CN103801794B - Multilayer welding welder - Google Patents
Multilayer welding welder Download PDFInfo
- Publication number
- CN103801794B CN103801794B CN201310524491.5A CN201310524491A CN103801794B CN 103801794 B CN103801794 B CN 103801794B CN 201310524491 A CN201310524491 A CN 201310524491A CN 103801794 B CN103801794 B CN 103801794B
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- welding
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Classifications
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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
-
- 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
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
Abstract
When carrying out welding the confirming operation of passage in multilayer welding welding robot, due to that can only weld the selection of passage by reaching taught point successively, therefore the time is extremely spent.Multilayer welding welder provided by the invention generates the welding passage of whole N layers according to the basic welding line (Ws) of the advance teaching including welding starting point (P2 1) and welding end point (P3 1) and relative to the offset that basic welding line (Ws) is set, and makes welding torch (T) mobile to be welded according to the welding passage of generation.When have selected any one from the welding passage of whole N layers by teaching machine when in confirming operation, robot controller calculates the moving target position (P2 2, P2 3 etc.) in welding passage.Then, when being transfused to movable signal, welding torch (T) is made to be moved to the moving target position calculated.It can immediately select to want the welding passage for carrying out confirming operation due to that need not unroll, therefore can significantly shorten the acknowledging time of posture.
Description
Technical field
The present invention relates to a kind of weldering for generating to offset desired amt as defined in reflection on the basic welding line of teaching
Connect the multilayer welding welder of passage.
Background technology
Multilayer welding welding refers to, by the junction surface of multiple welding passage Rewelding slab workpiece, and is filled out by welding bead
Groove is buried, so as to the welding procedure method engaged.The feelings of multilayer welding welding are realized in the robot using teaching playback
Under condition, it is necessary to which to robot teaching taught point, but the workload of the taught point of the welding passage of teaching whole is huge.Therefore, such as
Such as shown in patent document 1, teaching be only the 1st passage basic welding line, after the 2nd passage, by the 1st passage
Each taught point on increase as defined in offset and automatically generate multiple welding passages, so as to reduce teaching operation.
Fig. 4 is the block diagram of multilayer welding welder 51.In the figure, robot controller RC is according to coming from teaching machine TP
Operation signal Ss export and believe for carrying out the action control of action control to the servomotor for configuring multiaxis on robot R
Number Mc, and welding command signal Wc is exported to source of welding current WP on defined opportunity.As the input of above-mentioned various signals, weldering
Power supply WP supply weldingvoltage Vw and welding current Iw are met, or controls the magnetic valve being arranged in gas tank (not shown) and exports
Protective gas, feeding control signal Fc is exported to welding wire feeding motor WM and rotation driving is carried out to welding wire feeding motor WM.Machine
Device people R mounting welding wire feeding motors WM, welding torch T etc., and move welding torch T front position according to operation signal Ss.Welding weldering
Silk WR is fed in a manner of welding wire feeding motor WM is in by welding torch T, is produced between operation object is workpiece W
Electric arc A and welded.
Teaching machine TP is movable teaching operation disk, is connected with robot controller RC.Operator uses the teaching
Device TP carries out the operation for switching the frame of reference or making robot R carry out creep feed, and teaching robot R the 1st passage
Posture (taught point).Now, the walk being gradually increasing since 1 is assigned to each taught point to number.For the 2nd passage with
Afterwards, by according to welding passage specify relative to the 1st passage taught point offset, so as to automatically generate the 2nd passage with
Posture afterwards.The training data so inputted is stored in the interior of robot controller RC as multilayer welding welding procedure Td
Portion.
Robot controller RC carries out creep feed according to the input from teaching machine TP to robot R, or according to multilayer
Weldering welding procedure Td makes robot R carry out regeneration operating.
Fig. 5 is teaching machine TP outside drawing.Keyboard 41 is the part for carrying out teaching operation, various setting operations etc.,
Including：It is determined that the direction of the moving direction and direction of rotation when creep feed is carried out to robot R indicates button 41A, for true
Make the walk forward key 41B and shifting that robot R is moved successively to taught point during the posture for recognizing the taught point that teaching terminates
Walk Reverse keys 41C.Walk forward key 41B makes robot R number movement according to walk, and walk Reverse keys 41C makes machine
People R moves according to the order opposite with walk numbering.Display part 43 is used to show multilayer welding welding procedure Td teaching contents, entered
Each seed ginseng necessary to total road number or current road number in the welding section of row multilayer welding welding, the action control of robot
Number etc..
Fig. 6 is the figure of the welding passage for illustrating to generate on the basis of basic welding line.In the figure (a), show to lead to
Cross welding torch T and carry out the basic welding line Ws in the case of workpiece W multilayer welding welding and the taught point before and after it.The teaching
Welding torch T action in the case of example is, it is mobile to welding starting point P2-1 since points of proximity P1 and weld, welded
While it is mobile to welding end point P3-1 and after terminating welding, to keeping out of the way point P4 movements.
On the other hand, in the figure (b), the movement locus of the multilayer welding welding procedure of 3 passages is shown.In the figure, lead to
Cross in offset as defined in welding starting point P2-1 settings so as to set the welding starting point P2-2 of the 2nd passage and the 3rd passage
Weld starting point P2-3.In addition, by setting the welding of the 2nd passage in offset as defined in welding end point P3-1 settings
End point P3-2 and the 3rd passage welding end point p3-3.As a result, basic welding of the generation in the 1st passage of the figure (a)
The sealing wire Ws2 of the 2nd passage and the sealing wire Ws3 of the 3rd passage multilayer welding welding procedure are also set on the basis of line Ws.Need
It is noted that as above-mentioned offset, be normally set up location components and posture component amounts to 6 components.
In the case of the multilayer welding welding procedure of 3 passages as generation, action during welding torch T welding is as follows.That is,
In the respective welding passage of the 1st~3 passage, from points of proximity P1 to welding starting point P2-N, (N is 1~3.It is same as below.)
It is mobile and start to weld, it is mobile to welding end point P3-N and after terminating welding, to keeping out of the way point P4 movements (repeatedly 3 times).Or
Person, be configured to make its to perform reciprocating action, in this case, it is mobile to welding starting point P2-1 since points of proximity P1 and
Weld, after mobile to welding end point P3-1 while being welded and end is welded, moved to point P4 is kept out of the way.Then, from
Keep out of the way point P4 mobile to welding end point P3-2 and start to weld, and after welding is terminated to welding starting point P3-2 movements,
Moved to points of proximity P1.And then it is mobile to welding starting point P2-3 since points of proximity P1 and weld, while being welded
After and end mobile to welding end point P3-3 is welded, moved to point P4 is kept out of the way.
However, in the multilayer welding welding procedure so generated, in order to automatically generate the later welding road of the 2nd passage
It is secondary, it is necessary to be confirmed whether that situation about with fixture and machining object not interfering, desired position can be turned into before welding processing is carried out
Put posture.As the method for confirmation, it is taken through pressing above-mentioned teaching machine TP walk forward key 41B or walk Reverse keys
41C, so that the method that robot R reaches each taught point successively.That is, the action same with the welding processing of reality is being carried out
Carry out confirmation operation simultaneously.
【Look-ahead technique document Prior Art】
【Patent document】
【Patent document 1】：Japanese Unexamined Patent Application 58-187270 publications
【The summary of invention】
【The invention problem to be solved】
It is above-mentioned in the prior art, if in order that robot R can only reach each taught point successively and with whole
The quantity of welding passage unroll (or reciprocal) taught point while carry out confirming operation, then the problem of very time consuming be present.
Particularly, 100 passages are likely to be breached according to the thickness of plate, bevel shape, road number, therefore, in this case in order to unroll
(or reciprocal) whole welding passage can spend very more time.
The content of the invention
Therefore, it is an object of the invention to provide a kind of multilayer that can select to want to carry out the welding passage of confirming operation
Weld welder.
【Means for solving the problems】
In order to solve above-mentioned problem, the invention of technical scheme 1 is a kind of multilayer welding welder, is started according to including welding
Put and weld the basic welding line of the advance teaching of end point and generated relative to the offset of basic welding line setting
The welding passage of whole N layers, wherein N are more than 2 integer, and make welding torch mobile according to the welding passage of generation and welded
Connect, the multilayer welding welder is characterised by possessing：
Passage selection mechanism is welded, it selects any one from the welding passage of whole N layers；
Position computer structure, when have selected welding passage by the welding passage selection mechanism, calculating is selected for it
Welding passage on moving target position；
Welding torch travel mechanism, it makes the welding torch to by the position computer structure when being transfused to movable signal
The moving target position movement calculated.
Multilayer welding welder of the invention of technical scheme 2 according to described in technical scheme 1, it is characterised in that in welding torch
Carry out welding the suitable of passage by the welding passage selection mechanism in the state of the assigned position of the welding passage of M layers
During sequence conveying operations, the position computer structure calculates corresponding with the assigned position in the welding passage of (M+1) layer
Moving target position, wherein M are 1 integer less than N.
Multilayer welding welder of the invention of technical scheme 3 according to described in technical scheme 1 or technical scheme 2, its feature
It is, is carried out in the state of the assigned position for the welding passage that L layers are located in welding torch by the welding passage selection mechanism
When welding the opposite sequence conveying operations of passage, the position computer structure calculate in the welding passage of (L-1) layer with it is described
Moving target position corresponding to assigned position, wherein L are 2 integers less than N.
Multilayer welding welder of the invention of technical scheme 4 according to described in technical scheme 1, it is characterised in that be also equipped with
Indication mechanism, the indication mechanism is in the plane orthogonal with welding direct of travel with the welding of whole N layers described in a presentation of information
The welding starting point or the welding end point in passage,
Any one point of the welding passage selection mechanism in the point information shown on the indication mechanism is selected
This case is selected to select to weld passage,
The position computer structure calculates the selected welding starting point welded in passage or the welding terminates
Point is used as the moving target position.
Multilayer welding welder of the invention of technical scheme 5 according to described in technical scheme 4, the display portion are virtual
Ground shows the welding bead generated according to the welding passage of whole N layers.
【Invention effect】
According to the present invention, when carrying out the confirming operation of multilayer welding welding procedure, can be selected immediately by shirtsleeve operation
Select want carry out confirming operation welding passage, thus, it is possible to significantly shorten it is each welding passage on posture confirmation when
Between.
Brief description of the drawings
Fig. 1 is the functional block diagram of multilayer welding welder involved in the present invention.
Fig. 2 is the figure for illustrating the situation for the handover operation for welding passage.
Fig. 3 is respectively to weld the welding starting point in passage with a presentation of information in the plane orthogonal with welding direct of travel
Figure.
Fig. 4 is the structured flowchart of multilayer welding welder.
Fig. 5 is the outside drawing of teaching machine.
Fig. 6 is the figure of the welding passage for illustrating to generate on the basis of basic welding line.
Symbol description
1 multilayer welding welder
2 key-press input monitoring units
3 teaching processing units
5 hard disks
7 moving target position calculating parts
9 operation control parts
10 interfaces
11 explain enforcement division
12 driving instruction portions
21 CPU
22 ROM
23 RAM
41 keyboards
41A directions indicate button
41B walk forward keys
41C walk Reverse keys
43 display parts
51 multilayer welding welders
A electric arcs
Fc feeds control signal
Iw welding currents
Mc action control signals
Of offset files (offset fle)
R robots
RC robot controllers
Rg is laminated scope
Ss operation signals
T welding torches
Td multilayer welding welding procedures
TP teaching machines
Vw weldingvoltages
W workpiece
Wc welds command signal
WM welding wire feeding motors
The WP sources of welding current
WR welds welding wire
Ws basic welding lines
Embodiment
Fig. 1 is the functional block diagram of the multilayer welding welder 1 of the present invention.In the figure, teaching machine TP is and prior art
It is equally used for being made the movable operation device of multilayer welding welding procedure.In the present invention, carried out to multilayer welding welding procedure
As for selecting the welding passage selection mechanism of welding passage to play function during confirming operation.Robot R also with prior art
Equally, it is the part by the welding torch T (reference picture 4) of holding front end guidance to the posture indicated, in the present invention, as
For guiding the welding torch travel mechanism to the moving target position in the welding passage of selection to play function welding torch.Hereinafter, it is right
The details for the robot controller RC that position computer structure as the present invention plays function illustrates.
Robot controller RC is made up of microcomputer, and the microcomputer includes：Processing dress is calculated as center
The CPU21 that puts, the ROM22 for being stored with software program, control parameter etc., the RAM23 as interim zoning, various storages
Device etc..TP interfaces 10 are used to connect teaching machine TP.Hard disk 5 is nonvolatile memory, and storage multilayer welding welding procedure Td is with after
The offset file Of stated.
The software program for carrying out various processing is stored with ROM22.They are functionally represented in same figure
When middle, including key-press input monitoring unit 2, teaching processing unit 3, moving target position calculating part 7, operation control part 9, explanation execution
Portion 11 and each processing unit in driving instruction portion 12.Described each processing unit is read and performed by CPU21.
Key-press input monitoring unit 2 monitors the behaviour of input when having carried out the teaching machine TP operation of keyboard 41 (reference picture 5)
Make signal Ss and parsed, so as to teaching processing unit 3, explain that enforcement division 11 notifies teaching information.
Teaching processing unit 3 (that is, forms the welding of basic welding line according to the taught point notified by key-press input monitoring unit 2
Starting point, intermediate point, welding end point etc.) posture coordinate value, in the later welding passage of the 2nd passage away from welding substantially
The offset of wiring and generate multilayer welding welding procedure Td, and store into hard disk 5.Offset can be used as multilayer welding welding journey
Sequence Td internal data store, can also be as illustrated as the offset file from the indirect references of multilayer welding welding procedure Td
Of is stored.
Enforcement division 11 is explained in operator to confirm that it is generated that robot R posture and manually operating makes
During multilayer welding welding procedure Td slow regenerations, read multilayer welding welding procedure Td according to taught point and its content is parsed.
Also, in the case where needing to drive robot R, to the control information (kind of order necessary to the output driving of operation control part 9
Class, posture value etc.).Operation control part 9 carries out trajectory plan etc. according to control information, and via driving instruction portion 12 to machine
Device people's R output action control signals Mc.As a result, robot R is by drive control.
Enforcement division 11 is explained also in the selection operation of the welding passage be stored in multilayer welding welding procedure Td, will
The welding passage numbering storage of selection entrusts the movement in each welding passage into RAM23 and to moving target position calculating part 7
The calculating of target location.Moving target position calculating part 7 calculates the moving target position in the welding passage of selection and stored
In RAM23.
Next, in the multilayer welding welder 1 formed as described above, confirming generated multilayer welding welding
Effect of the invention in the case of program Td posture illustrates.
Fig. 2 is the figure for illustrating the situation for the handover operation for welding passage.In the figure, the multilayer welding of 3 passages is shown
Welding starting point and welding end point in welding procedure.Specifically, by as defined in the setting on welding starting point P2-1
Offset and set the welding starting point P2-2 of the 2nd passage and welding starting point P2-3 of the 3rd passage.In addition, by welding
Offset as defined in setting on end point P3-1 and set the welding end point P3-2 of the 2nd passage and the welding of the 3rd passage terminates
Point P3-3.Basic welding line Ws is formed by welding starting point P2-1 and welding end point P3-1.
(beginning of the low-speed running operation of 1. multilayer welding welding procedures)
Generated multilayer welding welding procedure Td is selected by operator, when the walk forward key 41B shown in Fig. 4 by by
At lower 1 time, welding torch T is from points of proximity P1 to welding starting point P2-1 movements.
It is same when welding torch T presses walk forward key 41B again in the state of welding starting point P2-1
Ground, welding torch T move to welding end point P3-1.On this point, in the present invention, in order to easily verify that each welding road
Posture on secondary, prepare to make welding passage selection mode of the moving direction for the direction of welding passage.Hereinafter, to selecting
Walk forward key 41B is pressed in the state of welding passage selection mode or walk Reverse keys 41C situation illustrates.
(forward operation/back operations to welding passage direction of 2. welding starting points)
When pressing 1 walk forward key 41B in the state of have selected welding passage selection mode, enforcement division is explained
11 pairs of moving target position calculating parts 7 entrust the calculating of moving target position.Moving target position calculating part 7 is according to the inclined of setting
Shifting amount calculates the welding starting point P2-2 of the 2nd passage posture, stores in RAM23, and notification action control unit 9.It is dynamic
Make control unit 9 via driving instruction portion 12 to robot R output action control signal Mc, so that welding torch is to the mobile mesh calculated
Cursor position moves.As a result, welding torch T moves to the welding starting point P2-2 of the 2nd passage.
Similarly, pressed in the state of the welding starting point P2-2 of the 2nd passage is located in welding torch T 1 walk advance by
During key 41B, welding torch T moves to the welding starting point P2-3 of the 3rd passage.And then when walk forward key 41B presses 1 time, weldering
Welding starting point P2-1 movements (to original place return) of the torch T to the 1st passage.Certainly, by pressing walk Reverse keys 41C,
It can be moved successively to the opposite direction of welding passage.
It should be noted that the switching of welding passage selection mode and common pattern can be carried out by defined menu
Switching, as long as or being configured to may be switched to weld passage when the teaching machine TP state of defined Cao Zuoanjian is pressed
Selection mode.In this case, by Cao Zuoanjian as defined in pressing and press walk forward key 41B (or walk is retreated and pressed
Key 41C), so as to carry out the movement to next welding passage.
In addition, for example, it is also possible to from welding welding starting point P2-2 from starting point P2-1 to the 2nd passage movement after, when
When switching to common pattern and pressing walk forward key 41B, samely, make it since the welding of the 2nd passage
Point P2-2 moves to welding end point P3-2.
(forward operation/back operation to welding passage direction at 3. welding end points)
When pressing 1 walk forward key 41B at welding end point P3-1, pass through processing similar to the above, energy
Enough make welding end point P2-3s, 3rd passage of the welding torch T successively to the 2nd passage welding end point P3-3 movements.
(forward operation/back operation to welding passage direction of any position in 4. welding sections)
Positioned at the optional position in welding section (such as in 1 passage it is welding starting point P2-1~welding knot in welding torch T
Optional position between spot P3-1) in the case of, by reflecting offset to current posture value, so as to make welding torch
T moves to the corresponding position in the 2nd passage, the 3rd passage successively.
As described above, according to the present invention, when carrying out the confirming operation of multilayer welding welding procedure, letter can be passed through
Immediately selection is wanted to carry out the welding passage of confirming operation for single operation, thus, it is possible to be greatly shortened in each welding passage
The acknowledging time of posture.
It should be noted that in the above-described embodiment, it is used in the movement that welding torch moves to moving target position
Signal is teaching machine TP walk forward key 41B or walk forward key 41B, but is not limited to this.Can also use can be from
The outside signal inputted to robot controller RC portions is as above-mentioned movable signal, or prepares to be used to input above-mentioned movable signal
Other operating mechanisms.
[embodiment 2]
Next the second embodiment of explanation invention.In this second embodiment, orthogonal with welding direct of travel
The welding starting point or welding end point in each welding passage are represented in plane as point information, and is shown in teaching machine TP's
On display part 43 (reference picture 5).Further, it is possible to select the welding passage of mobile destination using the display.Hereinafter, to detailed
Situation illustrates.
Fig. 3 is to show that the welding in each welding passage is opened by an information in the plane orthogonal with welding direct of travel
The figure of initial point.The legend shows the appearance shown on teaching machine TP display part 43.As shown in the figure, hypothetically show
Workpiece W and welding torch T, and identify with stain in workpiece W groove plane (including the figure of the welding starting point in each welding passage
P2-1, P2-2, the P2-3 illustrated in 2 whole welding starting points).The curve location of stain can be according to the weldering as benchmark
Connect the position of starting point and be easily computed according to the offset of welding starting point setting.It should be noted that in the figure
In, only to weld starting point as object, but can also switch to weld display of the end point as object.
In addition, in the figure, more preferably show the stacking scope Rg of the welding bead formed by the welding passage of whole.It is laminated model
Enclose Rg values according to known to the welding amount of feeding of welding wire, weld interval, groove sectional area etc. be laminated scope Rg speculating computing and
Display.
As described above, in embodiment 2, due to can by it is each welding passage on welding torch T posture
Schematically show, therefore can be easily verified that between each welding passage with the orthogonal plane of welding direct of travel
The difference of relative position.
It should be noted that in figure 3, more preferably it is configured to button operation or picture by directly touching teaching machine TP
Any one in the above-mentioned stain of expression welding starting point can be selected, and is configured to welding torch T practically drawing guided selection
Stain corresponding to position.That is, when operator selects stain, and the shifting shown in Fig. 4 is then pressed in the same manner as embodiment 1
When walking forward key 41B, enter to exercise the processing of the posture movement of welding starting points of the welding torch T to the stain of selection.Tool
The handling process of body is same with embodiment 1.
Claims (5)
- A kind of 1. multilayer welding welder, according to the basic welding for including welding starting point and the advance teaching for welding end point Line and relative to the basic welding line setting offset and generate the welding passage of whole N layers, wherein N be more than 2 it is whole Number, and welded welding torch movement according to the welding passage of generation, the multilayer welding welder is characterised by, tool It is standby：Passage selection mechanism is welded, it selects to make when carrying out the confirming operation of the welding torch from the welding passage of whole N layers For any one welding passage of the object of confirming operation；Position computer structure, it calculates the weldering selected when have selected welding passage by the welding passage selection mechanism Connect the moving target position in passage；Welding torch travel mechanism, it makes the welding torch be calculated to by the position computer structure when being transfused to movable signal The moving target position movement gone out.
- 2. multilayer welding welder according to claim 1, it is characterised in thatIt is located in welding torch in the state of the assigned position of the welding passage of M layers, is carried out by the welding passage selection mechanism During the sequentially-fed operation of welding passage, the position computer structure calculate in the welding passage of M+1 layers with the rule Corresponding moving target position is put in positioning, and wherein M is 1 integer less than N.
- 3. multilayer welding welder according to claim 1 or 2, it is characterised in thatIt is located in welding torch in the state of the assigned position of the welding passage of L layers, is carried out by the welding passage selection mechanism During the opposite sequence conveying operations of welding passage, the position computer structure calculate in the welding passage of L-1 layers with it is described Moving target position corresponding to assigned position, wherein L are 2 integers less than N.
- 4. multilayer welding welder according to claim 1, it is characterised in thatIndication mechanism is also equipped with, the indication mechanism is in the plane orthogonal with welding direct of travel with whole described in a presentation of information The welding starting point or the welding end point in the welding passage of N layers,Any one in the point information that the welding passage selection mechanism is shown according to selection on the indication mechanism puts this Situation come select weld passage,The position computer structure calculates the welding starting point or the welding end point work in selected welding passage For the moving target position.
- 5. multilayer welding welder according to claim 4, it is characterised in thatThe indication mechanism shows the welding bead generated according to the welding passage of whole N layers in virtual manner.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2012249811A JP6033047B2 (en) | 2012-11-14 | 2012-11-14 | Multi-layer welding equipment |
| JP2012-249811 | 2012-11-14 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103801794A CN103801794A (en) | 2014-05-21 |
| CN103801794B true CN103801794B (en) | 2018-01-16 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310524491.5A Active CN103801794B (en) | 2012-11-14 | 2013-10-30 | Multilayer welding welder |
Country Status (3)
| Country | Link |
|---|---|
| JP (1) | JP6033047B2 (en) |
| CN (1) | CN103801794B (en) |
| TW (1) | TWI622451B (en) |
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| JP2017170472A (en) | 2016-03-23 | 2017-09-28 | 株式会社神戸製鋼所 | Welding condition setting support device in multi-layer welding |
| CN109590564B (en) * | 2017-10-02 | 2021-07-13 | 白光株式会社 | Welding device |
| JP7028658B2 (en) * | 2018-01-30 | 2022-03-02 | 株式会社神戸製鋼所 | Weaving control method and weaving control system |
| CN110640261A (en) * | 2019-09-27 | 2020-01-03 | 中冶赛迪工程技术股份有限公司 | Robot overlaying operation method |
| WO2021251087A1 (en) * | 2020-06-10 | 2021-12-16 | パナソニックＩｐマネジメント株式会社 | Welding system, apparatus for preparing control program for welding robot, method for preparing control program for welding robot, and program for preparing control program for welding robot |
| US20230390918A1 (en) * | 2022-06-06 | 2023-12-07 | Lincoln Global, Inc. | Weld angle correction device |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN103801794A (en) | 2014-05-21 |
| TW201417934A (en) | 2014-05-16 |
| TWI622451B (en) | 2018-05-01 |
| JP6033047B2 (en) | 2016-11-30 |
| JP2014097517A (en) | 2014-05-29 |
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