231 溶融池監視およびシミュレーションを用いた薄板TIG溶接の溶け込み制御(溶接・接合)

概要

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An intelligent welding robot system with visual sensors is developed in order to realize automatic welding of thin steel plates including automatic seam tracking and automatic control of welding conditions. In particular, control of a back bead width is crucial in thin plate welding, which requires the information on the back bead. However, it is difficult to observe the back bead directly, since sensors, such as a CCD camera, cannot be placed beneath the work in practical applications. Conventionally, the back bead width for a given geometry of a molten pool is estimated according to a database obtained from experiments, which was time and cost consuming. In this work, a welding simulation based on the heat conduction equation was performed to estimate the back bead width. Then a penetration control system using the simulation and visual monitoring of molten pool is constructed, and the effectiveness is confirmed by welding control experiments.
社団法人日本機械学会の論文
2006-11-25