Joint Tracking Control Sensor of GMAW : Development of Method and Equipment for Position Sensing in Welding with Electric Arc Signals (Report 1)

概要

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The weld joint tracking sensor is indispensable to improve the flexibility of the arc welding robot applications. Recently, a sensing method which utilizes the electric arc signals, or more correctly the welding current, has been developed and prevalently in use. The sensing accuracy, however, is directly affected by the contact tip-to workpiece distance. The authors investigated the algorithm of estimating the contact tip-to workpiece distance quantitatively with the following results. (1) The wire extension length (L_E) in the GMAW process can be calculated using average value (I_α) and effective value (I_ε) of current and wire feed rate (v). (2) The voltage drop (V_E) in the extended wire can be calculated with I_α, I_ε, v and L_E. (3) Then, the arc length (L_A) can be calculated from I_α and arc voltage (V_A) which is given by substracting V_E from welding voltage (V). (4) The contact tip-to workpiece distance (L_E+LA) can be correctly estimated by the above algorithm. The weld joint tracking system which identifies the horizontal and vertical displacements of the arc position from the transverse torch oscillation and contact tip-to workpiece was developed and applied to the arc welding robot successfully.
社団法人溶接学会の論文
1987-05-01