CN110202238A - Reinforced steel bar perforation plug welding method - Google Patents
Reinforced steel bar perforation plug welding method Download PDFInfo
- Publication number
- CN110202238A CN110202238A CN201910538598.2A CN201910538598A CN110202238A CN 110202238 A CN110202238 A CN 110202238A CN 201910538598 A CN201910538598 A CN 201910538598A CN 110202238 A CN110202238 A CN 110202238A
- Authority
- CN
- China
- Prior art keywords
- welding
- workpiece
- robot
- steel bar
- reinforced steel
- 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
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
- B23K9/0026—Arc welding or cutting specially adapted for particular articles or work
-
- 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
- B23K9/028—Seam welding; Backing means; Inserts for curved planar seams
-
- 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
- B23K9/10—Other electric circuits therefor; Protective circuits; Remote controls
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Plasma & Fusion (AREA)
- Mechanical Engineering (AREA)
- Butt Welding And Welding Of Specific Article (AREA)
Abstract
The present invention provides reinforced steel bar perforation plug welding method, step 1: being accomplished manually the aperture of welded workpiece and completes the group to point weldering of reinforcing bar and consent, realizes tentatively assembling for the two；Step 2: it is required to work out offline welding procedure according to the material of welded workpiece, size and technique；Step 3: the workpiece of spot welding group pair is fixed on clamping working table using manual mode；Step 4: offline welding procedure is imported into the controller of welding robot, and using tracking operation by program dry running one time；Step 5: starting welding robot welds the workpiece on clamping working table；Step 6: welding complete one wear peg point after, welding gun stops arc and according to program setting, at automatically walk to next welding point, aforesaid operations is repeated after seeking position by intelligent locating system, until completing multiple welding for wearing peg point on a workpiece；Step 7: after welded unit, clear rifle is called to cut a program, closes welding machine electric power.
Description
Technical field
The present invention relates to welding technology field more particularly to reinforced steel bar perforation plug welding methods.
Background technique
Reinforced steel bar perforation plug welding is a kind of borehole on the steel plate and fills in the welding form that reinforcing bar carries out penetration welding, and steel plate is opened
Mouth does flue, and reinforcing bar is filled in length and flushed with typhon mouth, and fills up entire horn mouth with welding material.When welding, by
Larger in rebar sizes, deposited metal filling is more, and multilayer multiple tracks pitch of the laps is needed to weld, and consuming time is long, and weld seam is distributed
In a fritter border circular areas, it is unfavorable for heat dissipation and control interlayer temperature, heat affected area is caused to expand, it is unfavorable to generate to weldquality
It influences, and arrangement of bar density is big, influences welding operation, increase the difficulty of welding, be a kind of higher weld seam shape of difficulty
Formula.
Traditional welding method is welded using welding electrode arc welding (SMAW), Semi-automatic gas shield welding (GMAW), still
Welding electrode arc welding (SMAW), Semi-automatic gas shield welding (GMAW) welding environment are poor, welder's level of skill is required it is high, training at
Originally it greatly increases, and production efficiency is low, high production cost, is easy to be influenced by worker individual's situation, leads to welding quality not
Stablize.(sample dimensions are merely illustrative in the figure, do not represent applicable test specimen ruler of the invention as shown in Figure 1 for human weld's layer road number
Very little range), since human weld's inconvenient and electric current of rolling over can not change as required in welding, cause can only to be layered point
Road welding, every layer of per pass are intended to be arranged different current parameters to meet heat input and penetration requirement, this results in welding time-consuming
Long, welding process complexity, welding procedure difficulty are big, greatly constrain the application and development of such welding procedure.
Summary of the invention
Technical problem to be solved by the invention is to provide reinforced steel bar perforation plug welding method, the method meets workshop production reinforcing bar
Perforation plug welding demand improves welding efficiency, reduces construction cost, realizes and welding robot is utilized to carry out reinforced steel bar perforation plug welding welding
The purpose of operation.
In order to realize above-mentioned technical characteristic, the object of the present invention is achieved like this: reinforced steel bar perforation plug welding method, it is wrapped
Include following steps:
Step 1: being accomplished manually the aperture of welded workpiece and completes the group to point weldering of reinforcing bar and consent, realizes the preliminary of the two
It assembles；
Step 2: it is required to work out offline welding procedure according to the material of welded workpiece, size and technique；
Step 3: the workpiece of spot welding group pair is fixed on clamping working table using manual mode；
Step 4: offline welding procedure is imported into the controller of welding robot, and is operated using tracking by program dry running
One time, mark point is modified line by line, after checking that run trace and various parameters are accurate, prepares welding workpiece；
Step 5: starting welding robot welds the workpiece on clamping working table；
Step 6: after peg point is worn in welding completion one, welding gun stops arc and according to program setting, automatically walk to next welding
Joint sought by intelligent locating system and repeats aforesaid operations behind position, until completing multiple on a workpiece to wear peg point
Welding；
Step 7: after welded unit, clear rifle is called to cut a program, closes welding machine electric power.
The concrete operation method of the step 2 are as follows: welding gun screwdriven and swing path are set in offline welding procedure,
So that torch swinging amplitude is up increased accordingly with welding bead, guarantee that each lap welding is sewn on width direction only and needs an amplitude of fluctuation
It can weld completely, and slightly lift welding gun in each circle interface, reduce fusion penetration, improve welding bead；
The size variation curve for concurrently setting electric current in welding process, using low current when opening arc, as welding process carries out, by
Step increases electric current to stationary value, receives arc and requires to be gradually reduced size of current in the process further according to reinforcement, so that weld seam and base material circle
Sliding smooth transition, weld reinforcement are met the requirements；
After the completion of one weld, at welding gun automatically walk to next welding point, repeat the above operation.
The concrete operation method of the step 5 are as follows: after operator presses start button, robot control system starts
Operation, robotic gun reach position while welding, robot graphics' visual identity program for setting according in, by intelligent locating system with
Initial zero function collective effect makes welding gun surrounding Automatic-searching and positional punch plug welds, welding gun after positioning at zero
Go deep into groove with welding wire to start to weld.
The welding robot conjugates the equipment that mechanical arm is welded using five axis or more, automatic using wire-feed motor
Wire feed controls its welding, walking, displacement operation by the offline welding procedure of input, and intelligent locating system is added, can be certainly
It is dynamic to carry out weld seam recognition and continuous welding, smoothly complete automatic welding task；The welding robot support is mounted on bracket
Top.
The clamping working table support is mounted on workbench, and the bottom of the workbench is equipped with linkage control
Device.
The welding robot uses PANDA welding robot SR7400, mating PANDA NBM-500 multifunctional digital
It is equipped with image vision recognizer in pulse GMAW machine, the model SmarTac of intelligent locating system, and system, is used to
Determine the position while welding of workpiece.
The major weld process parameters of the welding robot (1) are as follows: 180 ~ 280A of welding current；Weldingvoltage 20 ~
38V；25 ~ 48cm/min of speed of welding.
The method have the advantages that:
As long as 1, completing by using welding method welding program setting of the invention, high-volume similar-type products weldering can be carried out
It connects, and welding quality stable does not fluctuate, does not need to rest, it can be with continuous production.And arm spirit is operated when robot welding
It is living, 360 degree seamless rotating weldings, prosthetic roll over when welding it is inconvenient frequently open arc, stop the problem of arc, as long as setting respectively
Item parameter, parameter is that low current is not swung when opening arc, and electric current is stepped up in welding process and is rocked to plateau, when receiving arc
It is appropriate to reduce electric current and increase amplitude of fluctuation, walking path has been concurrently set, perforation plug welding robot welding can form together,
A spiralling weld seam form is formed, and arc stability, output are steadily, small current welding can also reduce heat input
Amount, so welding efficiency is high, Forming Quality is good, eliminates a large amount of labour costs, has saved construction cost, be the following manufacturing industry, build
Build industry welding technique developing direction.
2, the configuration of the present invention is simple, welding quality is good, and high production efficiency is easy to use.
3, the present invention uses common welding robot system, in addition the side such as program composition, on-line teaching, intelligent locating
Method realizes the purpose of reinforced steel bar perforation plug welding automatic welding by using operating method of the invention.
4, the present invention realizes the purpose that the plug welding of manual welding reinforced steel bar perforation is replaced with welding robot, solves product
The problem of being short of hands when making peak and delay construction speed, reduce advanced welder recruits quantity and because of a
It the problem of welding quality unstable caused by people's reason, ensure that welding quality, improve welding efficiency, reduce and be constructed into
This, brings huge economic benefit to enterprise.
Detailed description of the invention
Present invention will be further explained below with reference to the attached drawings and examples.
Fig. 1 is traditional artificial welding layer road table structure schematic diagram.
Fig. 2 is in the present invention using welding robot welding together molding sectional view.
Fig. 3 is in the present invention using welding robot welding together molding capping welding gun motion profile.
Fig. 4 is welding robot of the present invention composition figure.
In figure: welding robot 1, workbench 2, linkage controller 3, bracket 4, clamping working table 5.
Specific embodiment
Embodiments of the present invention are described further with reference to the accompanying drawing.
Referring to fig. 2-4, reinforced steel bar perforation plug welding method, it the following steps are included:
Step 1: being accomplished manually the aperture of welded workpiece and completes the group to point weldering of reinforcing bar and consent, realizes the preliminary of the two
It assembles；
Step 2: it is required to work out offline welding procedure according to the material of welded workpiece, size and technique；
Step 3: the workpiece of spot welding group pair is fixed on clamping working table 5 using manual mode；
Step 4: offline welding procedure is imported into the controller of welding robot 1, and is operated using tracking by program dry running
One time, mark point is modified line by line, after checking that run trace and various parameters are accurate, prepares welding workpiece；
Step 5: starting welding robot 1 welds the workpiece on clamping working table 5；
Step 6: after peg point is worn in welding completion one, welding gun stops arc and according to program setting, automatically walk to next welding
Joint sought by intelligent locating system and repeats aforesaid operations behind position, until completing multiple on a workpiece to wear peg point
Welding；
Step 7: after welded unit, clear rifle is called to cut a program, closes welding machine electric power.
Further, the concrete operation method of the step 2 are as follows: set in offline welding procedure welding gun screwdriven and
Swing path guarantees that each lap welding is sewn on width direction and only needs one so that torch swinging amplitude is up increased accordingly with welding bead
A amplitude of fluctuation can weld completely, and slightly lift welding gun in each circle interface, reduce fusion penetration, improve welding bead；
The size variation curve for concurrently setting electric current in welding process, using low current when opening arc, as welding process carries out, by
Step increases electric current to stationary value, receives arc and requires to be gradually reduced size of current in the process further according to reinforcement, so that weld seam and base material circle
Sliding smooth transition, weld reinforcement are met the requirements；
After the completion of one weld, at welding gun automatically walk to next welding point, repeat the above operation.
Further, the concrete operation method of the step 5 are as follows: after operator presses start button, robot control
System brings into operation, and robotic gun reaches position while welding, and the robot graphics' visual identity program set according in will intelligently be sought
Position system and initial zero function collective effect make welding gun surrounding Automatic-searching and positional punch plug welds at zero, fixed
Welding gun gos deep into groove with welding wire and starts to weld behind position.
Further, the welding robot 1 conjugates the equipment that mechanical arm is welded using five axis or more, utilizes
Wire-feed motor automatic feeding controls its welding, walking, displacement operation by inputting offline welding procedure, and intelligent locating is added
System can carry out weld seam recognition and continuous welding automatically, smoothly complete automatic welding task；The welding robot 1 supports
It is mounted on the top of bracket 4.
Further, the support of clamping working table 5 is mounted on workbench 2, the bottom installation of the workbench 2
There is linkage controller 3.
Further, the welding robot 1 uses PANDA welding robot SR7400, and mating PANDA NBM-500 is more
Image vision is equipped in function digit pulse GMAW machine, the model SmarTac of intelligent locating system, and system to identify
Program, for determining the position while welding of workpiece.
Further, the major weld process parameters of the welding robot (1) are as follows: 180 ~ 280A of welding current；Welding
20 ~ 38V of voltage；25 ~ 48cm/min of speed of welding.Gage of wire selects 1.2mm；Welding current polarity is straight anti-.
Advantages of the present invention:
By using the displacement workbench voluntarily developed, have welding robot with company in conjunction with, pass through program setting, utilize
The functions such as intelligent locating, Intelligent anti-collision technology, the tracking of AWC electric arc, put welding current, electric arc size, motion profile, welding
The parameters such as dynamic, speed of welding carry out dynamic in real time and adjust, and in the case where guaranteeing that thermal weld stress amount meets design requirement, realize steel
Muscle perforation one of welding fabrication of plug welding, and welding quality, welding efficiency, welding cost etc. are better than human weld.
This method is pioneering for company, by using welding robot, certainly by conventional utilization welding electrode arc welding (SMAW), half
Dynamic gas shield welding (GMAW) welded reinforcement perforation plug welding, becomes by way of welding robot welding, realizes a perforation plug
Welding line opens arc at one and stops completing to weld in the arc period, and robotic arm is driven by change shaft device, completes a weld seam
Automatic positioning to next weld seam and starts to weld afterwards, improves welding efficiency, reduces construction cost.
Claims (7)
1. reinforced steel bar perforation plug welding method, it is characterised in that it the following steps are included:
Step 1: being accomplished manually the aperture of welded workpiece and completes the group to point weldering of reinforcing bar and consent, realizes the preliminary of the two
It assembles；
Step 2: it is required to work out offline welding procedure according to the material of welded workpiece, size and technique；
Step 3: the workpiece of spot welding group pair is fixed on clamping working table (5) using manual mode；
Step 4: offline welding procedure is imported into the controller of welding robot (1), and is operated using tracking by program air transportion
Row one time, mark point is modified line by line, after checking that run trace and various parameters are accurate, prepares welding workpiece；
Step 5: the workpiece on clamping working table (5) is welded in starting welding robot (1)；
Step 6: after peg point is worn in welding completion one, welding gun stops arc and according to program setting, automatically walk to next welding
Joint sought by intelligent locating system and repeats aforesaid operations behind position, until completing multiple on a workpiece to wear peg point
Welding；
Step 7: after welded unit, clear rifle is called to cut a program, closes welding machine electric power.
2. reinforced steel bar perforation plug welding method according to claim 1, which is characterized in that the concrete operation method of the step 2
Are as follows: welding gun screwdriven and swing path are set in offline welding procedure, so that torch swinging amplitude is up corresponding with welding bead
Increase, guarantees that each lap welding is sewn on width direction only and needs an amplitude of fluctuation that can weld completely, and slightly mention in each circle interface
Welding gun is played, reduces fusion penetration, improve welding bead；
The size variation curve for concurrently setting electric current in welding process, using low current when opening arc, as welding process carries out, by
Step increases electric current to stationary value, receives arc and requires to be gradually reduced size of current in the process further according to reinforcement, so that weld seam and base material circle
Sliding smooth transition, weld reinforcement are met the requirements；
After the completion of one weld, at welding gun automatically walk to next welding point, repeat the above operation.
3. reinforced steel bar perforation plug welding method according to claim 1, which is characterized in that the concrete operation method of the step 5
Are as follows: after operator presses start button, robot control system brings into operation, and robotic gun reaches position while welding, foundation
Intelligent locating system and initial zero function collective effect are returning welding gun by the robot graphics' visual identity program inside set
Automatic-searching and positional punch plug welds around at zero, welding gun gos deep into groove with welding wire and starts to weld after positioning.
4. reinforced steel bar perforation plug welding method according to claim 1, which is characterized in that the welding robot (1) uses five
The equipment that axis or more displacement mechanical arm is welded, using wire-feed motor automatic feeding, by inputting offline welding procedure control
Its welding, walking, displacement operation are made, and intelligent locating system is added, weld seam recognition and continuous welding can be carried out automatically, it is suitable
Benefit completes automatic welding task；Welding robot (1) support is mounted on the top of bracket (4).
5. reinforced steel bar perforation plug welding method according to claim 1, which is characterized in that clamping working table (5) the support peace
On workbench (2), the bottom of the workbench (2) is equipped with linkage controller (3).
6. reinforced steel bar perforation plug welding method according to claim 1 or 4, which is characterized in that the welding robot (1) uses
PANDA welding robot SR7400, mating PANDA NBM-500 multifunctional digital pulse GMAW machine, intelligent locating system
Model SmarTac, and system in be equipped with image vision recognizer, for determining the position while welding of workpiece.
7. reinforced steel bar perforation plug welding method according to claim 1, which is characterized in that the welding robot (1) it is main
Welding condition are as follows: 180 ~ 280A of welding current；20 ~ 38V of weldingvoltage；25 ~ 48cm/min of speed of welding.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910538598.2A CN110202238A (en) | 2019-06-20 | 2019-06-20 | Reinforced steel bar perforation plug welding method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910538598.2A CN110202238A (en) | 2019-06-20 | 2019-06-20 | Reinforced steel bar perforation plug welding method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110202238A true CN110202238A (en) | 2019-09-06 |
Family
ID=67793723
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910538598.2A Pending CN110202238A (en) | 2019-06-20 | 2019-06-20 | Reinforced steel bar perforation plug welding method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110202238A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112025030A (en) * | 2020-07-29 | 2020-12-04 | 中建二局安装工程有限公司 | Construction method for welding groove between thick plate embedded part and large-diameter steel bar |
| CN112692471A (en) * | 2020-12-18 | 2021-04-23 | 盐城耀晖人防防护设备科技有限公司 | Robot-based robot symmetry overturning fixture civil air defense door welding workstation |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5428198A (en) * | 1993-01-29 | 1995-06-27 | Framatome | Method and device for the orbital welding of a cylindrical part onto a curved wall |
| CN1664430A (en) * | 2004-02-06 | 2005-09-07 | 法玛通Anp公司 | Method of securing a tube in a bore through a spherical wall, and a device for depositing welding material in a facing |
| CN101041201A (en) * | 2006-03-20 | 2007-09-26 | 上海锅炉厂有限公司 | Saddle type union melt welding with plug in type little connection nozzle |
| JP2007253196A (en) * | 2006-03-23 | 2007-10-04 | Ihi Corp | Method of and apparatus for seal-welding pipe end |
| CN101310909A (en) * | 2008-07-09 | 2008-11-26 | 上海锅炉厂有限公司 | Automatic welding process of skewed tube fillet of boiler separator |
| CN101780590A (en) * | 2009-01-20 | 2010-07-21 | 机械科学研究院哈尔滨焊接研究所 | Numerical control submerged automatic arc welding device and numerical control submerged automatic arc welding method for saddle-shaped narrow bevel |
| CN102615399A (en) * | 2012-03-27 | 2012-08-01 | 天津大学 | Welding method for improving fatigue life of socket welding weld toe of branch pipe |
| CN103464870A (en) * | 2013-09-06 | 2013-12-25 | 东方电气集团东方电机有限公司 | Method and device for welding water-wheel socket ring |
| CN204524571U (en) * | 2015-02-11 | 2015-08-05 | 成都思尔特机器人科技有限公司 | A kind of intelligent robot welding system for welding of automotive parts |
-
2019
- 2019-06-20 CN CN201910538598.2A patent/CN110202238A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5428198A (en) * | 1993-01-29 | 1995-06-27 | Framatome | Method and device for the orbital welding of a cylindrical part onto a curved wall |
| CN1664430A (en) * | 2004-02-06 | 2005-09-07 | 法玛通Anp公司 | Method of securing a tube in a bore through a spherical wall, and a device for depositing welding material in a facing |
| CN101041201A (en) * | 2006-03-20 | 2007-09-26 | 上海锅炉厂有限公司 | Saddle type union melt welding with plug in type little connection nozzle |
| JP2007253196A (en) * | 2006-03-23 | 2007-10-04 | Ihi Corp | Method of and apparatus for seal-welding pipe end |
| CN101310909A (en) * | 2008-07-09 | 2008-11-26 | 上海锅炉厂有限公司 | Automatic welding process of skewed tube fillet of boiler separator |
| CN101780590A (en) * | 2009-01-20 | 2010-07-21 | 机械科学研究院哈尔滨焊接研究所 | Numerical control submerged automatic arc welding device and numerical control submerged automatic arc welding method for saddle-shaped narrow bevel |
| CN102615399A (en) * | 2012-03-27 | 2012-08-01 | 天津大学 | Welding method for improving fatigue life of socket welding weld toe of branch pipe |
| CN103464870A (en) * | 2013-09-06 | 2013-12-25 | 东方电气集团东方电机有限公司 | Method and device for welding water-wheel socket ring |
| CN204524571U (en) * | 2015-02-11 | 2015-08-05 | 成都思尔特机器人科技有限公司 | A kind of intelligent robot welding system for welding of automotive parts |
Non-Patent Citations (1)
| Title |
|---|
| 边仕成: "AP1000核电核岛厂房植筋穿孔塞焊后置埋件施工技术 ", 《山西建筑》 * |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112025030A (en) * | 2020-07-29 | 2020-12-04 | 中建二局安装工程有限公司 | Construction method for welding groove between thick plate embedded part and large-diameter steel bar |
| CN112025030B (en) * | 2020-07-29 | 2022-05-20 | 中建二局安装工程有限公司 | Construction method for welding groove of thick plate embedded part and large-diameter steel bar |
| CN112692471A (en) * | 2020-12-18 | 2021-04-23 | 盐城耀晖人防防护设备科技有限公司 | Robot-based robot symmetry overturning fixture civil air defense door welding workstation |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109604767B (en) | Intelligent welding control system and method for thick plate narrow gap GMA robot | |
| CN100398246C (en) | Process and device for automatic argon arc welding and narrow gap burial arc welding for circular pipe header seam | |
| CN105171289B (en) | Become the cut deal multi-layer multi-pass welding method for planning track of groove width | |
| CN102009275B (en) | Automatic welding system for rack and base of marine diesel engine | |
| WO2019188155A1 (en) | Laser cutting device and laser cutting method | |
| CN105618976B (en) | A kind of intelligent weld seam system | |
| US20120102857A1 (en) | Method for manufacturing a door frame, welding arrangement and structure of a door frame | |
| CN110202238A (en) | Reinforced steel bar perforation plug welding method | |
| CN104475897A (en) | Aluminum steel CMT fusion-brazing welding process control method | |
| CN103008886A (en) | Self-adaptive laser shock welding method and device | |
| CN107855637A (en) | One kind automation direct welding machine | |
| CN205888329U (en) | Use two -dimensional laser displacement sensor's welding seam automatic identification tracking means | |
| CN201776566U (en) | Automatic welding machine | |
| JP5513206B2 (en) | Method and apparatus for adjusting wire protrusion length of welding robot | |
| CN106041382A (en) | Operating method of intelligent automatic welding manipulator | |
| CN106363323A (en) | Metal welding forming system and metal welding forming method based on CMT (cold metal transition) | |
| CN113399820A (en) | Laser tailor-welding method and device for large-breadth plates | |
| JPS59120369A (en) | Method and device for controlling weld line copying | |
| CN113664431A (en) | Steel structural part welding arm capable of adjusting posture in real time and adjusting method | |
| CN110774297B (en) | Profile cutting device | |
| CN207642480U (en) | A kind of weld seam scanning system being used for five axis agitating frictions welding equipment | |
| CN117182373A (en) | Method for generating surfacing track of fan-shaped bearing bush, surfacing device and application | |
| Lauer et al. | Data-driven approach for robot-assisted multi-pass-welding thick sheet metal connections | |
| CN103537782A (en) | PLC (programmable logic controller)-controlled automatic welding system and control method thereof | |
| CN103551705A (en) | Chongqing monorail roof assembly welding process method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20190906 |
|
| RJ01 | Rejection of invention patent application after publication |