JP3258544B2 - Welding equipment with image capture function of welding status - Google Patents
Welding equipment with image capture function of welding statusInfo
- Publication number
- JP3258544B2 JP3258544B2 JP31780295A JP31780295A JP3258544B2 JP 3258544 B2 JP3258544 B2 JP 3258544B2 JP 31780295 A JP31780295 A JP 31780295A JP 31780295 A JP31780295 A JP 31780295A JP 3258544 B2 JP3258544 B2 JP 3258544B2
- Authority
- JP
- Japan
- Prior art keywords
- welding
- current period
- current
- image
- period
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Lifetime
Links
Description
【０００１】[0001]
【発明の属する技術分野】本発明は溶接状況の画像取込
み機能を有する溶接装置に関し、特にパルス状の溶接電
流を用いるティグ溶接に適用して有用なものである。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a welding apparatus having a function of capturing an image of a welding situation, and is particularly useful when applied to TIG welding using a pulsed welding current.
【０００２】[0002]
【従来の技術】従来より、例えばティグ溶接において溶
接状況の監視のため、工業用テレビカメラ等の撮像手段
を利用している。かかる撮像手段を利用した溶接状況の
監視は、カメラで溶接部の画像を取込み、このように取
込んだ画像をオペレータが評価することにより、溶接ワ
イヤの送給速度、溶接ワイヤの位置及び溶接電流の値を
制御している。この制御もオペレータの操作により行な
っている。2. Description of the Related Art Conventionally, imaging means such as an industrial television camera has been used for monitoring welding conditions in, for example, TIG welding. Monitoring of the welding condition using such imaging means is performed by capturing an image of the welded portion with a camera, and evaluating the captured image by an operator to determine a welding wire feed speed, a welding wire position, and a welding current. Is controlling the value of This control is also performed by the operation of the operator.
【０００３】[0003]
【発明が解決しようとする課題】上述の如く、従来は、
オペレータが介在して所定の溶接作業を行なっているた
め、省力化の観点から、この溶接作業を全自動化する技
術の出現が待望されている。As described above, conventionally,
Since a predetermined welding operation is performed by an operator, a technique for fully automating the welding operation has been expected from the viewpoint of labor saving.
【０００４】そこで、画像処理技術を用いた全自動溶接
システムを考える場合、溶接部の画像の取込みを工夫し
なければならない。溶接時に形成される溶融池が最も成
長した時点で、しかもその輪郭が明瞭な画像データを得
る必要があるからである。Therefore, when considering a fully automatic welding system using an image processing technique, it is necessary to devise a method of capturing an image of a welded portion. This is because it is necessary to obtain image data at the time when the molten pool formed at the time of welding grows most, and with a clear outline.
【０００５】ちなみに、パルス状の溶接電流は、大電流
期間であるピーク電流期間及び小電流期間であるベース
電流期間の２値状態を有するが、この場合のベース電流
期間においてもアークが小さく点っているため、画像処
理のための画像データを得るには有害なものとなってし
まう。Incidentally, the pulsed welding current has a binary state of a peak current period, which is a large current period, and a base current period, which is a small current period. Even in this case, the arc is small during the base current period. Therefore, it is harmful to obtain image data for image processing.
【０００６】本発明は、上記従来技術に鑑み、自動溶接
を実現するための画像処理システムに資するべく良好な
画像を取込み得る画像取込み機能を有する溶接装置を提
供することを目的とする。SUMMARY OF THE INVENTION In view of the above prior art, an object of the present invention is to provide a welding apparatus having an image capturing function capable of capturing a good image to contribute to an image processing system for realizing automatic welding.
【０００７】[0007]
【課題を解決するための手段】上記目的を達成する本発
明の構成は、次の点を特徴とする。The structure of the present invention that achieves the above object has the following features.
【０００８】1) 大電流期間であるピーク電流期間及び
小電流期間であるベース電流期間の２値状態を有するパ
ルス状の溶接電流を供給し乍ら行なう溶接の状況を画像
として取込む機能を有する溶接装置において、溶接電流
のピーク電流期間の立下りに引きつづき、この溶接電流
がベース電流期間の電流値よりもさらに小さい電流値と
なる最ベース電流期間となり、この最ベース電流期間か
らの立上りに引きつづきベース電流期間となるように溶
接電流を制御するとともに、最ベース電流期間の溶接部
分の画像を撮像手段に取込むように構成したこと。 2) 1)において、溶接はティグ溶接であること。 3) 1)において、溶接電流のピーク電流期間の立下りに
同期させて撮像手段の画像読込みタイミング信号を立上
がらせること。[0008] 1) A function of capturing an image of a welding situation performed while supplying a pulsed welding current having a binary state of a peak current period as a large current period and a base current period as a small current period. In the welding device, following the falling of the peak current period of the welding current, the welding current becomes the most base current period in which the current value becomes smaller than the current value of the base current period, and the rising from the most base current period. A configuration in which the welding current is controlled so as to be a base current period and an image of the welded portion during the most base current period is captured by the imaging means. 2) In 1), welding shall be TIG welding. 3) In 1), the image reading timing signal of the image pickup means should rise in synchronization with the fall of the peak current period of the welding current.
【０００９】[0009]
【発明の実施の形態】以下本発明の実施の形態を図面に
基づき詳細に説明する。Embodiments of the present invention will be described below in detail with reference to the drawings.
【００１０】図１は本形態に係る装置を示すブロック線
図である。同図に示すように、１は被溶接物である母
材、２はアーク、３は溶接ワイヤ、４は溶接トーチ、５
は溶接電源、６はフィルタ、７はビデオカメラ、８は画
像処理装置、９はコントローラである。FIG. 1 is a block diagram showing an apparatus according to this embodiment. As shown in the figure, 1 is a base material which is a workpiece, 2 is an arc, 3 is a welding wire, 4 is a welding torch, 5
Is a welding power source, 6 is a filter, 7 is a video camera, 8 is an image processing device, and 9 is a controller.
【００１１】これらのうちコントローラ９は、溶接電源
５を制御してこの溶接電源５の出力電流である溶接電流
を制御するとともに、ビデオカメラ７を制御してこのビ
デオカメラ７による溶接部の画像データの画像処理装置
８への取込みを制御する。The controller 9 controls the welding power source 5 to control the welding current, which is the output current of the welding power source 5, and controls the video camera 7 to control the image data of the welded portion by the video camera 7. To the image processing device 8 is controlled.
【００１２】このときのビデオカメラ７のビデオ同期信
号、ビデオカメラ７のカメラ作動タイミング及び溶接電
流の波形を図２（ａ）〜図２（ｃ）にそれぞれ示す。図
２（ｃ）に示すように、溶接電流は、基本的に、大電流
期間であるピーク電流期間Ｔ 1 及び小電流期間であるベ
ース電流期間Ｔ2 の２値状態を有するパルス波形となっ
ているが、これらに加えて最ベース期間Ｔ3 も有する。
この最ベース期間Ｔ3とはピーク電流期間Ｔ1 の立下り
に引きつづき溶接電流がベース電流期間Ｔ2 の電流値よ
りもさらに小さい電流値となる期間であり、０．２〜２
Hz程度の周期を有する溶接電流にあって１０〜１００ms
ecの短期間である。この最ベース期間Ｔ 3 ではアーク２
がほとんど消滅している。また、この最ベース期間Ｔ3
の開始時点、換言すればピーク電流期間Ｔ1 の終了時点
はピーク電流期間Ｔ1 の開始時点から成長する溶融池が
最も成長した時点である。したがって、溶接部の画像デ
ータを自動溶接に資するには、この時点の画像データを
基に評価すべきである。溶融池の境界を基準に溶接条件
を制御すべきであるからである。The video synchronization signal of the video camera 7 at this time is
No., camera operation timing of video camera 7 and welding power
The waveforms of the flow are shown in FIGS. 2 (a) to 2 (c), respectively. Figure
As shown in FIG. 2 (c), the welding current is basically a large current.
Peak current period T 1And the low current period
Source current period TTwoThe pulse waveform has the binary state of
However, in addition to these, the maximum base period TThreeAlso have.
This maximum base period TThreeIs the peak current period T1Falling
Then, the welding current is changed to the base current period T.TwoThe current value of
Is a period in which the current value is even smaller,
10 to 100 ms for welding current with a period of about Hz
ec is short term. This maximum base period T ThreeThen Arc 2
Has almost disappeared. Also, this most base period TThree
At the start, in other words, the peak current period T1At the end of
Is the peak current period T1Pool growing from the beginning of
It is the point of the most growth. Therefore, the image data of the weld
In order to contribute data to automatic welding,
Should be evaluated based on. Welding conditions based on weld pool boundaries
Is to be controlled.
【００１３】図２（ａ）及び図２（ｂ）に示すように、
ビデオ同期信号及びカメラ作動タイミングはピーク電流
期間Ｔ1 の立下り時点に同期させてある。したがって、
ビデオカメラ７を介して画像処理装置８に取込まれる画
像データは最ベース期間Ｔ3のものである。As shown in FIGS. 2A and 2B,
Video sync signal and the camera operating timing are synchronized to the falling point of the peak current period T 1. Therefore,
The image data taken into the image processing apparatus 8 via the video camera 7 is of top-base period T 3.
【００１４】かくして画像処理装置８には最も良好な溶
接部の画像が取込まれる。すなわち、溶融池が最も成長
した時点であり、しかもアーク２による画像の不鮮明さ
も回避し得、画像処理を行なうに際して充分鮮明な画像
を取込むことができる。Thus, the image of the best welded portion is captured in the image processing device 8. In other words, it is the time when the molten pool has grown the most, and the sharpness of the image due to the arc 2 can be avoided, and a sufficiently clear image can be taken in when performing image processing.
【００１５】[0015]
【発明の効果】以上実施の形態とともに詳細に説明した
ように、本発明によれば自動溶接に資する画像処理デー
タを得るために充分な画質を最も適切なタイミングで取
込むことができる。As has been described in detail with the above embodiments, according to the present invention, it is possible to take in a sufficient image quality at the most appropriate timing to obtain image processing data contributing to automatic welding.
【図１】本発明の実施の形態に係る溶接装置を示すブロ
ック線図。FIG. 1 is a block diagram showing a welding device according to an embodiment of the present invention.
【図２】図１の各部の波形を示す波形図。FIG. 2 is a waveform chart showing waveforms at various parts in FIG.
２ アーク ５ 溶接電源 ７ ビデオカメラ ８ 画像処理装置 ９ コントローラ 2 arc 5 welding power supply 7 video camera 8 image processing device 9 controller
───────────────────────────────────────────────────── フロントページの続き (72)発明者 赤羽 崇 兵庫県神戸市兵庫区和田崎町一丁目１番 １号 三菱重工業株式会社 神戸造船所 内 (56)参考文献 特開 平４−182069（ＪＰ，Ａ) 特開 平６−344144（ＪＰ，Ａ) 特開 昭59−202178（ＪＰ，Ａ) 特開 平２−34280（ＪＰ，Ａ) 特開 平５−200556（ＪＰ，Ａ) (58)調査した分野(Int.Cl.7，ＤＢ名) B23K 9/095 B23K 9/09 B23K 9/167 ──────────────────────────────────────────────────続 き Continued on the front page (72) Takashi Akabane, 1-1 1-1 Wadazakicho, Hyogo-ku, Kobe City, Hyogo Prefecture Inside Mitsubishi Heavy Industries, Ltd. Kobe Shipyard (56) References JP-A-4-182069 (JP) JP-A-6-344144 (JP, A) JP-A-59-202178 (JP, A) JP-A-2-34280 (JP, A) JP-A-5-200556 (JP, A) (58) Field surveyed (Int. Cl. 7 , DB name) B23K 9/095 B23K 9/09 B23K 9/167
Claims (3)
電流期間であるベース電流期間の２値状態を有するパル
ス状の溶接電流を供給し乍ら行なう溶接の状況を画像と
して取込む機能を有する溶接装置において、 溶接電流のピーク電流期間の立下りに引きつづき、この
溶接電流がベース電流期間の電流値よりもさらに小さい
電流値となる最ベース電流期間となり、この最ベース電
流期間からの立上りに引きつづきベース電流期間となる
ように溶接電流を制御するとともに、最ベース電流期間
の溶接部分の画像を撮像手段に取込むように構成したこ
とを特徴とする溶接状況の画像取込み機能を有する溶接
装置。1. A function of capturing, as an image, a state of welding performed while supplying a pulsed welding current having a binary state of a peak current period as a large current period and a base current period as a small current period. In the welding device, following the fall of the peak current period of the welding current, the welding current becomes the most base current period in which the current value becomes smaller than the current value of the base current period, and the rising from the most base current period. A welding apparatus having a function of capturing an image of a welding situation, wherein the welding current is controlled so as to be a base current period, and an image of a welded portion during a most base current period is captured by an imaging unit. .
る［請求項１］に記載する溶接状況の画像取込み機能を
有する溶接装置。2. The welding apparatus according to claim 1, wherein the welding is a TIG welding.
期させて撮像手段の画像読込みタイミング信号を立上が
らせることを特徴とする［請求項１］に記載する溶接状
況の画像取込み機能を有する溶接装置。3. The function of capturing an image of a welding situation according to claim 1, wherein the image reading timing signal of the imaging means rises in synchronization with the fall of the peak current period of the welding current. Welding equipment.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP31780295A JP3258544B2 (en) | 1995-12-06 | 1995-12-06 | Welding equipment with image capture function of welding status |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP31780295A JP3258544B2 (en) | 1995-12-06 | 1995-12-06 | Welding equipment with image capture function of welding status |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH09155544A JPH09155544A (en) | 1997-06-17 |
| JP3258544B2 true JP3258544B2 (en) | 2002-02-18 |
Family
ID=18092209
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP31780295A Expired - Lifetime JP3258544B2 (en) | 1995-12-06 | 1995-12-06 | Welding equipment with image capture function of welding status |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP3258544B2 (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2018503515A (en) * | 2014-12-19 | 2018-02-08 | リンカーン グローバル，インコーポレイテッド | Vision and control system for welding |
-
1995
- 1995-12-06 JP JP31780295A patent/JP3258544B2/en not_active Expired - Lifetime
Also Published As
| Publication number | Publication date |
|---|---|
| JPH09155544A (en) | 1997-06-17 |
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