| 摘要 |
PROBLEM TO BE SOLVED: To obtain a weld line tracking method during welding without an inclination against the case that the influence of an arc deflection and a welding bead substrate exists and is capable of welding to uniformly fuse a groove wall. SOLUTION: An image in a molten pool including a welding wire inserted position during welding is fetched by a CCD camera and is image-processed, a welding wire insertion position deviation ΔX for groove left/right ends is calculated from its molten pool shape and further, from the correlation signals such as a difference ΔH in the left/right wet heights of the molten pool, a difference Δρ in the curvatures of the left/right molten pools, a difference ΔA in the areas of clearances in the corner parts of the left/right molten pool ends and a difference ΔG in the amt. of the clearances in the left/right molten pools, the molten state discrimination signals of left/right groove walls are obtained. Based on a welding wire inserted position deviation signal and the molten state discrimination signal of the left/right groove walls, left/right tracking axis center positions are controlled in a real time by using an arithmetic means of fuzzy logic, etc., and thus, weld line tracking is performed. |
