ATE24290T1 - Verfahren zur kontrolle eines lichtbogenschweissbrenners eines schweissroboters. - Google Patents

Verfahren zur kontrolle eines lichtbogenschweissbrenners eines schweissroboters.

Info

Publication number
ATE24290T1
ATE24290T1 AT82109112T AT82109112T ATE24290T1 AT E24290 T1 ATE24290 T1 AT E24290T1 AT 82109112 T AT82109112 T AT 82109112T AT 82109112 T AT82109112 T AT 82109112T AT E24290 T1 ATE24290 T1 AT E24290T1
Authority
AT
Austria
Prior art keywords
welding
robot
voltage
actual
welding current
Prior art date
Application number
AT82109112T
Other languages
English (en)
Inventor
Satoru Nio
Toyoharu Hamashima
Shinobu Sato
Shigemi Nobayashi
Original Assignee
Messer Griesheim Gmbh
Yaskawa Denki Seisakusho Kk
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Family has litigation
First worldwide family litigation filed litigation Critical https://patents.darts-ip.com/?family=15675835&utm_source=google_patent&utm_medium=platform_link&utm_campaign=public_patent_search&patent=ATE24290(T1) "Global patent litigation dataset” by Darts-ip is licensed under a Creative Commons Attribution 4.0 International License.
Application filed by Messer Griesheim Gmbh, Yaskawa Denki Seisakusho Kk filed Critical Messer Griesheim Gmbh
Application granted granted Critical
Publication of ATE24290T1 publication Critical patent/ATE24290T1/de

Links

Classifications

    • 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
    • B23K9/02—Seam welding; Backing means; Inserts
    • B23K9/0216—Seam profiling, e.g. weaving, multilayer
    • 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
    • B23K9/24—Features related to electrodes
    • B23K9/28—Supporting devices for electrodes
    • B23K9/287—Supporting devices for electrode holders
    • 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
    • B23K9/24—Features related to electrodes
    • B23K9/28—Supporting devices for electrodes
    • B23K9/30—Vibrating holders for electrodes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B25J9/1684—Tracking a line or surface by means of sensors
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/42—Recording and playback systems, i.e. in which the programme is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine
    • 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
    • B23K2101/00—Articles made by soldering, welding or cutting
    • B23K2101/04—Tubular or hollow articles
    • B23K2101/10—Pipe-lines
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/36—Nc in input of data, input key till input tape
    • G05B2219/36417—Programmed coarse position, fine position by alignment, follow line, path adaptive
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/36—Nc in input of data, input key till input tape
    • G05B2219/36495—Recording position and other parameters, current, tool diameter, voltage
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/45—Nc applications
    • G05B2219/45135—Welding

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Mechanical Engineering (AREA)
  • Plasma & Fusion (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)
  • Numerical Control (AREA)
  • Resistance Welding (AREA)
  • Arc Welding In General (AREA)
  • Butt Welding And Welding Of Specific Article (AREA)
AT82109112T 1981-10-07 1982-10-02 Verfahren zur kontrolle eines lichtbogenschweissbrenners eines schweissroboters. ATE24290T1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP56158627A JPS5877775A (ja) 1981-10-07 1981-10-07 溶接ロボツトの制御方式
EP82109112A EP0076498B1 (de) 1981-10-07 1982-10-02 Verfahren zur Kontrolle eines Lichtbogenschweissbrenners eines Schweissroboters

Publications (1)

Publication Number Publication Date
ATE24290T1 true ATE24290T1 (de) 1987-01-15

Family

ID=15675835

Family Applications (1)

Application Number Title Priority Date Filing Date
AT82109112T ATE24290T1 (de) 1981-10-07 1982-10-02 Verfahren zur kontrolle eines lichtbogenschweissbrenners eines schweissroboters.

Country Status (5)

Country Link
EP (1) EP0076498B1 (de)
JP (1) JPS5877775A (de)
AT (1) ATE24290T1 (de)
DE (1) DE3274728D1 (de)
NO (1) NO159579C (de)

Families Citing this family (25)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5916674A (ja) * 1982-07-19 1984-01-27 Nachi Fujikoshi Corp ロボツトのウイ−ビング制御装置
JPS5927307A (ja) * 1982-08-04 1984-02-13 Hitachi Ltd 経路制御方法及び装置
US4621333A (en) * 1983-08-31 1986-11-04 Mitsubishi Denki Kabushiki Kaisha Method and apparatus for controlling a robot to perform weaving-like motion
JPS60124475A (ja) * 1983-12-09 1985-07-03 Hitachi Ltd 溶接線倣い制御方法および装置
FR2564016B1 (fr) * 1984-05-11 1989-02-17 Commissariat Energie Atomique Procede de recalage de la trajectoire d'un organe et dispositif pour la mise en oeuvre de ce procede
JPS6133775A (ja) * 1984-07-24 1986-02-17 Shin Meiwa Ind Co Ltd 溶接ロボツトにおける溶接線追従方法
JPS6178564A (ja) * 1984-09-27 1986-04-22 Fanuc Ltd 自動溶接機における溶接制御方式
JPS6188975A (ja) * 1984-10-05 1986-05-07 Fanuc Ltd 自動溶接機の経路補正方式
JPS61159280A (ja) * 1984-12-28 1986-07-18 Fanuc Ltd 自動溶接機の溶接線補正方式
JPS61279481A (ja) * 1985-06-01 1986-12-10 株式会社安川電機 ロボツトの作業開始点検出制御方法
WO1987005549A1 (en) * 1986-03-20 1987-09-24 Shin Meiwa Industry Co., Ltd. Method and apparatus for controlling welding robot
JPH0692029B2 (ja) * 1987-03-20 1994-11-16 ファナック株式会社 ア−ク溶接ロボットの制御方法
DE19526339A1 (de) * 1995-07-19 1997-01-23 Krupp Ag Hoesch Krupp Schweißverbindung für dünne Bleche
JP4842656B2 (ja) * 2006-02-14 2011-12-21 株式会社ダイヘン 溶接ロボット制御装置
US9403233B2 (en) 2011-12-16 2016-08-02 Illinois Tool Works Inc. DC electrode negative rotating arc welding method and system
CN103917323B (zh) 2012-03-16 2016-03-09 松下知识产权经营株式会社 焊接线检测方法及工业用机器人
US9511442B2 (en) 2012-07-27 2016-12-06 Illinois Tool Works Inc. Adaptable rotating arc welding method and system
US10953484B2 (en) 2013-09-16 2021-03-23 Illinois Tool Works Inc. Narrow groove welding method and system
US10543551B2 (en) 2013-09-16 2020-01-28 Illinois Tool Works Inc. Synchronized rotating arc welding method and system
CN104924300B (zh) * 2015-07-09 2017-01-18 中国计量学院 气缸型五自由度机械手装置
CN109975302B (zh) * 2017-12-28 2021-06-18 中核建中核燃料元件有限公司 一种钎焊格架外观自动化检测装置
CN112091967B (zh) * 2020-07-27 2024-04-19 一重集团大连核电石化有限公司 焊接机器人轨迹离线编程批量修正方法
CN112743206A (zh) * 2020-12-03 2021-05-04 上海中船临港船舶装备有限公司 一种用于船舶中组立的机器人焊接工艺
JP2023047210A (ja) * 2021-09-24 2023-04-05 コベルコＲＯＢＯＴｉＸ株式会社 ウィービング制御方法、溶接制御装置、溶接システム、溶接方法及びウィービング制御プログラム
CN115041856B (zh) * 2022-06-30 2024-03-26 中船黄埔文冲船舶有限公司 一种中组立立角焊缝的焊接方法及装置

Family Cites Families (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2223126B1 (de) * 1973-03-26 1978-07-28 Kobe Steel Ltd
JPS5210773A (en) * 1975-07-15 1977-01-27 Matsushita Electric Ind Co Ltd Date changing device
US4380695A (en) * 1976-07-06 1983-04-19 Crutcher Resources Corporation Control of torch position and travel in automatic welding
US4151395A (en) * 1976-07-06 1979-04-24 CRC-Crose, International, Inc. Method and apparatus for electric arc and analogous welding under precision control
JPS5411050A (en) * 1977-06-27 1979-01-26 Kobe Steel Ltd Copying device for weld line
US4336440A (en) * 1979-07-03 1982-06-22 Westinghouse Electric Corp. Weld tracking/electronic arc sensing system
US4385358A (en) * 1979-10-19 1983-05-24 Tokico Ltd. Robot
NO810726L (no) * 1980-03-05 1981-09-07 Thermwood Corp Industrirobot.
FR2478507A1 (fr) * 1980-03-18 1981-09-25 Bignier Schmid Laurent Procede et appareil de soudage avec suivi automatique du joint a souder
US4316075A (en) * 1980-04-08 1982-02-16 Kabushiki Kaisha Komatsu Seisakusho Automatic welding position control method, and device
EP0042202B1 (de) * 1980-05-23 1987-07-08 Shin Meiwa Industry Co., Ltd. Automatische Standortregelung
JPS57109575A (en) * 1980-12-27 1982-07-08 Nippon Kokan Kk <Nkk> Arc welding method
US4403281A (en) * 1981-04-03 1983-09-06 Cincinnati Milacron Industries, Inc. Apparatus for dynamically controlling the tool centerpoint of a robot arm off a predetermined path

Also Published As

Publication number Publication date
JPS5877775A (ja) 1983-05-11
NO823331L (no) 1983-04-08
DE3274728D1 (en) 1987-01-29
JPH0453621B2 (de) 1992-08-27
EP0076498B1 (de) 1986-12-17
NO159579C (no) 1989-01-18
EP0076498A3 (en) 1983-05-18
NO159579B (no) 1988-10-10
EP0076498A2 (de) 1983-04-13

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Legal Events

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UEP Publication of translation of european patent specification
REN Ceased due to non-payment of the annual fee