effectively the edge of molten pool and the location of weld line. The B-spline wavelet algorithm has been investigated, the influence of different scales and thresholds on the results of the edge detection have been compared and analyzed. The experimental results show that better performance to extract the edge of the molten pool and the location of weld line can be obtained by using the B-spline wavelet transform. The proposed edge detection approach can be further applied to the control of molten depth and the seam tracking.

Wire-feed laser additive manufacturing of dissimilar metals via dual molten pool interface interlocking mechanism

Intermetallic compounds produced in laser additive manufacturing are the main factors restricting the joint performance of dissimilar metals.To solve this problem,a dual molten pool interface interlocking mechanism was proposed in this study.Based on a dual molten pool interface interlocking mechanism,the dissimilar metals,aluminum alloy and stainless steel,were produced as single-layer and multilayer samples,using the wire-feed laser additive manufacturing directed energy deposition technology.The preferred parameters for the dual molten pool interface interlocking mechanism process of the dissimilar metals,aluminum alloy and stainless steel,were obtained.The matching relationship between the interface connection of dissimilar metals and the process parameters was established.The results demonstrated excellent mechanical occlusion at the connection interface and no apparent intermetallic compound layer.Good feature size and high microhardness were observed under a laser power of 660 W,a wire feeding speed of 55 mm/s,and a platform moving speed of 10 mm/s.Molecular dynamics simulations demonstrated a faster rate of aluminum diffusion in the aluminum alloy substrate to stainless steel under the action of the initial contact force than without the initial contact force.Thus,the dual molten pool interface interlocking mechanism can effectively reduce the intermetallic compound layer when dissimilar metals are connected in the aerospace field.

Simulating molten pool features of shipbuilding steel subjected to submerged arc welding

Submerged arc welding process has been simulated to investigate the molten pool features of EH36 shipbuilding steel.One case only involved the surface tension model,and another one involved both the surface tension model and the interface tension model.The role of interface tension during welding is revealed,and the evolution of molten pool morphology is understood by comparing the surface temperature distribution,surface tension and interface tension distribution,and the streamline of the molten pool for the two cases.When the interface tension model is disregarded,a flow conducive to the outward expansion is formed in the surface area of the molten pool,resulting in a small weld depth-to-width ratio.After applying the interface tension model,the expanding outward flow is restrained,which leads to a deep penetration morphology with a large weld depth-to-width ratio due to the inward flow governed by the Marangoni forces.The simulation results involving the interface tension model have been verified with satisfactory predictability.

Effect of Remelting Current on Molten Pool Profile of Titanium Alloy Ingot During Vacuum Arc Remelting Process

The performance of vacuum arc remelting (VAR) ingot depends largely on ingot structure and chemical uniformity,which are strongly influenced by molten pool profile that is influenced by VAR process.To better understand the effect of remelting current on molten pool profile of titanium alloy ingot during VAR process,a 3D finite element model is developed by the ANSYS software.The results show that there are three remelting stages during VAR process when the remelting current is 2.0 kA.The molten pool depth increases gradually from 30 to 320 s,then the change of molten pool depth is very small during the steady state stage from 320 to 386 s,and lastly the molten pool depth becomes shallow after 386 s.The melting rate and temperature of superheat increase with the remelting current increasing,which leads to the augment of molten pool volume.In the end,the total remelting time and steady state molten pool time decrease with the melting current from 1.6 to 2.8 kA.

表面张力对激光焊接熔池及匙孔的影响

基于FLUENT19.0软件,建立了激光焊接热-流耦合模型,对比分析了不同表面张力温度系数(为负值)对熔池流场的影响.结果表明,随着表面张力温度系数的减小,熔池后方顺时针漩涡的流动趋势逐渐减弱,甚至消失,而且焊接飞溅的数量增多.纵截面熔池长度逐渐增加,纵截面熔池流体最大流动速度逐渐增大,熔池横截面的面积逐渐减小.当表面张力温度系数为-2.5×10^(-4)N/(m·K)时,熔池长度平均值为3.28 mm、熔池流体最大流动速度的平均值为2.89 m/s、熔池横截面面积的平均值为4.52 mm^(2);当表面张力温度系数为-3.5×10^(-4)N/(m·K)时,熔池长度平均值为3.73 mm、熔池流体最大流动速度的平均值为3.53 m/s、熔池横截面面积的平均值为4.03 mm^(2);当表面张力温度系数为-4.9×10^(-4)N/(m·K)时,熔池长度平均值为4.14 mm、熔池流体最大流动速度的平均值为4.09 m/s、熔池横截面面积的平均值为3.28 mm^(2).

奥氏体不锈钢薄板激光焊表面张力驱动熔池形成的数值模拟分析

为探究奥氏体不锈钢薄板激光焊接过程中表面张力对熔池形状、熔池流速、熔池静压的影响,以期优化焊接工艺并提高焊接质量。基于数值模拟分析方法,建立了移动旋转高斯曲面体热源模型,通过改变Marangoni对流系数来模拟不同表面张力条件,分析其对熔池形成过程、熔池形状、流速及熔池内静压力的影响。模拟结果表明,表面张力是影响熔池形态和内部静压力的关键因素,表面张力指向熔池内部,驱动熔池向中心汇聚,从而促进熔池的形成;表面张力的大小与熔池峰值温度、熔深、深宽比呈负相关,与峰值流速、熔宽、熔池内部静压力呈正相关;铜衬底的加入显著增大了过冷度,加速了熔池的冷却,有助于避开奥氏体不锈钢的敏化温度区间。

基于摆动激光扫描的GMAW焊缝成形调控

将摆动激光与GMAW工艺复合,利用“8”字形摆动激光扫描液态熔池,对其温度场和流场进行调控,以改变熔池温度梯度,主动调控熔池流动以改善焊缝成形.在6061铝合金板材表面进行堆焊试验,重点探究了光丝间距、摆动幅度、激光功率对于焊缝成形的影响,采用高速摄像机拍摄激光扫描熔池过程.结果表明,摆动激光扫描可以有效抑制成形缺陷的发生,当摆动激光扫描熔池中部时可以获得最佳的焊缝成形效果.摆动激光扫描降低了熔池温度梯度分布,同时激光扫描产生的激光蒸发反力可以驱动熔池流动,促进了液态熔池的流动铺展,从而有效抑制了不规则焊缝成形缺陷,减少焊缝内部气孔和裂纹缺陷.调节摆动激光摆幅可以在一定范围内对焊缝宽度进行调控.

小熔池激光沉积制造薄壁件沉积宽度的模型预测及试验研究

将激光沉积制造的热物理过程与薄壁件的几何特性相结合,基于层间沉积过程中的能量守恒关系建立了可以适配于小熔池激光沉积制造薄壁件沉积宽度的预测模型。该模型详细阐述了沉积宽度与激光功率、扫描速度与送粉速率之间的关系。利用Ti–6Al–4V(TC4)粉末沉积制备了多组样品来进行预测模型的验证,结果表明,该模型可以准确地预测不同工艺参数下薄壁件的沉积宽度,提高了试验参数匹配的准确性与效率,并为小熔池激光沉积制造工艺成形精度控制奠定了理论基础。

基于CCD的激光熔覆熔池平滑度在线监测系统研究

由于激光熔覆过程高温高亮,无法实时准确判断熔覆效果。使用CCD相机结合平滑度监测算法,对不同功率下的熔池形貌进行监测,验证算法性能,判断熔覆效果,同时尝试叶片修复。结果表明:激光功率过大或者扫描速度过慢,均会导致熔池边缘平滑度较差,进而认为熔覆参数不合适;为防止熔坏基材,可根据监测效果及时停机;发现激光功率与熔池边缘平滑度呈负相关。

基于增材制造的原位合金化制造方法的研究进展

基于增材制造的原位合金化方法是利用激光或电子束将多种元素粉或多种预合金粉的混合粉末熔化,使材料同时进行合金化和致密化的一种成本低廉、快速高效的开发新材料的方法,已经在高熵合金开发、新型生物医用合金打印件开发等领域得到初步应用。总结了混合粉末的形貌、粒径、高熔点粉末含量及粉末混合技术对原位合金化打印件性能的影响的研究结果。研究表明,混合粉末的颗粒级配需要同时保证元素混合均匀性和粉末流动性,才能保证原位合金化打印效果。激光功率、束斑直径、重熔工艺等打印参数对熔池几何特征影响很大,继而也强烈影响原位合金化的效果。熔池深度越大,越能保证打印过程中的层间重熔,促进元素均匀,但过深的熔池会造成孔隙。还介绍了基于原位合金化打印制备具有成分波动或成分梯度的合金材料的研究进展。原位合金化工艺本身固有的成分不均匀性有助于制备成分不均匀的合金,从而获得具有双相结构的打印件,这是基于预合金粉打印无法得到的。基于多材料及多相流模型,原位合金化粉床激光熔融过程的数值模型也被研究者建立,模拟得出的原位合金化的增材制造工艺优化参数与针对预合金粉打印的差别很大。最后对增材制造原位合金化技术的应用前景和面临的挑战作出了展望。

激光-电弧复合增材制造Al-Cu合金T型结构微观组织演变与熔池流动行为分析

在T型结构增材制造过程中,交叉节点处易出现冶金结合不良及重熔缺陷等问题,制约该结构性能的提升。采用激光-电弧复合增材制造技术制备了Al-Cu合金T型结构,对交叉节点处的组织形貌进行了表征,并通过数值模拟分析了节点处熔池内的温度分布以及流动特征。结果表明,在T型结构节点处能够观察到重熔作用所导致的弧形条纹特征,该区域的模拟形貌与实际结果具有良好的一致性;熔池边界处等温线分布较为密集,内部Marangoni对流导致逆时针涡流的形成,最高流速可达0.16 m/s。依据顶层晶粒形态差异,分为顶层节点重熔区(RZI)和顶层热影响区(HAZ)。其中RZI内主要为细小的树枝晶,平均晶粒尺寸相比于HAZ降低了20.8%,内部析出相主要为与α-Al基体呈非共格界面的大尺寸θ(Al_(2)Cu)相;平均显微硬度可达(98.4±6.4)HV_(0.1),相比于未重熔区最高提升约14.0%。

激光粉末床熔融WC-12Co硬质合金温度场模拟

结合有限元软件ANSYS建立三维有限元热模型,利用APDL命令及生死单元方法实现对高斯热源的施加和WC-12Co硬质合金打印过程的模拟,得到WC-12Co硬质合金在激光粉末床熔融(LPBF)成形过程中的温度场分布,研究不同工艺参数(激光功率、扫描速度)对温度场分布及熔池特征的影响。结果表明:WC-12Co硬质合金在LPBF过程成形时,利用有限元能够有效模拟其成形过程。位于热源前部的等温线比尾部更为密集,温度梯度更大;而扫描路径终端边缘处熔池中心的温度最高。随着激光功率的增大和扫描速度的减小,熔池宽度、深度和长度均相应增大。通过相关实验分析不同工艺参数对晶粒尺寸的影响,发现晶粒尺寸随扫描速度的增加而减小,随激光功率的增加而增大;但过高的激光功率会引起一定的热裂纹现象发生。

激光熔覆熔池动态演化及缺陷工艺调控研究进展

激光熔覆是一种高能束增材修复技术,具有热影响区小、组织性能可控性强、材料选择范围广等系列优势,目前已广泛应用于能源动力等领域关键金属构件的增材制造成形与受损零部件的修复再制造中。激光熔覆是以“激光”为热源的能量沉积技术,包括高能激光束冲击、表面熔池熔化快凝及熔覆表面层形成等多种物理、化学过程,其中熔池内金属热流体动力演化行为与熔覆层缺陷及表层组织性能调控密切相关。金属熔池具有“急热骤冷”的凝固特征,其内部对流、传热和传质等行为决定了熔覆层中温度及应力分布状态,是诱导熔覆层内气孔、裂纹等组织内部缺陷形成的关键因素。从激光熔覆过程中熔池内部对流、传热与传质的动态物理特性出发,论述了激光热源的理论模型设计、动态熔池中“流场+温度场+应力场”的多物理场数值模拟等方面的相关研究。在此基础上,分析了激光熔覆层典型缺陷-裂纹和气孔的形成机理及特征,总结了“材料-工艺-熔凝行为-涂层缺陷”的内在关联机制。同时,针对单一工艺方式调控熔池内熔凝过程的局限性,概述了多种复合能量场调控技术对熔覆层内部缺陷的作用机制与调控效果。最后,总结了当前激光熔覆层缺陷动态形成过程中存在的问题,并对其发展趋势进行了展望。

X射线超快成像原位表征激光增材制造过程研究进展

在增材制造过程中,熔池经历快速熔化、冷却、凝固的过程,其物理、化学、结构和应力等处于极端非平衡状态,容易导致孔隙、裂纹等缺陷产生,影响制件力学性能。同步辐射X射线具有高空间分辨率和时间分辨率,可以实现增材制造过程中熔池动力学和缺陷演化的原位表征。本文综述了近年来激光增材制造原位实验平台的搭建,并从熔池结构演化、缺陷形成机理和成形工艺优化三个方面介绍了同步辐射X射线原位表征激光增材制造过程的研究进展。最后基于目前增材制造原位观察的局限性,从表征系统改进、原料多样化和计算修正等方面对未来研究进行了展望。

Inconel-52M焊丝高频脉冲TIG电弧及熔池流动行为研究

基于高速摄像机和图像处理技术,分析了脉冲频率(0~60 kHz)对焊接电弧和Inconel-52M镍合金焊丝熔池流动行为的影响及其作用规律.结果表明,在常规低频脉冲电流上复合高频脉冲电流会使电弧形态显著收缩,随着高频脉冲频率的增加,电弧弧根尺寸逐渐减小.与常规低频脉冲焊相比,高频脉冲电弧的整体面积减小,核心区面积及其占比增加,电弧能量集中度和温度(能量)得到提高.在高频脉电流的作用下,电弧轴向压强和径向电磁力增大,最大可分别提高18.0%和8.1%.电弧轴向电磁压强增大导致熔池流动性增强,使焊缝液态金属流动更充分,从而易形成大焊缝宽度和低润湿角的焊缝形貌.