Proceedings of the Sixth (1996) -International Offshore and Polar Engineering Conference (1996) Los Angeles, USA May

2631, 1996 Copyright 1996 by The International Society of Offshore and Polar Engineers ISBN 1880653222 (Set); ISBN 1880653-26-5 (Vol. IV)

Penetration Control by Detecting Oscillation of Weld Pool in Automatic TIG Arc Welding
Y. Suga and T. Tokiwa Keio University Yokohama, Japan

welding conditions, in which the welding arc phenomena and the molten pool condition In automatic butt welding of relatively thin plates, it will be are observed during welding and furthermore in real-time, are remarked. the For welding conditions are controlled

important to control welding conditions in order to obtain a sound full penetration weld. Especially, it is difficult to obtain a full penetration weld, because the optimum welding condition changes with groove conditions, such as gap of groove, shape of groove and so on. Recently, it was reported that there is an intimate relationship between the oscillation of molten pool and penetrationl-7). That is to say, the estimation of frequency of a molten pool decreases drastically with transformation from partial penetration to full penetration. Accordingly, tried and furthermore the real-time control molten pool condition by detecting frequency of the molten pool is for full penetration detecting welding is performed. In this study, the principle of detection of penetration, method of molten pool oscillation condition according and control system of welding it was seen that the control

instance, a method to control the penetration of weld, in which the shape and dimensions of the molten pool are visually detected and welding conditions are controlled so as to keep them optimum, are proposed and the effectiveness is confirmed8). However, the vision system in arc welding is not always reliable because of the high intensity light of welding arc9). On the other hand, a relationship between the shape of the molten pool in welding and the peculiar frequency of its oscillation has been made clear recently. Accordingly a method applied the principle in order to control the penetration in TIG arc welding was developed.

to the frequency of molten pool oscillation are

investigated. As a result of experiment, plates. Key words: Welding, Penetration

Arc voltage data processing system

system constructed is effective for automatic TIG arc welding of thin

control, Oscillation of molten

pool, Frequency analysis

Recently,

research

and

development

for

mechanization

and

robotization of welding has been carried out widely, and a number of intelligent welding robots which have some sensors, such as arc-sensor and visual sensor, are developed. Especially, the adaptive control of