CN114833431B - Pulse welding burn-back control method and device - Google Patents
Pulse welding burn-back control method and device Download PDFInfo
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- CN114833431B CN114833431B CN202210664380.3A CN202210664380A CN114833431B CN 114833431 B CN114833431 B CN 114833431B CN 202210664380 A CN202210664380 A CN 202210664380A CN 114833431 B CN114833431 B CN 114833431B
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- 238000003466 welding Methods 0.000 title claims abstract description 201
- 238000000034 method Methods 0.000 title claims abstract description 39
- 230000001133 acceleration Effects 0.000 claims abstract description 71
- 230000008859 change Effects 0.000 claims description 35
- 238000004590 computer program Methods 0.000 claims description 18
- 238000003860 storage Methods 0.000 claims description 10
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/16—Arc welding or cutting making use of shielding gas
- B23K9/173—Arc welding or cutting making use of shielding gas and of a consumable electrode
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/09—Arrangements or circuits for arc welding with pulsed current or voltage
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/12—Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
- B23K9/124—Circuits or methods for feeding welding wire
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Abstract
The invention provides a pulse welding burn-back control method and a pulse welding burn-back control device, wherein the method comprises the following steps: determining whether a preset inductance exists in a welding loop; if the preset inductance exists in the welding loop, determining wire feeding acceleration of a wire feeding motor in a burn-back stage according to pulse current and actual pulse current given by a welding power supply in a main welding stage; and controlling the welding power supply to perform burn-back treatment according to the determined wire feeding acceleration of the wire feeding motor in the burn-back stage. According to the pulse current and the actual pulse current given by the welding power supply in the main welding stage, the wire feeding acceleration of the wire feeding motor in the burn-back stage is determined, and the burn-back treatment is carried out by using the acceleration, so that when a large inductance exists in a welding loop, the energy in the burn-back stage influenced by the inductance can be matched, and welding wire adhesion to a welding seam is avoided.
Description
Technical Field
The invention relates to the technical field of welding, in particular to a pulse welding burn-back control method and device.
Background
The gas metal arc welding time sequence can be divided into three stages, namely an arc striking stage, a main welding stage and a burn-back stage. The burn-back stage refers to that a welding power supply outputs certain energy to a welding wire which is about to finish a welding period, and the slowly fed welding wire is subjected to burn-back treatment so as to prevent the welding wire from adhering to a welding seam. Generally, the backfire energy output by the welding power supply is sufficient to melt the welding wire, the welding wire cannot adhere to the welding seam, but when the welding loop has larger inductance, for example, the welded ground wire is more than 30m, and part of the ground wire is in a coil state, the backfire effect of pulse welding can be seriously affected due to the larger inductance in the loop, and the backfire energy is insufficient at the moment, so that the welding wire often adheres to the welding seam.
Disclosure of Invention
The invention aims to provide a pulse welding burn-back control method and device capable of avoiding welding wires from adhering to welding seams.
In order to achieve the above object, the present invention provides a pulse welding burn-back control method, which includes:
determining whether a preset inductance exists in a welding loop;
If the preset inductance exists in the welding loop, determining wire feeding acceleration of a wire feeding motor in a burn-back stage according to pulse current and actual pulse current given by a welding power supply in a main welding stage;
and controlling the welding power supply to perform burn-back treatment according to the determined wire feeding acceleration of the wire feeding motor in the burn-back stage.
The invention also provides a pulse welding backfire control device for avoiding welding wires from adhering to welding seams, which comprises:
The inductance determining module is used for determining whether preset inductance exists in the welding loop or not;
the braking acceleration calculation module is used for determining the wire feeding acceleration of the wire feeding motor brake in the burn-back stage according to the pulse current and the actual pulse current given by the welding power supply in the main welding stage if the preset inductance exists in the welding loop;
the first burn-back control module is used for controlling the welding power supply to perform burn-back treatment according to the determined wire feeding acceleration of the wire feeding motor in the burn-back stage.
The invention also provides a computer device, a processor and a storage device, wherein the processor is suitable for realizing each instruction, the storage device stores a plurality of instructions, and the instructions are suitable for being loaded by the processor and executing the pulse welding burn-back control method.
The invention also provides a computer readable storage medium storing a computer program for executing the pulse welding burn-back control method.
The invention also provides a computer program product comprising a computer program which, when executed by a processor, implements the pulse welding burn-back control method described above.
The embodiment of the invention determines whether the preset inductance exists in the welding loop or not; if the preset inductance exists in the welding loop, determining wire feeding acceleration of a wire feeding motor in a burn-back stage according to pulse current and actual pulse current given by a welding power supply in a main welding stage; and controlling the welding power supply to perform burn-back treatment according to the determined wire feeding acceleration of the wire feeding motor in the burn-back stage. According to the pulse current and the actual pulse current given by the welding power supply in the main welding stage, the wire feeding acceleration of the wire feeding motor in the burn-back stage is determined, and the burn-back treatment is carried out by using the acceleration, so that when a large inductance exists in a welding loop, the energy in the burn-back stage influenced by the inductance can be matched, and welding wire adhesion to a welding seam is avoided.
Drawings
The following drawings are only for purposes of illustration and explanation of the present invention and are not intended to limit the scope of the invention. Wherein:
FIG. 1 is a schematic diagram of an implementation process of a pulse welding burn-back control method according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a pulse welding burn-back control method according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a weld circuit according to an embodiment of the invention;
FIG. 4 is a schematic diagram of pulse current variation and wire feed speed variation in accordance with an embodiment of the present invention;
FIG. 5 is a schematic diagram of a pulse welding burn-back control device according to an embodiment of the present invention;
FIG. 6 is a schematic diagram of a pulse welding burn-back control apparatus according to an embodiment of the present invention;
Fig. 7 is a schematic structural diagram of a computer device according to an embodiment of the present invention.
Detailed Description
The application is further described in detail below by means of the figures and examples. The features and advantages of the present application will become more apparent from the description.
The word "exemplary" is used herein to mean "serving as an example, embodiment, or illustration. Any embodiment described herein as "exemplary" is not necessarily to be construed as preferred or advantageous over other embodiments. Although various aspects of the embodiments are illustrated in the accompanying drawings, the drawings are not necessarily drawn to scale unless specifically indicated.
In addition, the technical features described below in the different embodiments of the present application may be combined with each other as long as they do not collide with each other.
The embodiment of the invention provides a pulse welding burn-back control method for improving welding quality, which is shown in fig. 1 and comprises the following steps:
Step 101: determining whether a preset inductance exists in a welding loop;
Step 102: if the preset inductance exists in the welding loop, determining wire feeding acceleration of a wire feeding motor in a burn-back stage according to pulse current and actual pulse current given by a welding power supply in a main welding stage;
Step 103: and controlling the welding power supply to perform burn-back treatment according to the determined wire feeding acceleration of the wire feeding motor in the burn-back stage.
From the above process, it can be seen that the embodiment of the present invention determines whether the preset inductance exists in the welding loop; if the preset inductance exists in the welding loop, determining wire feeding acceleration of a wire feeding motor in a burn-back stage according to pulse current and actual pulse current given by a welding power supply in a main welding stage; and controlling the welding power supply to perform burn-back treatment according to the determined wire feeding acceleration of the wire feeding motor in the burn-back stage. According to the pulse current and the actual pulse current given by the welding power supply in the main welding stage, the wire feeding acceleration of the wire feeding motor in the burn-back stage is determined, and the burn-back treatment is carried out by using the acceleration, so that when a large inductance exists in a welding loop, the energy in the burn-back stage influenced by the inductance can be matched, and welding wire adhesion to a welding seam is avoided.
First, it is determined whether a preset inductance exists in the welding loop. In the prior art, when the welding loop has a larger inductance, the condition of insufficient welding back burning energy occurs, so that it is first necessary to judge whether the welding loop has a larger inductance. In specific implementation, the preset inductance is an inductance with an inductance value greater than a preset value, and the preset value is set according to actual needs, for example, may be set to 200 μh. It will be appreciated by those skilled in the art that this number is merely exemplary and is not intended to limit the scope of the present invention.
If the preset inductance exists in the welding loop, determining the wire feeding acceleration of the wire feeding motor brake in the burn-back stage according to the pulse current given by the welding power supply in the main welding stage and the actual pulse current. In the specific implementation, the wire feeding acceleration of the wire feeding motor brake in the burn-back stage is determined according to the current change rate of pulse current given by the welding power supply in the main welding stage, the current change rate of actual pulse current and the wire feeding acceleration of the wire feeding machine brake given by the welding power supply.
In a specific embodiment, according to the following formula, determining the wire feeding acceleration of the wire feeding motor brake in the burn-back stage according to the current change rate of the pulse current given by the welding power supply in the main welding stage, the current change rate of the actual pulse current and the wire feeding acceleration of the wire feeding machine brake given by the welding power supply:
a1＝a0+k×(di1/dt-di2/dt)
wherein a 1 represents the wire feeding acceleration of the wire feeding motor brake in the burn-back stage, and m/s 2;A0 represents the wire feeding acceleration of the wire feeding motor brake given by the welding power supply, and m/s 2; k represents a brake adjustment coefficient of the wire feeding motor, and m/(A.s); i 1 represents the pulse current given by the welding power supply in the main welding stage, A; di 1/dt represents the current rate of change of the pulse current given by the welding power supply during the main welding phase; i 2 represents the actual pulse current, a; di 2/dt represents the current rate of change of the actual pulse current; t represents time, s.
Wherein di 1/dt and di 2/dt need to be in the rising phase or the falling phase of the pulse current, that is, the current change rate of the pulse current given by the welding power supply in the main welding phase is the current change rate in the rising phase of the given pulse current waveform, and the current change rate of the actual pulse current is the current change rate in the rising phase of the actual pulse current waveform;
or the current change rate of the given pulse current of the welding power supply in the main welding stage is the current change rate in the given pulse current waveform falling stage, and the current change rate of the actual pulse current is the current change rate in the actual pulse current waveform falling stage.
After the wire feeding acceleration of the wire feeding motor brake in the burn-back stage is determined, the welding power supply is controlled to perform burn-back treatment according to the determined wire feeding acceleration of the wire feeding motor brake in the burn-back stage. The specific process comprises the following steps: and controlling the welding power supply to adjust the wire feeding acceleration of the wire feeding motor to be the determined wire feeding acceleration of the wire feeding motor in the burn-back stage, so that the wire feeding speed of the wire feeding motor is gradually reduced to zero.
The embodiment of the invention also provides a pulse welding burn-back control method, as shown in fig. 2, and further comprising, on the basis of fig. 1:
step 201: if the preset inductance does not exist in the welding loop, performing burn-back processing according to the wire feeding acceleration of the wire feeding machine according to the given wire feeding machine of the welding power supply.
That is, the welding loop does not have large inductance, and only needs to control the wire feeding motor to brake according to the wire feeding acceleration of the wire feeding machine given by the welding power supply until the wire feeding speed is reduced to 0.
A specific example of a welding circuit diagram of a specific example is also provided in a specific embodiment of the present invention, as shown in fig. 3, comprising a welding power source, a wire feeder, and an inductive load.
As shown in fig. 4, in the burn-back stage, the wire feeding acceleration of the wire feeder is a 0 by the wire feeding mechanism given by the welding power source, and in the normal welding (i.e. when there is no large inductance in the welding loop), the motor of the wire feeder starts to brake at the acceleration of a 0, so that the wire feeding speed of the wire feeder is reduced from the main welding wire feeding speed v1 to 0, and the energy of the welding power source burn back is output according to the given output.
When there is a large inductive load in the welding loop, as shown in fig. 4, the braking acceleration of the wire feeder in the burn-back stage is adjusted to a 1. The current change rate of a pulse current waveform given by a welding power supply in a rising stage or a falling stage is di 1/dt, and the current change rate of the pulse current waveform in an actual welding loop in the rising stage or the falling stage is di 2/dt, the wire feeding mechanism in a backfire stage has the following acceleration: a 1＝a0+k×(di1/dt-di2/dt). The pulse current change rates in the equations are calculated in the rising phase or in the falling phase, and cannot be calculated using the values of the different phases.
Based on the same inventive concept, the embodiment of the present invention further provides a pulse welding burn-back control device, which has a similar principle to the pulse welding burn-back control method, and the repetition is omitted, and the specific structure is shown in fig. 5, and includes:
an inductance determination module 501, configured to determine whether a preset inductance exists in the welding loop;
The braking acceleration calculation module 502 is configured to determine a wire feeding acceleration of a wire feeding motor in a burn-back stage according to a pulse current and an actual pulse current given by a welding power supply in a main welding stage if a preset inductance exists in a welding loop;
The first burn-back control module 503 is configured to control the welding power supply to perform a burn-back process according to the determined wire feeding acceleration of the wire feeding motor during the burn-back stage.
The pulse welding burn-back control device provided in an embodiment, as shown in fig. 6, further includes, on the basis of fig. 5:
A second burn-back control module 601, configured to:
If the preset inductance does not exist in the welding loop, performing burn-back processing according to the wire feeding acceleration of the wire feeding machine according to the given wire feeding machine of the welding power supply.
In a specific embodiment, the braking acceleration calculation module 502 is specifically configured to:
and determining the wire feeding acceleration of the wire feeding motor brake in the burn-back stage according to the current change rate of the pulse current given by the welding power supply in the main welding stage, the current change rate of the actual pulse current and the wire feeding acceleration of the wire feeding machine brake given by the welding power supply.
In specific implementation, the first burn-back control module 503 is specifically configured to:
and controlling the welding power supply to adjust the wire feeding acceleration of the wire feeding motor to be the determined wire feeding acceleration of the wire feeding motor in the burn-back stage, so that the wire feeding speed of the wire feeding motor is gradually reduced to zero.
The embodiment of the invention also provides a computer device, fig. 7 is a schematic diagram of the computer device in the embodiment of the invention, where the computer device can implement all the steps in the pulse welding burn-back control method in the above embodiment, and the computer device specifically includes the following contents:
A processor (processor) 701, a memory (memory) 702, a communication interface (Communications Interface) 703, and a communication bus 704;
Wherein, the processor 701, the memory 702 and the communication interface 703 complete communication with each other through the communication bus 704; the communication interface 703 is used for implementing information transmission between related devices;
the processor 701 is configured to invoke a computer program in the memory 702, where the processor executes the computer program to implement the pulse welding burn-back control method in the foregoing embodiment.
The embodiment of the invention also provides a computer readable storage medium, wherein the computer readable storage medium stores a computer program, and the computer program realizes the pulse welding burn-back control method when being executed by a processor.
The embodiment of the invention also provides a computer program product, which comprises a computer program, wherein the computer program realizes the pulse welding burn-back control method when being executed by a processor.
The pulse welding burn-back control method and device provided by the embodiment have the following advantages:
Determining whether a preset inductance exists in a welding loop or not; if the preset inductance exists in the welding loop, determining wire feeding acceleration of a wire feeding motor in a burn-back stage according to pulse current and actual pulse current given by a welding power supply in a main welding stage; and controlling the welding power supply to perform burn-back treatment according to the determined wire feeding acceleration of the wire feeding motor in the burn-back stage. According to the pulse current and the actual pulse current given by the welding power supply in the main welding stage, the wire feeding acceleration of the wire feeding motor in the burn-back stage is determined, and the burn-back treatment is carried out by the acceleration, so that when a large inductance exists in a welding loop, the energy in the burn-back stage influenced by the inductance can be matched, welding wire adhesion to a welding seam is avoided, and the welding quality is improved.
Although the invention provides method operational steps as described in the examples or flowcharts, more or fewer operational steps may be included based on conventional or non-inventive labor. The order of steps recited in the embodiments is merely one way of performing the order of steps and does not represent a unique order of execution. When implemented by an actual device or client product, the instructions may be executed sequentially or in parallel (e.g., in a parallel processor or multi-threaded processing environment) as shown in the embodiments or figures.
It will be appreciated by those skilled in the art that embodiments of the present description may be provided as a method, apparatus (system) or computer program product. Accordingly, the present specification embodiments may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In this specification, each embodiment is described in a progressive manner, and identical and similar parts of each embodiment are all referred to each other, and each embodiment mainly describes differences from other embodiments. In particular, for system embodiments, since they are substantially similar to method embodiments, the description is relatively simple, as relevant to see a section of the description of method embodiments. In this document, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions.
It should be noted that, without conflict, the embodiments of the present invention and features of the embodiments may be combined with each other. The present invention is not limited to any single aspect, nor to any single embodiment, nor to any combination and/or permutation of these aspects and/or embodiments. Moreover, each aspect and/or embodiment of the invention may be used alone or in combination with one or more other aspects and/or embodiments.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the invention, and are intended to be included within the scope of the appended claims and description.
Claims (12)
1. The pulse welding burn-back control method is characterized by comprising the following steps of:
determining whether a preset inductance exists in a welding loop;
If the preset inductance exists in the welding loop, determining wire feeding acceleration of a wire feeding motor in a burn-back stage according to pulse current and actual pulse current given by a welding power supply in a main welding stage;
and controlling the welding power supply to perform burn-back treatment according to the determined wire feeding acceleration of the wire feeding motor in the burn-back stage.
2. The pulse welding burn-back control method of claim 1, further comprising:
If the preset inductance does not exist in the welding loop, performing burn-back processing according to the wire feeding acceleration of the wire feeding machine according to the given wire feeding machine of the welding power supply.
3. The pulse welding burn-back control method of claim 2 wherein determining the wire feed acceleration of the wire feed motor brake during the burn-back phase based on the pulse current and the actual pulse current given by the welding power source during the main welding phase comprises:
and determining the wire feeding acceleration of the wire feeding motor brake in the burn-back stage according to the current change rate of the pulse current given by the welding power supply in the main welding stage, the current change rate of the actual pulse current and the wire feeding acceleration of the wire feeding machine brake given by the welding power supply.
4. The pulse welding burn-back control method of claim 1 wherein the wire feed acceleration of the wire feed motor brake at the burn-back stage is determined from the current rate of change of the pulse current given by the welding power supply, the current rate of change of the actual pulse current, and the wire feed acceleration given by the welding power supply at the main welding stage according to the following formula:
a1＝a0+k×(di1/dt-di2/dt)
Wherein a 1 represents the wire feeding acceleration of the wire feeding motor brake in the burn-back stage; a 0 represents a wire feeding acceleration of a wire feeding mechanism given by a welding power supply; k represents a brake adjustment coefficient of the wire feeding motor; i 1 represents the pulse current given by the welding power supply in the main welding stage; di 1/dt represents the current rate of change of the pulse current given by the welding power supply during the main welding phase; i 2 represents the actual pulse current; di 2/dt represents the current rate of change of the actual pulse current; t represents time.
5. The pulse welding burn-back control method of claim 3 or 4 wherein the current change rate of a given pulse current of the welding power supply at the main welding stage is a current change rate at a given pulse current waveform rising stage, and the current change rate of an actual pulse current is a current change rate at an actual pulse current waveform rising stage;
Or the current change rate of the given pulse current of the welding power supply in the main welding stage is the current change rate in the given pulse current waveform falling stage, and the current change rate of the actual pulse current is the current change rate in the actual pulse current waveform falling stage.
6. The pulse welding burn-back control method of claim 1 wherein controlling the welding power supply to perform the burn-back process based on the determined wire feed acceleration of the wire feed motor brake at the burn-back stage comprises:
and controlling the welding power supply to adjust the wire feeding acceleration of the wire feeding motor to be the determined wire feeding acceleration of the wire feeding motor in the burn-back stage, so that the wire feeding speed of the wire feeding motor is gradually reduced to zero.
7. A pulse welding burn-back control device, comprising:
The inductance determining module is used for determining whether preset inductance exists in the welding loop or not;
the braking acceleration calculation module is used for determining the wire feeding acceleration of the wire feeding motor brake in the burn-back stage according to the pulse current and the actual pulse current given by the welding power supply in the main welding stage if the preset inductance exists in the welding loop;
the first burn-back control module is used for controlling the welding power supply to perform burn-back treatment according to the determined wire feeding acceleration of the wire feeding motor in the burn-back stage.
8. The pulse welding burn-back control apparatus of claim 7 further comprising:
the second burn-back control module is used for:
If the preset inductance does not exist in the welding loop, performing burn-back processing according to the wire feeding acceleration of the wire feeding machine according to the given wire feeding machine of the welding power supply.
9. The pulse welding burn-back control device of claim 8, wherein the brake acceleration calculation module is specifically configured to:
and determining the wire feeding acceleration of the wire feeding motor brake in the burn-back stage according to the current change rate of the pulse current given by the welding power supply in the main welding stage, the current change rate of the actual pulse current and the wire feeding acceleration of the wire feeding machine brake given by the welding power supply.
10. The pulse welding burn-back control device of claim 7, wherein the first burn-back control module is specifically configured to:
and controlling the welding power supply to adjust the wire feeding acceleration of the wire feeding motor to be the determined wire feeding acceleration of the wire feeding motor in the burn-back stage, so that the wire feeding speed of the wire feeding motor is gradually reduced to zero.
11. A computer device, the computer device comprising: a processor adapted to implement instructions and a memory device storing instructions adapted to be loaded by the processor and to perform the pulse welding burn-back control method of any one of claims 1 to 6.
12. A computer-readable storage medium, characterized in that the computer-readable storage medium stores a computer program for executing the pulse welding burn-back control method according to any one of claims 1 to 6.
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