WO1993000196A1 - Machine de soudage asservie en penetration - Google Patents
Machine de soudage asservie en penetration Download PDFInfo
- Publication number
- WO1993000196A1 WO1993000196A1 PCT/FR1992/000601 FR9200601W WO9300196A1 WO 1993000196 A1 WO1993000196 A1 WO 1993000196A1 FR 9200601 W FR9200601 W FR 9200601W WO 9300196 A1 WO9300196 A1 WO 9300196A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- welding
- head
- height
- machine according
- welding machine
- Prior art date
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/095—Monitoring or automatic control of welding parameters
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/06—Arrangements or circuits for starting the arc, e.g. by generating ignition voltage, or for stabilising the arc
- B23K9/073—Stabilising the arc
- B23K9/0732—Stabilising of the arc current
Definitions
- the present invention relates to a welding mac ine using the vision of the welding scene to achieve a quality automatic welding.
- the welding machine is asser ie in penetration, that is to say that it corrects itself. in real time.
- the welding parameters characterizing the penetration.
- the depth to which the base metal has actually been melted during the welding operation is called penetration.
- a good quality weld requires fusion over the entire thickness, which generally results in a slight upside down (curved upside down). If there is also an addition of metal at the time of welding, volume is added to the molten part, which generally results in an excess thickness of the finished bead. Face and back bulges, as well as their widths, are generally part of the acceptance specifications for a weld.
- the present invention applies to the case where said weld bead is made with a filler wire in the TIG process (welding by inert gas with tungsten electrodes) and can vary in particular in bent-endray t.
- the present invention can have applications in many fields and, in particular, in the high-tech industries, such as space, nuclear, aeronautics and agri-food.
- IT is known, in most automatic welding machines, to reproduce in a systematic way, welding sequences for which the welding parameters (linked to the process and to the trajectory) are developed for nominal conditions, then recorded. and reproduced whatever the actual welding conditions.
- an automatic penetration control device was described in the review "Welding Institute Bulletin" of May / June 1990, by MM D. HARVEY and B. LUCAS.
- This device makes it possible to maintain penetration by correcting the shape of the welding current at desired values thanks to a video camera.
- this camera transforms into a video signal the light level observed on the side opposite to the welding torch, by an optical lens sending said information to the camera via a light guide.
- the video signal thus obtained at the output of the camera is amplified and compared with a reference setpoint allowing the obtaining of a chosen degree of penetration.
- This device has the major drawback of requiring a backward vision, which poses problems of accessibility to the reverse side and synchronization between torch and camera.
- the present invention overcomes these drawbacks and correct the penetration parameters automatically and in real time.
- the welding machine implements, from processing means controlling a welding head, a penetration control.
- a combination of servo control by the welding current with regulation of the arc voltage ensures this almost constant penetration of the welding.
- the present invention relates to a slave welding machine, comprising:
- the welding head positioned at a measurable height with respect to a welding area, can be controlled in the height direction;
- control and processing means for obtaining constant penetration comprise, on the one hand means able to control the height of the welding head, to control the arc voltage to a first set value and on the other hand means able to control the welding current to control the bulge-location to a second value setpoint.
- head height is used in reference to welding in a flat position; in the case of welding in another position, for example vertical rising, it is clear that this is the distance between the head and the plane tangent to the welding surface.
- the welding head comprises means for emitting light spots on the welding area. It further comprises means for observing the welding zone, themselves being composed of at least one spot position detector capable of determining, from said spot positions, the height of the welding head.
- the means for controlling the head height comprise:
- a comparator having a first input receiving a first signal corresponding to the measured arc voltage and a second input receiving a second signal corresponding to a set value, and an output;
- a head height regulator having an input connected to the output of the comparator and an output connected to means for modifying the height of the welding head.
- the means for controlling the welding current include:
- a comparator having a first input receiving a first signal corresponding to the measured height and a second input receiving a second signal corresponding to a set value, and an output;
- a current regulator having an input connected to the output of the comparator and an output connected to a welding generator supplying the welding head with current.
- the means for observing the welding area comprise a camera.
- the means for determining the position of the spots are combined with this camera.
- said camera is connected to an image viewing monitor, said monitor being able to allow remote monitoring of the conditions under which welding is carried out.
- the single figure, appended hereto, represents, schematically, the welding machine with its welding head and its processing means. Slaving the welding machine according to the invention in penetration consists in slaving, to a constant value, a parameter characteristic of the penetration, for example the "upside down" of the weld bead, by correcting the welding current from the measurement of the "convex-location" of said cord.
- convex-reverse the excess thickness of the weld bead, observed on the side opposite to the welding head, which often constitutes a criterion for the acceptability of the weld.
- the convex-place parameter can be measured, in fact, from the measurement of the height of the welding head above the welding scene. This measurement is made, however, when the following condition is satisfied: the arc voltage must be slaved to a constant value. This regulation of the arc voltage is effected by adjusting the height of the welding head.
- Correlation laws also called “relations” during the description, can be determined between different parameters. To be exploitable with a view to enslavement, these correlation laws must be bi-uni voic, that is to say monotonic and of non-zero slope. Such a correlation law exists between the curved back and the welding current. A second correlation law is established between the upside down and the upside down of said bead.
- This welding machine basically consists of a welding head
- processing means 2 and a visualization monitor 3.
- the welding head 1 comprises a welding torch 10 ending in a welding electrode 11.
- This welding torch 10 allows TIG type welding (welding under inert gas with tungsten electrode) with the addition of wire.
- Its electrode 11 is capable of producing an electric arc whose power is a function of the arc voltage and the arc current received by the welding torch 10.
- Lighting means 12 make it possible to emit, on the welding area, light spots 13.
- the area of the welding plane in which the electrode 11 is located is called the welding area, a piece of welding bead and the joint on which one seeks to carry out the welding.
- the means 12 for emitting spots are oriented towards the front of the torch 10, with respect to the direction of the welding. This orientation is optimal for an angle of approximately 45 ° relative to the optical arc of the observation means (14 to 17). It thus allows optimal projection of the spots 13 on said area.
- the head height can thus be measured by a known method of triangulation.
- these means 14 to 17 for observing the welding zone make it possible to visualize said zone and to measure some of its parameters.
- these means 14 to 17 for observing the welding area include an optical display 17, a beam splitter 15 and a camera 14 for taking pictures.
- the beam splitter 15 ensures the formation of the image of the welding area in the complementary measurement chamber 16.
- one or two linear position detectors of the light spots 13 are installed. These position detectors are of the standard type and are calibrated by construction to observe the said spots 13.
- Analog PSD Position Sensing Device
- the camera 14 for taking pictures is of the CCD (charge transfer) type for better image quality because of its resistance to glare and its relative insensitivity to the severe electromagnetic conditions present at a short distance from it. bow.
- This camera 14 is connected, at output, to a display monitor 3.
- This monitor 3 is, according to the embodiment described, of the monochrome type. A first function of this monitor
- a second function makes it possible to experimentally optimize the shooting conditions and, in particular, to ensure that the spot position detectors, whose position is fixedly identified on the monitor
- the position measurement resulting from the PSDs of the chamber 16 is sent, at the output, to the means 2 for processing the penetration.
- These means 2 comprise, on the one hand, means 20 to 22 for controlling the arc voltage and, on the other hand, means for controlling the welding current 23 to 25.
- the means 20 to 22 for controlling the arc voltage comprise electronic comparison 21 (a differential amplifier, for example) making it possible to compare, with an arc voltage instruction received at input E2 of said electronic 21, the arc voltage measured at the welding torch 10 and received at input E1 of said comparator 21.
- electronic comparison 21 a differential amplifier, for example
- the resulting arc voltage error is introduced into a head height regulator 20 since, as previously described, the arc voltage can be regulated by adjusting the head height.
- the output of said regulator 20 is connected to means 22 for movements of the head height.
- the means 23 to 25 for controlling the welding current comprise a comparison electronics 24 (differential amplifier), roughly identical to the electronics 21, making it possible to compare, with a height reference received on the input e2, the value of the height measured by the spot position detectors and received at input e1 of the comparator 24.
- the output s of said comparator 24 sends the resulting height error to a current regulator 23; in fact, as explained above, the welding current makes it possible to control the penetration.
- the current correction obtained is sent to a welding generator 25 which modifies the supply current of the welding head. Thanks to the following paragraph, it is easier to understand the mutual servo relationships which exist between the parameters of head height, welding current and arc voltage.
- the voltage of the arc being essentially a function of the distance between the tip of the electrode and the top of the convex-place
- the first control loop keeping the arc voltage constant by correcting the height of head, ensures that the measured head height is a direct function of the convex location.
- the second servo loop now the constant convex location by correcting the welding current, then allows to maintain a constant penetration, the purpose of the operation.
- the welding machine is fully wired.
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Plasma & Fusion (AREA)
- Mechanical Engineering (AREA)
- Arc Welding In General (AREA)
- Butt Welding And Welding Of Specific Article (AREA)
Abstract
Description
Claims
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP92914397A EP0591400A1 (fr) | 1991-06-28 | 1992-06-26 | Machine de soudage asservie en penetration |
JP5501377A JPH06510485A (ja) | 1991-06-28 | 1992-06-26 | 溶け込み制御溶接機 |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR9108109A FR2678191B1 (fr) | 1991-06-28 | 1991-06-28 | Machine de soudage asservie en penetration. |
FR91/08109 | 1991-06-28 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO1993000196A1 true WO1993000196A1 (fr) | 1993-01-07 |
Family
ID=9414491
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/FR1992/000601 WO1993000196A1 (fr) | 1991-06-28 | 1992-06-26 | Machine de soudage asservie en penetration |
Country Status (5)
Country | Link |
---|---|
EP (1) | EP0591400A1 (fr) |
JP (1) | JPH06510485A (fr) |
CA (1) | CA2111346A1 (fr) |
FR (1) | FR2678191B1 (fr) |
WO (1) | WO1993000196A1 (fr) |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2000006335A1 (fr) * | 1998-07-29 | 2000-02-10 | Tregaskiss Ltd. | Tete de soudage a l'arc |
USD765111S1 (en) | 2014-06-24 | 2016-08-30 | Lincoln Global, Inc. | Display screen or portion thereof with graphical user interface |
US10821539B2 (en) | 2013-11-12 | 2020-11-03 | Lincoln Global, Inc. | System and method for pendant component for a welding system |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP4403904B2 (ja) * | 2004-07-22 | 2010-01-27 | 株式会社Ihi | 溶接部可視化方法及び装置 |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4767911A (en) * | 1987-02-26 | 1988-08-30 | Rockwell International Corporation | Optical weld contour monitor for penetration control |
EP0333195A1 (fr) * | 1988-03-18 | 1989-09-20 | Hitachi, Ltd. | Procédé et dispositif pour l'autoréglage d'un chalumeau à souder |
DE8810131U1 (de) * | 1988-08-09 | 1989-12-21 | Kuka Schweissanlagen + Roboter Gmbh, 8900 Augsburg | Schweißvorrichtung mit Sensor-Anordnung |
Family Cites Families (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS60206576A (ja) * | 1984-03-31 | 1985-10-18 | Hitachi Zosen Corp | 溶接ト−チの位置決め装置 |
-
1991
- 1991-06-28 FR FR9108109A patent/FR2678191B1/fr not_active Expired - Fee Related
-
1992
- 1992-06-26 EP EP92914397A patent/EP0591400A1/fr not_active Ceased
- 1992-06-26 CA CA 2111346 patent/CA2111346A1/fr not_active Abandoned
- 1992-06-26 WO PCT/FR1992/000601 patent/WO1993000196A1/fr not_active Application Discontinuation
- 1992-06-26 JP JP5501377A patent/JPH06510485A/ja active Pending
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4767911A (en) * | 1987-02-26 | 1988-08-30 | Rockwell International Corporation | Optical weld contour monitor for penetration control |
EP0333195A1 (fr) * | 1988-03-18 | 1989-09-20 | Hitachi, Ltd. | Procédé et dispositif pour l'autoréglage d'un chalumeau à souder |
DE8810131U1 (de) * | 1988-08-09 | 1989-12-21 | Kuka Schweissanlagen + Roboter Gmbh, 8900 Augsburg | Schweißvorrichtung mit Sensor-Anordnung |
Non-Patent Citations (2)
Title |
---|
IEEE INDUSTRY APPLICATIONS SOCIETY ANNUAL MEETING vol. I, 23 Octobre 1987, ATLANTA, GEORGIA, USA pages 453 - 458; K. OHSHIMA ET AL.: 'DIGITAL CONTROL OF TORCH POSITION AND WELD POOL IN MIG WELDING USING IMAGE PROCESSING DEVICE' * |
PATENT ABSTRACTS OF JAPAN vol. 10, no. 59 (M-459)(2116) 8 Mars 1986 & JP,A,60 206 576 ( HITACHI ZOSEN K. K. ) 18 Octobre 1985 * |
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2000006335A1 (fr) * | 1998-07-29 | 2000-02-10 | Tregaskiss Ltd. | Tete de soudage a l'arc |
US6130407A (en) * | 1998-07-29 | 2000-10-10 | Tregaskiss, Ltd. | Arc welding torch |
US10821539B2 (en) | 2013-11-12 | 2020-11-03 | Lincoln Global, Inc. | System and method for pendant component for a welding system |
USD765111S1 (en) | 2014-06-24 | 2016-08-30 | Lincoln Global, Inc. | Display screen or portion thereof with graphical user interface |
Also Published As
Publication number | Publication date |
---|---|
CA2111346A1 (fr) | 1993-01-07 |
EP0591400A1 (fr) | 1994-04-13 |
FR2678191A1 (fr) | 1992-12-31 |
JPH06510485A (ja) | 1994-11-24 |
FR2678191B1 (fr) | 1995-06-30 |
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