Intelligent robot controls penetration and bead height

Abstract

In order to achieve full automation of arc welding an intelligent arc welding robot is required that can track the weld joint, detect the shape of the groove and control the gun position and welding parameters. An intelligent arc welding robot called Intelliarc has been developed which has the following special features: 1) A high-speed, rotating arc welding system that provides high current, high-efficiency welding with improved bead shape, weld penetration and bead height. 2) A camera-based, image-processing system that enables simultaneous control of weld penetration and bead height in variable width root openings. 3) High-accuracy joint tracking based on the combined use of an arc sensor and image-processing sensor. 4) A small welding head that can be easily inserted into closed vessels for safe, unmanned welding. The paper describes the intelligent welding system and its functions, including the method for simultaneously controlling the penetration depth and bead height with variable root openings.