CN101462192A - Squitter pulse welding method - Google Patents
Squitter pulse welding method Download PDFInfo
- Publication number
- CN101462192A CN101462192A CNA2008101885064A CN200810188506A CN101462192A CN 101462192 A CN101462192 A CN 101462192A CN A2008101885064 A CNA2008101885064 A CN A2008101885064A CN 200810188506 A CN200810188506 A CN 200810188506A CN 101462192 A CN101462192 A CN 101462192A
- Authority
- CN
- China
- Prior art keywords
- welding
- mentioned
- welded rails
- job position
- production line
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Landscapes
- Butt Welding And Welding Of Specific Article (AREA)
- Arc Welding In General (AREA)
Abstract
The present invention provides an interrupting pulse welding method capable of forming wide welding seam. According to the method, an arc welding torch (T) welds again at next operation position away from preset move distance after the torch (T) is moved and weld at an operation position on work line (L), such that welding marks formed at each operation position overlap and the welding marks are formed on the work piece (W), welding tracks (Kc) are formed in preset area including operation position (Pn) and having preset width in operation lien direction (Dr) and direction orthorhombic to the operation line (L), a front end of the arc welding torch (T) moves along the welding tracks (Kc) at same time of welding. The welding tracks (Kc) are round or elliptical or spiral welding tracks, and are generated according to patterns selected from preset track patterns. Wide welding marks may be obtained by forming welding marks with the welding tracks (Kc) at each operation position.
Description
Technical field
The present invention relates to be suppressed to irreducible minimum to the heat affecting that mother metal brought of thin plate on one side, Yi Bian the interrupting pulse that welds (stitch pulse, ス テ Star チ パ Le ス) welding method.
Background technology
Heat input and cooling when so-called interrupting pulse welding is meant by the control welding will be suppressed to the welding of irreducible minimum to the heat affecting that mother metal brought.Be the welding that is automated as purpose, compare, can improve weld appearance, reduce welding deformation amount (for example with reference to patent documentation 1) with existing plate sheet welding with plate sheet welding.
In patent documentation 1, disclose, under the state that the electric arc welding torch is stopped, making electric arc generation preset time and make the mother metal fusing, this setting-up time through after electric arc is stopped, and make electric arc that the electric arc welding torch moves to the melting end outer circumferential side method of starting point again.Below the prior art is described.
Figure 13 is the figure of the existing interrupting pulse welder 51 of expression.
The device of manipulator (manipulator) M for workpiece W is automatically carried out arc welding is by upper arm 53, underarm 54 and wrist 55 and be used for a plurality of servomotors (not shown) that they rotations drive are constituted.
Electric arc welding torch T is installed in the fore-end of the upper arm 53 of manipulator M, and the welding wire 57 about the diameter 1mm that is used for being wrapped on the wire reel (wire reel) 56 is directed to the welding position that is instructed to of workpiece W.Source of welding current AP supplies with weldingvoltage between electric arc welding torch T and workpiece W.When workpiece W is welded, welding wire 57 is carried out under the state of the outstanding length Ew of the outstanding expectation of front end of electric arc welding torch T.The length of outstanding length Ew is general many about 15mm, but the operator can adopt length that teaching operation dish TP described later adjusts to expectation in advance with the groove shape that cooperates the welding position, welding procedure condition etc.
Conduit (conduit) cable 52 possesses the coiling guider (coil liner) (not shown) that is used at inside guiding welding wire 57, and T is connected with the electric arc welding torch.And then conduit cable 52 will also be supplied with electric arc welding torch T from the electric power of welding power supply AP and from the protective gas of gas bomb 58.
Teaching operation dish TP as operating unit is so-called movable operation board, is used to set the action of manipulator M, the essential condition (welding current, weldingvoltage, translational speed, moving interval, weld interval and cool time) etc. in order to carry out interrupting pulse welding.The operator adopts this teaching operation dish TP, finishes the operation procedure of having set above-mentioned condition with the action of manipulator M.
Robot controller RC is used to make manipulator M to carry out the control of welding action, possesses master control part, operation control part and servo-driver (all not shown) etc. in inside.And the operator from servo-driver each servomotor output action control signal to manipulator M, makes a plurality of axles rotation respectively of manipulator M based on by the indicated operation procedure of teaching operation dish TP.Current location is discerned in the output of the encoder (not shown) that is provided with in the servomotor of robot controller RC by next comfortable manipulator M, therefore can control the leading section of electric arc welding torch T.
In addition, implement the position of interrupting pulse welding, calculated in advance by be segmented in the production line of storing in the operation procedure by the moving interval that sets.Below, the position after will cutting apart is called job position.When the leading section of electric arc welding torch T is imported the job position of being calculated successively, by carrying out following illustrated welding repeatedly, move, cooling off and carry out the interrupting pulse welding.
Figure 14 is the figure that is used to illustrate the state when carrying out the interrupting pulse welding.Welding wire 57 is outstanding from the front end of electric arc welding torch T.Protective gas G blows out from electric arc welding torch T with fixing flow when welding finishes when welding begins all the time.Below, each state when interrupting pulse is welded describes.
Appearance when this figure (a) expression electric arc produces.Based on welding current that sets and weldingvoltage, electric arc A produces between the front end of welding wire 57 and workpiece W in job position P1, and welding wire 57 fusings also form melting tank Y in workpiece W.Produce from electric arc A and to have passed through after set weld interval, stop electric arc A.
Appearance after this figure (b) expression electric arc stops.After electric arc stops, the state after keeping welding before through the cool time that sets.Under the state that the state that is manipulator M and electric arc welding torch T with welding the time has similarly stopped, only becoming from electric arc welding torch T and blow out protective gas G, so melting tank Y is because protective gas G and be cooled in fact and solidify forms weld mark Y '.
This figure (c) expression makes electric arc welding torch T move to the appearance of next job position P2.Through after cool time, electric arc welding torch T is moved on the production line direction, separated the next job position P2 of predefined moving interval Mp.The translational speed of this moment is the translational speed that sets.Above-mentioned moving interval Mp is such predefined distance of mode that welding wire 57 is positioned according to the outer circumferential side of the weld mark Y ' after melting tank Y solidifies shown in this figure (c).
This figure (d) is illustrated in the appearance that produces electric arc A among the job position P2 once more.Form new melting tank Y and weld at the leading section of weld mark Y '.Thus, in interrupting pulse welder 51, electric arc is produced and state that welds and the state that cools off, moves.Its result is that the mode that squamous overlaps forms weld seam according to weld mark.
Figure 15 is the figure that is used to illustrate the weld seam that forms after welding procedure.As shown in the drawing, production line L is cut apart by the moving interval Mp of regulation, calculates job position P1～P4 ...Afterwards, in initial job position P1, form weld mark Sc, in the job position P2 of separation moving interval Mp, also form same weld mark Sc towards production line direction Dr.Also further form weld mark Sc later on successively at job position P3.As mentioned above, the result that forms of the mode that overlaps according to weld mark is for forming the weld seam B of squamous.
Patent documentation 1: Japanese kokai publication hei 6-55268 communique
As mentioned above, interrupting pulse welding is with the mother metal of the thin plate object as arc welding.Generally speaking, need weld by big welding current or long weld interval, but in this case, because heat input becomes big, so the mother metal of thin plate burns in order to form the wide weld seam of width.Promptly in the interrupting pulse welding, there is the problem that can not form the wide weld seam of width.
Summary of the invention
At this, the object of the present invention is to provide a kind of is in the interrupting pulse welding of object of welding at the mother metal with thin plate, can easily form the Squitter pulse welding method of the wide weld seam of width.
To achieve these goals, the Squitter pulse welding method of first invention, it is by after making welding torch repeatedly and move to the job position on the production line and welding, next job position at the moving interval that leaves regulation welds once more, make by the formed weld mark coincidence of the welding of each job position and on workpiece, form weld seam, it is characterized in that, generate welded rails comprising above-mentioned job position and have on the direction of quadrature mutually in the regulation zone of Rack in above-mentioned production line direction and with above-mentioned production line, the leading section that makes on one side above-mentioned welding torch moves according to the welded rails of this generation, Yi Bian weld.
Second invention is characterized in that according to the Squitter pulse welding method of first invention above-mentioned welded rails is circle welded rails or oval welded rails or spiral welded rails.
The 3rd invention is according to the Squitter pulse welding method of second invention, it is characterized in that, above-mentioned round welded rails is calculated based on the posture information of the above-mentioned welding torch leading section in predetermined parameters that comprises circular diameter value or radius of circle value and the above-mentioned job position, and the center is configured on the above-mentioned production line and configuration welding starting position and welding end position in orbit.
The 4th invention is according to the Squitter pulse welding method of second invention, it is characterized in that, above-mentioned oval welded rails is calculated based on the posture information of the above-mentioned welding torch leading section in predetermined parameters that comprises long axis of ellipse value and minor axis value and the above-mentioned job position, and the center is configured on the above-mentioned production line and configuration welding starting position and welding end position in orbit.
The 5th invention is characterized in that according to the Squitter pulse welding method of the 3rd or the 4th invention above-mentioned welding starting position and above-mentioned welding end position are above-mentioned job position.
The 6th invention is characterized in that according to the Squitter pulse welding method of the 3rd or the 4th invention above-mentioned center is above-mentioned job position.
The 7th invention is characterized in that according to the Squitter pulse welding method of the 6th invention, before moving above-mentioned welding torch according to above-mentioned welded rails, stops the welding of weld interval of stipulating under the state of above-mentioned welding torch in above-mentioned center.
The 8th invention is according to the Squitter pulse welding method of second invention, it is characterized in that, above-mentioned spiral welded rails comprises promptly that based on the displacement to above-mentioned production line direction the predetermined parameters of maximum radius of spin value and the posture information of the above-mentioned welding torch leading section in the above-mentioned job position are calculated, as the welding starting position, the position that will leave above-mentioned maximum radius of spin value amount on above-mentioned production line direction is as the welding end position with above-mentioned job position.
The 9th invention is characterized in that according to the Squitter pulse welding method of the 8th invention above-mentioned maximum radius of spin value is identical with above-mentioned moving interval.
The tenth invention is according to the Squitter pulse welding method of each invention in the three～nine invention, last above-mentioned parameter comprise be used to make above-mentioned welded rails with the above-mentioned production line direction flat ratio that is out of shape of the direction of quadrature mutually.
The 11 invention is according to the Squitter pulse welding method of each invention in the first～ten invention, and above-mentioned welded rails generates according to a track pattern of selecting from a plurality of track pattern that comprise predetermined circle or ellipse or spiral.
By first invention, when the welding of each job position, have on the direction of quadrature mutually in the regulation zone of Rack in the production line direction and with production line and to generate the welded rails that comprises job position, weld by according to this welded rails the leading section of electric arc welding torch being moved on one side on one side, thereby can suppress heat input, and in comprising the big zone of job position, form weld mark mother metal.Promptly can form the weld mark big weld mark that forms than under the existing state that has stopped, therefore can realize the weld seam that width is wide.
By second invention, become circle or ellipse or spiral by making welded rails, thereby except the effect that first invention is realized, can also improve the attractive in appearance of weld seam.
By the 3rd invention, the circle welded rails is calculated based on the posture information of predetermined parameters that comprises circular diameter value or radius of circle value and the electric arc welding torch leading section in the job position, the center is configured on the production line, and starting position and welding end position are welded in configuration in orbit.Promptly except the effect that first and second invention is realized, can in each job position, form the weld mark of toroidal.
By the 4th invention, the oval welded rails of oval welded rails for being calculated based on the posture information of predetermined parameters that comprises major axis value and minor axis value and the electric arc welding torch leading section in the job position, the center is configured on the production line, and starting position and welding end position are welded in configuration in orbit.Promptly except the effect that first and second invention is realized, can form the weld mark of elliptical shape at each job position.
By the 5th invention, by will weld starting position and welding end position, thereby after job position begins welding, electric arc welding torch leading section is moved according to justifying welded rails or oval welded rails, and turn back to job position as job position.Thus, except the effect that first～the 4th invention is realized, can realize the wide weld seam of width by the weld mark that is generated by circle welded rails or oval welded rails.
By the 6th invention, will justify the center of welded rails or oval welded rails as job position.In the 5th invention, job position as base end part, is formed on the round welded rails or the oval welded rails of skew (offset) on the production line direction.Relative therewith, in the 6th invention, can form with the job position is the round welded rails or the oval welded rails at center.Thus, except first～the 4th effect that realized of invention, also realize the weld mark that produced by circle welded rails or oval welded rails form the position desirable and for the operator effect clearly.
By the 7th invention, before according to round welded rails that is generated or oval welded rails moving electric arc welding torch, in the center of track, the welding of the weld interval of under the state that stops the electric arc welding torch, stipulating.For example under the situation of round welded rails, under the situation excessive as the radius of circle value of parameter regulation or circular diameter value, exist near the situation that can not form weld mark the round center, but by the welding of weld interval of stipulating under the state that the electric arc welding torch is stopped in the center at first at first, thereby even radius of circle or circular diameter greatly also form weld mark near the center.This situation is also identical in oval welded rails.Promptly except the effect that the 1st～the 6th invention is realized, can form big weld mark more reliably.
By the 8th invention, the spiral welded rails is based on comprising that displacement to the production line direction is that the posture information of the predetermined parameters of maximum radius of spin value and the electric arc welding torch leading section in the job position is calculated.And, after job position begins welding, make electric arc welding torch leading section move and arrive the position of leaving maximum radius of spin value amount according to the spiral welded rails.Thus, except the effect that first and second invention is realized, can also realize the wide weld seam of width by the weld mark that is generated at the spiral welded rails.
By the 9th invention, making the maximum radius of spin value of spiral welded rails is that moving interval is identical with displacement to next job position.Thereby, except first, second and the 8th effect that realized of invention, can also reduce spiral welded rails relevant teaching man-hour.In addition, can also shorten the productive temp time.Be under the situation of the value different promptly with moving interval in the maximum radius of spin value of regulation, describe the spiral welded rails and after moving maximum radius of spin value amount on the production line direction, need move to the next job position that leaves the moving interval amount, but make under the maximum radius of spin value situation identical with moving interval, do not need therefore can shorten the productive temp time to the moving of next job position.
By the tenth invention, make welded rails be used as parameter by being given for, thereby can make the welded rails distortion with flat ratio that the production line direction is out of shape on the direction of quadrature mutually.Promptly except the effect that first～the 9th invention is realized, can further realize welded rails according to operator's needs.
By the 11 invention, pass through from predetermined pattern, to select the pattern of especially suitable welded rails in order to realize the weld seam that width is wide, thereby except the effect that first～the tenth invention is realized, can realize and the corresponding weld appearance of operator's needs.
Description of drawings
Fig. 1 is the block diagram of the interrupting pulse welder 1 of the Squitter pulse welding method that is suitable for the present invention and is correlated with.
Fig. 2 is the figure of the predetermined a plurality of trajectory diagram cases of expression.
Fig. 3 is the figure that is used to illustrate the sealing wire coordinate system.
Fig. 4 generates the figure of the appearance of circle welded rails for being illustrated in the embodiment 1 in comprising the regulation zone of job position.
Fig. 5 is for being illustrated in the embodiment 1 flow chart of the flow process of the processing the during welding of expression interrupting pulse.
Fig. 6 generates the figure of the appearance of circle welded rails for being illustrated in the embodiment 2 around job position Pn.
Fig. 7 is the flow chart that is illustrated in the flow process of the processing when interrupted impulse welding connects in the embodiment 2.
Fig. 8 is for being illustrated in the embodiment 2, makes the electric arc welding torch carry out flow chart when mobile according to welded rails after once welding in the center of welded rails.
Fig. 9 is for being used to illustrate the figure of spiral welded rails in embodiment 3.
Figure 10 is in embodiment 3, is used to illustrate the figure of the kind of spiral welded rails.
Figure 11 is for being used for explanation at embodiment 3, the image (image) of the weld seam of the relation between maximum radius of spin value and moving interval figure.
Figure 12 is the flow chart that is illustrated in the flow process of the processing when interrupted impulse welding connects in the embodiment 3.
Figure 13 is the figure of the existing interrupting pulse welder of expression.
Figure 14 is the figure that is used to illustrate the state when carrying out the interrupting pulse welding.
Figure 15 is the figure that is used to illustrate the weld seam that forms after welding procedure.
[explanation of symbol]
1 interrupting pulse welder
3 master control part
4 hard disks
5 RAM
6 CPU
11 operation control part
12 drive instruction department
13 welding control parts
20 teaching handling parts
21 show handling part
22 explain execution portion
41 display parts
42 configuration parts
51 existing interrupting pulse welders
52 conduit cables
53 upper arm
54 underarms
55 wrists
56 wire reels
57 welding wires
58 gas bombs
A electric arc
The AP source of welding current
The B weld seam
The Cc center
Cc ' center
Cr radius of circle value
Ct cool time
Dr production line direction
The Ep end point
Ew gives prominence to length
The G protective gas
H sealing wire coordinate system with Z axle plane orthogonal mutually
Kc circle welded rails
Kc ' circle welded rails
The oval welded rails of Kd
The oval welded rails of Kd '
Kg track pattern group
Kr spiral welded rails
The Kp track pattern
The L production line
The M manipulator
The Mp moving interval
The Ms translational speed
The P1 job position
The P2 job position
The P3 job position
The P4 job position
The Pn job position
Pe welds end position
The Pm parameter
The RC robot controller
The Rd direction of rotation
The Sc weld mark
The Sp starting point
The maximum radius of spin value of Sr
T electric arc welding torch
The Tc welding condition
TP teaching operation dish
The W workpiece
The W1 workpiece
The W2 workpiece
We welds end position
Wp welding beginning end position
Wp ' welding beginning end position
The Y melting tank
Y ' weld mark
The specific embodiment
[embodiment 1]
Below, the working of an invention mode is described with reference to accompanying drawing according to embodiment.
Fig. 1 is the block diagram of the interrupting pulse welder 1 of the Squitter pulse welding method that is suitable for the present invention and is correlated with.In the figure, be robot controller RC with the difference of Figure 13 of prior art, as the teaching operation dish TP of operating unit.Other manipulator M, source of welding current AP that illustrated in the prior art, wire reel 56, gas bomb 58 etc. are not shown and omit.Below, robot controller RC and the teaching operation dish TP that constitutes major part of the present invention described.
Robot controller RC is used to make manipulator M to weld the control of action, possess: the master control part 3 that becomes its maincenter, carry out the track computing etc. of manipulator M and with operation result as driving signal to the operation control part 11 that drives instruction department 12 outputs, output is used for each servomotor of manipulator M is rotated the driving instruction department 12 of the servo-control signal of control, the hard disk 4 that is used for storage operation program and various parameters etc., RAM5 as temporary transient zoning, CPU6 as central arithmetic processing apparatus, administer the welding control part 13 of control of welding and not shown servo-driver, they are connected by bus (not shown).
Teaching operation dish TP as operating unit possesses: the display part 41 that shows various information; The configuration part 42 of the various conditions of the moving target position of setting manipulator M, action parameter etc.Be imported into the master control part 3 of robot controller RC by the various conditions of configuration part 42 input etc.
Fig. 2 is the figure of the example of expression track pattern.A plurality of patterns as shown in the drawing are stored in the hard disk 4 in advance as track pattern group Kg.Track pattern group Kg is presented at title and shape in the display part 41 of teaching operation dish TP as group, so the operator can be from visually understanding track pattern, and can select any track pattern.
In addition, track pattern group Kg is preferably the structure that comprises especially optimal circle, ellipse or spiral in order to realize the weld seam that width is wide.And then shown in this figure (c)～(f), the pattern predesignate sectionalization under the situation of spiral after will be better so that the starting position of spiral rotation, direction of rotation etc. can imageization (image) time.
Next, operation control part 11 is described according to circle or the oval welded rails that track pattern generated.At first the sealing wire coordinate system that becomes the benchmark when generating welded rails is described.
Fig. 3 is the figure that is used to illustrate the sealing wire coordinate system.This figure (a) expression electric arc welding torch T and production line L are perpendicularly by the situation of teaching, and this figure (b) expression electric arc welding torch T and production line L are angledly by the situation of teaching.In the figure, production line L is for connecting by the line of the starting point Sp of teaching and end point Ep in order to engage workpiece W1 and workpiece W2.Production line direction Dr is the direction that electric arc welding torch T advances to end point Ep from starting point Sp.Same as the prior art, production line L is cut apart by moving interval Mp, calculates a plurality of job positions on production line L.Job position Pn represents in a plurality of job positions.Below, the method that defines the sealing wire coordinate system in the regulation zone that comprises this job position Pn is described.Also adopting in other job position uses the same method defines the sealing wire coordinate system.
The sealing wire coordinate system based on the posture information of the leading section of the electric arc welding torch T among the job position Pn, be the posture coordinate figure in production line direction composition and the base coordinate system, can define like that according to following.
Shown in this figure (a), following coordinate system is defined as the sealing wire coordinate system, be about to initial point as job position Pn, with the production line direction Dr among this job position Pn as the Z+ direction, with withdrawal (retract) direction of welding wire (not shown) of inside of inserting electric arc welding torch T as the X+ direction, will with Z+ direction and X+ direction quadrature and according to the direction of so-called right-handed coordinate system coordinate system mutually as the Y+ direction.Welded rails is calculated on the YZ plane.
Make electric arc welding torch T have angle ground by the situation of teaching under, shown in this figure (b), to comprise job position Pn and with the Z axle of sealing wire coordinate system plane orthogonal H projection electric arc welding torch T mutually, the retracted orientation of establishing the electric arc welding torch T ' after the projection is the X+ direction.Other are identical with this figure (a).
In addition, in above-mentioned, expression production line L is the situation of straight line, but production line L is under the situation of circular arc, if regard the wiring direction of circular arc as production line L, then can adopt method same as described above to define the sealing wire coordinate system, therefore omits explanation.
Next, be that benchmark describes the method that generates round welded rails and oval welded rails with above-mentioned sealing wire coordinate.
Fig. 4 generates the figure of the appearance of circle welded rails for expression.Among this figure, about the XYZ direction of job position Pn, electric arc welding torch T, workpiece W1, workpiece W2, starting point Sp, end point Ep, production line L, production line direction Dr and sealing wire coordinate system, since identical with Fig. 3, explanation therefore omitted.
Circle welded rails Kc has on the direction of quadrature mutually in the zone of Rack at the production line direction Dr that comprises job position Pn and with production line L and is generated.In addition, configuration job position Pn is as welding beginning end position Wp.So-called welding beginning end position Wp is the position that begins to weld, and rotated for 1 week according to direction of rotation Rd along circle welded rails Kc, finishes the position of welding.
Radius of circle value Cr and direction of rotation Rd are set the parameter Pm as the circle welded rails.Width (being weld width) as the radius of circle value Cr of Rack decision weld mark also can replace the radius of circle value by the circular diameter value.Direction of rotation Rd is used for making electric arc welding torch T along the circle welded rails when moving, and decision is towards production line direction Dr that direction rotation to the left and right.
Circle welded rails Kc is according to following such generation.If separate the center Cc of the position of radius of circle value Cr to production line direction Dr from job position Pn, calculate the circular orbit in the YZ plane with radius of circle value Cr for circle.In addition, this circular orbit is easily calculated based on known function etc., therefore for detailed calculating formula etc., omits explanation.And, job position Pn is begun end position Wp as welding.Thus, in the zone of the production line direction side that comprises job position Pn, generate circle welded rails Kc.
Also can adopt method same as described above, generate oval welded rails.The left and right directions length radius value of oval welded rails and direction of advance length radius value promptly are set as parameter Pm, replace above-mentioned radius of circle value Cr.Left and right directions length radius value and direction of advance length radius value also can be respectively diameter value separately.This is equivalent to the so-called long axis of ellipse value and the minor axis value of necessity when generating oval welded rails.
And, will leave the center Cc of the position of direction of advance length radius value to production line direction Dr from job position Pn as ellipse, in the YZ plane, calculate elliptic orbit with left and right directions length radius value and direction of advance length radius value.Because this elliptic orbit also can easily be calculated according to known function etc., therefore omit explanation about detailed calculating formula etc.Afterwards, job position Pn is begun end position Wp as welding.Thus, in the zone of the production line direction side that comprises job position Pn, generate oval welded rails Kd.
Next, the action of carrying out interrupting pulse when welding is described.The flow chart of the flow process of the processing when Fig. 5 welds for the expression interrupting pulse.
Among the step S1, cut apart production line L with moving interval Mp and calculate job position.If establish initial job position is P1, and then job position P1 is by the represented starting point Sp of Fig. 4.
In step S2, make electric arc welding torch T move to job position P1.
In step S3, by the sealing wire coordinate system among the above-mentioned method setting job position P1.
In step S4, establish the welded rails of job position P1 for welding beginning end position Wp by above-mentioned method generation.And then, be used to the interpolation operation that electric arc welding torch T is moved according to the welded rails that is generated.Promptly under the situation of round welded rails Kc, based on radius of circle value Cr geometry calculate the welding long (circumference) of round welded rails Kc, translational speed long based on this welding and that set calculate by each interpolation cycle the coordinate figure of the sealing wire coordinate system that should adopt, is the coordinate figure of base coordinate system (base coordinate) by coordinate transform with this coordinate transform, and then calculates the moving target value in each joint of manipulator M by carrying out the inverse transformation computing.Under the situation of oval welded rails Kd, based on left and right directions length radius and direction of advance length radius geometry calculate the welding long (oval girth) of oval welded rails Kd, Kc similarly calculates the moving target value in each joint of manipulator M with the circle welded rails.In addition, the translational speed Ms that above-mentioned translational speed also can be used the condition that is set at the interrupting pulse welding can set the parameter Pm of speed of welding as track pattern, also can use this speed of welding.
In step S5, begin welding, electric arc welding torch T is moved according to welded rails, arrive welding beginning end position Wp.In addition, diagram not, but after welding beginning end position Wp is through with welding, with prior art equally set under the state that has stopped electric arc welding torch T cool time Ct during carry out the cooling processing of weld mark.
In step S6, judge whether current job position is end point Ep.When current job position is end point Ep, process ends.At current job position is not under the situation of end point Ep, turns back to step S2.After turning back to step S2, in each of the next job position P2～Pn that separates moving interval Mp, step S2～S6 repeatedly.
As mentioned above, when the welding of each job position, have on the direction of quadrature mutually in the regulation zone of Rack in the production line direction that comprises job position and with production line and to generate welded rails, by the leading section of electric arc welding torch is moved on one side according to this welded rails, weld the heat input that suppresses mother metal on one side, and can in comprising the big zone of job position, form weld mark.Promptly, therefore can realize the weld seam that width is wide owing to can form than formed weld mark big weld mark under the existing state that has stopped.
In addition, be circle or ellipse or spiral by making welded rails, thereby except above-mentioned effect, can also improve the attractive in appearance of weld seam.
In addition, can from predetermined pattern, select the pattern of particularly suitable welded rails in order to realize the weld seam that width is wide, thereby except above-mentioned effect, can also realize and the corresponding weld appearance of operator's needs.
In addition, the circle welded rails is calculated based on the posture information of predetermined parameters that comprises circular diameter value or radius of circle value and the electric arc welding torch leading section in the job position, the center of track is configured on the production line, and starting position and welding end position are welded in configuration in orbit.Promptly except above-mentioned effect, can in each job position, form the weld mark of toroidal.
In addition, oval welded rails is calculated based on the posture information of predetermined parameters that comprises major axis value and minor axis value and the electric arc welding torch leading section in the job position, the center is configured on the production line, and starting position and welding end position are welded in configuration in orbit.Promptly except above-mentioned effect, can in each job position, form the weld mark of elliptical shape.
In addition, by will welding starting position and welding end position, thereby after job position begins welding, electric arc welding torch leading section is moved according to circle welded rails or oval welded rails, and turn back to job position as job position.Thus, except above-mentioned effect, can realize the weld seam that width is wide by the weld mark that is generated at circle welded rails or oval welded rails.
[embodiment 2]
Next, embodiments of the present invention 2 are described.In embodiment 1, become welded rails at the production line direction adnation of job position Pn, but in embodiment 2, around job position Pn, generate welded rails.
Fig. 6 is the figure of the appearance that generates the circle welded rails around job position Pn in the expression embodiment 2.In the figure, the difference with Fig. 4 is the center Cc ' as circle welded rails Kc ' with job position Pn.Other are identical with embodiment 1, therefore omit explanation.
Following such generation of circle welded rails Kc '.At first, job position Pn as center Cc ', is calculated the circular orbit that has radius of circle value Cr in the YZ plane.Afterwards, on this circular orbit, calculate welding beginning end position Wp ' to the position that the direction opposite with production line direction Dr left radius of circle value Cr from job position Pn.Thus, the zone around job position Pn generates circle welded rails Kc '.
Identical with embodiment 1, also can around job position Pn, generate oval welded rails.Promptly, left and right directions length radius and direction of advance length radius that oval welded rails is set replace above-mentioned radius of circle value Cr as parameter Pm, if job position Pn is center Cc ', in the YZ plane, calculate elliptic orbit with left and right directions length radius and direction of advance length radius.Afterwards, on this elliptic orbit, calculating welding beginning end position Wp ' to the position that the direction opposite with production line direction Dr left direction of advance length radius from job position Pn.Thus, around job position Pn, generate oval welded rails Kd '.And then, identical with embodiment 1, be used to the interpolation operation that electric arc welding torch T is moved along welded rails.
Next, the action of carrying out interrupting pulse when welding is described.The flow chart of the flow process of the processing when Fig. 7 welds for the interrupting pulse in the expression embodiment 2.
In step S1, calculate the job position of cutting apart production line L by moving interval Mp.If establish initial job position is P1, and then job position P1 is starting point Sp shown in Figure 4.
In step S2, by the sealing wire coordinate system among the said method setting job position P1.
In step S3, job position P1 as the center, is created on the welded rails that has welding beginning end position Wp ' on the production line L by said method.And then, identical with embodiment 1, be used to the interpolation operation that electric arc welding torch T is moved according to welded rails.
In step S4, the electric arc welding torch T welding on welded rails beginning end position Wp ' is moved.
In step S5, begin welding, electric arc welding torch T is moved according to welded rails, and arrive welding beginning end position Wp '.In addition, though not shown, same as the prior art after welding beginning end position Wp ' finishes welding, set under the state that stops electric arc welding torch T cool time Ct during carry out the cooling processing of weld mark.
In step S6, judge whether current job position is end point Ep.When current job position is end point Ep, process ends.When current job position is not end point Ep, turn back to step S2.Turn back to after the step S2, in each of the next job position P2～Pn that leaves moving interval Mp, step S2～S6 repeatedly.
As mentioned above, in embodiment 2, with circle or oval center as job position.In the embodiment 1, job position is formed on the production line direction circle or the ellipse of skew (offset) as base end part, but by with job position as circle or oval center, be the circle or the ellipse at center thereby form with the job position.Thus, can realize that the circle or the formation position of oval formed weld mark are desirable and are effect clearly for the operator.
In addition, in above-mentioned embodiment 2, after also can in the center of welded rails, once welding the electric arc welding torch is moved according to welded rails.Below, the mode of once welding in the center of welded rails is described.
Flow chart when Fig. 8 makes the electric arc welding torch move according to welded rails afterwards for once welding in the center of welded rails.In the figure, the step S1 that is illustrated by the broken lines～S4 and S6 are the same step of giving the symbol identical with Fig. 7, therefore omit explanation.Below, step S4 ' and the S5 that is represented by solid line described.
In step S4 ', in job position, stop to weld in the weld interval of regulation under the electric arc welding torch T state afterwards.Constitute the condition in the time of to weld as interrupting pulse this weld interval and preestablish.
Afterwards, in step S5, the electric arc welding torch T welding on welded rails beginning end position Wp ' is moved.When this moves, also can before moving, stop electric arc, also can meet beginning end position Wp ' and move at the state down hill welding that keeps sending electric arc.Afterwards, after moving according to welded rails, arrive welding beginning end position Wp '.
Thus, before according to round welded rails that is generated or oval welded rails moving electric arc welding torch, in the center of welded rails, under the state that stops the electric arc welding torch, carry out the regulation welding of weld interval.For example under the situation of circle welded rails, as the radius of circle value of parameter regulation or circular diameter value when excessive, exist near the situation that does not form weld mark the round center, but at first by the initial welding that stops weld interval of stipulating under the state of electric arc welding torch in the center, thereby even radius of circle or circular diameter greatly also form weld mark near the center.Even this mode also is in the same manner for oval welded rails.Promptly can form big weld mark more reliably.
[embodiment 3]
Next, embodiments of the present invention 3 are described.In the embodiment 1 and 2, around the production line direction side of job position Pn or job position Pn, generate circle welded rails Kc (Kc ') or oval welded rails Kd (Kd '), but in embodiment 3, generate the spiral welded rails of helically rotation toward the outer side from job position Pn.
Fig. 9 is the figure that is used to illustrate the spiral welded rails.This figure is the figure that sees the YZ plane of the sealing wire coordinate system that is illustrated by embodiment 1 from the X+ direction, is illustrated in the appearance of describing spiral welded rails Kr on the YZ plane.In the figure, the part of giving same-sign among job position Pn, production line L, production line direction Dr and direction of rotation Rd and Fig. 4 is identical, therefore omits explanation.
Following such generation of spiral welded rails Kr shown in this figure.At first, job position Pn as welding starting position Ws, is calculated the helical orbit that has maximum radius of spin value Sr in the YZ plane.So-called spiral track its radius of Dow Jones index and angle increases pro rata, so-called Archimedian screw.The formula of Archimedian screw is represented by radius R=a θ (a is a constant, and θ is the anglec of rotation).Be the center promptly with job position Pn, regulation quadrant (0 π, 1/2 π, π, 3/2 π) as shown in the figure, give rotation beginning angle, rotation angle at the end, when rotation finishes radius (=maximum radius of spin value Sr) as parameter Pm, thereby can easily calculate helical orbit.Under the situation of this figure, rotation beginning angle is 1/2 π, and the rotation angle at the end is 4 π, and maximum radius of spin value is Sr.Based on said method, calculate above-mentioned constant a, the radius R of also calculating each anglec of rotation.Promptly can easily calculate the coordinate figure of the sealing wire coordinate system that on helical orbit, should obtain.
Figure 10 is the figure of the example of expression helical orbit.For example change, and can generate as scheming the spiral welded rails Kr shown in (a)～(f) by making rotation beginning angle and rotating angle at the end.In this figure (a)～(f), represent to make rotation to begin the example of the situation of angle and the variation of rotation angle at the end, but passed through to add therein radius value when rotating beginning, thereby can stipulate helical orbit more neatly.The formula that is above-mentioned Archimedian screw is radius R=Ri+a θ.Radius value when Ri begins for rotation.This figure (g) is illustrated in the helical orbit of radius value Ri when considering the rotation beginning among this figure (e).
Turn back to Fig. 9, on helical orbit and from job position Pn, calculate welding end position We to the position that production line direction Dr leaves maximum radius of spin value Sr.Thus, the zone around job position Pn generates spiral welded rails Kr.
In addition, above-mentioned maximum radius of spin value Sr also can use identical value with moving interval Mp.Figure 11 is the striograph that is used to the weld seam of the relation between maximum radius of spin value and the moving interval that illustrates.Weld seam when the maximum radius of spin value Sr of this this figure (a) expression is identical value with moving interval Mp, maximum radius of spin value Sr is than moving interval Mp weld seam in short-term in this figure (b) expression, the weld seam when the maximum radius of spin value Sr of this figure (c) expression is longer than moving interval Mp.At this figure (b) and (c), describe spiral welded rails Kr and after moving maximum radius of spin value Sr on the production line direction Dr, need further to move to the next job position that leaves moving interval Mp amount, but shown in this figure (a), making under the maximum radius of spin value Sr situation identical, do not need to move to next job position with moving interval Mp.
Next, the action of carrying out interrupting pulse when welding is described.The flow chart of the flow process of the processing when Figure 12 welds for the interrupting pulse in the expression embodiment 3.
In step S1, cut apart production line L and calculate job position by moving interval Mp.If establish initial job position is P1, and then job position P1 is starting point Sp shown in Figure 4.
Among the step S2, electric arc welding torch T is moved to job position P1.
In step S3, by the sealing wire coordinate system among the above-mentioned method setting job position P1.
In step S4, generate job position P1 as welding starting position Ws by said method, will leave the spiral welded rails Kr of the position of maximum radius of spin value Sr to production line direction Dr as welding end position We.And then, be used to the interpolation operation that electric arc welding torch T is moved according to spiral welded rails Kr.The welding long (spiral length) of spiral welded rails Kr is calculated on geometry ground such as radius value when promptly beginning angle, rotation angle at the end, maximum radius of spin value Sr, rotation beginning based on the rotation of spiral, translational speed long based on this welding and that set is calculated the coordinate figure that should adopt in each interpolation cycle, calculate the moving target value in each joint of manipulator M in the same manner with above-mentioned embodiment 1.The translational speed Ms that above-mentioned translational speed also can use the condition as interrupting pulse welding to set also can set the parameter Pm of speed of welding as track pattern, uses this speed of welding.
In step S5, begin welding, electric arc welding torch T is moved according to spiral welded rails KR, and arrive welding beginning end position Wp.In addition, though not shown, same as the prior art after welding beginning end position Wp finishes welding, set under the state that has stopped electric arc welding torch T cool time Ct during carry out the cooling processing of weld mark.
In step S6, judge whether current job position is end point Ep.When current job position is end point Ep, process ends.At current job position is not under the situation of end point Ep, calculates after the displacement of next job position by the difference between maximum radius of spin value Sr and the moving interval Mp, turns back to step S2.Turn back to after the step S2 step S2～S6 repeatedly in each of next job position P2～Pn.
As described above such, in each job position that carries out the interrupting pulse welding, begin welding at job position Pn, while describing that electric arc welding torch T is moved it to the spiral welded rails Kr of the direction of direction of rotation Rd, make it arrive the welding end position Pe that leaves maximum radius of spin value Sr from job position Pn to the direction of production line direction Dr.
As mentioned above, the spiral welded rails is based on comprising that displacement to the production line direction is that the posture information of the predetermined parameters of maximum radius of spin value and the electric arc welding torch leading section in the job position is calculated.Afterwards, after job position begins welding, make electric arc welding torch leading section move and arrive the position of leaving maximum radius of spin value amount according to the spiral welded rails.Thus, can realize the weld seam that width is wide by the weld mark that is generated at the spiral welded rails.
In addition, making the maximum radius of spin value of spiral welded rails is that moving interval is identical with displacement to next job position.Thereby, except above-mentioned effect, can also reduce the teaching man-hour relevant with the spiral welded rails.In addition, can shorten the productive temp time (tact time).Be under the situation of the value different promptly with moving interval in the maximum radius of spin value of regulation, describe the spiral welded rails and after moving maximum radius of spin value amount on the production line direction, need move to the next job position that leaves the moving interval amount, but make under the maximum radius of spin value situation identical with moving interval, owing to do not need therefore can shorten the productive temp time to the moving of next job position.
More than, embodiment is illustrated, but in each embodiment, also can make comprise among the parameter Pm of each track pattern be used to make welded rails with the flat ratio of the direction distortion of production line direction quadrature.This flat ratio is preferably set right flat ratio and left flat ratio towards the production line direction respectively on right side and left side.Thus, can be out of shape welded rails.Especially spiral welded rails, for example as shown in Figure 9, at direction of rotation Rd is under the situation on the right side towards production line direction Dr, bigger a little than the track in left side towards the track on production line direction Dr and right side, therefore by setting the deflection that flat ratio can prevent the spiral welded rails.Promptly can further realize and the corresponding welded rails of operator's needs.
In addition, in the respective embodiments described above, in each job position, carry out the generation of welded rails at every turn, but also can only generate welded rails, reuse this welded rails in the job position afterwards at initial job position.
Claims (11)
1. Squitter pulse welding method, it is by after making welding torch repeatedly and move to the job position on the production line and welding, next job position at the moving interval that leaves regulation welds once more, make by the formed weld mark coincidence of the welding of each job position and on workpiece, form weld seam, it is characterized in that
Generate welded rails comprising above-mentioned job position and have on the direction of quadrature mutually in the regulation zone of Rack in above-mentioned production line direction and with above-mentioned production line, the leading section that makes on one side above-mentioned welding torch moves according to the welded rails of this generation, Yi Bian weld.
2. Squitter pulse welding method according to claim 1 is characterized in that,
Above-mentioned welded rails is circle welded rails or oval welded rails or spiral welded rails.
3. Squitter pulse welding method according to claim 2 is characterized in that,
Above-mentioned round welded rails is calculated based on the posture information of the above-mentioned welding torch leading section in predetermined parameters that comprises circular diameter value or radius of circle value and the above-mentioned job position, and the center is configured on the above-mentioned production line and configuration welding starting position and welding end position in orbit.
4. Squitter pulse welding method according to claim 2 is characterized in that,
Above-mentioned oval welded rails is calculated based on the posture information of the above-mentioned welding torch leading section in predetermined parameters that comprises long axis of ellipse value and minor axis value and the above-mentioned job position, and the center is configured on the above-mentioned production line and configuration welding starting position and welding end position in orbit.
5. according to claim 3 or 4 described Squitter pulse welding methods, it is characterized in that,
Above-mentioned welding starting position and above-mentioned welding end position are above-mentioned job position.
6. according to claim 3 or 4 described Squitter pulse welding methods, it is characterized in that,
Above-mentioned center is above-mentioned job position.
7. Squitter pulse welding method according to claim 6 is characterized in that,
Before moving above-mentioned welding torch, stop the welding of weld interval of stipulating under the state of above-mentioned welding torch in above-mentioned center according to above-mentioned welded rails.
8. Squitter pulse welding method according to claim 2 is characterized in that,
Above-mentioned spiral welded rails comprises promptly that based on the displacement to above-mentioned production line direction the predetermined parameters of maximum radius of spin value and the posture information of the above-mentioned welding torch leading section in the above-mentioned job position are calculated, as the welding starting position, the position that will leave above-mentioned maximum radius of spin value amount on above-mentioned production line direction is as the welding end position with above-mentioned job position.
9. Squitter pulse welding method according to claim 8 is characterized in that,
Above-mentioned maximum radius of spin value is identical with above-mentioned moving interval.
10. according to each described Squitter pulse welding method in the claim 3～9, it is characterized in that,
Above-mentioned parameter comprise be used to make above-mentioned welded rails with the above-mentioned production line direction flat ratio of the direction distortion of quadrature mutually.
11. according to each described Squitter pulse welding method in the claim 1～10, it is characterized in that,
Above-mentioned welded rails generates according to a track pattern of selecting from a plurality of track pattern that comprise predetermined circle or ellipse or spiral.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2007329679A JP5001817B2 (en) | 2007-12-21 | 2007-12-21 | Stitch pulse welding method |
| JP2007329679 | 2007-12-21 | ||
| JP2007-329679 | 2007-12-21 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101462192A true CN101462192A (en) | 2009-06-24 |
| CN101462192B CN101462192B (en) | 2013-03-27 |
Family
ID=40803111
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 200810188506 Active CN101462192B (en) | 2007-12-21 | 2008-12-19 | Squitter pulse welding method |
Country Status (3)
| Country | Link |
|---|---|
| JP (1) | JP5001817B2 (en) |
| CN (1) | CN101462192B (en) |
| TW (1) | TWI440520B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101992335A (en) * | 2009-08-07 | 2011-03-30 | 株式会社大亨 | Arc-welding method and arc-welding system |
| CN102101209A (en) * | 2009-12-17 | 2011-06-22 | 株式会社大亨 | Pin pulse welding control device and pin pulse welding device |
| CN103949755A (en) * | 2014-03-31 | 2014-07-30 | 长治清华机械厂 | Method for single-side welding double-side forming of HG785D steel plate by robot |
| CN109093227A (en) * | 2018-10-25 | 2018-12-28 | 江苏阀邦半导体材料科技有限公司 | A kind of automatic more quadrant mould group welding systems |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108127217B (en) * | 2018-01-16 | 2023-12-05 | 中国计量大学 | Welding device and method for automatic guided welding of end face weld joint of spiral plate type heat exchanger |
| KR102661337B1 (en) * | 2022-04-26 | 2024-04-30 | 현대제철 주식회사 | Method of electro gas arc welding |
| CN117226193B (en) * | 2023-11-10 | 2024-02-02 | 华潞科技(山西)有限公司 | Wire-cut electric discharge machine hardware interpolation method, device and storage medium |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4449029A (en) * | 1983-05-09 | 1984-05-15 | General Electric Company | Acoustic wave spot welder adaptive control |
| JPS6422469A (en) * | 1987-07-20 | 1989-01-25 | Nippon Kokan Kk | Automatic arc welding method |
| CN1245100A (en) * | 1998-06-17 | 2000-02-23 | 松下电器产业株式会社 | Consumable-electrode type pulse arc welding method |
| CN1266765A (en) * | 1999-03-16 | 2000-09-20 | 林肯环球有限公司 | Method and apparatus for arc welding |
| CN101032778A (en) * | 2006-03-10 | 2007-09-12 | 株式会社神户制钢所 | Pulsed arc welding method |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS53106361A (en) * | 1977-02-28 | 1978-09-16 | Nippon Steel Corp | Submerged arc welding method for steel plate |
| JPH0655268A (en) * | 1992-08-10 | 1994-03-01 | Yamaha Shatai Kogyo Kk | Welding robot |
| JP2001071286A (en) * | 1999-09-06 | 2001-03-21 | Yaskawa Electric Corp | Weaving method of articulated industrial robot |
-
2007
- 2007-12-21 JP JP2007329679A patent/JP5001817B2/en active Active
-
2008
- 2008-12-19 TW TW97149610A patent/TWI440520B/en active
- 2008-12-19 CN CN 200810188506 patent/CN101462192B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4449029A (en) * | 1983-05-09 | 1984-05-15 | General Electric Company | Acoustic wave spot welder adaptive control |
| JPS6422469A (en) * | 1987-07-20 | 1989-01-25 | Nippon Kokan Kk | Automatic arc welding method |
| CN1245100A (en) * | 1998-06-17 | 2000-02-23 | 松下电器产业株式会社 | Consumable-electrode type pulse arc welding method |
| CN1266765A (en) * | 1999-03-16 | 2000-09-20 | 林肯环球有限公司 | Method and apparatus for arc welding |
| CN101032778A (en) * | 2006-03-10 | 2007-09-12 | 株式会社神户制钢所 | Pulsed arc welding method |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101992335A (en) * | 2009-08-07 | 2011-03-30 | 株式会社大亨 | Arc-welding method and arc-welding system |
| CN101992335B (en) * | 2009-08-07 | 2015-04-15 | 株式会社大亨 | Arc-welding method and arc-welding system |
| CN102101209A (en) * | 2009-12-17 | 2011-06-22 | 株式会社大亨 | Pin pulse welding control device and pin pulse welding device |
| CN102101209B (en) * | 2009-12-17 | 2015-04-29 | 株式会社大亨 | Pin pulse welding control device and pin pulse welding device |
| CN103949755A (en) * | 2014-03-31 | 2014-07-30 | 长治清华机械厂 | Method for single-side welding double-side forming of HG785D steel plate by robot |
| CN109093227A (en) * | 2018-10-25 | 2018-12-28 | 江苏阀邦半导体材料科技有限公司 | A kind of automatic more quadrant mould group welding systems |
Also Published As
| Publication number | Publication date |
|---|---|
| JP2009148801A (en) | 2009-07-09 |
| JP5001817B2 (en) | 2012-08-15 |
| TWI440520B (en) | 2014-06-11 |
| CN101462192B (en) | 2013-03-27 |
| TW200932417A (en) | 2009-08-01 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101462192B (en) | Squitter pulse welding method | |
| JP7073067B2 (en) | User interface with real-time emoji representation of parameter settings | |
| US11766732B2 (en) | Systems and methods for automated root pass welding | |
| CN110605463A (en) | Automatic robot welding device for submerged arc welding of spatial arc path | |
| TWI403380B (en) | Stitch pulse welding apparatus | |
| EP3699706B1 (en) | Path planning systems and methods for additive manufacturing | |
| EP3693118B1 (en) | Hybrid additive manufacturing system using laser and arc welding | |
| CN111770806B (en) | Method for forming layered formed article, apparatus for producing layered formed article, and recording medium | |
| TWI405636B (en) | Stitch pulse welding apparatus | |
| CN112166002B (en) | Method and apparatus for manufacturing layered structure, and storage medium | |
| JPWO2007144999A1 (en) | Tandem arc welding equipment | |
| US5841104A (en) | Method and system for multiple pass welding | |
| JP3665344B2 (en) | Robot jog operation method and robot jog operation system | |
| CN102145422B (en) | Electric arc welding method | |
| CN102101209B (en) | Pin pulse welding control device and pin pulse welding device | |
| JP2020082287A (en) | Welding robot | |
| JP2013056359A (en) | Welding system | |
| KR101437277B1 (en) | Device and method for orbital tig welding | |
| Engelberger | Arc welding applications | |
| JP2022025454A (en) | Welding device and welding method | |
| JP2006136925A (en) | Method for controlling arc welding robot | |
| JP2014188545A (en) | Arc welding robot control device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |