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Arc welding adaptive process control system

  • US 4,613,743 A
  • Filed: 12/03/1984
  • Issued: 09/23/1986
  • Est. Priority Date: 12/03/1984
  • Status: Expired due to Term
First Claim
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1. A vision-based robotic welding system comprising:

  • an arc welding torch having an electrode to conduct welding current and create a molten weld puddle in a workpiece by the heat of an electric arc, and integrated optics to provide an image of the weld puddle and workpiece joint; and

    an improved adaptive feedback control system to control weld quality during the welding operation and assure full penetration weld beads, which is comprised of;

    means to analyze said image and measure puddle area and maximum width at discrete intervals;

    means to determine a puddle geometry error by comparing the area and width measurements with desired puddle area and width;

    means to correct the nominal welding current in dependence upon said puddle geometry error; and

    means for feeding corrected welding current to said welding torch to thereby change the heat input and weld puddle boundaries.

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