A welding repair device and method for superalloy blades based on visual sensing

Abstract

The present disclosure relates to a welding repair device and method for superalloy blades based on visual sensing. The device consists of a pulsed arc welding power source, a non-consumable electrode welding torch, a pulsed wire feeder, an industrial robot, a host computer controller, a PLC controller, a high-speed camera, and a superalloy blade, and specifically includes: The pulsed arc welding power source is electrically connected to the non-consumable electrode welding torch and the superalloy blade respectively; the non-consumable electrode welding torch is connected to the industrial robot and the high-speed camera respectively, and the welding molten pool area of the surface defect damage removal pit of the superalloy blade is below the center of the tungsten electrode of the non-consumable electrode welding torch; the host computer controller is electrically connected to the PLC controller and the high-speed camera respectively; the PLC controller is electrically connected to the pulsed arc welding power source and the pulsed wire feeder respectively; the high-speed camera is used for sensing the molten pool image.

Description

Technical Field

[0001] This document relates to the field of welding repair, and particularly to a welding repair device and method for superalloy blades based on visual sensing. Background Art

[0002] During the manufacturing process of aviation engine superalloy blades formed by casting, defects such as shrinkage cavities, cracks, and inclusions are inevitably generated, resulting in a low production qualification rate. Moreover, the qualified blades are subject to the erosion and corrosion of high-temperature gas flows for a long time, and are prone to damage such as cracks and corrosion pits. Therefore, it is necessary to repair and remanufacture superalloy blades with defects and damages.

[0003] Arc welding technology is one of the commonly used methods for the repair and remanufacture of superalloy blades. Due to the presence of a large number of brittle and hard strengthening phases inside the alloy and the low thermal conductivity of superalloys, overheating and a wide heat-affected zone are likely to occur during the welding process, resulting in a high crack sensitivity during the welding repair process. Currently, the optimization methods of arc welding repair technology have the following defects: closed-loop control cannot be achieved, the parameters of the welding repair technology need to be obtained through multiple tests, highly rely on the experience of operators, and it is difficult to guarantee the welding repair quality, etc.

[0004] Based on the analysis of the development status of this technical field above, the existing technical solutions lack a device and method that can achieve closed-loop control and automatically realize the welding repair of superalloy blades. Summary of the Invention

[0005] The purpose of the present invention is to provide a welding repair device for superalloy blades based on visual sensing, aiming to solve the above problems in the prior art.

[0006] According to the first aspect of the embodiments of the present disclosure, a welding repair device for superalloy blades based on visual sensing is provided. It consists of a pulsed arc welding power source, a non-consumable electrode welding torch, a pulsed wire feeder, an industrial robot, a host computer controller, a PLC controller, a high-speed camera, and a superalloy blade, and includes:

[0007] The pulsed arc welding power source is electrically connected to the non-consumable electrode welding torch and the superalloy blade respectively, and is used to form a conductive circuit when igniting the arc; the non-consumable electrode welding torch is connected to the industrial robot and the high-speed camera respectively, and is used to execute movement and fix the position of the high-speed camera. Below the center of the tungsten electrode of the non-consumable electrode welding torch is the welding molten pool area of the concave pit for removing defects and damages on the surface of the superalloy blade; the host computer controller is electrically connected to the PLC controller and the high-speed camera respectively, and is used to transmit the pulse peak duration signal T p and the pulsed wire feeding duration signal T Fp , or transmit the pulse base value duration signal T b and the pulsed wire feeding stop time signal T Fb, and extracting and transmitting the information of the molten pool images captured by the high-speed camera; the PLC controller is respectively electrically connected to the pulsed arc welding power source and the pulsed wire feeder, and is used for transmitting the pulsed peak duration signal T p or the pulsed base duration signal T b , and transmitting the pulsating wire feeding duration signal T Fp or the pulsating wire feeding stop time signal T Fb to the pulsed wire feeder; the high-speed camera is used for sensing the molten pool images.

[0008] According to the second aspect of the embodiments of the present disclosure, a method for welding repair of superalloy blades based on visual sensing is provided, including:

[0009] Setting the parameters related to welding repair;

[0010] Igniting the arc and starting the welding repair according to the preset parameters related to welding repair;

[0011] Sequentially and cyclically comparing the movement distance L M with the pit length D L , the molten pool width D W and the pit width D Max as well as the molten pool width D W with the minimum weld width D Min , and sending corresponding signals to the pulsed arc welding power source and the pulsed wire feeder according to the comparison results.

[0012] The technical solutions provided by the embodiments of the present disclosure may include the following beneficial effects: reducing the heat input during the welding repair of superalloy blades, improving the stability and applicability of the welding repair process, achieving low heat input, and being able to achieve efficient and high-quality automated welding repair.

[0013] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] In order to more clearly illustrate the technical solutions in one or more embodiments of this specification or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments recorded in this specification. For those of ordinary skill in the art, other drawings can also be obtained based on these drawings without creative efforts.

[0015] Figure 1 is a schematic diagram of the device for welding repair of superalloy blades based on visual sensing according to an embodiment of the present invention;

[0016] Figure 2Schematic diagram of mechanical removal of pits from defects and damages on a superalloy blade according to an embodiment of the present invention;

[0017] Figure 3 Schematic diagram of the welding repair process according to an embodiment of the present invention;

[0018] Figure 4 Schematic diagram of the welding repair timing according to an embodiment of the present invention;

[0019] Figure 5 Flowchart of a method for welding repair of superalloy blades based on visual sensing according to an embodiment of the present invention. Detailed implementation manners

[0020] In order to enable those skilled in the art to better understand the technical solutions in one or more embodiments of this specification, the technical solutions in one or more embodiments of this specification will be clearly and completely described below with reference to the accompanying drawings in one or more embodiments of this specification. Obviously, the described embodiments are only a part of the embodiments of this specification, rather than all the embodiments. Based on one or more embodiments of this specification, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of this document.

[0021] Device embodiment

[0022] According to an embodiment of the present invention, there is provided a device for welding repair of superalloy blades based on visual sensing, Figure 1 Schematic diagram of a device for welding repair of superalloy blades based on visual sensing according to an embodiment of the present invention, as Figure 1 shown, the device for welding repair of superalloy blades based on visual sensing according to an embodiment of the present invention specifically includes:

[0023] It consists of a pulsed arc welding power source 1, a non - consumable electrode welding torch 2, a pulsed wire feeder 3, an industrial robot 4, a host computer controller 5, a PLC controller 6, a high - speed camera 7, and a superalloy blade 8, where:

[0024] The pulsed arc welding power source 1 is electrically connected to both the non - consumable electrode welding torch 2 and the superalloy blade 8 respectively, and is used to form a conductive circuit when igniting the arc; the non - consumable electrode welding torch 2 is connected to both the industrial robot 4 and the high - speed camera 7 respectively, and is used to execute movement and fix the position of the high - speed camera 7. Below the center of the tungsten electrode of the non - consumable electrode welding torch 2 is the welding molten pool area 10 of the pit 9 for removing defects and damages on the surface of the superalloy blade 8; the host computer controller 5 is electrically connected to both the PLC controller 6 and the high - speed camera 7 respectively, and is used to transmit the pulse peak duration T p signal and the pulsed wire feeding duration T Fp signal to the PLC controller 6, or transmit the pulse base value duration T to the PLC controller 6b Signal and pulsating wire feeding stop time T Fb Signal, and extract and transmit the molten pool image information captured by the high-speed camera 7; the PLC controller 6 is electrically connected to the pulsed arc welding power source 1 and the pulsed wire feeder 3 respectively, and is used to transmit the pulsed peak duration signal T p Or the pulsed base duration T b Signal, and transmit the pulsating wire feeding duration T Fp Signal or pulsating wire feeding stop time T Fb Signal; the high-speed camera 7 is used to sense the molten pool image.

[0025] The pulsed arc welding power source 1 is specifically used for: setting pulsed current parameters, including pulsed peak current I P And pulsed base current I b ; the pulsating wire feeder 3 is specifically used for: setting the pulsating wire feeding speed F p ; the industrial robot 4 is specifically used for: setting the running speed V.

[0026] Among them, the pulsed peak current I set by the pulsed arc welding power source 1 P The range is 2 - 30A, and the set pulsed base current I b The range is 2 - 20A, where I b <I P ; the pulsating wire feeding speed F set by the pulsating wire feeder p The range is 0.1 - 1m / min; the running speed V set by the industrial robot ranges from 10 - 150mm / min.

[0027] There is a start / stop button on the pulsed arc welding power source 1, which is used to control the ignition or extinguishing of the arc. When the arc is ignited, the welding repair starts, and when the arc is extinguished, the welding repair stops.

[0028] The upper computer controller 5 and the PLC controller 6 are specifically used for:

[0029] Compare the moving distance L obtained by counting the motion mechanism M With the pre-measured pit length D L , when the moving distance L M Is less than the pit length D L , the upper computer controller sends the pulsed peak duration T to the PLC controller p Signal and pulsating wire feeding duration T Fp Signal, the PLC controller 6 sends the pulsed peak duration T to the pulsed arc welding power source 1 p Signal, and sends the pulsating wire feeding duration T to the pulsed wire feeder 3 Fp Signal, otherwise extinguish the arc and end the welding repair;

[0030] Compare the molten pool width D extracted by the host computer controller W with the pre-measured pit width D Max , when the molten pool width D W is greater than or equal to the pit width D Max , the host computer controller 5 transmits the pulse base duration T b signal and the pulsating wire feeding stop time T Fb signal to the PLC controller 6, and the PLC controller 6 transmits the pulse base duration T b signal to the pulsed arc welding power source 1 and transmits the pulsating wire feeding stop time T Fb signal to the pulsed wire feeder 3; otherwise, return to compare the moving distance L M with the pit length D L step;

[0031] Compare the molten pool width D W and the minimum weld width D obtained from the process test Min , when the molten pool width D W is greater than or equal to the minimum weld width D Min , return to compare the extracted molten pool width D W and the pit width D Max step, otherwise return to compare the moving distance L M with the pit length D L step.

[0032] In summary, in view of the existing problems, the present invention provides a welding repair device for superalloy blades based on visual sensing, which adopts a closed-loop control method, uses the molten pool width as the feedback quantity, collects and judges the molten pool width in real time, and controls the pulse peak duration, pulse base duration, pulsating wire feeding duration and pulsating wire feeding stop time, effectively reducing the heat input during the welding repair process, avoiding the generation of heat cracks, and achieving low heat input and high-efficiency and high-quality automated welding repair of superalloy blades.

[0033] The above technical solutions of the embodiments of the present invention will be illustrated with reference to the following drawings.

[0034] Figure 2 is a schematic diagram of the defects and damages of the superalloy blade in the embodiment of the present invention and the mechanical removal of the pit, as Figure 2 shown. In the figure, 11 are the defects and damages of the superalloy blade. After removing the defects and damages of the superalloy blade by mechanical processing, the process of pre-measuring the pit length D L and the pit width D Max , where D L ≥D Max .

[0035] Figure 3 is a schematic diagram of the welding repair process of an embodiment of the present invention. As Figure 3 shown, it shows the welding repair process of the superalloy blade in this embodiment. Figure 4 is a schematic diagram of the repair timing sequence of an embodiment of the present invention. As Figure 4 shown, it shows the welding repair timing sequence of the superalloy blade in this embodiment, and the specific description is as follows:

[0036] In the first embodiment, the pulsed arc welding power source adopts a pulsed TIG welding power source, the non-consumable electrode welding torch adopts a TIG welding torch, and the welding repair device for superalloy blades based on visual sensing includes: a pulsed TIG welding power source 1, a TIG welding torch 2, a pulsed wire feeder 3, an industrial robot 4, a host computer controller 5, a PLC controller 6, a high-speed camera 7, and a superalloy blade 8.

[0037] The pulsed TIG welding power source 1 is electrically connected to the TIG welding torch 2 and the superalloy blade 8 respectively, and is used to form a conductive circuit when igniting the arc; the TIG welding torch 2 is connected to the industrial robot 4 and the high-speed camera 7 respectively, and is used to execute movement and fix the position of the high-speed camera 7. Below the center of the tungsten electrode of the TIG welding torch 2 is the welding molten pool area 10 of the concave pit 9 for removing defects and damages on the surface of the superalloy blade 8; the host computer controller 5 is electrically connected to the PLC controller 6 and the high-speed camera 7 respectively, and is used to transmit the pulse peak duration T p signal and the pulsed wire feeding duration T Fp signal to the PLC controller 6, or transmit the pulse base duration T b signal and the pulsed wire feeding stop time T Fb signal to the PLC controller 6, and extract and transmit the molten pool image information captured by the high-speed camera 7; the PLC controller 6 is electrically connected to the pulsed TIG welding power source 1 and the pulsed wire feeder 3 respectively, and is used to transmit the pulse peak duration signal T p or the pulse base duration T b signal to the pulsed TIG welding power source 1, and transmit the pulsed wire feeding duration T Fp signal or the pulsed wire feeding stop time T Fb signal to the pulsed wire feeder 3; the high-speed camera 7 is used to sense the molten pool image, and the high-speed camera 7 is relatively stationary with the TIG welding torch 2 during the welding movement process.

[0038] The high-speed camera 7 has a 30° downward inclination angle from the rear of the molten pool with the vertical direction, and focuses on the welding molten pool 10 area on the surface of the superalloy blade 8 below the center of the tungsten electrode of the TIG welding torch 2.

[0039] In the first embodiment, the previously measured concave pit length D L is 20 mm, and the concave pit width D Max is 4 mm.

[0040] The pulsed TIG welding power source 1 is specifically used for: setting pulse current parameters, including the pulse peak current I P , and the pulse base current I b ; The pulsating wire feeder 3 is specifically used for: setting the pulsating wire feeding speed F p ; The industrial robot 4 is specifically used for: setting the running speed V. Among them, the set pulse peak current I P is 20 A, the set range of the pulse base current I b is 10 A, the pulsating wire feeding speed F set by the pulsating wire feeder 3 p is 0.5 m / min, and the running speed V set by the industrial robot 4 is 15 mm / min.

[0041] Ignite the arc and start welding repair.

[0042] Compare the movement distance L obtained by counting the movement mechanism M with the previously measured pit length D L (20 mm). When the movement distance L M is less than the pit length D L (20 mm), the host computer controller 5 transmits the pulse peak duration T p signal and the pulsating wire feeding duration T Fp signal to the PLC controller 6. The PLC controller 6 transmits the pulse peak duration signal T p to the pulsed TIG welding power source 1 and transmits the pulsating wire feeding duration T Fp signal to the pulsed wire feeder 3. Otherwise, extinguish the arc, stop wire feeding, and end the welding repair;

[0043] Visually sense the molten pool image through the high-speed camera 7 and transmit the information to the host computer controller 5. The host computer controller 5 extracts the molten pool edge in the image and compares the molten pool width D W extracted by the host computer controller 5 with the previously measured pit width D Max (4 mm). When the molten pool width D W is greater than or equal to the pit width D Max (4 mm), the host computer controller 5 transmits the pulse base duration T b signal and the pulsating wire feeding stop time T Fb signal to the PLC controller 6. The PLC controller 6 transmits the pulse base duration T b signal to the pulsed TIG welding power source 1 and transmits the pulsating wire feeding stop time T Fb signal to the pulsed wire feeder. Otherwise, return to the step of comparing the movement distance L M with the pit length D L ;

[0044] Compare the width D of the molten pool W with the minimum weld width D obtained from the process test Min (2 mm). When the width D of the molten pool W is greater than or equal to the minimum weld width D Min (2 mm), return to the step of comparing and extracting the width D of the molten pool W and the width D of the crater Max (4 mm). Otherwise, return to the step of comparing the moving distance L M with the length D of the crater L (20 mm).

[0045] In the second embodiment, the pulsed arc welding power source uses a pulsed plasma arc welding power source, and the non-consumable electrode welding torch uses a plasma arc welding torch. The welding repair device for superalloy blades based on visual sensing includes: a pulsed plasma arc welding power source 1, a plasma arc welding torch 2, a pulsed wire feeder 3, an industrial robot 4, a host computer controller 5, a PLC controller 6, a high-speed camera 7, and a superalloy blade 8.

[0046] The pulsed plasma arc welding power source 1 is electrically connected to the plasma arc welding torch 2 and the superalloy blade 8 respectively, and is used to form a conductive circuit when igniting the arc; the plasma arc welding torch 2 is connected to the industrial robot 4 and the high-speed camera 7 respectively, and is used to execute the movement and fix the position of the high-speed camera 7. Below the center of the tungsten electrode of the plasma arc welding torch 2 is the welding molten pool area 10 of the defect damage removal crater 9 on the surface of the superalloy blade 8; the host computer controller 5 is electrically connected to the PLC controller 6 and the high-speed camera 7 respectively, and is used to transmit the pulse peak duration T p signal and the pulsed wire feeding duration T Fp signal to the PLC controller 6, or transmit the pulse base duration T b signal and the pulsed wire feeding stop time T Fb signal to the PLC controller 6, and extract and transmit the molten pool image information captured by the high-speed camera 7; the PLC controller 6 is electrically connected to the pulsed plasma arc welding power source 1 and the pulsed wire feeder 3 respectively, and is used to transmit the pulse peak duration signal T p or the pulse base duration T b signal to the pulsed plasma arc welding power source 1, and transmit the pulsed wire feeding duration T Fp signal or the pulsed wire feeding stop time T Fb signal to the pulsed wire feeder 3; the high-speed camera 7 is used to sense the molten pool image, and the high-speed camera 7 is relatively stationary with the plasma arc welding torch 2 during the welding movement process.

[0047] The high-speed camera 7 has a 40° downward inclination angle with the vertical direction from the rear of the molten pool, and focuses on the welding molten pool 10 area on the surface of the superalloy blade 8 below the center of the tungsten electrode of the plasma arc welding torch 2;

[0048] In the first embodiment, the pre-measured pit length D L is 30 mm, and the pit width D Max is 3 mm.

[0049] The pulsed plasma arc welding power source 1 is specifically used for: setting pulse current parameters, including the pulse peak current I P , the pulse base current I b ; the pulsating wire feeder 3 is specifically used for: setting the pulsating wire feeding speed F p ; the industrial robot 4 is specifically used for: setting the running speed V. Among them, the set pulse peak current I P is 15 A, the set pulse base current I b range is 8 A, the pulsating wire feeding speed F set by the pulsating wire feeder 3 p is 0.4 m / min, and the running speed V set by the industrial robot 4 is 12 mm / min.

[0050] Ignite the arc and start welding repair.

[0051] Compare the movement distance L obtained by counting the movement mechanism M with the pre-measured pit length D L (30 mm). When the movement distance L M is less than the pit length D L (30 mm), the upper computer controller 5 transmits the pulse peak duration T p signal and the pulsating wire feeding duration T Fp signal to the PLC controller 6. The PLC controller 6 transmits the pulse peak duration signal T p to the pulsed plasma arc welding power source 1, and transmits the pulsating wire feeding duration T Fp signal to the pulsed wire feeder 3. Otherwise, extinguish the arc, stop wire feeding, and end the welding repair;

[0052] Visually sense the molten pool image through the high-speed camera 7 and transmit the information to the upper computer controller 5. The upper computer controller 5 extracts the molten pool edge in the image and compares the molten pool width D extracted by the upper computer controller 5 W with the pre-measured pit width D Max (3 mm). When the molten pool width D W is greater than or equal to the pit width D Max (3 mm), the upper computer controller 5 transmits the pulse base duration T b signal and the pulsating wire feeding stop time T Fb signal to the PLC controller 6. The PLC controller 6 transmits the pulse base duration T bSignal, transmitting the pulsating wire feeding stop time T to the pulsed wire feeder Fb Signal, otherwise return to comparing the movement distance L M With the pit length D L Step;

[0053] Compare the molten pool width D W And the minimum weld width D obtained from the process test Min (1.5 mm), when the molten pool width D W Is greater than or equal to the minimum weld width D Min (1.5 mm), return to comparing and extracting the molten pool width D W And the pit width D Max (3 mm), otherwise return to comparing the movement distance L M With the pit length D L (30 mm) Step.

[0054] The superalloy blades welded and repaired in Example 1 and Example 2 have a fish-scale pattern forming feature in welding. The welding repair area is detected by the fluorescent penetrant testing method and the X-ray flaw detection method, and no porosity, lack of fusion and crack defects are found.

[0055] Method embodiment

[0056] According to an embodiment of the present invention, there is provided a welding repair device for superalloy blades based on visual sensing, Figure 5 Is the flowchart of the welding repair method for superalloy blades based on visual sensing in an embodiment of the present invention, as Figure 5 Shown, the welding repair method for superalloy blades based on visual sensing according to an embodiment of the present invention specifically includes:

[0057] In step S510, set the relevant parameters for welding repair.

[0058] In step S510, setting the relevant parameters for welding repair specifically includes: setting the pulse current parameters through the pulsed arc welding power source, including the pulse peak current I P , the pulse base current I b ; setting the pulsating wire feeding speed F through the pulsating wire feeder p ; setting the running speed V through the industrial robot. Further setting the relevant parameters for welding repair includes: the set pulse peak current I P Range is 2 - 30 A, the set pulse base current Ib range is 2 - 20 A, where, I b < I P ; the set pulsating wire feeding speed F p Range is 0.1 - 1 m / min; the set running speed V range is 10 - 150 mm / min.

[0059] In step S520, an arc is ignited and welding repair is started according to the pre-set welding repair related parameters.

[0060] In step S530, the movement distance L is successively and cyclically compared M with the pit length D L , the molten pool width D W and the pit width D Max as well as the molten pool width D W with the minimum weld width D Min , and corresponding signals are sent to the pulsed arc welding power source and the pulsed wire feeder according to the comparison results.

[0061] Among them, the movement distance L M is obtained by counting of the movement mechanism, the pit length D L and the pit width D Max are measured in advance, the minimum weld width D Min is obtained by process tests, and the molten pool width D W is extracted by the host computer controller.

[0062] In step S530, the movement distance L is successively and cyclically compared M with the pit length D L , the molten pool width D W and the pit width D Max as well as the molten pool width D W with the minimum weld width D Min , and sending corresponding signals to the pulsed arc welding power source and the pulsed wire feeder according to the comparison results specifically includes:

[0063] Compare the movement distance L M with the pit length D L , when the movement distance L M is less than the pit length D L , the host computer controller transmits the pulse peak duration T p signal and the pulsating wire feeding duration T Fp signal to the PLC controller, and the PLC controller transmits the pulse peak duration T p signal to the pulsed arc welding power source and the pulsating wire feeding duration T Fp signal to the pulsed wire feeder, otherwise the arc is extinguished and the welding repair ends;

[0064] Compare the molten pool width D W with the pit width D Max , when the molten pool width D W is greater than or equal to the pit width D Max , the host computer controller transmits the pulse base duration T b signal and the pulsating wire feeding stop time TFb Signal, the PLC controller transmits the pulse base duration T to the pulsed arc welding power source b Signal, transmits the pulsating wire feeding stop time T to the pulsed wire feeder Fb Signal, otherwise return to compare the movement distance L M and the pit length D L step;

[0065] Compare the molten pool width D W and the minimum weld width D Min When the molten pool width D W is greater than or equal to the minimum weld width D Min return to the step of comparing and extracting the molten pool width D W and the pit width D Max otherwise return to the step of comparing the movement distance L M with the pit length D L step.

[0066] In summary, in view of the problems existing in the current situation, the present invention provides a method for welding repair of superalloy blades based on visual sensing. By adopting a closed-loop control method, with the molten pool width as the feedback quantity, the molten pool width is collected and judged in real time, and the pulse peak duration, pulse base duration, pulsating wire feeding duration, and pulsating wire feeding stop time are controlled, effectively reducing the heat input during the welding repair process, avoiding the generation of hot cracks, and achieving low heat input for superalloy blades and efficient and high-quality automated welding repair.

[0067] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements on some or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A high-temperature alloy blade welding repair device based on visual sensing, characterized in that: It consists of a pulse arc welding power source, a non-consumable electrode welding gun, a pulsating wire feeder, an industrial robot, a host computer controller, a PLC controller, a high-speed camera and a high-temperature alloy blade, including: The pulse arc welding power supply is electrically connected to the non-consumable electrode welding gun and the high-temperature hinge gold sheet, respectively, for forming a conductive circuit when the arc is ignited; the non-consumable electrode welding gun is connected to the industrial robot and the high-speed camera, respectively, for executing movement and fixing the position of the high-speed camera, and below the center of the tungsten electrode of the non-consumable electrode welding gun is a welding pool area for removing pits from defects and damage on the surface of the high-temperature alloy blade; the host computer controller is electrically connected to the PLC controller and the high-speed camera, respectively, for transmitting the pulse peak duration T to the PLC controller. p Signal and pulse wire feeding duration T Fp Signal, or transmit pulse base value duration T to the PLC controller b Signal and pulse wire feeding stop time signal T Fb signal, and extracting and transmitting the molten pool image information taken by the high-speed camera; the PLC controller is electrically connected to the pulse arc welding power supply and the pulse wire feeder, respectively, for transmitting the pulse peak duration signal T to the pulse arc welding power supply p Or pulse base duration T b signal, and transmits the pulse wire feeding duration T to the pulse wire feeder Fp Signal or pulse wire feeding stop time T Fb signal; the high-speed camera is used to sense the molten pool image; The host computer controller and the PLC controller are specifically used for: Compare the movement distance L obtained by counting the movement mechanism M The pre-measured pit length D L , when the movement distance L M Less than the pit length D L The host controller transmits the pulse peak duration T to the PLC controller. p Signal and pulse wire feeding duration T Fp The PLC controller transmits a pulse peak duration T to the pulse arc welding power supply. p Signal, transmits pulse wire feeding duration T to the pulse wire feeder Fp signal, otherwise the arc is extinguished and the welding repair is completed; Compare the molten pool width D extracted by the host controller W The pre-measured pit width D Max , when the molten pool width D W Greater than or equal to the pit width D Max The host controller transmits the pulse base value duration T to the PLC controller b Signal and pulsating wire feeding stop time T Fb The PLC controller transmits a pulse base value duration T to the pulse arc welding power supply. b Signal, transmit pulse wire feeding stop time T to the pulse wire feeder Fb signal, otherwise return to comparing the movement distance L M and pit length D L Steps; Comparison of melt pool width D W The minimum weld width D obtained from the process test Min , when the molten pool width D W Greater than or equal to the minimum weld width D Min , return to compare and extract the molten pool width D W and pit width D Max Otherwise, return to the comparison of movement distance L M and pit length D L steps.

2. The device according to claim 1, characterized in that The pulse arc welding power supply is specifically used to set the pulse current parameters, including the pulse peak current I P , pulse base current I b The pulsating wire feeder is specifically used to: set the pulsating wire feeding speed F p ; The industrial robot is specifically used to: set the operating speed V.

3. The device according to claim 2, characterized in that The pulse peak current I set by the pulse arc welding power supply P The range is 2~30A, and the set pulse base current I b The range is 2~20A, where I b P The pulsating wire feeding speed F set by the pulsating wire feeding machine p The range is 0.1~1m / min; the operating speed V set by the industrial robot is in the range of 10~150mm / min.​ 4. The device according to claim 1, characterized in that The pulse arc welding power supply is provided with a start / stop button for controlling arc ignition or extinguishing. Arc ignition welding repair starts, and arc extinguishing welding repair stops.

5. A high-temperature alloy blade welding repair method based on visual sensing, characterized in that: The high-temperature alloy blade welding repair device based on visual sensing used in any one of claims 1 to 4, wherein the method specifically comprises: Set welding repair related parameters; Ignite the arc and start the welding repair according to the pre-set welding repair related parameters; Compare the movement distance L in sequence M and pit length D L , molten pool width D W and pit width D Max And the molten pool width D W Minimum weld width D Min , according to the comparison results, corresponding signals are sent to the pulse arc welding power supply and pulse wire feeder.

6. The method according to claim 5, characterized in that The setting of welding repair related parameters specifically includes: The pulse current parameters are set by the pulse arc welding power supply, including the pulse peak current I P , pulse base current I b ; Set the pulsating wire feeding speed F through the pulsating wire feeding machine p ; The operating speed V is set by the industrial robot.

7. The method according to claim 6, characterized in that The setting of welding repair related parameters further includes: Set pulse peak current I P The range is 2~30A, and the set pulse base current I b The range is 2~20A, where I b P ; Set the pulsating wire feeding speed F p The range is 0.1~1m / min; the set running speed V range is 10~150mm / min.​ 8. The method according to claim 5, characterized in that The sequentially cyclic comparison movement distance L M and pit length D L , molten pool width D W and pit width D Max And the molten pool width D W Minimum weld width D Min , wherein the movement distance L M The pit length D is obtained by counting the motion mechanism. L and pit width D Max The minimum weld width D is measured in advance. Min According to the process test, the molten pool width D W It is extracted by the host computer controller.

9. The method according to claim 5, characterized in that The sequentially cyclic comparison movement distance L M and pit length D L , molten pool width D W and pit width D Max And the molten pool width D W Minimum weld width D Min , according to the comparison results, corresponding signals are sent to the pulse arc welding power supply and the pulse wire feeder, specifically including: Comparison of movement distance L M and pit length D L , when the movement distance L M Less than the pit length D L The host controller transmits the pulse peak duration T to the PLC controller. p Signal and pulse wire feeding duration T Fp The PLC controller transmits a pulse peak duration T to the pulse arc welding power supply. p Signal, transmits pulse wire feeding duration T to the pulse wire feeder Fp signal, otherwise the arc is extinguished and the welding repair is completed; Compare the molten pool width D W and pit width D Max , when the molten pool width D W Greater than or equal to the pit width D Max The host controller transmits the pulse base value duration T to the PLC controller b Signal and pulsating wire feeding stop time T Fb The PLC controller transmits a pulse base value duration T to the pulse arc welding power supply. b Signal, transmit pulse wire feeding stop time T to the pulse wire feeder Fb signal, otherwise return to comparing the movement distance L M and pit length D L Steps; Comparison of melt pool width D W and minimum weld width D Min , when the molten pool width D W Greater than or equal to the minimum weld width D Min , return to compare and extract the molten pool width D W and pit width D Max Otherwise, return to the comparison of movement distance L M and pit length D L steps.

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