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Showing papers on "Welding published in 2019"


Journal ArticleDOI
TL;DR: In this article, the authors present an overview of the Directed Energy Deposition (DED) process and its role in the repairing of metallic components and confirm the significant capability of DED process as a repair and remanufacturing technology.
Abstract: In the circular economy, products, components, and materials are aimed to be kept at the utility and value all the lifetime. For this purpose, repair and remanufacturing are highly considered as proper techniques to return the value of the product during its life. Directed Energy Deposition (DED) is a very flexible type of additive manufacturing (AM), and among the AM techniques, it is most suitable for repairing and remanufacturing automotive and aerospace components. Its application allows damaged component to be repaired, and material lost in service to be replaced to restore the part to its original shape. In the past, tungsten inert gas welding was used as the main repair method. However, its heat affected zone is larger, and the quality is inferior. In comparison with the conventional welding processes, repair via DED has more advantages, including lower heat input, warpage and distortion, higher cooling rate, lower dilution rate, excellent metallurgical bonding between the deposited layers, high precision, and suitability for full automation. Hence, the proposed repairing method based on DED appears to be a capable method of repairing. Therefore, the focus of this study was to present an overview of the DED process and its role in the repairing of metallic components. The outcomes of this study confirm the significant capability of DED process as a repair and remanufacturing technology.

223 citations


Journal ArticleDOI
TL;DR: It is shown that AA7075 can be safely arc welded without hot cracks by introducing nanoparticle-enabled phase control during welding by adding nanoparticles to a weld filler rod.
Abstract: Lightweight materials are of paramount importance to reduce energy consumption and emissions in today's society. For materials to qualify for widespread use in lightweight structural assembly, they must be weldable or joinable, which has been a long-standing issue for high strength aluminum alloys, such as 7075 (AA7075) due to their hot crack susceptibility during fusion welding. Here, we show that AA7075 can be safely arc welded without hot cracks by introducing nanoparticle-enabled phase control during welding. Joints welded with an AA7075 filler rod containing TiC nanoparticles not only exhibit fine globular grains and a modified secondary phase, both which intrinsically eliminate the materials hot crack susceptibility, but moreover show exceptional tensile strength in both as-welded and post-weld heat-treated conditions. This rather simple twist to the filler material of a fusion weld could be generally applied to a wide range of hot crack susceptible materials.

176 citations


Journal ArticleDOI
TL;DR: In this article, the effects of process parameters in TIG-based WAAM for specimens created using Hastelloy X alloy (Haynes International) welding wire and 304 stainless-steel plate as the substrate were discussed.
Abstract: This paper discusses the effects of process parameters in TIG based WAAM for specimens created using Hastelloy X alloy (Haynes International) welding wire and 304 stainless-steel plate as the substrate. The Taguchi method and ANOVA were used to determine the effects of travel speed, wire feed rate, current, and argon flow rate on the responses including bead shape and size, bead roughness, oxidation levels, melt through depth, and the microstructure. Travel speed and current were found to have the largest effect on the responses. Increasing travel speed or decreasing current caused a decrease in melt through depth and an increase in roughness. Printing strategies were tested using specimens of multiple layers and no significant difference was found between printing layers in the same direction and printing layers in alternating directions. No observable interface between the layers was present suggesting a complete fusion between layers with no oxidation. Three distinct zones were identified within the three- and eight-layer samples. The zones were characterized by the size and distribution of the molybdenum carbide formations within the matrix grain formations.

166 citations


Journal ArticleDOI
TL;DR: The role of sensors in robotic welding and a detail study of methodologies of weld seam position and geometry feature extraction by different sensors typically used for weld seam tracking are presented.
Abstract: Use of sensors in robotic welding for controlling the weld quality leads to replacement of manual welding operation in dangerous work environment in presence of high temperature and fumes even in small or medium scale enterprises. The seam tracking operation is very essential for extracting weld seam position which can be fed to robot controller for instructing robot along the weld seam path. The seam tracking operation can be executed by different types of sensors having their own merits and demerits. In this paper, different sensors and techniques used for seam tracking task in robotic welding have been discussed in detail. Each sensor has different method or technology of weld seam feature extraction which have been described by different authors in different ways. The chief tasks for seam tracking have been found to be weld starting and end point detection, weld edge detection, joint width measurement and weld path position determination with respect to robot co-ordinate frame. Thus sensors have a very important role in robotic welding for fully automating the system with in process real time monitoring of weld process parameters with the sensor feedback. In further discussion the practical use of different sensors in industries with a comparison of their advantages and disadvantages have been discussed. This Paper presents the role of sensors in robotic welding and a detail study of methodologies of weld seam position and geometry feature extraction by different sensors typically used for weld seam tracking.

149 citations


Journal ArticleDOI
TL;DR: In this paper, three types of laser beam oscillating welding were applied on 5A06 aluminum alloy sheets and microstructure and mechanical properties of the welded joints were characterized.
Abstract: Three types of laser beam oscillating welding were applied on 5A06 aluminum alloy sheets. The microstructure and mechanical properties of the welded joints were characterized. The formation and elimination mechanisms of welding pores during laser beam oscillating welding was investigated. The results showed that laser beam oscillating welding using linear, circular and infinity paths allow to reduce the porosity of the welded joint when compared to the joint produced without beam without oscillation. Among the three oscillating paths, the infinity mode was the best in terms of decreasing the porosity in the weld and increasing the tensile strength. The decrease in porosity of the fusion zone was associated with the weld shape and the decrease of the depth-to-width ratio of the weld due to the oscillation of the heat source. Laser beam oscillating welding applied to aluminum alloys can be of significant interest to industry to decrease porosity problems typically encountered during laser welding of these materials.

142 citations


Journal ArticleDOI
TL;DR: Wang et al. as discussed by the authors proposed a deep learning-based on-line defect detection for aluminum alloy in robotic arc welding using convolutional neural networks (CNN) and weld images.

139 citations


Journal ArticleDOI
TL;DR: In this article, a combination of several experimental and computational methods was used to improve the understanding of some important phenomena accompanying the process of explosive welding, including the formation of a re-entrant jet.

109 citations


Journal ArticleDOI
TL;DR: In this article, a wire arc additive manufacturing (WAAM) method was used to fabricate a low carbon low-alloy steel wall using a gas metal arc welding (GMAW) torch translated by six-axis robotic arm.
Abstract: The emerging technology of wire arc additive manufacturing (WAAM) has been enthusiastically embraced in recent years mainly by the welding community to fabricate various grades of structural materials. In this study, ER70S-6 low-carbon low-alloy steel wall was manufactured by WAAM method, utilizing a gas metal arc welding (GMAW) torch translated by a six-axis robotic arm, and employing advanced surface tension transfer (STT) mode. The dominant microstructure of the fabricated part contained randomly oriented fine polygonal ferrite and a low-volume fraction of lamellar pearlite as the primary micro-constituents. Additionally, a small content of bainite and acicular ferrite were also detected along the melt-pool boundaries, where the material undergoes a faster cooling rate during solidification in comparison with the center of the melt pool. Mechanical properties of the part, studied at different orientations relative to the building direction, revealed a comparable tensile strength along the deposition (horizontal) direction and the building (vertical) direction of the fabricated part (~ 400 MPa and ~ 500 MPa for the yield and ultimate tensile strengths, respectively). However, the obtained plastic tensile strain at failure along the horizontal direction was nearly three times higher than that of the vertical direction, implying some extent of anisotropy in ductility. The reduced ductility of the part along the building direction was associated with the higher density of the interpass regions and the melt-pool boundaries in the vertical direction, containing heat-affected zones with coarser grain structure, brittle martensite–austenite constituent, and possibly a higher density of discontinuities.

106 citations


Journal ArticleDOI
TL;DR: In this paper, the influence of arc energy and the thermal field on the resulting mechanical properties and microstructure of the material was analyzed and the results showed that this steel can be used to generate 3D metal components or structures with high reproducibility, near-net-shaped geometry, absence of cracks, and a deposition rate of up to 3.6

95 citations


Journal ArticleDOI
TL;DR: In this article, the formation of Al O C bonds at the interface between polyamide 66 and alumina coating was investigated using X-ray photoelectron spectroscopy (XPS).

90 citations


Journal ArticleDOI
TL;DR: In this article, cooling assisted friction stir welded Al-Mg joints were investigated by visual inspection, optical macro plus microscopy, scanning electron micrographs, energy dispersive X-ray spectroscopy, Xray diffractions, tensile testing and micro hardness indentation.
Abstract: Conventional and cooling assisted friction stir welded Al–Mg joints were investigated by visual inspection, optical macro plus microscopy, scanning electron micrographs, energy dispersive X-ray spectroscopy, X-ray diffractions, tensile testing and micro hardness indentation. The nugget zone is characterized by onion rings composed of different phases such as Mg in an Al matrix, Al in an Mg matrix as well as intermetallic compounds, Al3Mg2 and Al12Mg17. A diffusion layer was detected on the Al side of the joint between the nugget and thermo-mechanically affected zones identifying a solid solution of Mg in Al. No diffusion layer was observed on the Mg side. The tensile strength of the dissimilar joints is enhanced by cooling assisted welding process due to the reduction in the amount of intermetallic compounds inside the weld bead. Congruently, higher hardness peaks are reported in the nugget zone of conventional FSW joint with respect to the CFSW joint.

Journal ArticleDOI
TL;DR: In this paper, a multi-sensor system, including an auxiliary illumination (AI) visual sensor system, an UVV band visual sensor, a spectrometer, and two photodiodes, is established to capture signals of the welding status during high-power disk laser welding.

Journal ArticleDOI
TL;DR: In this article, different lap joints of 1060 aluminum and T2 copper were obtained by friction stir spot welding (FSSW) at various rotational speeds and measured process variables during welding revealed that an increasing rotational speed leads to a higher peak temperature but a lower torque and plunging force due to the greater softening degree of material.

Journal ArticleDOI
26 Feb 2019
TL;DR: In this article, the application of friction stir welding (FSW) in dissimilar aluminum alloy combinations is discussed, and a detailed summary of literature lists welding parameters for the different aluminum Alloy combinations.
Abstract: Friction stir welding (FSW) has enjoyed great success in joining aluminum alloys. As lightweight structures are designed in higher numbers, it is only natural that FSW is being explored to join dissimilar aluminum alloys. The use of different aluminum alloy combinations in applications offers the combined benefit of cost and performance in the same component. This review focuses on the application of FSW in dissimilar aluminum alloy combinations in order to disseminate research this topic. The review details published works on FSWed dissimilar aluminum alloys. The detailed summary of literature lists welding parameters for the different aluminum alloy combinations. Furthermore, auxiliary welding parameters such as positioning of the alloy, tool rotation speed, welding speed and tool geometry are discussed. Microstructural features together with joint mechanical properties, like hardness and tensile strength measurements, are presented. At the end, new directions for the joining of dissimilar aluminum alloy combinations should guide further research to extend as well as to improve the process, which is expected to raise further interest on the topic.

Journal ArticleDOI
TL;DR: In this paper, an adaptive neuro-fuzzy inference system (ANFIS) integrated with harris hawks optimizer (HHO) was used to search for optimal values of ANFIS parameters and to determine the optimal operating conditions of the FSW process.
Abstract: Friction Stir Welding (FSW) has been paid more attention in recent years due to its efficiency in welding materials that are difficult to weld by conventional fusion welding methods. There are several parameters that affect FSW process, so it is important to understand the relationship between different process parameters to maximize the quality and strength of the joint. This paper proposed an alternative method to predict FSW parameters and make a decision using a modified version of the adaptive neuro-fuzzy inference system (ANFIS) integrated with harris hawks optimizer (HHO). HHO was used to search for optimal values of ANFIS parameters and to determine the optimal operating conditions of the FSW process. The shared effect of welding speed, tool rotational speed, and plunge force on the mechanical properties of welded aluminium plates was simulated. The proposed model, called ANFIS-HHO, was used to predict the mechanical properties of FSW Al plates in terms of ultimate tensile strength (UTS) as functions of welding speed, tool rotational speed, and plunge force. The adequacy of the model was tested; the predicted data were in good agreement with the experimental data. The tool rotational speed and the empirical force index (EFI) have a significant impact on the mechanical properties of the welded joints. ANFIS-HHO technique was found to be a powerful optimization tool for predicting FSW parameters to achieve high joint strength.

Journal ArticleDOI
TL;DR: In this article, an electrically conductive composite film of polyurethane/silver nanowires is prepared for developing a high performance resistive-type strain sensor, which integrates high transparency, sensitivity, durability, self-healability and flexibility together, exhibiting promising application potential.
Abstract: In this work, a novel material design is proposed and implemented for developing a high performance resistive-type strain sensor. Accordingly, an electrically conductive composite film of polyurethane/silver nanowires is prepared. Owing to the synergistic effects of the transparent and sunlight self-healable polyurethane matrix, low-density and thin network of welded long silver nanowires, spray-coating, and sandwich structure consisting of two polyurethane layers and a silver nanowire network interlayer, the key factors that control the robustness and responsivity of the conduction paths while contradicting each other, are united, and the long-term cyclic loading induced failure can be self-repaired under sunshine. As a result, the composite successfully integrates high transparency, sensitivity, durability, self-healability and flexibility together, exhibiting promising application potential.

Journal ArticleDOI
TL;DR: In this paper, an enumerative information of dissimilar aluminum to steel welds manufactured using different friction-based welding processes with an emphasis on the description of the manufacturing process, influence of parameters, microstructural variations, formation of intermetallic compounds (IMCs), and variations in mechanical properties.
Abstract: This article showcases details on enumerative information of dissimilar aluminum (Al) to steel welds manufactured using different friction-based welding processes with an emphasis on the description of the manufacturing process, influence of parameters, microstructural variations, formation of intermetallic compounds (IMCs), and variations in mechanical properties. Friction-based welding processes such as friction welding, friction stir welding, hybrid friction stir welding, friction stir spot welding, friction stir spot fusion welding, friction stir scribe welding, friction stir brazing, friction melt bonding, friction stir dovetailing, friction bit joining, friction stir extrusion, and friction stir assisted diffusion welding are analyzed for the formation of dissimilar Al–steel joints. It can be summarized that friction-based joining processes have great potential to obtain sound Al–steel joints. The amount of frictional heat applied decides the type and volume fraction of IMCs that subsequently affects mechanical joint properties. Process variations and novel process parameters can enhance joint properties.

Journal ArticleDOI
TL;DR: In this paper, the effects of friction stir welding (FSW) on the metallurgical and mechanical properties of aluminum matrix composite (AMC) joints were investigated. And the results indicated that the fatigue life of the cross-welded joints varies with grain size in the nugget zone and it is lower than that of the base metal.
Abstract: There is a need for improved understanding on the effects of friction stir welding (FSW) on the metallurgical and mechanical properties of aluminium matrix composite (AMC). In this study, AA6092/SiC/17.5p-T6 AMC joints were produced by using FSW with varying tool rotation and traverse speeds. The microstructural characterisation by scanning electron microscopy equipped with electron backscattered diffraction (EBSD) system revealed a substantial grain refinement and a homogeneous distribution of reinforcement particles in the nugget zone. The grain size of the nugget zone was greatly influenced by weld pitch, as a key indicator to control the amount of heat input, exposure time and cooling rate. Vickers microhardness profile across the welding zone revealed a significant difference in microhardness among the base metal, heat affected zone, thermo-mechanically affected zone and nugget zone. The tensile strength of the cross-weld specimens showed a high joint efficiency of about 75% of the base metal combined with relatively high ductility. Low-cycle fatigue properties were investigated in the axial total strain-amplitude control mode (from 0.3% to 0.5%) with R = e min / e max = − 1 . The results indicate that the fatigue life of the cross-welded joints varies with grain size in the nugget zone and it is lower than that of the base metal. A significant improvement of fatigue life is found to be related to the finer equiaxed grains dominated by high angle grain boundaries in the nugget zone.

Journal ArticleDOI
TL;DR: In this article, the authors reviewed the recent progress of dissimilar metals' welding methods and mechanisms with interlayer to offer a basis for the following research and discussed several criteria for the selection of interlayer, such as physical properties, metallurgical compatibility, mode, and thickness of the interlayer.
Abstract: The study of dissimilar metals’ welding is an important issue due to their increasing applications in many industrial fields. Welding of dissimilar metals is challenging because of the formation of large residual stress and brittle intermetallic compounds (IMCs). In order to solve this problem, intermediate interlayers were used to eliminate or inhibit the formation of brittle intermetallic reaction layers in many welding techniques, such as diffusion bonding, laser welding, electron beam welding, and other welding techniques. The aim of this paper is to review the recent progress of dissimilar metals’ welding methods and mechanisms with interlayer to offer a basis for the following research. The work discussed several criteria for the selection of interlayer, such as physical properties, metallurgical compatibility, mode, and thickness of the interlayer. Then, formation enthalpy, Gibbs energy of formation (ΔG), and brittleness of the IMCs, as well as welding parameters, were also discussed. Simultaneously, the present work had proposed a design guideline for the selection of interlayer in dissimilar metals’ welding to acquire a welded joint with good quality.

Journal ArticleDOI
TL;DR: In this article, the relation of these properties to NMIs, highlighting progress and difficulties in each area, is reviewed, and it is concluded that steel improvement in many cases requires close collaboration between physical metallurgy, process metallomics and steelmaking.
Abstract: Non-metallic inclusions (NMIs) occur typically in low or very low volume fractions (from 10−2 in a high oxygen weld deposit to 10−5 in very clean bearing steels) but play an important role in many properties of steel. NMIs play a decisive role in processes involving ductile fracture, fatigue and corrosion, for instance. These are some of the properties more relevant to the performance of steel in structural and mechanical applications. Furthermore, NMIs may influence nucleation during phase transformations of steel. In this work, the relation of these properties to NMIs is reviewed, highlighting progress and difficulties in each area. Perhaps because of their very low volume fraction, NMIs are sometimes overlooked in the basic physical metallurgy education and their study is left to the realm of those interested in steelmaking. In the last decades a dramatic evolution in the understanding of their relationship to properties, however, has led to significant improvements in many steel products: the outstanding increase of fatigue life in automotive springs and in bearings is one of many such examples. It is concluded that steel improvement in many cases requires “inclusion engineering” and this can only be achieved through close collaboration between physical metallurgy, process metallurgy and steelmaking. Those who realized this have made significant progress in steel development in recent decades as highlighted in this short review.

Journal ArticleDOI
TL;DR: The optimization parametric study and modification of WAAM to reduce both residual stress and distortion are tabulated, summarized, and discussed.
Abstract: Wire arc additive manufacturing (WAAM) is a crucial technique in the fabrication of 3D metallic structures. It is increasingly being used worldwide to reduce costs and time. Generally, AM technology is used to overcome the limitations of traditional subtractive manufacturing (SM) for fabricating large-scale components with lower buy-to-fly ratios. There are three heat sources commonly used in WAAM: metal inert gas welding (MIG), tungsten inert gas welding (TIG), and plasma arc welding (PAW). MIG is easier and more convenient than TIG and PAW because it uses a continuous wire spool with the welding torch. Unlike MIG, tungsten inert gas welding (TIG) and plasma arc welding (PAW) need an external wire feed machine to supply the additive materials. WAAM is gaining popularity in the fabrication of 3D metal components, but the process is hard to control due to its inherent residual stress and distortion, which are generated by the high thermal input from its heat sources. Distortion and residual stress are always a challenge for WAAM because they can affect the component’s geometric accuracy and drastically degrade the mechanical properties of the components. In this paper, wire-based and wire arc technology processes for 3D metal printing, including their advantages and limitations are reviewed. The optimization parametric study and modification of WAAM to reduce both residual stress and distortion are tabulated, summarized, and discussed.

Journal ArticleDOI
TL;DR: In this article, a 3D thermo-mechanical finite element modeling procedure was employed to predict the nucleation and growth of intermetallic compound (IMC) layer at the interface.
Abstract: In this research, AA5005-O aluminum-magnesium alloy and St-52 low carbon steel sheets were friction-stir welded in a butt-dissimilar joint design. Effects of different processing parameters including tool rotational speed (w), traverse velocity (v), plunge depth, and offset distance on the solid-state weldability of these dissimilar materials were assessed in terms of formation of intermetallic compound (IMC) layer at the interface. A 3D thermo-mechanical finite element modeling procedure was employed to predict the nucleation and growth of IMC layer. Formation of various FeAl, FeAl3, and Fe2Al5 IMCs at the interface, layer morphology, and thickness were experimentally studied as well, by using X-ray diffraction (XRD) and field emission scanning electron microscopy (FE-SEM) analysis techniques. A good agreement between the simulated thermal results and experimental data was noticed. The results showed that the thickness of IMC layer at the interface as the main controlling parameter in transverse tensile property and fracture behavior of produced dissimilar joints can be varied extremely as a function of processing parameters. By decreasing the heat input and suppressing the kinetics of IMCs layer formation, the tensile performance of dissimilar welded joints is improved, considerably. However, the soundness of these dissimilar welds played another main role as a restriction mechanism against this trend. The maximum joining efficiency is attained around 90% at an optimized working window of w = 1200 rpm, v = 90 mm/min, and a plunge depth of 0.3 mm with an offset distance of 0.5 mm toward the Al side. The hardness of this optimized dissimilar weld is enhanced even more than the steel base metal caused by the formation of IMC layer at the interface as well as the dispersion of reinforcing intermetallic particles (IMPs).

Journal ArticleDOI
TL;DR: The establishment of general models to online process analysis, quality estimation and real time control system design for obtaining welds with satisfactory quality still remains a big challenge in reality.

Journal ArticleDOI
TL;DR: In this paper, large diameter rods of Cu-Al-Mn shape memory alloy were gas tungsten arc welded and the microstructural evolution was studied by electron microscopy techniques and its impact on the mechanical and functional response of the welded joints was assessed.

Journal ArticleDOI
27 Jun 2019
TL;DR: In this paper, the authors investigated the structural properties of metal components in the additive manufacturing process by welding a bar regarding the build-up geometry, surface topography, and material properties.
Abstract: Additive manufacturing (AM) in industrial applications benefits fromincreasing interest due to its automation potential and its flexibility in manufacturing complex structures. The construction and architecture sector sees the potential of AM especially in the free form design of steel components, such as force flow optimized nodes or bionic-inspired spaceframes. Robot-guided wire and arc additive manufacturing (WAAM) is capable of combining a high degree of automation and geometric freedom with high process eciency. The build-up strategy (layer by layer) and the corresponding heat input influence the mechanical properties of theWAAM products. This study investigates the WAAM process by welding a bar regarding the build-up geometry, surface topography, and material properties. For tensile testing, an advanced testing procedure is applied to determine the strain fields and mechanical properties of the bars on the component and material scale.

Journal ArticleDOI
04 Jan 2019
TL;DR: In this paper, the authors proposed that the polymer composites are not satisfying heat dissipation, and for that reason, high-thermal-trajectory is a prerequisite for further improving the integration of devices.
Abstract: Efficient heat dissipation is a prerequisite for further improving the integration of devices. However, the polymer composites are not satisfying heat dissipation. For that reason, high-thermal-tra...

Journal ArticleDOI
TL;DR: In this article, a feature of interface structure, microstructure and mechanical properties of sandwich composites on base of copper and low carbon steel joined by the explosive welding was investigated.

Journal ArticleDOI
TL;DR: In this article, a multi-process joining technique that combined resistance spot welding and friction element welding was used to produce a three-sheet multi-stack of advanced high strength steel and precipitation hardened aluminum.

Journal ArticleDOI
TL;DR: In this article, the authors investigated dissimilar metal weldments between P91 steel and AISI 316 stainless steel fabricated by activated TIG welding (A-TIG) with and without the use of interlayers of Incoloy 800 and Inconel 600.

Journal ArticleDOI
Runquan Xiao1, Yanling Xu1, Zhen Hou1, Chen Chao1, Shanben Chen1 
TL;DR: An adaptive feature extraction algorithm based on laser vision sensor that has good adaptability for multiple typical welding seams and can maintain satisfying robustness and precision even under complex working conditions is proposed.
Abstract: Intelligent robotic welding is an indispensable part of modern welding manufacturing, and vision-based seam tracking is one of the key technologies to realize intelligent welding. However, the adaptability and robustness of most image processing algorithms are deficient during welding practice. To address this problem, an adaptive feature extraction algorithm based on laser vision sensor is proposed. According to laser stripe images, typical welding seams are classified into continuous and discontinuous welding seams. A Faster R-CNN model is trained to identify welding seam type and locate laser stripe ROI automatically. Before welding, initial welding point is determined through point cloud processing to realize welding guidance. During seam tracking process, the seam edges are achieved by a two-step extraction algorithm, and the laser stripe is detected by Steger algorithm. Based on the characteristics of two kinds of welding seams, the corresponding seam center extraction algorithms are designed. And a prior model is proposed to ensure the stability of the algorithms. Test results prove that the algorithm has good adaptability for multiple typical welding seams and can maintain satisfying robustness and precision even under complex working conditions.