Pulse complex magnetic field regulating device and method based on molten pool flow state visual feedback

Abstract

The application provides a kind of pulse complex magnetic field regulation and control equipment and method based on molten pool flow state visual feedback, it is related to welding intelligent regulation and control technical field, including operation platform, mounting bracket, welding gun nozzle, welding gun body, visual detection structure, magnetic field regulation and control structure, data processing and magnetic field regulation and control unit and welding quality prediction and early warning unit.The cooperation of visual mounting seat, shared reference ring mounting bracket and lower magnetic field ring seat can keep the camera acquisition area, welding gun nozzle axis and magnetic field action area relatively consistent;the data processing and magnetic field regulation and control unit adjusts the working state of longitudinal excitation coil and transverse excitation coil according to molten pool image, and outputs early warning information from welding quality prediction and early warning unit, so as to improve the molten pool flow state regulation and control accuracy and weld forming stability.

Description

Technical Field

[0001] This invention relates to the field of intelligent welding control, and in particular to a pulsed composite magnetic field control device and method based on visual feedback of molten pool flow. Background Technology

[0002] Gas metal arc welding (GMAW) and submerged arc welding (SAW) are widely used in rail transit equipment, marine engineering equipment, high-rise building steel structures, and aerospace components. During welding, the welding torch nozzle guides the welding wire and shielding gas to the welding area. The welding wire and base metal form a molten pool under the heat of the arc. The flow state of the liquid metal within the molten pool directly affects the weld quality. Insufficient molten pool spread, excessive backward flow, large surface fluctuations, or incomplete local fusion can easily lead to welding defects such as undercut, humps, lack of fusion, and porosity.

[0003] To improve weld formation quality, existing technologies have developed schemes that utilize vision systems to monitor the molten pool state and control its flow using external magnetic fields. Vision systems typically acquire images of the molten pool using high-speed cameras, then analyze changes or fluctuations in its contour, width, area, and brightness. The magnetic field control structure generates a magnetic field through excitation coils and magnetic poles, applying electromagnetic forces to the conductive liquid metal within the molten pool to alter its flow characteristics, thereby improving weld formation.

[0004] However, in actual welding processes, the vision inspection structure, welding torch nozzle, and magnetic field control structure are often mounted on different supports or different mounting bases. During welding, factors such as arc heat, equipment vibration, changes in welding torch posture, and camera support adjustments can easily cause inconsistencies between the high-speed camera's acquisition center, the welding torch nozzle's wire feed center, and the magnetic field's center of action. Thus, even if the vision system detects an abnormal molten pool flow, the magnetic field control structure may act off-center from the molten pool, resulting in unstable control effects, or even excessive local disturbances or insufficient control on the other side. Summary of the Invention

[0005] The purpose of this invention is to provide a pulsed composite magnetic field control device and method based on visual feedback of molten pool flow, which can solve the problem that it is not easy to keep the visual acquisition area, the wire feeding area of ​​the welding gun nozzle and the magnetic field action area in the existing welding process, resulting in insufficient accuracy of molten pool flow control and poor linkage between weld quality prediction and magnetic field control.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: a pulsed composite magnetic field control device based on visual feedback of molten pool flow, comprising an operating table, and further comprising: A welding assembly, positioned above the worktable, includes a welding gun nozzle and is used to form a molten pool and weld on the base material. A visual feedback component, located on the outside of the welding assembly, includes a visual acquisition structure for acquiring images of the molten pool; A magnetic field control component, located on the outside of the welding gun nozzle, includes an excitation structure for applying a pulsed composite magnetic field to the molten pool; The data processing and magnetic field control unit is connected to the visual feedback component and the magnetic field control component respectively, and is used to adjust the excitation state of the magnetic field control component according to the molten pool image collected by the visual feedback component. The welding quality prediction and early warning unit is connected to the data processing and magnetic field control unit and is used to output welding quality prediction or early warning information based on the flow state changes of the molten pool.

[0007] In a preferred embodiment, the welding assembly further includes a mounting bracket and a welding gun body. The mounting bracket is positioned above the operating table, the welding gun body is mounted on the mounting bracket, and the welding gun nozzle is positioned at the lower end of the welding gun body. An upper clamping ring and a lower positioning ring are provided on the outer side of the welding gun body. The upper clamping ring is locked and positioned by a first locking screw, and the lower positioning ring is locked and positioned by a second locking screw, thereby providing a stable mounting base for the visual feedback component and magnetic field control component outside the welding gun nozzle.

[0008] In a preferred embodiment, an insulating heat-insulating sleeve is provided on the outer side of the welding gun nozzle, and an axial heat dissipation groove is formed on the outer periphery of the insulating heat-insulating sleeve. The insulating heat-insulating sleeve can reduce the transfer of heat near the welding gun nozzle to the vision mount, the shared reference ring mount, and the lower magnetic field ring mount, while the axial heat dissipation groove can increase the heat dissipation area of ​​the insulating heat-insulating sleeve and reduce the adverse effects of heat accumulation on the camera position and magnetic pole position.

[0009] In a preferred embodiment, the visual feedback component includes a visual mounting base, a first high-speed camera, a second high-speed camera, and a camera sliding groove. The first and second high-speed cameras are respectively disposed on opposite sides of the visual mounting base, and the camera sliding groove is formed on the visual mounting base. The first and second high-speed cameras can be adjusted in position along the camera sliding groove so that the acquisition area of ​​the two high-speed cameras can cover the molten pool area below the welding torch nozzle.

[0010] In a preferred embodiment, the visual feedback assembly further includes a shared reference ring mounting bracket, an arc-shaped adjustment groove, and an adjustment rod. The shared reference ring mounting bracket is located on the outside of the welding torch nozzle, the arc-shaped adjustment groove is formed on the shared reference ring mounting bracket, and the adjustment rod passes through the arc-shaped adjustment groove and is connected to the visual mount or camera mounting structure. By adjusting the position of the adjustment rod within the arc-shaped adjustment groove, the acquisition angles of the first and second high-speed cameras relative to the welding torch nozzle can be adjusted, improving the accuracy of molten pool image acquisition.

[0011] In a preferred embodiment, the magnetic field control assembly includes a lower magnetic field ring seat, a mounting ring, a first connecting positioning ring, a longitudinal excitation coil, a longitudinal magnetic pole, a second connecting positioning ring, a transverse excitation coil, and a transverse magnetic pole. The lower magnetic field ring seat is disposed outside the welding gun nozzle, the mounting ring is disposed on one side of the lower magnetic field ring seat, the first and second connecting positioning rings are disposed on the mounting ring, the longitudinal excitation coil and the longitudinal magnetic pole are disposed on the first connecting positioning ring, and the transverse excitation coil and the transverse magnetic pole are disposed on the second connecting positioning ring.

[0012] In a preferred embodiment, the ends of both the longitudinal and transverse magnetic poles face the molten pool area below the welding torch nozzle. The longitudinal excitation coil is used to apply a longitudinal pulsed magnetic field to the molten pool through the longitudinal magnetic pole, and the transverse excitation coil is used to apply a transverse pulsed magnetic field to the molten pool through the transverse magnetic pole. By coordinating the longitudinal and transverse pulsed magnetic fields, the flow direction and spreading state of the liquid metal in the molten pool can be controlled according to changes in the molten pool flow state.

[0013] In a preferred embodiment, a welding station is provided on the operating platform, located below the welding gun nozzle. The base material is placed on the welding station, and the molten pool and weld are formed on the base material. A data processing and magnetic field control unit receives molten pool images acquired by a first high-speed camera and a second high-speed camera, and adjusts the excitation states of the longitudinal and transverse excitation coils based on the molten pool flow information. A welding quality prediction and early warning unit outputs welding quality prediction or early warning information based on the molten pool flow information.

[0014] This invention also provides a pulsed composite magnetic field control method based on visual feedback of molten pool flow, comprising the following steps: placing the welding torch nozzle above the base material, and ensuring that both the visual feedback component and the magnetic field control component correspond to the molten pool area below the welding torch nozzle; activating the welding assembly to form a molten pool and weld on the base material using the welding torch nozzle; acquiring molten pool images in real time through the visual feedback component and transmitting the molten pool images to the data processing and magnetic field control unit; obtaining molten pool flow state information based on the molten pool images and adjusting the excitation state of the magnetic field control component based on the molten pool flow state information; outputting welding quality prediction or early warning information based on the molten pool flow state information; the visual feedback component continuing to acquire images of the molten pool after control, and the data processing and magnetic field control unit continuing to adjust the excitation state of the magnetic field control component based on the reacquired molten pool flow state information, thereby forming a closed-loop control.

[0015] Compared with the prior art, the advantages and positive effects of the present invention are as follows: This invention, through the cooperation of a visual feedback component, a magnetic field control component, a data processing and magnetic field control unit, and a welding quality prediction and early warning unit, can acquire molten pool images in real time during the welding process and adjust the excitation state of the pulsed composite magnetic field according to changes in the molten pool flow state, thereby establishing a correspondence between molten pool flow state detection and magnetic field control. The visual mounting base, shared reference ring mounting bracket, lower magnetic field ring seat, and mounting ring are arranged around the welding gun nozzle, reducing control deviations caused by inconsistencies between the visual acquisition area and the magnetic field action area. The camera sliding groove, arc-shaped adjustment groove, and adjustment rod can adjust the position and angle of the first and second high-speed cameras, improving the accuracy of molten pool image acquisition. The longitudinal excitation coil, longitudinal magnetic pole, transverse excitation coil, and transverse magnetic pole can apply pulsed magnetic fields in different directions to the molten pool, improving molten pool spreading and flow stability. Attached Figure Description

[0016] Figure 1 A schematic diagram of the main structure of a pulsed composite magnetic field control device and method based on visual feedback of molten pool flow provided by the present invention; Figure 2 A schematic diagram of the mounting frame and welding gun body in a pulsed composite magnetic field control device and method based on visual feedback of molten pool flow provided by the present invention; Figure 3 A schematic diagram of the structure of the welding torch nozzle and the welding torch body in a pulsed composite magnetic field control device and method based on visual feedback of molten pool flow provided by the present invention; Figure 4 A schematic diagram of the structure of the welding gun nozzle and the second high-speed camera in a pulsed composite magnetic field control device and method based on visual feedback of molten pool flow provided by the present invention; Figure 5 A schematic diagram of the upper clamping ring and the first locking screw in a pulsed composite magnetic field control device and method based on visual feedback of molten pool flow provided by the present invention; Figure 6 This invention provides a pulsed composite magnetic field control device and method based on visual feedback of molten pool flow. Figure 5 Enlarged view of point A in the middle; Figure 7 This invention provides a pulsed composite magnetic field control device and method based on visual feedback of molten pool flow. Figure 3 Enlarged view of section B in the middle.

[0017] Legend: 1. Operating table; 101. Connecting mounting bracket; 2. Welding gun nozzle; 201. Welding gun body; 202. Upper clamping ring; 203. First locking screw; 204. Lower positioning ring; 205. Second locking screw; 206. Insulating heat insulation sleeve; 207. Axis heat dissipation groove; 208. Vision mounting base; 209. First high-speed camera; 210. Second high-speed camera; 211. Camera sliding groove; 212. Shared reference ring mounting bracket; 213. 214. Arc-shaped adjustment groove; 215. Adjustment rod; 216. Lower magnetic field ring seat; 3. Mounting ring; 301. First connecting positioning ring; 302. Longitudinal excitation coil; 303. Longitudinal magnetic pole; 304. Second connecting positioning ring; 305. Transverse excitation coil; 306. Transverse magnetic pole; 307. Welding table; 308. Welding base material; 309. Weld seam; 310. Molten pool; 4. Data processing and magnetic field control unit; 5. Welding quality prediction and early warning unit. Detailed Implementation

[0018] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention. Example 1

[0019] Please see Figure 1 - Figure 7 This embodiment provides a pulsed composite magnetic field control device based on visual feedback of molten pool flow, the specific idea of ​​which is as follows: A pulsed composite magnetic field control device based on visual feedback of molten pool flow state includes an operating table 1. The pulsed composite magnetic field control device based on visual feedback of molten pool flow state also includes a welding assembly and a visual feedback assembly.

[0020] The operating platform 1 supports the connecting mounting frame 101, the welding table 307, and related control structures. The connecting mounting frame 101 is positioned above the operating platform 1 and supports the welding gun body 201, ensuring a relatively stable welding posture. The welding gun nozzle 2 is located at the lower end of the welding gun body 201 and guides the welding wire and shielding gas to the welding base material 308, enabling the formation of a molten pool 310 and a weld 309 on the base material 308.

[0021] As some examples, in this embodiment, the welding assembly includes: a welding gun body 201 and a welding gun nozzle 2.

[0022] The welding gun body 201 is mounted on the connecting mounting bracket 101, and the welding gun nozzle 2 is connected to the lower end of the welding gun body 201. A welding platform 307 is located below the welding gun nozzle 2 and is mounted on the operating table 1. The welding platform 307 is used to hold the welding base material 308. During welding, the welding gun nozzle 2 faces the surface of the welding base material 308, and a molten pool 310 is formed in the working area of ​​the welding gun nozzle 2. The molten pool 310 moves with the welding process and gradually solidifies to form a weld 309.

[0023] like Figure 1 - Figure 5 As shown, an upper clamping ring 202 is provided on the outer side of the welding gun body 201. The upper clamping ring 202 is sleeved on the outer periphery of the welding gun body 201, and a first locking screw 203 passes through the upper clamping ring 202. The first locking screw 203 can be arranged along the radial direction of the upper clamping ring 202, and by tightening it, it abuts against the outer wall of the welding gun body 201, so that the upper clamping ring 202 and the welding gun body 201 are fixed. Through the cooperation of the upper clamping ring 202 and the first locking screw 203, an upper positioning base can be formed on the outer side of the welding gun body 201, so that the visual feedback component and magnetic field control component subsequently set on the outer side of the welding gun nozzle 2 are not easily displaced by welding vibration.

[0024] Meanwhile, the lower positioning ring 204 is positioned below the upper clamping ring 202, and is sleeved on the outside of the welding gun body 201 or the welding gun nozzle 2. A second locking screw 205 passes through the lower positioning ring 204. The second locking screw 205 is used to lock and fix the lower positioning ring 204, so that the lower positioning ring 204 can cooperate with the upper clamping ring 202 to perform vertical positioning of the welding gun body 201 and the area near the welding gun nozzle 2. Through the joint cooperation of the upper clamping ring 202 and the lower positioning ring 204, the stability of the mounting structure on the outside of the welding gun nozzle 2 can be improved, so that the vision mounting base 208, the shared reference ring mounting bracket 212, and the lower magnetic field ring seat 215 can form a relatively uniform mounting reference around the welding gun nozzle 2.

[0025] As further explained, an insulating and heat-insulating sleeve 206 is also provided on the outside of the welding gun nozzle 2, located between the welding gun nozzle 2 and the shared reference ring mounting bracket 212. The insulating and heat-insulating sleeve 206 can be made of ceramic, mica composite material, or other high-temperature resistant insulating materials. The insulating and heat-insulating sleeve 206 can reduce the direct transmission of high temperature from the welding gun nozzle 2 to the vision mounting bracket 208, the shared reference ring mounting bracket 212, the lower magnetic field ring seat 215, and the camera mounting structure, thereby reducing the impact of high temperature on the positional accuracy and service life of the relevant structures.

[0026] In addition, an axial heat dissipation groove 207 is provided on the outer periphery of the insulating heat insulation sleeve 206, and the axial heat dissipation groove 207 extends along the axial direction of the insulating heat insulation sleeve 206. The axial heat dissipation groove 207 can increase the heat dissipation area of ​​the insulating heat insulation sleeve 206, so that the heat near the welding gun nozzle 2 can be dissipated outward more quickly, reducing the accumulation of heat between the insulating heat insulation sleeve 206 and the shared reference ring mounting bracket 212, thereby reducing the problem of camera acquisition area offset or magnetic pole action area offset caused by thermal deformation.

[0027] Furthermore, the insulating heat insulation sleeve 206 is disposed outside the welding gun nozzle 2 and located between the welding gun nozzle 2 and the vision mounting base 208, the shared reference ring mounting bracket 212, or the lower magnetic field ring seat 215. Since the area near the welding gun nozzle 2 is constantly affected by arc heat radiation and the heat of the molten pool 310, if the heat is directly transferred to the camera mounting structure or the magnetic field mounting structure, it can easily cause slight shifts in the field of view of the first high-speed camera 209 and the second high-speed camera 210, as well as the orientation of the longitudinal magnetic pole 303 and the transverse magnetic pole 306. The insulating heat insulation sleeve 206 can isolate some of the heat transfer, and the axial heat dissipation groove 207 increases the outer surface area of ​​the insulating heat insulation sleeve 206, allowing heat to dissipate more quickly along the groove area. Therefore, the influence of thermal deformation on the relative positions of the first high-speed camera 209, the second high-speed camera 210, the longitudinal magnetic pole 303, and the transverse magnetic pole 306 can be reduced, improving the structural stability of the equipment during continuous welding.

[0028] like Figure 1 - Figure 4 As shown, the visual feedback component includes a visual mount 208, a first high-speed camera 209, a second high-speed camera 210, a camera sliding groove 211, a shared reference ring mount 212, an arc-shaped adjustment groove 213, and an adjustment rod 214.

[0029] The vision mount 208 is disposed on the outside of the welding gun body 201 or the welding gun nozzle 2, and is used to support the first high-speed camera 209 and the second high-speed camera 210. The first high-speed camera 209 and the second high-speed camera 210 are respectively disposed on both sides of the welding gun nozzle 2, and the acquisition direction of the first high-speed camera 209 and the second high-speed camera 210 is directed towards the molten pool 310 area below the welding gun nozzle 2. Through the cooperation of the first high-speed camera 209 and the second high-speed camera 210, images of the molten pool 310 can be acquired from two different angles, providing an image basis for subsequent acquisition of the contour changes, liquid surface fluctuations and flow state changes of the molten pool 310.

[0030] The vision mounting base 208 has a camera sliding groove 211. The first high-speed camera 209 and the second high-speed camera 210 can both be connected to the camera sliding groove 211 through the camera mounting structure. The camera sliding groove 211 is used to adjust the position of the first high-speed camera 209 and the second high-speed camera 210 relative to the welding gun nozzle 2, so that the two high-speed cameras can be adaptively adjusted according to different welding gun nozzle 2 sizes, different welding base material 308 thicknesses, and different molten pool 310 positions.

[0031] The shared reference ring mounting bracket 212 is located on the outside of the welding torch nozzle 2, providing a common mounting base for the visual feedback component and the magnetic field control component. The shared reference ring mounting bracket 212 has an arc-shaped adjustment groove 213, and an adjustment rod 214 passes through the arc-shaped adjustment groove 213 and is connected to the visual mounting base 208 or the camera mounting structure. By adjusting the position of the adjustment rod 214 within the arc-shaped adjustment groove 213, the circumferential angle of the first high-speed camera 209 and the second high-speed camera 210 relative to the welding torch nozzle 2 can be changed, allowing the acquisition areas of the first high-speed camera 209 and the second high-speed camera 210 to more accurately cover the molten pool 310.

[0032] It should be noted that the camera sliding groove 211 is mainly used to adjust the distance between the first high-speed camera 209, the second high-speed camera 210, and the molten pool 310, while the arc-shaped adjustment groove 213 and the adjustment rod 214 are mainly used to adjust the acquisition angle of the first high-speed camera 209 and the second high-speed camera 210. Through the cooperation of these two types of adjustment structures, the visual feedback component can be quickly aligned with the molten pool 310 area after installation, reducing the field-of-view offset problem that easily occurs when adjusting with a traditional independent camera bracket.

[0033] Furthermore, the camera sliding groove 211 is used to adjust the radial distance between the first high-speed camera 209 and the second high-speed camera 210 relative to the welding gun nozzle 2, and the arc-shaped adjustment groove 213 is used to adjust the circumferential angle of the first high-speed camera 209 and the second high-speed camera 210 around the welding gun nozzle 2. The adjustment rod 214 passes through the arc-shaped adjustment groove 213 and is connected to the vision mount 208 or the camera mounting structure. During installation and debugging, first move the first high-speed camera 209 and the second high-speed camera 210 along the camera sliding groove 211 so that their lenses can both cover the area where the molten pool 310 is located; then slide the adjustment rod 214 along the arc-shaped adjustment groove 213 to change the viewing angle of the camera so that the two cameras face the same molten pool 310 from both sides of the welding gun nozzle 2. After adjustment, lock the adjustment rod 214 to keep the camera field of view stable.

[0034] Furthermore, the correspondence between the visual acquisition area and the magnetic field action area is mainly achieved through the relative connection of the visual mounting base 208, the shared reference ring mounting bracket 212, the lower magnetic field ring seat 215, and the mounting ring 3. The visual mounting base 208 is used to mount the first high-speed camera 209 and the second high-speed camera 210. The shared reference ring mounting bracket 212 is arranged around the welding gun nozzle 2. The lower magnetic field ring seat 215 is connected to the lower magnetic field ring seat 215. Therefore, the visual feedback component and the magnetic field control component are not mounted on separate external supports, but are both arranged around the welding gun nozzle 2. When the welding gun nozzle 2 is aligned with the area to be welded on the base material 308, the first high-speed camera 209, the second high-speed camera 210, the longitudinal magnetic pole 303, and the transverse magnetic pole 306 can all face the molten pool 310 below the welding gun nozzle 2, structurally reducing the deviation between the acquisition area and the action area. Example 2

[0035] Please see Figure 1 , Figure 3 and Figure 7 This embodiment provides a pulsed composite magnetic field control device based on visual feedback of molten pool flow, the specific idea of ​​which is as follows: A pulsed composite magnetic field control device based on visual feedback of molten pool flow state includes an operating table 1. The pulsed composite magnetic field control device based on visual feedback of molten pool flow state also includes: a magnetic field control component, a data processing and magnetic field control unit 4, and a welding quality prediction and early warning unit 5.

[0036] The magnetic field control component is located on the outside of the welding torch nozzle 2, and is used to form a pulsed composite magnetic field in the molten pool 310 area below the welding torch nozzle 2. The data processing and magnetic field control unit 4 is connected to the visual feedback component and the magnetic field control component, respectively, and is used to adjust the excitation state of the magnetic field control component according to the images of the molten pool 310 acquired by the first high-speed camera 209 and the second high-speed camera 210. The welding quality prediction and early warning unit 5 is connected to the data processing and magnetic field control unit 4, and is used to output welding quality prediction or early warning information according to the flow state changes of the molten pool 310.

[0037] As some examples, in this embodiment, the magnetic field control assembly includes: a lower magnetic field ring seat 215 and a mounting ring 3.

[0038] The lower magnetic field ring seat 215 is located on the outside of the welding gun nozzle 2 and connected to the lower part of the shared reference ring mounting bracket 212. The mounting ring 3 is located on one side of the lower magnetic field ring seat 215. Through the sequential cooperation of the shared reference ring mounting bracket 212, the lower magnetic field ring seat 215 and the mounting ring 3, the magnetic field control component can be arranged around the molten pool 310 area below the welding gun nozzle 2, so that the magnetic field action area can maintain a good correspondence with the acquisition area of ​​the visual feedback component.

[0039] As further explained, the mounting ring 3 is used to support the longitudinal excitation structure and the transverse excitation structure. The mounting ring 3 can be arranged around the welding gun nozzle 2 or on one side of the lower magnetic field ring seat 215, as long as the ends of the longitudinal magnetic pole 303 and the transverse magnetic pole 306 face the molten pool 310 area. By concentrating the support of the mounting ring 3, the positional error caused by the independent installation of the longitudinal excitation structure and the transverse excitation structure can be reduced.

[0040] like Figure 7 As shown, the mounting ring 3 is provided with a first connecting positioning ring 301 and a second connecting positioning ring 304. The first connecting positioning ring 301 is used to connect the longitudinal excitation coil 302 and the longitudinal magnetic pole 303, and the second connecting positioning ring 304 is used to connect the transverse excitation coil 305 and the transverse magnetic pole 306.

[0041] The longitudinal excitation coil 302 is connected to the first connecting positioning ring 301, and the longitudinal magnetic pole 303 is correspondingly arranged with the longitudinal excitation coil 302. The end of the longitudinal magnetic pole 303 faces the molten pool 310 area below the welding gun nozzle 2. After a pulsed excitation current is passed through the longitudinal excitation coil 302, a longitudinal pulsed magnetic field can be formed near the molten pool 310 through the longitudinal magnetic pole 303. This longitudinal pulsed magnetic field is used to influence the flow of liquid metal in the molten pool 310 along the extension direction of the weld 309. When the molten pool 310 experiences abnormal flow, backward accumulation, or large fluctuations in the liquid surface along the extension direction of the weld 309, the longitudinal pulsed magnetic field can adjust the flow trend of the molten pool 310, thereby improving the continuity of the weld 309 formation.

[0042] The transverse excitation coil 305 is connected to the second connecting positioning ring 304, and the transverse magnetic pole 306 is correspondingly arranged with the transverse excitation coil 305. The end of the transverse magnetic pole 306 also faces the molten pool 310 area below the welding gun nozzle 2. After a pulsed excitation current is passed through the transverse excitation coil 305, a transverse pulsed magnetic field can be formed near the molten pool 310 through the transverse magnetic pole 306. This transverse pulsed magnetic field is used to influence the spreading state of the molten pool 310 along the width direction of the weld 309. When the molten pool 310 has insufficient edge spreading of the weld 309, insufficient metal replenishment at the weld toe, or an abnormal edge forming trend, the transverse pulsed magnetic field can promote the spreading of liquid metal in the molten pool 310 to both sides of the weld 309, thereby reducing the risk of undercut or insufficient edge fusion.

[0043] As further explained, the first connecting positioning ring 301 and the second connecting positioning ring 304 can be respectively set at different positions of the mounting ring 3, so that the longitudinal excitation coil 302, the longitudinal magnetic pole 303, the transverse excitation coil 305, and the transverse magnetic pole 306 can be spatially staggered to avoid mutual interference. Both the longitudinal magnetic pole 303 and the transverse magnetic pole 306 face the molten pool 310 region, so that both the longitudinal pulse magnetic field and the transverse pulse magnetic field can act on the liquid metal near the molten pool 310. Through the combination of the longitudinal excitation structure and the transverse excitation structure, the magnetic field action in the corresponding direction can be selectively adjusted according to different abnormal molten pool flow conditions.

[0044] Furthermore, the pulsed composite magnetic field in this invention refers to a composite control magnetic field formed by the combined action of pulsed magnetic fields generated by the longitudinal excitation coil 302 and the transverse excitation coil 305 in the molten pool 310 region. Specifically, when the longitudinal excitation coil 302 is energized, it forms a longitudinal pulsed magnetic field acting along the extension direction of the weld 309 through the longitudinal magnetic pole 303. When the transverse excitation coil 305 is energized, it forms a transverse pulsed magnetic field acting along the width direction of the weld 309 through the transverse magnetic pole 306. The data processing and magnetic field control unit 4 can adjust the longitudinal excitation coil 302 or the transverse excitation coil 305 individually or simultaneously according to the molten pool flow information, so that the longitudinal and transverse pulsed magnetic fields superimpose in the molten pool 310 region, thereby forming a composite magnetic field control effect that matches the abnormal flow direction of the molten pool.

[0045] like Figure 1 As shown, a welding table 307 is provided on the operating table 1, located below the welding gun nozzle 2. The base material 308 is placed on the welding table 307, and during the welding process, it forms a molten pool 310 and a weld 309. The molten pool 310 is located within the acquisition areas of the first high-speed camera 209 and the second high-speed camera 210, and simultaneously within the action areas of the longitudinal magnetic pole 303 and the transverse magnetic pole 306. Therefore, the image of the molten pool 310 detected by the visual feedback component can directly serve as the basis for adjustment by the magnetic field control component, improving the correspondence between visual feedback and magnetic field control.

[0046] The data processing and magnetic field control unit 4 is connected to the first high-speed camera 209, the second high-speed camera 210, the longitudinal excitation coil 302, and the transverse excitation coil 305, respectively. After the images of the molten pool 310 acquired by the first high-speed camera 209 and the second high-speed camera 210 are transmitted to the data processing and magnetic field control unit 4, the data processing and magnetic field control unit 4 can obtain the molten pool flow state information based on the molten pool outline, width variation, brightness distribution, liquid metal flow trend, and liquid surface fluctuation in the molten pool 310 image, and output the corresponding excitation control command based on the molten pool flow state information.

[0047] Furthermore, the molten pool flow information described in this invention is not an abstract judgment result, but is extracted from continuous molten pool images acquired by the first high-speed camera 209 and the second high-speed camera 210. Specifically, the data processing and magnetic field control unit 4 can obtain molten pool flow information based on the boundary position of the molten pool 310, the width of the molten pool, the length of the molten pool, the brightness distribution of the molten pool, the fluctuation amplitude of the edge of the molten pool, and the changes in the shape of the front and rear ends of the molten pool in adjacent frame images. When the width of the molten pool 310 continues to decrease or the metal replenishment on both sides of the weld 309 is insufficient, it can be judged that the spread along the width direction of the weld 309 is insufficient; when the bright area at the rear end of the molten pool 310 continues to accumulate, the boundary fluctuation increases, or discontinuous protrusions appear at the tail of the molten pool, it can be judged that the flow is abnormal along the extension direction of the weld 309. Through the above image features, a clear basis can be provided for subsequent adjustment of excitation parameters.

[0048] Furthermore, the excitation state described in this invention includes the magnitude of the excitation current, the pulse frequency, the pulse duty cycle, and the start / stop states of the longitudinal excitation coil 302 and the transverse excitation coil 305. The data processing and magnetic field control unit 4 selects the corresponding excitation structure for adjustment based on the molten pool flow information. When the molten pool 310 is insufficiently spread along the width direction of the weld 309, the excitation current or pulse duty cycle of the transverse excitation coil 305 is preferentially increased, so that the transverse magnetic pole 306 applies an enhanced transverse pulse magnetic field to the molten pool 310, causing the liquid metal to spread to both sides of the weld 309; when the molten pool 310 has obvious backward flow or tail accumulation along the extension direction of the weld 309, the excitation current or pulse frequency of the longitudinal excitation coil 302 is preferentially adjusted, so that the longitudinal magnetic pole 303 applies a longitudinal pulse magnetic field to the molten pool 310, thereby suppressing backward accumulation of the molten pool and stabilizing the formation of the weld 309.

[0049] The welding quality prediction and early warning unit 5 is connected to the data processing and magnetic field control unit 4. After the data processing and magnetic field control unit 4 acquires the molten pool flow information, it can transmit this information or the corresponding risk assessment result to the welding quality prediction and early warning unit 5. The welding quality prediction and early warning unit 5 determines whether there are potential quality risks in the weld 309 based on the flow pattern change trend of the molten pool 310, and outputs early warning information when there are continuous fluctuations, insufficient spreading, abnormal flow, or unstable forming, prompting the operator to observe or handle the situation.

[0050] Furthermore, the welding quality prediction and early warning unit 5 receives the molten pool flow information output by the data processing and magnetic field control unit 4, and judges the potential quality risks of the weld 309 based on the changing trend of the molten pool 310 image. When the width, boundary fluctuation, and brightness distribution of the molten pool 310 are all within a preset stable range, the welding quality prediction and early warning unit 5 maintains normal monitoring; when the width of the molten pool 310 continues to decrease, the edge spreading is insufficient, or the liquid surface fluctuation increases but has not yet exceeded the severe abnormal range, an early warning is output; when there is obvious accumulation at the tail of the molten pool 310, severe boundary fluctuation, or multiple consecutive frames of images showing abnormal flow, a higher-level early warning is output. The above early warning information can be output through the display interface, audible and visual alarms, or control signals to prompt operators to pay attention to the welding status and assist the data processing and magnetic field control unit 4 in continuous closed-loop adjustment.

[0051] In use, first install the welding gun body 201 on the connecting mounting bracket 101, and align the welding gun nozzle 2 with the welding base material 308 on the welding table 307. Then, secure the welding gun body 201 and the area near the welding gun nozzle 2 using the upper clamping ring 202, the first locking screw 203, the lower positioning ring 204, and the second locking screw 205. Next, install the insulating heat insulation sleeve 206, the vision mounting base 208, the shared reference ring mounting bracket 212, the lower magnetic field ring seat 215, and the mounting ring 3. After installation, adjust the position and acquisition angle of the first high-speed camera 209 and the second high-speed camera 210 using the camera sliding groove 211, the arc-shaped adjustment groove 213, and the adjustment rod 214, ensuring that their acquisition area covers the molten pool 310.

[0052] After welding begins, the welding torch nozzle 2 forms a molten pool 310 on the base material 308. The first high-speed camera 209 and the second high-speed camera 210 acquire images of the molten pool 310 in real time. The data processing and magnetic field control unit 4 identifies the flow state changes of the molten pool 310 based on the images and adjusts the excitation state of the longitudinal excitation coil 302 or the transverse excitation coil 305 according to the identification results. If the molten pool 310 does not spread sufficiently along the width direction of the weld 309, the transverse excitation coil 305 is adjusted so that the transverse magnetic pole 306 applies a transverse pulsed magnetic field to the molten pool 310; if the molten pool 310 flows abnormally along the extension direction of the weld 309, the longitudinal excitation coil 302 is adjusted so that the longitudinal magnetic pole 303 applies a longitudinal pulsed magnetic field to the molten pool 310. After adjustment, the first high-speed camera 209 and the second high-speed camera 210 continue to acquire images of the molten pool 310, and the data processing and magnetic field control unit 4 continues to adjust the excitation state according to the new molten pool flow state information, thus forming a visual feedback closed-loop control process.

[0053] Working principle: In use, the welding gun body 201 is first mounted on the connecting mounting bracket 101, with the welding gun nozzle 2 facing the welding table 307 on the operating table 1. The welding base material 308 is placed on the welding table 307, and the welding gun nozzle 2 is aligned with the welding position of the welding base material 308. The upper clamping ring 202 is sleeved on the outside of the welding gun body 201 and locked and positioned by the first locking screw 203; the lower positioning ring 204 is located below the upper clamping ring 202 and fixed by the second locking screw 205. Through the upper and lower cooperation of the upper clamping ring 202 and the lower positioning ring 204, a stable mounting base can be formed on the outside of the welding gun body 201 and the welding gun nozzle 2, so that the vision mounting base 208, the shared reference ring mounting bracket 212, the lower magnetic field ring seat 215 and the mounting ring 3 can all be arranged around the welding gun nozzle 2, thereby reducing the relative offset between the vision feedback component and the magnetic field control component.

[0054] An insulating heat-insulating sleeve 206 is installed on the outside of the welding gun nozzle 2, located between the welding gun nozzle 2 and the shared reference ring mounting bracket 212. During welding, the area near the welding gun nozzle 2 is affected by arc heat, molten pool heat radiation, and spatter heat. If the heat is continuously transferred to the vision mounting base 208 or the lower magnetic field ring seat 215, it can easily cause slight changes in the camera acquisition direction and magnetic pole orientation. The insulating heat-insulating sleeve 206 can isolate the heat near the welding gun nozzle 2, and the axial heat dissipation groove 207 can increase the heat dissipation area of ​​the insulating heat-insulating sleeve 206, allowing the heat to dissipate in a timely manner along the outer periphery of the insulating heat-insulating sleeve 206, thereby reducing the impact of thermal deformation on the correspondence between the vision acquisition area and the magnetic field action area during continuous welding.

[0055] A first high-speed camera 209 and a second high-speed camera 210 are mounted on a vision mount 208. The vision mount 208 is provided with a camera sliding groove 211, allowing the first high-speed camera 209 and the second high-speed camera 210 to adjust their distance relative to the welding torch nozzle 2 along the camera sliding groove 211. A shared reference ring mounting bracket 212 is provided with an arc-shaped adjustment groove 213, and an adjustment rod 214 passes through the arc-shaped adjustment groove 213 and is connected to the vision mount 208 or the camera mounting structure. During installation and debugging, first, adjust the position of the first high-speed camera 209 and the second high-speed camera 210 along the camera sliding groove 211 so that both cameras can cover the molten pool 310 area below the welding torch nozzle 2; then, move the adjustment rod 214 along the arc-shaped adjustment groove 213 to adjust the acquisition angle of the two cameras so that the first high-speed camera 209 and the second high-speed camera 210 acquire images from both sides of the welding torch nozzle 2 toward the same molten pool 310. After adjustment, lock the adjustment rod 214 to maintain the stability of the camera field of view.

[0056] The magnetic field control component is located outside the welding torch nozzle 2. A lower magnetic field ring seat 215 is connected to the lower part of the shared reference ring mounting bracket 212, and a mounting ring 3 is located on one side of the lower magnetic field ring seat 215. The mounting ring 3 is equipped with a first connecting positioning ring 301 and a second connecting positioning ring 304. The first connecting positioning ring 301 is used to mount the longitudinal excitation coil 302 and the longitudinal magnetic pole 303, and the second connecting positioning ring 304 is used to mount the transverse excitation coil 305 and the transverse magnetic pole 306. Since both the lower magnetic field ring seat 215 and the vision mounting base 208 are arranged around the welding torch nozzle 2 via the shared reference ring mounting bracket 212, the longitudinal magnetic pole 303, the transverse magnetic pole 306, the first high-speed camera 209, and the second high-speed camera 210 can all correspond to the molten pool 310 area below the welding torch nozzle 2. Thus, the image of the molten pool 310 acquired by the vision feedback component maintains a good spatial correspondence with the actual molten pool 310 area where the magnetic field control component operates.

[0057] After welding begins, the welding torch nozzle 2 directs the welding wire and shielding gas, forming a molten pool 310 on the base material 308. The molten pool 310 moves with the welding process and forms a weld 309 after cooling and solidification. The first high-speed camera 209 and the second high-speed camera 210 acquire images of the molten pool 310 in real time from both sides of the welding torch nozzle 2 and transmit the images to the data processing and magnetic field control unit 4. The data processing and magnetic field control unit 4 can obtain molten pool flow information based on the molten pool boundary, molten pool width, molten pool brightness distribution, molten pool tail shape, and changes in the molten pool edge in adjacent frames. When the width of the molten pool 310 continuously decreases, the bright areas on both sides of the weld 309 are insufficient, or the molten pool edge fails to spread sufficiently, it can be determined that the molten pool 310 is not spreading sufficiently along the width direction of the weld 309; when the bright area at the tail of the molten pool 310 accumulates, the boundary fluctuation increases, or there is a tendency for liquid metal to concentrate backward along the extension direction of the weld 309, it can be determined that the molten pool 310 is flowing abnormally along the extension direction of the weld 309.

[0058] When the data processing and magnetic field control unit 4 determines that the molten pool 310 is not sufficiently spread along the width direction of the weld 309, the data processing and magnetic field control unit 4 adjusts the excitation state of the transverse excitation coil 305, for example, by increasing the excitation current, pulse duty cycle, or pulse frequency of the transverse excitation coil 305, so that the transverse magnetic poles 306 form an enhanced transverse pulsed magnetic field near the molten pool 310. After the transverse pulsed magnetic field acts on the conductive liquid metal in the molten pool 310, it can change the flow trend of the liquid metal in the width direction of the weld 309, promote the spread of the liquid metal in the molten pool 310 to both sides of the weld 309, thereby reducing the risk of undercut, insufficient edge fusion, or insufficient width of the weld 309.

[0059] When the data processing and magnetic field control unit 4 determines that the flow of the molten pool 310 along the extension direction of the weld 309 is abnormal, such as obvious accumulation of liquid metal at the tail of the molten pool 310, continuous increase in liquid surface fluctuations, or a discontinuous bulging trend behind the weld 309, the data processing and magnetic field control unit 4 adjusts the excitation state of the longitudinal excitation coil 302, so that the longitudinal magnetic pole 303 forms a longitudinal pulsed magnetic field near the molten pool 310. The longitudinal pulsed magnetic field can intervene in the flow of liquid metal in the molten pool 310 along the extension direction of the weld 309, suppress excessive backward accumulation of liquid metal, reduce fluctuations at the tail of the molten pool, thereby improving the continuity of weld 309 formation and reducing the risk of humps, uneven formation, or local bulging.

[0060] In some welding conditions, the molten pool 310 may simultaneously exhibit insufficient edge spreading and abnormal backward flow. In this case, the data processing and magnetic field control unit 4 can simultaneously adjust the transverse excitation coil 305 and the longitudinal excitation coil 302, causing the transverse pulsed magnetic field formed by the transverse magnetic pole 306 and the longitudinal pulsed magnetic field formed by the longitudinal magnetic pole 303 to act together in the molten pool 310 region, forming a pulsed composite magnetic field. This pulsed composite magnetic field can simultaneously influence the liquid metal flow of the molten pool 310 along both the width direction and the extension direction of the weld 309, ensuring that the molten pool 310 maintains proper spreading while avoiding excessive backward accumulation, thus maintaining a relatively stable flow state.

[0061] The welding quality prediction and early warning unit 5 receives the molten pool flow information output by the data processing and magnetic field control unit 4, and judges whether there are potential quality risks in the weld 309 based on the changing trend of the molten pool 310. When the boundary of the molten pool 310 is stable, the width change is small, the brightness distribution is continuous, and the liquid surface fluctuation is small, the welding quality prediction and early warning unit 5 maintains normal monitoring status; when multiple consecutive frames of images of the molten pool 310 show insufficient edge spreading, tail accumulation, or increased liquid surface fluctuation, the welding quality prediction and early warning unit 5 outputs early warning information to prompt the operator to pay attention to the welding status. This early warning information can be output through the display interface, audible and visual alarms, or control signals, enabling the operator to promptly detect abnormal welding trends.

[0062] After each adjustment of the longitudinal excitation coil 302 or the transverse excitation coil 305, the first high-speed camera 209 and the second high-speed camera 210 continue to acquire images of the molten pool 310 after adjustment. The data processing and magnetic field control unit 4 then acquires the molten pool flow state information based on the new molten pool 310 image and determines whether the molten pool 310 has recovered to a relatively stable state. If the molten pool 310 still has insufficient spreading or abnormal flow, the excitation parameters of the corresponding excitation coil are adjusted; if the molten pool 310 has recovered to a stable state, the current excitation state is maintained or the control intensity is gradually reduced. Thus, the present invention forms a closed-loop working process of "visual acquisition - flow state recognition - excitation adjustment - quality warning - visual feedback again".

[0063] Through the above-described process, this invention enables the continuous closed-loop integration of molten pool 310 image acquisition, molten pool flow pattern recognition, pulsed composite magnetic field control, and welding quality early warning. The upper clamping ring 202, lower positioning ring 204, vision mounting base 208, shared reference ring mounting bracket 212, lower magnetic field ring seat 215, and mounting ring 3 cooperate to arrange the first high-speed camera 209, second high-speed camera 210, welding torch nozzle 2, longitudinal magnetic pole 303, and transverse magnetic pole 306 around the same molten pool 310 region, structurally reducing the problem of inconsistency between the vision acquisition center, the wire feeding center of the welding torch nozzle 2, and the magnetic field action center in existing technologies. The camera sliding groove 211, the arc-shaped adjustment groove 213, and the adjustment rod 214 can adjust the camera position and angle, making the image acquisition of the molten pool 310 more accurate. The insulating heat insulation sleeve 206 and the axial heat dissipation groove 207 can reduce the impact of welding heat on the installation structure and maintain the relative position stability of the camera and the magnetic pole. The transverse excitation coil 305 and the transverse magnetic pole 306 can promote the flow of liquid metal to both sides of the weld 309 when the molten pool 310 is insufficiently spread, and the longitudinal excitation coil 302 and the longitudinal magnetic pole 303 can suppress the accumulation of liquid metal when the backward flow of the molten pool 310 is abnormal. Therefore, the present invention can solve the problems of the visual detection area and the magnetic field control area being difficult to correspond, the magnetic field control effect being unstable, and the weld 309 forming quality being difficult to warn in a timely manner in the prior art, thereby improving the flow stability of the molten pool and the forming quality of the weld 309.

[0064] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any other way. Any person skilled in the art may make changes or modifications to the above-disclosed technical content to create equivalent embodiments for application in other fields. However, any simple modifications, equivalent changes, and modifications made to the above embodiments based on the technical essence of the present invention without departing from the scope of the present invention shall still fall within the protection scope of the present invention.

Claims

1. A pulsed composite magnetic field control device based on visual feedback of molten pool flow, comprising an operating table (1), characterized in that: Also includes: A welding assembly, disposed above the operating table (1), includes a welding gun nozzle (2), a welding base material (308), a weld (309), and a molten pool (310). The welding assembly is used to form the molten pool (310) and the weld (309) on the welding base material (308). A visual feedback component, disposed on the outside of the welding component, includes a visual acquisition structure for acquiring images of the molten pool (310); A magnetic field control component is disposed on the outside of the welding gun nozzle (2) and includes an excitation structure for applying a pulsed composite magnetic field to the molten pool (310); The data processing and magnetic field control unit (4) is connected to the visual feedback component and the magnetic field control component respectively, and is used to adjust the excitation state of the magnetic field control component according to the image of the molten pool (310) collected by the visual feedback component. The welding quality prediction and early warning unit (5) is connected to the data processing and magnetic field control unit (4) and is used to output welding quality prediction or early warning information based on the flow state change of the molten pool (310).

2. The pulsed composite magnetic field control device based on visual feedback of molten pool flow state according to claim 1, characterized in that: The welding assembly also includes: A mounting bracket (101) is installed above the operating table (1); The welding gun body (201) is disposed on the connecting mounting bracket (101), and the welding gun nozzle (2) is disposed at the lower end of the welding gun body (201); The upper clamping ring (202) is sleeved on the outside of the welding gun body (201); The first locking screw (203) passes through the upper clamping ring (202) and is used to lock the upper clamping ring (202). The lower positioning ring (204) is located below the upper clamping ring (202); The second locking screw (205) passes through the lower positioning ring (204) and is used to lock the lower positioning ring (204).

3. The pulsed composite magnetic field control device based on visual feedback of molten pool flow state according to claim 2, characterized in that: The welding assembly also includes an insulating heat insulation sleeve (206) and an axial heat dissipation groove (207). The insulating heat insulation sleeve (206) is disposed on the outside of the welding gun nozzle (2), and the axial heat dissipation groove (207) is formed on the outer periphery of the insulating heat insulation sleeve (206).

4. The pulsed composite magnetic field control device based on visual feedback of molten pool flow state according to claim 1, characterized in that: The visual feedback component includes: A vision mounting base (208) is disposed on the outside of the welding assembly; A first high-speed camera (209) is disposed on one side of the vision mount (208); A second high-speed camera (210) is disposed on the other side of the vision mount (208); A camera sliding groove (211) is provided on the vision mounting base (208), and the first high-speed camera (209) and the second high-speed camera (210) can adjust their mounting positions along the camera sliding groove (211).

5. The pulsed composite magnetic field control device based on visual feedback of molten pool flow state according to claim 4, characterized in that: The visual feedback component also includes a shared reference ring mounting bracket (212), an arc-shaped adjustment groove (213), and an adjustment rod (214). The shared reference ring mounting bracket (212) is located on the outside of the welding gun nozzle (2). The arc-shaped adjustment groove (213) is formed on the shared reference ring mounting bracket (212). The adjustment rod (214) passes through the arc-shaped adjustment groove (213) and is connected to the visual mounting base (208) or a mounting structure for mounting the first high-speed camera (209) and the second high-speed camera (210).

6. The pulsed composite magnetic field control device based on visual feedback of molten pool flow state according to claim 5, characterized in that: The magnetic field control component includes: The lower magnetic field ring seat (215) is connected to the lower part of the shared reference ring mounting bracket (212) and is located on the outside of the welding gun nozzle (2); The mounting ring (3) is disposed on one side of the lower magnetic field ring seat (215); The first connecting positioning ring (301) is disposed on the mounting ring (3); A longitudinal excitation coil (302) is disposed on the first connecting positioning ring (301); The longitudinal magnetic poles (303) are arranged corresponding to the longitudinal excitation coil (302); The second connecting positioning ring (304) is disposed on the mounting ring (3); A transverse excitation coil (305) is disposed on the second connecting positioning ring (304); The transverse magnetic poles (306) are arranged corresponding to the transverse excitation coil (305); The lower magnetic field ring seat (215), the mounting ring (3) and the shared reference ring mounting bracket (212) cooperate with each other so that the first high-speed camera (209), the second high-speed camera (210), the longitudinal magnetic pole (303) and the transverse magnetic pole (306) all correspond to the molten pool (310) area below the welding gun nozzle (2).

7. The pulsed composite magnetic field control device based on visual feedback of molten pool flow state according to claim 6, characterized in that: The ends of the longitudinal magnetic pole (303) and the transverse magnetic pole (306) are both directed toward the molten pool (310) region below the welding gun nozzle (2). The longitudinal excitation coil (302) is used to apply a longitudinal pulsed magnetic field to the molten pool (310) through the longitudinal magnetic pole (303), and the transverse excitation coil (305) is used to apply a transverse pulsed magnetic field to the molten pool (310) through the transverse magnetic pole (306).

8. The pulsed composite magnetic field control device based on visual feedback of molten pool flow state according to claim 1, characterized in that: The operating table (1) is provided with a welding table (307), which is located below the welding gun nozzle (2). The welding table (307) is used to support the welding base material (308) so that the welding base material (308) forms a molten pool (310) and a weld (309) during the welding process.

9. A pulsed composite magnetic field control method based on visual feedback of molten pool flow, characterized in that: The pulsed composite magnetic field control device based on visual feedback of molten pool flow, as described in any one of claims 1 to 8, includes the following steps: S1. Position the welding gun nozzle (2) above the welding base material (308), and make the visual feedback component and the magnetic field control component correspond to the molten pool (310) area below the welding gun nozzle (2); S2. Start the welding assembly so that the welding gun nozzle (2) forms the molten pool (310) and weld (309) on the base material (308). S3. The image of the molten pool (310) is acquired in real time through the visual feedback component, and the image of the molten pool (310) is transmitted to the data processing and magnetic field control unit (4). S4. The data processing and magnetic field control unit (4) acquires the flow state information of the molten pool (310) based on the image of the molten pool, and adjusts the excitation state of the magnetic field control component based on the flow state information of the molten pool. S5, Welding quality prediction and early warning unit (5) outputs welding quality prediction or early warning information based on the molten pool flow information; S6. The visual feedback component continues to acquire images of the molten pool (310) after regulation, and the data processing and magnetic field regulation unit (4) continues to adjust the excitation state of the magnetic field regulation component according to the reacquired molten pool flow state information.

10. The pulsed composite magnetic field control method based on visual feedback of molten pool flow state according to claim 9, characterized in that: The pulsed composite magnetic field control device based on visual feedback of molten pool flow is the pulsed composite magnetic field control device based on visual feedback of molten pool flow as described in claim 6 or 7. In step S4, when the molten pool flow information indicates that the molten pool (310) is not spreading sufficiently along the weld width direction, the data processing and magnetic field control unit (4) adjusts the excitation parameters of the transverse excitation coil (305) so that the transverse magnetic pole (306) applies a transverse pulse magnetic field to the molten pool (310); when the molten pool flow information indicates that the molten pool (310) flows abnormally along the weld extension direction, the data processing and magnetic field control unit (4) adjusts the excitation parameters of the longitudinal excitation coil (302) so that the longitudinal magnetic pole (303) applies a longitudinal pulse magnetic field to the molten pool (310).

Images