DE69024297D1 - Verfahren und gerät zum mehrschichtigen auftragschweissen - Google Patents

Verfahren und gerät zum mehrschichtigen auftragschweissen

Info

Publication number
DE69024297D1
DE69024297D1 DE69024297T DE69024297T DE69024297D1 DE 69024297 D1 DE69024297 D1 DE 69024297D1 DE 69024297 T DE69024297 T DE 69024297T DE 69024297 T DE69024297 T DE 69024297T DE 69024297 D1 DE69024297 D1 DE 69024297D1
Authority
DE
Germany
Prior art keywords
layer welding
welding
layer
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.)
Expired - Fee Related
Application number
DE69024297T
Other languages
English (en)
Other versions
DE69024297T2 (de
Inventor
Shinji Kokura Plant Okumura
Keiichi Kokura Plant Takaoka
Tatsumi Kokura Plant Nakazato
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Yaskawa Electric Corp
Original Assignee
Yaskawa Electric Manufacturing Co Ltd
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
Priority claimed from JP4390089A external-priority patent/JPH07102461B2/ja
Priority claimed from JP4390189A external-priority patent/JPH07102462B2/ja
Priority claimed from JP1058888A external-priority patent/JPH07102463B2/ja
Application filed by Yaskawa Electric Manufacturing Co Ltd filed Critical Yaskawa Electric Manufacturing Co Ltd
Application granted granted Critical
Publication of DE69024297D1 publication Critical patent/DE69024297D1/de
Publication of DE69024297T2 publication Critical patent/DE69024297T2/de
Anticipated expiration legal-status Critical
Expired - Fee Related legal-status Critical Current

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
    • B23K9/04—Welding for other purposes than joining, e.g. built-up welding
    • 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
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/41—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by interpolation, e.g. the computation of intermediate points between programmed end points to define the path to be followed and the rate of travel along that path
    • G05B19/4103—Digital interpolation
    • 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
    • G05B19/425—Teaching successive positions by numerical control, i.e. commands being entered to control the positioning servo of the tool head or end effector
    • 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
    • G05B2219/45104—Lasrobot, welding robot
    • 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
    • G05B2219/45238—Tape, fiber, glue, material dispensing in layers, beads, filling, sealing

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Plasma & Fusion (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Theoretical Computer Science (AREA)
  • Robotics (AREA)
  • Computing Systems (AREA)
  • Numerical Control (AREA)
  • Manipulator (AREA)
DE69024297T 1989-02-23 1990-02-21 Verfahren und gerät zum mehrschichtigen auftragschweissen Expired - Fee Related DE69024297T2 (de)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
JP4390089A JPH07102461B2 (ja) 1989-02-23 1989-02-23 多層盛溶接装置
JP4390189A JPH07102462B2 (ja) 1989-02-23 1989-02-23 多層盛溶接方法
JP1058888A JPH07102463B2 (ja) 1989-03-10 1989-03-10 多層盛溶接方法
PCT/JP1990/000212 WO1990009859A1 (en) 1989-02-23 1990-02-21 Method and apparatus for multi-layer buildup welding

Publications (2)

Publication Number Publication Date
DE69024297D1 true DE69024297D1 (de) 1996-02-01
DE69024297T2 DE69024297T2 (de) 1996-08-29

Family

ID=27291708

Family Applications (1)

Application Number Title Priority Date Filing Date
DE69024297T Expired - Fee Related DE69024297T2 (de) 1989-02-23 1990-02-21 Verfahren und gerät zum mehrschichtigen auftragschweissen

Country Status (5)

Country Link
US (1) US5173592A (de)
EP (1) EP0419670B1 (de)
AU (1) AU629909B2 (de)
DE (1) DE69024297T2 (de)
WO (1) WO1990009859A1 (de)

Families Citing this family (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
AU629909B2 (en) * 1989-02-23 1992-10-15 Kabushiki Kaisha Yaskawa Denki Seisakusho Method and apparatus for multi-layer buildup welding
JPH06320462A (ja) * 1993-05-10 1994-11-22 Fanuc Ltd センサ付きロボットの制御方法
JPH0810949A (ja) * 1994-06-23 1996-01-16 Fanuc Ltd 多層盛り溶接における溶接ロボットシステムの制御方法
JPH0816221A (ja) * 1994-06-28 1996-01-19 Fanuc Ltd レーザセンサを用いたロボット教示経路の変更方法
SE515773C2 (sv) * 1995-12-22 2001-10-08 Esab Ab Förfarande vid automatisk flerskiktssvetsning
JPH106005A (ja) * 1996-06-24 1998-01-13 Fanuc Ltd アーク溶接方法
JPH1058362A (ja) * 1996-08-13 1998-03-03 Fanuc Ltd 産業用ロボットによるステッチ加工方法
US5841104A (en) * 1996-09-03 1998-11-24 Abb Flexible Automation, Inc. Method and system for multiple pass welding
JPH11149306A (ja) 1997-11-14 1999-06-02 Fanuc Ltd 加工機の制御装置
SE0001312D0 (sv) 2000-04-10 2000-04-10 Abb Ab Industrirobot
US6845900B2 (en) * 2002-05-21 2005-01-25 Exxonmobil Upstream Research Company Methods for producing weld joints having thermally enhanced heat-affected-zones with excellent fracture toughness
CA2796369A1 (en) * 2010-04-13 2011-10-20 National Research Council Of Canada Laser processing control method
CN102218578B (zh) * 2011-05-26 2013-09-18 东南大学 基于径向偏置的机器人堆焊复杂外形工件的轨迹规划方法
CN112108741A (zh) * 2019-10-16 2020-12-22 南京英尼格玛工业自动化技术有限公司 一种膜式水冷壁机器人堆焊系统
CN113878200B (zh) * 2021-10-28 2022-12-09 天津新松机器人自动化有限公司 一种智能机器人堆焊方法
CN114571123B (zh) * 2022-04-01 2023-08-01 广船国际有限公司 一种补板全位置焊接方法

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5750279A (en) * 1980-09-10 1982-03-24 Komatsu Ltd Robot for welding having multilayer welding function
JPS58188572A (ja) * 1982-04-30 1983-11-04 Kobe Steel Ltd 多層盛溶接方法
US4508953A (en) * 1982-04-27 1985-04-02 Kabushiki Kaisha Kobe Seiko Sho Method of multi-layer welding
JPS60174274A (ja) * 1984-02-20 1985-09-07 Fanuc Ltd 三次元曲面におけるスケ−リング方法
JPH08384B2 (ja) * 1987-09-16 1996-01-10 ファナック株式会社 ツール先端点の自動設定方式
AU629909B2 (en) * 1989-02-23 1992-10-15 Kabushiki Kaisha Yaskawa Denki Seisakusho Method and apparatus for multi-layer buildup welding
JPH05189855A (ja) * 1992-01-13 1993-07-30 Matsushita Electric Ind Co Ltd ディスクドライブ装置

Also Published As

Publication number Publication date
US5173592A (en) 1992-12-22
AU5108290A (en) 1990-09-26
DE69024297T2 (de) 1996-08-29
WO1990009859A1 (en) 1990-09-07
EP0419670A1 (de) 1991-04-03
AU629909B2 (en) 1992-10-15
EP0419670A4 (en) 1992-05-20
EP0419670B1 (de) 1995-12-20

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Legal Events

Date Code Title Description
8364 No opposition during term of opposition
8339 Ceased/non-payment of the annual fee