Adaptive welding guidance apparatus
AssigneeCaterpillar Tractor Co.
InventorsRonald D. Brown, James D. Waters, Jr.
Life of this patent
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Abstract
An apparatus for guiding a welding torch along a weld groove has a visual sensing system for detecting the weld groove cross sectional configuration and relative position of the edges of weld groove. The positional and cross sectional information is assimilated under microprocessor control to actively guide the welding torch through the control of a series of servo motors and adaptively position the welding electrode at an optimal preselected location with the weld groove.
Claims14
An adaptive welding apparatus for guiding a welding torch along a weld groove, comprising:
- first means for moving a sensing element along a preselected pathway extending across said weld groove, sensing the weld groove cross sectional configuration, and delivering signals in response to the position and confituration of the weld groove cross secton;
- second means for receiving said signals, determining relative locations of preselected points on said weld groove, and computing a relative location of the center of area of said weld groove cross section;
- and
- third means for computing a guidance point as a function of said center of area irrespective of the cross sectional configuration of said weld groove, and controlling the lateral movement of said welding torch in a direction toward said guidance point.
An adaptive welding apparatus for guiding a welding torch along a weld groove, comprising:
- first means for moving a sensing element along a preselected pathway extending across said weld groove, sensing the weld groove cross sectional configuration, and delivering signals in response to the position and configuration of the weld groove cross section;
- second means for receiving said signals, determining lateral coordinates of the left and right groove, edges, and computing the center of area of said weld groove cross section;
- and
- third means for computing an optimum guidance point irrespective of the cross sectional configuration of said weld groove by the equation:
- Guidance Point=A-B * (C-D)+X
- where,
- A=one of the left edge, right edge, and center of area
- B=percentage deviation
- C=one of the left edge, right edge, and center of area
- D=one of the left edge, right edge, and center of area
- X=constant
- said variables A,B,C,D, and X being programmable prior to actual welding and alterable at preselected points along said weld groove.
A method for guiding a welding torch along a weld groove, comprising:
- moving a sensing element along a pathway extending across said weld groove;
- sensing the weld groove cross sectional position and configuration;
- determining relative locations of preselected points on said weld groove;
- computing a relative location of the center of area of said weld groove cross section;
- computing a guidance point as a function of said center of area irrespective of the cross sectional configuration of said weld groove;
- and
- controlling the lateral motion of said welding head in a direction toward said guidance point.
An adaptive welding apparatus for guiding a welding torch along a weld groove, comprising:
- a laser light source;
- means for scanning said laser light along a path extending across said weld groove, defining a first optical axis;
- a raster-scan type TV camera positioned on a second optical axis angularly spaced from said first optical axis, said camera being adapted for optically viewing said laser light path and delivering signals in response to the position and configuration of the weld groove cross section;
- second means for receiving said signals, determining coordinates of left and right groove edges, and computing the center of area of said weld groove cross section;
- and
- third means for computing an optimum guidance point irrespective of the cross sectional configuration of said weld groove by the equation:
- Guidance Point=A-B * (C-D)+X
- where,
- A=one of the left edge, right edge and center of area
- B=percentage deviation
- C=one of the left edge, righe edge, and center of area
- D=one of the left edge, right edge, and center of area
- X=constant
- said variables A,B,C,D, and X being programmable to the desired value prior to actual welding and alterable without interruption of the welding process at preselected points along said weld groove.
Dependencies are inferred from the claim text.