JPH07116842A - Controller for arc welding robot - Google Patents
Controller for arc welding robotInfo
- Publication number
- JPH07116842A JPH07116842A JP5264690A JP26469093A JPH07116842A JP H07116842 A JPH07116842 A JP H07116842A JP 5264690 A JP5264690 A JP 5264690A JP 26469093 A JP26469093 A JP 26469093A JP H07116842 A JPH07116842 A JP H07116842A
- Authority
- JP
- Japan
- Prior art keywords
- welding
- wire
- weight
- robot
- residual weight
- 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.)
- Pending
Links
Landscapes
- Manipulator (AREA)
Abstract
Description
【０００１】[0001]
【産業上の利用分野】本発明は、アーク溶接を行う溶接
ロボットの制御装置に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a welding robot controller for performing arc welding.
【０００２】[0002]
【従来の技術】従来、アーク溶接用の溶接ワイヤ残重量
は、リミットスイッチや光電管等を用いて検出し、ロボ
ットを即座に停止させていた。2. Description of the Related Art Conventionally, the remaining weight of welding wire for arc welding is detected by using a limit switch, a photoelectric tube or the like, and the robot is immediately stopped.
【０００３】[0003]
【発明が解決しようとする課題】リミットスイッチや光
電管は、設置する手間がかかり、設置状態によって検出
残重量に大きなばらつきがある。また、該検出信号によ
りワイヤ送給途中、即ち溶接途中にロボットへ一時停止
要求が発生するために、溶接ラインの復旧に手間がかか
る。The limit switch and the phototube require a lot of labor to install, and the remaining weight to be detected varies greatly depending on the installation state. Further, the detection signal causes a temporary stop request to the robot during wire feeding, that is, during welding, so that it takes time to restore the welding line.
【０００４】これらの事柄により、ロボットの稼働率が
下がるという問題があった。本発明は、上記問題を解決
するもので実溶接時のワイヤ送給装置のフィードローラ
回転数により、ワイヤ使用重量を計算してワイヤ残重量
を算出し、外部へワイヤ残重量情報を提供し、かつ予め
設定された基準残重量値以下にワイヤ残重量が達した場
合、外部へ出力を出すとともに次溶接サイクルの先頭で
ロボットを一時停止させることが可能な溶接ロボット制
御装置を提供することを目的とするものである。Due to these matters, there is a problem that the operating rate of the robot is lowered. The present invention is to solve the above problems, by calculating the wire remaining weight by calculating the wire usage weight by the feed roller rotation speed of the wire feeder during actual welding, and providing the wire remaining weight information to the outside, And when the wire remaining weight reaches a preset reference remaining weight value or less, it is an object to provide a welding robot controller capable of outputting an output to the outside and temporarily stopping the robot at the beginning of the next welding cycle. It is what
【０００５】[0005]
【課題を解決するための手段】上記目的を達成するため
に、本発明の溶接ロボット制御装置において、装着され
た溶接ワイヤの総重量、比重、ワイヤ径とワイヤ送給装
置のフィードローラの直径を入力できるモニタを備え、
実溶接時のフィードローラの回転数を溶接電源制御部よ
り通信にて受け取り、これらの情報にて溶接ワイヤ使用
重量、溶接ワイヤ残重量を算出して外部へ該データを提
供でき、予め設定されたワイヤ基準残重量以下になった
場合、外部へ出力を出すとともに次溶接サイクルの先頭
でロボットを停止させるよう構成したものである。In order to achieve the above object, in the welding robot controller of the present invention, the total weight, specific gravity, wire diameter of the attached welding wire and the diameter of the feed roller of the wire feeder are set. Equipped with a monitor that can be input,
The rotation speed of the feed roller during actual welding is received from the welding power supply control unit via communication, and the welding wire usage weight and welding wire remaining weight can be calculated based on these information and the data can be provided to the outside. When the wire remaining weight is less than the standard weight, the output is output to the outside and the robot is stopped at the beginning of the next welding cycle.
【０００６】[0006]
【作用】この構成によって、予め設定されたワイヤ基準
残重量値以下になった場合、次溶接サイクルの先頭でロ
ボットを一時停止させることができ、また溶接ワイヤ交
換時は、ロボット制御装置のモニタにてリセット操作す
るだけでよく、リミットスイッチ等の設置作業が不要か
つ溶接途中の復旧作業が皆無となるため、従来と比べロ
ボットのひいてはロボット組込溶接ラインの稼働率を上
げることができる。With this configuration, the robot can be temporarily stopped at the beginning of the next welding cycle when the value becomes less than the preset wire reference residual weight value, and when the welding wire is replaced, it is displayed on the monitor of the robot controller. Since it is only necessary to perform a reset operation, there is no need to install a limit switch or the like and there is no need to perform restoration work during welding, so it is possible to increase the operating rate of the robot and thus the welding line with the robot, compared to the conventional case.
【０００７】[0007]
【実施例】以下、本発明の一実施例を図面を参照しなが
ら説明する。DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to the drawings.
【０００８】図１の溶接ロボットシステムにおいて、溶
接を開始すると溶接電流に比例して溶接ワイヤがワイヤ
送給装置により送給される。溶接を安定に行うために溶
接ワイヤ送給速度は一定に保たれる。その動作を図２で
説明する。In the welding robot system of FIG. 1, when welding is started, the welding wire is fed by the wire feeding device in proportion to the welding current. The welding wire feed rate is kept constant for stable welding. The operation will be described with reference to FIG.
【０００９】まず、図３に示す溶接ワイヤ送給速度に応
じた送給モータ指令電圧と図４に示すモータ回転数に比
例したモータ誘起電圧とを比較する。比較の際には、送
給モータ指令電圧と誘起電圧のモータ回転数との関係が
図３，図４で示される通り同一の関係ではないので、フ
ィードバックされてくる送給モータ誘起電圧を送給モー
タ指令電圧と比較できるよう補正している。具体的に
は、送給モータ誘起電圧を本例の場合は、１５／１２．
７５倍して比較できるようにしている。この結果、送給
モータ指令電圧相当の回転数よりも送給モータ回転数が
少ない場合、発振回路に信号が伝達されて発振を促し、
サイリスタ（ゲート）回路によりサイリスタの点弧角
（位相）を広めて送給モータの回転を速める方向に制御
される。逆に送給モータ回転数が送給モータ指令値より
も高い場合、発振回路に信号が伝達され発振を抑制し、
サイリスタの点弧角（位相）を狭めて送給モータ回転を
遅くする制御を行う。First, the feed motor command voltage according to the welding wire feed speed shown in FIG. 3 and the motor induced voltage proportional to the motor rotation speed shown in FIG. 4 are compared. At the time of comparison, since the relationship between the feed motor command voltage and the motor rotation speed of the induced voltage is not the same as shown in FIGS. 3 and 4, the feed motor induced voltage fed back is fed. Corrected so that it can be compared with the motor command voltage. Specifically, in the case of this example, the feed motor induced voltage is 15/12.
It is possible to compare by multiplying by 75. As a result, when the rotation speed of the feed motor is lower than the rotation speed corresponding to the feed motor command voltage, a signal is transmitted to the oscillation circuit to promote oscillation,
The thyristor (gate) circuit controls the thyristor so that the firing angle (phase) of the thyristor is widened to accelerate the rotation of the feed motor. Conversely, if the feed motor rotation speed is higher than the feed motor command value, a signal is transmitted to the oscillation circuit to suppress oscillation,
Control is performed to slow the feed motor rotation by narrowing the firing angle (phase) of the thyristor.
【００１０】送給モータガバナ回路は以上のような送給
モータ誘起電圧をフィードバックして一定の周期で比較
制御しているので、精度の高い安定したワイヤ送給性能
を実現している。なお、送給モータ指令電圧はスローダ
ウン命令、定常溶接速度命令、クレータ溶接速度命令の
各種信号をガバナ回路外のシーケンス回路等で適時切換
えてガバナ回路へ入力している。比較制御している一定
の周期のほぼ中間時点で、使用ワイヤ重量の計算を実施
する制御部が溶接制御部と通信を行い、ワイヤ送給フィ
ードローラの回転数を入手している。ここで、図５に示
すワイヤ送給装置においては、ワイヤ送給モータと実際
に溶接ワイヤを送り出すフィードローラの間には、減速
比１／２５のギアが介在している。実通信においては、
ワイヤ送給モータの回転数に、減速比１／２５をかけた
フィードローラの回転数がロボット側制御部へ送信され
てくる。ワイヤ使用重量の計算を実際に行うのは、送給
モータの回転数が変化した時に実施している。また、通
信プロトコルは、（表１）に示される通りである。Since the feed motor governor circuit feeds back the feed motor induced voltage as described above and performs comparative control in a constant cycle, a highly accurate and stable wire feed performance is realized. The feed motor command voltage is input to the governor circuit by appropriately switching various signals such as a slowdown command, a steady welding speed command, and a crater welding speed command by a sequence circuit outside the governor circuit. At about the midpoint of a certain period during the comparative control, the control unit that calculates the weight of the wire used communicates with the welding control unit to obtain the rotation speed of the wire feed roller. Here, in the wire feeding device shown in FIG. 5, a gear having a reduction ratio of 1/25 is interposed between the wire feeding motor and the feed roller for actually feeding the welding wire. In actual communication,
The rotation speed of the feed roller obtained by multiplying the rotation speed of the wire feeding motor by the reduction ratio 1/25 is transmitted to the robot side control unit. The actual calculation of the wire usage weight is performed when the rotation speed of the feed motor changes. The communication protocol is as shown in (Table 1).
【００１１】[0011]
【表１】 ここで、溶接ワイヤ、ワイヤ送給装置等の各パラメータ
を使い、実際のワイヤ使用重量の計算例を示す。[Table 1] Here, an example of calculation of the actual weight of the wire used is shown using each parameter of the welding wire, the wire feeder, and the like.
【００１２】各パラメータを（表２）にて示す。Each parameter is shown in (Table 2).
【００１３】[0013]
【表２】 この時、各パラメータは（数１），（数２），（数
３），（数４）で示される。[Table 2] At this time, each parameter is represented by (Equation 1), (Equation 2), (Equation 3), (Equation 4).
【００１４】[0014]
【数１】 [Equation 1]
【００１５】[0015]
【数２】 [Equation 2]
【００１６】[0016]
【数３】 [Equation 3]
【００１７】[0017]
【数４】 従って、（数５）を用いて溶接ワイヤ残重量を求めるこ
とができる。[Equation 4] Therefore, the remaining weight of the welding wire can be calculated using (Equation 5).
【００１８】[0018]
【数５】 さらに例えば軟鋼φ1.2［mm］，送給モータのフィード
ローラの回転数 100［回／min］（Co2，300A相当），
実溶接時間 ５［sec］，送給モータのフィードローラ
の直径 40［mm］，軟鋼の比重 7.8［g／cm3］の場
合、（数６）で示される様に９．２４［g］となる。こ
の値を蓄積しワイヤ使用重量とする。[Equation 5] Furthermore, for example, mild steel φ1.2 [mm], the feed motor rotation speed of the feed motor 100 [revolutions / min] (Co 2 , 300A equivalent),
When the actual welding time is 5 [sec], the diameter of the feed roller of the feed motor is 40 [mm], and the specific gravity of mild steel is 7.8 [g / cm 3 ], it is 9.24 [g] as shown in (Equation 6). Become. This value is accumulated and used as the wire usage weight.
【００１９】[0019]
【数６】 溶接ワイヤ初期重量から該ワイヤ使用重量を引算して所
望の溶接ワイヤ残重量を求める。ただし、ワイヤ使用重
量の計算は、送給モータの回転数の変化が発生した時に
実施している。換言すれば、送給モータが一定速度でワ
イヤ送給をしている時は、実溶接時間のみを加算し続け
ているだけである。また、実計算においては送給モータ
のフィードローラの回転数以外は予め計算されて格納さ
れており、定数として扱っている。[Equation 6] The desired weight of the welding wire is obtained by subtracting the weight of the wire used from the initial weight of the welding wire. However, the wire usage weight is calculated when the rotation speed of the feed motor changes. In other words, when the feeding motor is feeding the wire at a constant speed, only the actual welding time is continuously added. In addition, in the actual calculation, the values other than the rotation speed of the feed roller of the feeding motor are calculated and stored in advance, and are treated as constants.
【００２０】もうひとつの定数として、実使用上、送給
モータやワイヤのバラツキを考慮する必要があり、具備
された送給モータで取り付けられたワイヤを一定時間で
かつ一定回転数で送給した時の重量を計測し、この値を
ロボットのティーチペンダント（モニタ画面）より入力
しロボットがこの時に計算したワイヤ送給重量と比較し
た結果を微調整値とし該微調整値をパラメータとして持
つことができるようにしている。As another constant, in actual use, it is necessary to consider variations in the feed motor and the wire, and the wire attached by the provided feed motor was fed at a constant time and at a constant rotational speed. It is possible to measure the weight at this time, input this value from the teach pendant (monitor screen) of the robot, and compare the result with the wire feed weight calculated by the robot at this time to make a fine adjustment value and have the fine adjustment value as a parameter. I am able to do it.
【００２１】積算されていくワイヤ使用重量と溶接ワイ
ヤ初期重量との差が予め設定された基準残重量以下に到
達した場合は、外部へ接点出力にて溶接ワイヤ切れを警
告するとともに次溶接のサイクルの先頭でロボット制御
部はロボット（自分自信）を一時停止状態とする。When the difference between the cumulative weight of the wire used and the initial weight of the welding wire reaches a preset standard residual weight or less, the welding wire breakage is warned by external contact output and the next welding cycle is performed. At the beginning of, the robot control unit suspends the robot (self-confidence).
【００２２】外部から強制的に再起動入力がかけられる
とロボットはアーク溶接を再開始可能だが、通常は溶接
ワイヤの交換を行い、ロボットのモニタ部より溶接ワイ
ヤ交換時のリセット操作を行ってから再起動入力をかけ
る。When a restart input is forcibly applied from the outside, the robot can restart arc welding, but normally, the welding wire is replaced, and after the reset operation when replacing the welding wire is performed from the monitor part of the robot. Apply restart input.
【００２３】ここで、再起動入力をかけられても、また
溶接ワイヤ交換作業が実施されてもロボットのモニタ部
より溶接ワイヤ交換時のリセット操作が実施されていな
い限り次アーク溶接サイクルの先頭でロボットは一時停
止状態となる。Here, even if the restart input is applied or the welding wire replacement work is carried out, unless the reset operation at the time of welding wire replacement is carried out from the monitor part of the robot, at the beginning of the next arc welding cycle. The robot is suspended.
【００２４】[0024]
【発明の効果】以上のように本発明によれば、求めた溶
接ワイヤ残重量が予め設定されたワイヤ残重量値以下に
なった場合、外部へモニタ表示と接点出力により溶接ワ
イヤ切れを知らせ、次溶接サイクルの先頭でロボットを
一時停止状態にすることができる。従って、溶接途中で
ラインストップすることがなく復旧に手間がかからな
い。溶接ワイヤ交換時には、ロボット制御装置のモニタ
を介してリセット操作し、ワイヤ使用重量や溶接ワイヤ
残重量を初期設定に戻すだけとなる。ロボット組込溶接
ラインにおける稼働率を上げることができる。As described above, according to the present invention, when the obtained welding wire remaining weight becomes equal to or less than the preset wire remaining weight value, the welding wire breakage is notified to the outside by the monitor display and the contact output, The robot can be paused at the beginning of the next welding cycle. Therefore, the line stop does not occur during welding, and it does not take time to recover. At the time of exchanging the welding wire, the reset operation is performed via the monitor of the robot controller, and the weight of the wire used and the remaining weight of the welding wire are all returned to the initial settings. It is possible to increase the operating rate in the robot built-in welding line.
【図１】本発明の一実施例の溶接ロボットシステム構成
図FIG. 1 is a configuration diagram of a welding robot system according to an embodiment of the present invention.
【図２】同実施例におけるワイヤ送給装置のモータを一
定速で回転させるガバナ回路の概念図FIG. 2 is a conceptual diagram of a governor circuit that rotates a motor of the wire feeding device according to the embodiment at a constant speed.
【図３】同実施例における送給モータ指令電圧と送給モ
ータ回転数との関係を示すグラフFIG. 3 is a graph showing a relationship between a feed motor command voltage and a feed motor rotation speed in the embodiment.
【図４】同実施例における送給モータ誘起電圧と送給モ
ータ回転数との関係を示すグラフFIG. 4 is a graph showing a relationship between a feed motor induced voltage and a feed motor rotation speed in the embodiment.
【図５】同ワイヤ送給装置の送給モータ、フィードロー
ラ、溶接ワイヤの関係の説明図FIG. 5 is an explanatory diagram of a relationship between a feeding motor, a feed roller, and a welding wire of the wire feeding device.
１ ティーチペンダント（モニタ） ２ ロボット制御装置 ３ 溶接電源 ４ ロボット本体 ５ ワイヤ送給装置 ６ ワイヤリールスタンド ７ モータ ８ フィードローラ ９ 溶接ワイヤ 1 Teach pendant (monitor) 2 Robot controller 3 Welding power source 4 Robot body 5 Wire feeder 6 Wire reel stand 7 Motor 8 Feed roller 9 Welding wire
【手続補正書】[Procedure amendment]
【提出日】平成５年１２月６日[Submission date] December 6, 1993
【手続補正１】[Procedure Amendment 1]
【補正対象書類名】明細書[Document name to be amended] Statement
【補正対象項目名】００１３[Correction target item name] 0013
【補正方法】変更[Correction method] Change
【補正内容】[Correction content]
【００１３】[0013]
【表２】 この時、各パラメータは（数１），（数２），（数
３），（数４）で示される。[Table 2] At this time, each parameter is represented by (Equation 1), (Equation 2), (Equation 3), (Equation 4).
【手続補正２】[Procedure Amendment 2]
【補正対象書類名】明細書[Document name to be amended] Statement
【補正対象項目名】００１５[Name of item to be corrected] 0015
【補正方法】変更[Correction method] Change
【補正内容】[Correction content]
【００１５】[0015]
【数２】 [Equation 2]
【手続補正３】[Procedure 3]
【補正対象書類名】明細書[Document name to be amended] Statement
【補正対象項目名】００１７[Correction target item name] 0017
【補正方法】変更[Correction method] Change
【補正内容】[Correction content]
【００１７】[0017]
【数４】 従って、（数５）を用いて溶接ワイヤ残重量を求めるこ
とができる。[Equation 4] Therefore, the remaining weight of the welding wire can be calculated using (Equation 5).
Claims (2)
重、ワイヤ径とワイヤ送給装置のフィードローラの直径
を予め記憶しておき、実溶接時のフィードローラの回転
数を基に使用ワイヤ重量を計算し、先の溶接ワイヤの総
重量から引算してワイヤ残重量を算出して、該残重量を
モニタ装置へ表示し、また予め設定された基準残重量値
以下に該残重量が到達した場合、外部へ警告を発するア
ーク溶接ロボットの制御装置。1. The total weight, specific gravity, wire diameter of the attached welding wire and the diameter of the feed roller of the wire feeding device are stored in advance, and the wire used is based on the rotation speed of the feed roller during actual welding. The weight is calculated, the remaining weight of the wire is calculated by subtracting it from the total weight of the welding wire, the remaining weight is displayed on the monitor device, and the remaining weight falls below a preset standard remaining weight value. A control device for the arc welding robot that issues a warning to the outside when it arrives.
ットを一時停止させる手段を有する請求項１記載のアー
ク溶接ロボットの制御装置。2. The arc welding robot controller according to claim 1, further comprising means for temporarily stopping the robot at the beginning of the next arc welding cycle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP5264690A JPH07116842A (en) | 1993-10-22 | 1993-10-22 | Controller for arc welding robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP5264690A JPH07116842A (en) | 1993-10-22 | 1993-10-22 | Controller for arc welding robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH07116842A true JPH07116842A (en) | 1995-05-09 |
Family
ID=17406847
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP5264690A Pending JPH07116842A (en) | 1993-10-22 | 1993-10-22 | Controller for arc welding robot |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH07116842A (en) |
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1393846A1 (en) * | 2002-08-28 | 2004-03-03 | Lincoln Global, Inc. | System and method for determining and employing consumable used by electric arc welders |
| AU2002302046B2 (en) * | 1999-06-21 | 2006-08-10 | Lincoln Global, Inc. | Coded and Electronically Tagged Welding Wire |
| JP2010075954A (en) * | 2008-09-25 | 2010-04-08 | Daihen Corp | Welding robot |
| CN102101211A (en) * | 2011-03-28 | 2011-06-22 | 鞍山市宏图防腐工程有限公司 | Multifunctional cradle roll type roller series automatic submerged arc welding machine |
| CN106879254A (en) * | 2014-08-29 | 2017-06-20 | 克里凯文斯管线国际有限公司 | For the method and system for welding |
| US10040141B2 (en) | 2013-05-23 | 2018-08-07 | Crc-Evans Pipeline International, Inc. | Laser controlled internal welding machine for a pipeline |
| US10480862B2 (en) | 2013-05-23 | 2019-11-19 | Crc-Evans Pipeline International, Inc. | Systems and methods for use in welding pipe segments of a pipeline |
| US10589371B2 (en) | 2013-05-23 | 2020-03-17 | Crc-Evans Pipeline International, Inc. | Rotating welding system and methods |
| US10695876B2 (en) | 2013-05-23 | 2020-06-30 | Crc-Evans Pipeline International, Inc. | Self-powered welding systems and methods |
| CN113732577A (en) * | 2021-08-18 | 2021-12-03 | 上海中船临港船舶装备有限公司 | Welding wire allowance detection and welding process control system and method based on quality |
| CN113857633A (en) * | 2021-10-22 | 2021-12-31 | 唐山松下产业机器有限公司 | Welding wire residual quantity estimation method and estimation device |
| US11458571B2 (en) | 2016-07-01 | 2022-10-04 | Crc-Evans Pipeline International, Inc. | Systems and methods for use in welding pipe segments of a pipeline |
| US11767934B2 (en) | 2013-05-23 | 2023-09-26 | Crc-Evans Pipeline International, Inc. | Internally welded pipes |
-
1993
- 1993-10-22 JP JP5264690A patent/JPH07116842A/en active Pending
Cited By (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| AU2002302046B2 (en) * | 1999-06-21 | 2006-08-10 | Lincoln Global, Inc. | Coded and Electronically Tagged Welding Wire |
| EP1393846A1 (en) * | 2002-08-28 | 2004-03-03 | Lincoln Global, Inc. | System and method for determining and employing consumable used by electric arc welders |
| AU2003227219B2 (en) * | 2002-08-28 | 2006-01-05 | Lincoln Global, Inc. | System and Method for Determining and Employing Consumable Use By Electric Arc Welders |
| US7072774B1 (en) | 2002-08-28 | 2006-07-04 | Lincoln Global, Inc. | System and method for determining and employing consumable use by electric arc welders |
| AU2003227219C1 (en) * | 2002-08-28 | 2006-08-31 | Lincoln Global, Inc. | System and Method for Determining and Employing Consumable Use By Electric Arc Welders |
| US8049139B2 (en) | 2002-08-28 | 2011-11-01 | Lincoln Global, Inc. | System and method for determining and employing consumable use by electric arc welders |
| JP2010075954A (en) * | 2008-09-25 | 2010-04-08 | Daihen Corp | Welding robot |
| CN102101211A (en) * | 2011-03-28 | 2011-06-22 | 鞍山市宏图防腐工程有限公司 | Multifunctional cradle roll type roller series automatic submerged arc welding machine |
| US10695876B2 (en) | 2013-05-23 | 2020-06-30 | Crc-Evans Pipeline International, Inc. | Self-powered welding systems and methods |
| US10040141B2 (en) | 2013-05-23 | 2018-08-07 | Crc-Evans Pipeline International, Inc. | Laser controlled internal welding machine for a pipeline |
| US10480862B2 (en) | 2013-05-23 | 2019-11-19 | Crc-Evans Pipeline International, Inc. | Systems and methods for use in welding pipe segments of a pipeline |
| US10589371B2 (en) | 2013-05-23 | 2020-03-17 | Crc-Evans Pipeline International, Inc. | Rotating welding system and methods |
| US11175099B2 (en) | 2013-05-23 | 2021-11-16 | Crc-Evans Pipeline International, Inc. | Systems and methods for use in welding pipe segments of a pipeline |
| US11767934B2 (en) | 2013-05-23 | 2023-09-26 | Crc-Evans Pipeline International, Inc. | Internally welded pipes |
| CN106879254A (en) * | 2014-08-29 | 2017-06-20 | 克里凯文斯管线国际有限公司 | For the method and system for welding |
| US10828715B2 (en) | 2014-08-29 | 2020-11-10 | Crc-Evans Pipeline International, Inc. | System for welding |
| US11458571B2 (en) | 2016-07-01 | 2022-10-04 | Crc-Evans Pipeline International, Inc. | Systems and methods for use in welding pipe segments of a pipeline |
| CN113732577A (en) * | 2021-08-18 | 2021-12-03 | 上海中船临港船舶装备有限公司 | Welding wire allowance detection and welding process control system and method based on quality |
| CN113857633A (en) * | 2021-10-22 | 2021-12-31 | 唐山松下产业机器有限公司 | Welding wire residual quantity estimation method and estimation device |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JPH07116842A (en) | Controller for arc welding robot | |
| JPH0384432A (en) | Engine power shaft torque controller by dynamo inertia correction for engine testing device | |
| JP2020030592A (en) | Control device and axial feed control method | |
| JP2000202771A (en) | Automatic grinding device | |
| JPS6071145A (en) | Finishing device for pipe line weld bead | |
| JPH0712883B2 (en) | Tension controller for long material winding machine | |
| JPS63237814A (en) | Electro-chemical machining method and device for workpiece | |
| JP3726474B2 (en) | Automatic tension control device and automatic tension control method | |
| JP2508266Y2 (en) | Welding wire feeder for welding robot | |
| JP3115173B2 (en) | Wire feeding speed control device for consumable electrode arc welding machine | |
| JP2906838B2 (en) | Tension control device for winding / unwinding machine | |
| JPH11226733A (en) | Welding wire feed device | |
| JPS5939233B2 (en) | Overlay welding equipment for rotating bodies | |
| JP2021137828A (en) | Arc-welding apparatus | |
| JPH06304865A (en) | Wearing amount detecting device for grinding wheel of grinding device | |
| JPS6294248A (en) | Numerical control device | |
| SU804293A1 (en) | Device for automatic regulation of welding process | |
| JPS637230A (en) | Wire cut electric discharge machine | |
| JPH0255676A (en) | Pulse arc welding equipment | |
| JP2620899B2 (en) | Wire electric discharge machining method | |
| JPH0760552A (en) | Wire electric discharge machine | |
| JP2003054801A (en) | Control device for winding machine | |
| JPH05261538A (en) | Device for monitoring arc welding machine | |
| JPS5886985A (en) | Seam welder | |
| JPS63295062A (en) | Automatic arc welding equipment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
| LAPS | Cancellation because of no payment of annual fees |