JPH05329645A - Arc sensor monitoring device and its using method - Google Patents
Arc sensor monitoring device and its using methodInfo
- Publication number
- JPH05329645A JPH05329645A JP4165484A JP16548492A JPH05329645A JP H05329645 A JPH05329645 A JP H05329645A JP 4165484 A JP4165484 A JP 4165484A JP 16548492 A JP16548492 A JP 16548492A JP H05329645 A JPH05329645 A JP H05329645A
- Authority
- JP
- Japan
- Prior art keywords
- welding
- information
- arc sensor
- value
- correction information
- 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.)
- Withdrawn
Links
Landscapes
- Arc Welding Control (AREA)
- Manipulator (AREA)
Abstract
Description
【０００１】[0001]
【産業上の利用分野】本発明は、溶接現象の変化を利用
して溶接トーチの位置を補正するアークセンサを使用す
る溶接ロボットシステムにおいて、アークセンサ回路か
ら出力される溶接トーチチップと母材間の位置補正情報
即ち上下方向補正情報、及び溶接トーチチップの各オシ
レート端部位置補正情報即ち左右方向補正情報、を入力
して、これを表示させるアークセンサモニター装置及び
その使用方法に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a welding robot system using an arc sensor for correcting the position of a welding torch by utilizing a change in welding phenomenon, and a welding torch tip output from an arc sensor circuit and a base metal. The present invention relates to an arc sensor monitor device for inputting and displaying position correction information, ie, vertical direction correction information, and each oscillating end position correction information, ie, horizontal direction correction information of a welding torch tip, and a method of using the same.
【０００２】[0002]
【従来の技術】アークセンサは、図１に示す様に、ロボ
ットが溶接トーチ１を揺動することにより発生する溶接
現象の変化を検出し、ロボットが制御する溶接トーチ１
チップと母材である被溶接物２との相対的位置関係を補
正する機能を有する。具体的には、図２に示す様に、溶
接中の実溶接電流信号３と、あらかじめ教示してある基
準溶接電流信号４との差を求め溶接電流偏差値とし（実
溶接電圧信号と基準溶接電圧信号であることもあるが、
説明の便宜上実溶接電流信号と基準溶接電流信号とで代
表させて説明する）、これを溶接トーチ１チップと母材
である被溶接物２との間の位置補正情報即ち上下方向補
正情報６としてロボット制御装置にとりこみ、これにあ
る係数（以下上下ゲインという）を乗じたものを上下方
向補正量８とし、教示位置に対して再生位置を補正して
いた。2. Description of the Related Art An arc sensor, as shown in FIG. 1, detects a change in a welding phenomenon that occurs when a robot swings a welding torch 1, and the robot controls the welding torch 1.
It has a function of correcting the relative positional relationship between the tip and the workpiece 2 that is the base material. Specifically, as shown in FIG. 2, the difference between the actual welding current signal 3 during welding and the reference welding current signal 4 taught in advance is calculated as a welding current deviation value (the actual welding voltage signal and the reference welding current signal 4). Sometimes it is a voltage signal,
For convenience of explanation, the actual welding current signal and the reference welding current signal are representatively described), and this is used as position correction information between the welding torch 1 tip and the workpiece 2 that is the base material, that is, vertical correction information 6. This is taken into the robot control device, and a value obtained by multiplying it by a certain coefficient (hereinafter referred to as vertical gain) is used as the vertical correction amount 8, and the playback position is corrected with respect to the taught position.
【０００３】また、溶接トーチ１チップの各オシレート
端部位置補正情報即ち左右方向補正量１８は、図３に示
す様に、溶接トーチの揺動により生じる溶接中の実溶接
電圧信号９とあらかじめ教示してある基準溶接電圧信号
１０との差を求め（実溶接電流信号と基準溶接電流信号
であることもあるが、説明の便宜上実溶接電圧信号と基
準溶接電圧信号とで代表させて説明する）、これの揺動
中心からそれぞれ右端部と左端部までの積分値を演算
し、その差分を積分偏差値とし、左右方向補正情報１６
としてロボット制御装置にとりこみ、これにある係数
（以下左右ゲインという）を乗じたものを左右方向補正
量１８とし、教示位置に対して再生位置を補正してい
た。Further, each oscillating end position correction information of one tip of the welding torch, that is, the horizontal correction amount 18, is taught in advance with the actual welding voltage signal 9 during welding generated by the swing of the welding torch, as shown in FIG. The difference with the given reference welding voltage signal 10 is obtained (may be the actual welding current signal and the reference welding current signal, but for convenience of explanation, the actual welding voltage signal and the reference welding voltage signal will be representatively described). , The integrated value from the swing center of each to the right end portion and the left end portion is calculated, and the difference between them is set as an integrated deviation value, and the horizontal direction correction information 16
As a result, the robot controller is incorporated into the robot controller, and a product obtained by multiplying the coefficient by the coefficient (hereinafter referred to as a left-right gain) is used as a horizontal correction amount 18, and the reproduction position is corrected with respect to the taught position.
【０００４】[0004]
【発明が解決しようとする課題】これまでオペレータ
は、このようなアークセンサシステムの教示作業を行う
場合、イ）勘と経験に基ずく溶接条件（溶接電流、溶接
電圧、溶接速度）を決定し、 ロ）その溶接条件を溶接
機に設置されている、溶接電流メータや溶接電圧メータ
にて確認し、その値を基準溶接電流値や基準溶接電圧値
としてロボット制御装置に教示し、ハ）勘と経験によ
り、上下や左右のゲインをロボット制御装置に教示し
た。特開昭６３−２２４８７３号公報では、トライモー
ドと呼ばれる試し溶接を行うことにより、そこで得られ
た結果の溶接電流偏差値及び積分偏差値の平均値を計算
することでアークセンサとしての必要作業、上記イ）乃
至ハ）のうち、ロ）の基準溶接電流値や基準溶接電圧値
についてを自動的に計算するシステムを提案している。When performing the teaching work of such an arc sensor system, an operator has so far decided a welding condition (welding current, welding voltage, welding speed) based on a) intuition and experience. B) Check the welding conditions with a welding current meter or welding voltage meter installed in the welding machine, and teach the values to the robot controller as the standard welding current value or standard welding voltage value. Based on my experience, I taught the robot controller the gains for vertical and horizontal directions. In Japanese Unexamined Patent Publication No. 63-224873, a necessary work as an arc sensor is performed by performing a trial welding called a try mode and calculating an average value of a welding current deviation value and an integrated deviation value obtained as a result. Among the above a) to c), a system is proposed which automatically calculates the reference welding current value and the reference welding voltage value of b).
【０００５】しかしながら、このものは、ロ）の基準溶
接電流値や基準溶接電圧値の計算だけで、上下ゲインや
左右のゲインについての計算もなく、アークセンサーの
パラメータとして不十分であることに加えて、平均値の
みで判断したとき、第１に、トライモードでの教示位置
が開始位置 と終了位置が開先内で異なっている場合、
第２に初期設定した基準溶接電流値や基準溶接電圧値等
の溶接条件が正しくない等により、溶接条件そのものが
不安定な場合、そして第３にトライモード中、被溶接物
が溶接中の熱歪により変形し、開先内部における溶接ト
ーチの相対的位置が溶接開始位置と終了位置で異なる場
合、などにおいて、実際に欲する値とは違う値が得られ
ることになるので、実際の溶接現場での効果は期待でき
ないばかりか、アークセンシングによる倣い性能を悪化
させるおそれもあった。However, this method is not sufficient as a parameter of the arc sensor because it only calculates the reference welding current value and the reference welding voltage value in (b) and does not calculate the vertical gain and the horizontal gain. Then, when judging only by the average value, firstly, when the teaching position in the try mode is different between the start position and the end position in the groove,
Secondly, when the welding conditions themselves are unstable due to incorrect initial welding current values, standard welding voltage values, etc., and thirdly, the heat of the work being welded during the trial mode. When the relative position of the welding torch inside the groove differs between the welding start position and the end position due to distortion, a value different from the actual desired value will be obtained, so at the actual welding site Could not be expected, and there was a possibility that the scanning performance by arc sensing would be deteriorated.
【０００６】従来技術におけるアークセンサーは、その
動作の基本となる溶接情報を決定するための溶接条件
（溶接電流、溶接電圧、溶接速度）が、オペレータの勘
と経験により決定されるものであるが故に、通常のアー
クセンサを使用しない場合の溶接条件としては悪くなく
ても、アークセンサを使用した場合の情報としてとらえ
た溶接条件としては不適であることが多く、そのことに
オペレータ自身が気付かなかった。In the prior art arc sensor, the welding conditions (welding current, welding voltage, welding speed) for determining the welding information which is the basis of its operation are determined by the intuition and experience of the operator. Therefore, even if it is not bad as a welding condition when the normal arc sensor is not used, it is often unsuitable as the welding condition captured as information when the arc sensor is used, which the operator himself does not notice. It was
【０００７】又、その溶接条件を溶接機に設置されてい
る、溶接電流メータや溶接電圧メータにて確認し、その
値を基準溶接電流値や基準溶接電圧値としてロボット制
御装置に教示している為、実際に溶接トーチに供給され
る実際の電流値や電圧値に対し、誤差が多く発生してい
ることにオペレータ自身が気付かなかった。さらには、
勘と経験により上下や左右のゲインをロボット制御装置
に教示している為、最適なゲインであるか否かが、オペ
レータ自身わからなかった。これらの要因があり、本来
アークセンサ自身が理論的に有している性能を充分に発
揮できないばかりか、アークセンサを使用するとよけい
に溶接結果が悪いということもあった。Further, the welding condition is confirmed by a welding current meter or a welding voltage meter installed in the welding machine, and the value is taught to the robot controller as a reference welding current value or a reference welding voltage value. Therefore, the operator himself did not notice that there were many errors with respect to the actual current value and voltage value actually supplied to the welding torch. Moreover,
Since the upper and lower and left and right gains are taught to the robot controller by intuition and experience, the operator himself did not know whether or not the gain was the optimum gain. Due to these factors, not only the performance originally theoretically possessed by the arc sensor itself cannot be sufficiently exerted, but also the use of the arc sensor causes a bad welding result.
【０００８】本発明の課題は、溶接現象の変化を利用し
て溶接トーチの位置を補正するアークセンサを使用する
溶接ロボットシステムにおいて、アークセンサ回路から
出力される上下方向補正情報、及び左右方向補正情報を
統計的処理によりオペレータが理解しやすい情報に変換
して表示することで、該各情報の値の程度の該グラフィ
ック表示を見て、初期設定溶接電流もしくは溶接電圧、
初期基準溶接電流もしくは溶接電圧を含む適正な溶接条
件、及びアークセンサパラメータを定めることができる
ようなアークセンサモニター装置及びその使用方法を提
供することにある。An object of the present invention is to provide a welding robot system using an arc sensor for correcting the position of a welding torch by utilizing a change in a welding phenomenon, in which vertical correction information and horizontal correction information output from an arc sensor circuit are used. By converting the information into information that the operator can easily understand by statistical processing and displaying the information, the initial setting welding current or welding voltage can be seen by looking at the graphic display of the value of each information.
It is an object of the present invention to provide an arc sensor monitor device and a method for using the arc sensor monitor device, which can determine an appropriate welding condition including an initial reference welding current or welding voltage and an arc sensor parameter.
【０００９】[0009]
【課題を解決するための手段】このため本発明は、溶接
現象の変化を利用して溶接トーチの位置を補正するアー
クセンサを使用する溶接ロボットシステムにおいて、ア
ークセンサ回路から出力される溶接トーチチップと母材
間の位置補正情報即ち上下方向補正情報、及び溶接トー
チチップの各オシレート端部位置補正情報即ち左右方向
補正情報、を入力する手段と、該各情報に応じて、リア
ルタイムで該各情報の値の程度をグラフィック表示する
出力手段と、を有するアークセンサモニター装置を提供
することによって上述した従来技術の課題を解決した。For this reason, the present invention provides a welding torch tip output from an arc sensor circuit in a welding robot system using an arc sensor for correcting the position of the welding torch by utilizing a change in welding phenomenon. Means for inputting position correction information between the base metal and the base metal, that is, vertical correction information, and each oscillating end position correction information of the welding torch tip, that is, horizontal direction correction information, and the information in real time according to the information. The above-mentioned problems of the prior art have been solved by providing an arc sensor monitor device having an output means for graphically displaying the degree of the value of.
【００１０】別の本発明によると、上記アークセンサモ
ニター装置を使用し、該各情報の値の程度の該グラフィ
ック表示を見て、初期設定溶接電流もしくは基準溶接電
流、又は初期基準溶接電流もしくは初期基準溶接電圧を
含む溶接条件、及びアークセンサパラメータを定めるこ
とを特徴とするアークセンサモニター装置及びその使用
方法を提供することによって上述した従来技術の課題を
解決した。According to another aspect of the present invention, by using the above arc sensor monitoring device and observing the graphic display of the degree of the value of each information, a default welding current or reference welding current, or an initial reference welding current or initial value is obtained. The above-mentioned problems of the prior art have been solved by providing an arc sensor monitor device characterized by defining a welding condition including a reference welding voltage and an arc sensor parameter, and a method of using the same.
【００１１】[0011]
【実施例】図４に本アークセンサモニターの概要図を示
す。溶接中の溶接電流信号２６（実溶接電圧信号と基準
溶接電圧信号であることもあるが、説明の便宜上実溶接
電流信号と基準溶接電流信号とで代表させて説明する）
は、アーク溶接機１９から母材である被溶接物３０に接
続されたケーブル３１に直列に挿入されたシャント抵抗
２５よりアークセンサ装置２１へ入力される。又、溶接
電圧信号２７（実溶接電流信号と基準溶接電流信号であ
ることもあるが、説明の便宜上実溶接電圧信号と基準溶
接電圧信号とで代表させて説明する）は、溶接機１９の
溶接トーチ２４へ出力される電力の出力端子３２の電圧
信号をアークセンサ装置２１へ入力する。EXAMPLE FIG. 4 shows a schematic diagram of the present arc sensor monitor. Welding current signal 26 during welding (may be the actual welding voltage signal and the reference welding voltage signal, but for convenience of explanation, the actual welding current signal and the reference welding current signal will be representatively described)
Is input to the arc sensor device 21 from the shunt resistor 25 that is inserted in series from the arc welder 19 to the cable 31 connected to the workpiece 30 that is the base material. Further, the welding voltage signal 27 (which may be the actual welding current signal and the reference welding current signal, but is represented by the actual welding voltage signal and the reference welding voltage signal for convenience of explanation) is the welding of the welding machine 19. The voltage signal of the output terminal 32 of the power output to the torch 24 is input to the arc sensor device 21.
【００１２】これにより、アークセンサ装置２１は先に
図２及び図３で説明したようなやりかたで、溶接中の溶
接トーチ２４の先端チップ３３と被溶接物３０との相対
的な位置ずれを演算し、ロボット位置計算手段２２に溶
接トーチのチップ３３と被溶接物３０間の位置補正情報
即ち上下方向補正情報２８、及び溶接トーチのチップ３
３の各オシレート端部位置補正情報即ち左右方向補正情
報２９として出力する。本発明のアークセンサモニター
装置２３は、この上下方向補正情報２８及び左右方向補
正情報２９を入力情報とするものである。As a result, the arc sensor device 21 calculates the relative positional deviation between the tip tip 33 of the welding torch 24 and the object to be welded 30 during welding by the method described above with reference to FIGS. 2 and 3. Then, the robot position calculation means 22 includes position correction information between the welding torch tip 33 and the object to be welded 30, that is, vertical correction information 28, and the welding torch tip 3.
3 is output as the oscillating end position correction information, that is, the horizontal direction correction information 29. The arc sensor monitor device 23 of the present invention uses the vertical direction correction information 28 and the horizontal direction correction information 29 as input information.
【００１３】オペレータの作業手順として、まず目標と
する溶接条件を仮決定する為に、アークセンサ倣いが無
い状態で溶接を行う。この時、アークセンサモニター装
置２３をリアルタイムモードに設定すると、図５のフロ
ーチャートに示すリアルタイムモードの演算ステップを
行う。そして図２の溶接電流偏差値としての上下方向補
正情報２８を図６に例示するような上方折れ線グラフ波
形及び下方折れ線グラフ波形のグラフ表示させるとも
に、その情報を内部メモリーに記憶させる。この上下方
向補正情報値は、現在設定されている溶接電流値と基準
溶接電流値との差であるので、この値が０となる様に溶
接条件を修正することによりおおまかな初期溶接電流と
基準溶接電流の設定が可能となる。As an operator's work procedure, first, in order to tentatively determine a target welding condition, welding is performed in the absence of an arc sensor profile. At this time, if the arc sensor monitor device 23 is set to the real time mode, the calculation step of the real time mode shown in the flowchart of FIG. 5 is performed. The vertical correction information 28 as the welding current deviation value of FIG. 2 is displayed as a graph of the upper line graph waveform and the lower line graph waveform as illustrated in FIG. 6, and the information is stored in the internal memory. This vertical correction information value is the difference between the currently set welding current value and the reference welding current value. Therefore, by correcting the welding conditions so that this value becomes 0, the rough initial welding current and reference The welding current can be set.
【００１４】図６に例示するグラフにおいて、上方折れ
線グラフは図２の溶接電流偏差値としての上下方向補正
情報を表示されたグラフ、下方折れ線グラフは図３の積
分偏差値としての上左右向補正情報を表示されたグラ
フ、ＩＡは上下方向補正情報平均値、Ｉｓは上下方向補
正情報標準偏差、ＥＡは左右方向補正情報平均値、Ｅｓ
は左右方向補正情報標準偏差、ｒＴは予め選択したサン
プリング時間（秒）を、それぞれ示す。In the graph illustrated in FIG. 6, the upper line graph is a graph in which the vertical correction information as the welding current deviation value of FIG. 2 is displayed, and the lower line graph is the horizontal deviation correction as the integrated deviation value of FIG. Graph displaying information, IA is vertical correction information average value, Is is vertical correction information standard deviation, EA is horizontal correction information average value, Es
Represents the standard deviation of the lateral correction information, and rT represents the preselected sampling time (second).
【００１５】おおまかな設定が終了すると、図７のフロ
ーチャートに示す解析モードの演算ステップに入り、ア
ークセンサモニター装置２３を解析モードに設定するこ
とにより、内部メモリーに記憶した上下／左右方向補正
情報の経時的な変化を、図８に例示するような波形のグ
ラフ表示させるともに、上下／左右方向補正情報の平均
値と標準偏差を計算させる。オペレータは、そのグラフ
表示された波形の状態を視覚的にとらえながら、上下補
正情報の標準偏差値により、溶接条件そのものの安定度
を理解するとともに、その平均値により理想的な基準溶
接電流を知ることが可能となる。つまり、理想的基準溶
接電流＝現状基準溶接電流＋平均値 である。After the rough setting is completed, the calculation step of the analysis mode shown in the flow chart of FIG. 7 is entered, and the arc sensor monitor device 23 is set to the analysis mode so that the vertical / horizontal direction correction information stored in the internal memory is stored. The change over time is displayed as a waveform graph as illustrated in FIG. 8, and the average value and standard deviation of the vertical / horizontal correction information are calculated. The operator visually understands the state of the waveform displayed in the graph, understands the stability of the welding conditions themselves from the standard deviation value of the vertical correction information, and knows the ideal reference welding current from the average value. It becomes possible. That is, ideal reference welding current = current reference welding current + average value.
【００１６】図８に例示するグラフにおいて、上方曲線
は図２の溶接電流偏差値としての上下方向補正情報を積
分表示したグラフ、下方曲線は図３の積分偏差値として
の左右向補正情報を積分表示したグラフ、ＩＡは上下方
向補正情報平均値、Ｉｓは上下方向補正情報標準偏差、
ＥＡは左右方向補正情報平均値、Ｅｓは左右方向補正情
報標準偏差、ｒＴは予め選択したサンプリング時間
（秒）を、それぞれ示す。In the graph illustrated in FIG. 8, the upper curve is an integrated display of the vertical correction information as the welding current deviation value of FIG. 2, and the lower curve is the horizontal correction information as the integrated deviation value of FIG. The displayed graph, IA is the vertical correction information average value, Is is the vertical correction information standard deviation,
EA is the average value of the horizontal correction information, Es is the standard deviation of the horizontal correction information, and rT is the preselected sampling time (second).
【００１７】左右補正情報の標準偏差値からは、アーク
電圧の安定度を容易に理解できるとともに、その平均値
からその教示位置の通りに倣い溶接を行う為の、中心補
正値を知る事が出来る。このようにして決定されたアー
クセンサパラメータにより、実際に倣い溶接を行い、そ
の時の上下／左右方向補正情報をアークセンサモニター
装置２３で図８に例示するような積分波形を表示させ
る。かかる積分表示をみることにより、溶接トーチの動
きを推測することが可能となる。さらにこれら平均値、
標準偏差及び積分表示により、上下ゲインや左右ゲイン
の値が適正かどうかが視覚的に判断することが可能とな
る。From the standard deviation value of the left and right correction information, the stability of the arc voltage can be easily understood, and the center correction value for performing the copy welding according to the taught position can be known from the average value. .. In accordance with the arc sensor parameters determined in this manner, actual copy welding is performed, and the vertical / horizontal direction correction information at that time is displayed on the arc sensor monitor device 23 as an integrated waveform as illustrated in FIG. The movement of the welding torch can be estimated by looking at the integral display. Furthermore, these average values,
With the standard deviation and integral display, it is possible to visually judge whether the values of the vertical gain and the horizontal gain are proper.
【００１８】以上の様に、本例ではアークセンサモニタ
ー装置２３をロボット制御装置とは独立したパーソナル
コンピュータ装置として説明したが、この作用のすべて
をロボット制御装置内で行なってもよく、又は、ロボッ
ト制御装置が本例におけるアークセンサモニター装置と
同様のマイクロプロセッサを利用した装置にしてもよい
ことは明らかである。好ましくは、上下／左右方向補正
情報は、予め設定した基準電流又は基準電圧と、溶接ト
ーチへ出力される出力端子から検出する実溶接電流信号
又は実溶接電圧信号と、に基づき算出されるようにする
と、より上下／左右方向補正情報が得られるものとなっ
た。As described above, in this example, the arc sensor monitor device 23 is explained as a personal computer device independent of the robot control device, but all of this operation may be performed within the robot control device, or It is obvious that the control device may be a device using a microprocessor similar to the arc sensor monitor device in this example. Preferably, the vertical / horizontal direction correction information is calculated based on a preset reference current or reference voltage and an actual welding current signal or actual welding voltage signal detected from the output terminal output to the welding torch. Then, more vertical / horizontal direction correction information can be obtained.
【００１９】又、上下／左右方向補正情報に応じて、リ
アルタイムで該各情報の値の程度をグラフィック表示す
る出力手段、及び該各情報を予め選択した一定時間にわ
たって記憶保存素子に記憶し、該一定時間の溶接終了後
に該各情報の経時的な変化をグラフィック表示する手
段、はパーソナルコンピュータを使用することによっ
て、従来のアークセンサモニター装置に容易に追加し
て、本発明のアークセンサモニター装置とその使用方法
を実施できる。Output means for graphically displaying the degree of the value of each information in real time according to the vertical / horizontal direction correction information, and each information is stored in a storage element for a predetermined time, By using a personal computer, the means for graphically displaying the change with time of each piece of information after the welding for a certain period of time can be easily added to the conventional arc sensor monitoring device, and the arc sensor monitoring device of the present invention can be used. The method of use can be implemented.
【００２０】[0020]
【発明の効果】本発明によると、アークセンサ回路から
出力される上下／左右方向補正情報を入力する手段と、
該各情報に応じて、リアルタイムで該各情報の値の程度
をグラフィック表示する出力手段と、を有するアークセ
ンサモニター装置を使用し、該各情報を統計的処理によ
りオペレータが理解しやすい情報に変換して表示するこ
とで、該各情報の値の程度の該グラフィック表示を見
て、初期設定溶接電流もしくは初期設定溶接電圧、又は
初期基準溶接電流もしくは初期基準溶接電圧を含む適正
な溶接条件、及びアークセンサパラメータを定めること
ができるものとなった。According to the present invention, means for inputting vertical / horizontal correction information output from the arc sensor circuit,
An arc sensor monitor device having output means for graphically displaying the degree of the value of each information in real time according to each information is used, and each information is converted into information which an operator can easily understand by statistical processing. By viewing the graphic display of the degree of the value of each information, the initial welding current or initial welding voltage, or appropriate welding conditions including the initial reference welding current or initial reference welding voltage, and It became possible to set arc sensor parameters.
【００２１】さらに該アークセンサモニター装置に、該
上下／左右方向補正情報を、予め選択した一定時間にわ
たって記憶保存素子に記憶させ、該各情報を統計的処理
によりオペレータが理解しやすい情報に変換して表示す
ることで、該一定時間の溶接終了後に該各情報の経時的
な変化をグラフィック表示させ、該各情報の経時的な変
化の該グラフィック表示を見て、又は該一定時間の溶接
終了後に該各情報の平均値を表示させ、該各情報の該平
均値を見て、もしくは該一定時間の溶接終了後に該各情
報の標準偏差値を表示させ、該各情報の該標準偏差値を
見て、又は／及び該一定時間の溶接終了後に該各情報の
積分値の経時的な変化をグラフィック表示させ、該各情
報の積分値の経時的な変化の該グラフィック表示を見
て、次の作業の設定溶接電流もしくは溶接電圧、又は次
の作業の基準溶接電流もしくは基準溶接電圧を含む適正
な溶接条件、及びアークセンサパラメータを定めること
ができるものとなり、かつロボットの倣い軌跡の良し悪
しを判断する為に必要な情報が明かになるので、わずか
数回の試し溶接のみで最適なアークセンサ倣い溶接が可
能となった。Further, the arc sensor monitor device stores the vertical / horizontal direction correction information in a memory storage element for a predetermined time selected in advance, and converts each information into information which an operator can easily understand by statistical processing. By displaying by, the change over time of each information is graphically displayed after the welding for the fixed time, and the graphic display of the change over time of each information is viewed, or after the welding for the fixed time is finished. The average value of each information is displayed, and the average value of each information is viewed, or the standard deviation value of each information is displayed after the welding for the fixed time, and the standard deviation value of each information is viewed. Or / and displaying the change over time of the integrated value of each information after the completion of welding for a certain period of time and observing the graphic display of the change over time of the integrated value of each information, the next operation settings of In order to determine the proper welding conditions including the contact current or welding voltage, the reference welding current or reference welding voltage for the next work, and the arc sensor parameters, and to judge the quality of the robot's copying trajectory. Since the necessary information becomes clear, optimum arc sensor profile welding is possible with just a few trial weldings.
【００２２】好ましくは、該上下／左右方向補正情報
は、予め設定した基準電流又は基準電圧と、溶接トーチ
へ出力される出力端子から検出する実溶接電流信号又は
実溶接電圧信号と、に基づき算出されるようにすると、
より上下／左右方向補正情報が得られるものとなった。
又、該上下／左右方向補正情報に応じて、リアルタイム
で該各情報の値の程度をグラフィック表示する出力手
段、及び該各情報を予め選択した一定時間にわたって記
憶保存素子に記憶し、該一定時間の溶接終了後に該各情
報の経時的な変化をグラフィック表示する手段、はパー
ソナルコンピュータを使用することによって、従来のア
ークセンサモニター装置に容易に追加して、本発明のア
ークセンサモニター装置とその使用方法を実施できるも
のとなった。Preferably, the vertical / horizontal correction information is calculated based on a preset reference current or reference voltage and an actual welding current signal or actual welding voltage signal detected from an output terminal output to the welding torch. If you try
More vertical / horizontal direction correction information can now be obtained.
Output means for graphically displaying the degree of the value of each information in real time according to the up / down / horizontal direction correction information, and storing each information in a storage element for a predetermined time, By using a personal computer, the means for graphically displaying the change over time of each information after the completion of welding can be easily added to the conventional arc sensor monitoring device, and the arc sensor monitoring device of the present invention and the use thereof. The method can now be implemented.
【図１】アークセンサが制御する、ロボットの溶接トー
チチップと被溶接物との相対的揺動位置関係を、模型的
に示すブロック図。FIG. 1 is a block diagram schematically showing a relative swing positional relationship between a welding torch tip of a robot and an object to be welded, which is controlled by an arc sensor.
【図２】アークセンサが算出する、溶接トーチチップと
被溶接物との間の位置補正情報即ち上下方向補正情報及
び上下方向補正量の算出ステップを示す概略ブロック
図。FIG. 2 is a schematic block diagram showing a step of calculating position correction information between the welding torch tip and the object to be welded, that is, vertical correction information and a vertical correction amount calculated by the arc sensor.
【図３】アークセンサが算出する、溶接トーチチップの
各オシレート端部位置補正情報即ち左右方向補正情報及
び左右方向補正量の算出ステップを示す概略ブロック
図。FIG. 3 is a schematic block diagram showing a step of calculating each oscillating end position correction information of the welding torch tip calculated by the arc sensor, that is, the horizontal direction correction information and the horizontal direction correction amount.
【図４】本発明のアークセンサモニター装置の構成を示
す概略ブロック図。FIG. 4 is a schematic block diagram showing the configuration of an arc sensor monitor device of the present invention.
【図５】本発明のアークセンサモニター装置のリアルタ
イムモードにおける作動を示す概略フローチャート。FIG. 5 is a schematic flowchart showing the operation of the arc sensor monitoring device of the present invention in a real-time mode.
【図６】本発明のアークセンサモニター装置のリアルタ
イムモードにおけるグラフィック表示の一例を示すグラ
フ。FIG. 6 is a graph showing an example of a graphic display in a real time mode of the arc sensor monitor device of the present invention.
【図７】本発明のアークセンサモニター装置の解析モー
ドにおける作動を示す概略フローチャート。FIG. 7 is a schematic flowchart showing the operation of the arc sensor monitoring device of the present invention in the analysis mode.
【図８】本発明のアークセンサモニター装置の解析モー
ドにおけるグラフィック表示の一例を示すグラフ。FIG. 8 is a graph showing an example of a graphic display in the analysis mode of the arc sensor monitor device of the present invention.
１９．．アーク溶接機 ２１．．アークセンサ装置 ２３．．アークセンサモニター装置 ２４．．溶接トーチ ２６．．実溶接電流信号 ２７．．実溶接電圧信号 ２８．．溶接トーチチップと被溶接物間の位置補正情報
即ち上下方向補正情報 ２９．．同トーチチップの各オシレート端部位置補正情
報即ち左右方向補正情報 ３０．．母材である被溶接物 ３２．．出力端子 ３３．．溶接トーチチップ19. ． Arc welder 21. ． Arc sensor device 23. ． Arc sensor monitor device 24. ． Welding torch 26. ． Actual welding current signal 27. ． Actual welding voltage signal 28. ． 29. Position correction information between the welding torch tip and the work piece, that is, vertical correction information 29. ． Each oscillating end position correction information of the torch tip, that is, left-right direction correction information 30. ． The material to be welded which is the base material 32. ． Output terminal 33. ． Welding torch tip
Claims (11)
位置を補正するアークセンサを使用する溶接ロボットシ
ステムにおいて、アークセンサ回路から出力される溶接
トーチチップと母材間の位置補正情報即ち上下方向補正
情報、及び溶接トーチチップの各オシレート端部位置補
正情報即ち左右方向補正情報、を入力する手段と、該各
情報に応じて、リアルタイムで該各情報の値の程度をグ
ラフィック表示する出力手段と、を有することを特徴と
するアークセンサモニター装置。1. In a welding robot system using an arc sensor for correcting the position of a welding torch by utilizing a change in welding phenomenon, position correction information between the welding torch tip and the base metal output from the arc sensor circuit, that is, upper and lower positions. Means for inputting direction correction information and each oscillating end position correction information of the welding torch tip, that is, left-right direction correction information, and output means for graphically displaying the degree of the value of each information in real time according to the information. And an arc sensor monitoring device.
って記憶保存素子に記憶し、該一定時間の溶接終了後に
該各情報の経時的な変化をグラフィック表示する手段を
有する請求項１記載のアークセンサモニター装置。2. The arc according to claim 1, further comprising means for storing the respective information in a storage element for a predetermined time selected in advance and for graphically displaying a change with time of the respective information after completion of welding for the predetermined time. Sensor monitor device.
って記憶保存素子に記憶し、該一定時間の溶接終了後に
その平均値を表示する手段を有する請求項１記載のアー
クセンサモニター装置。3. The arc sensor monitor device according to claim 1, further comprising means for storing the respective information in a storage element for a predetermined time selected in advance, and displaying an average value thereof after completion of welding for the predetermined time.
って記憶保存素子に記憶し、該一定時間の溶接終了後に
その標準偏差値を表示する手段を有する請求項１記載の
アークセンサモニター装置。4. The arc sensor monitor device according to claim 1, further comprising means for storing the respective information in a storage element for a predetermined time selected in advance and displaying a standard deviation value thereof after completion of welding for the predetermined time.
って記憶保存素子に記憶し、溶接終了後に該各情報の積
分値の経時的な変化をグラフィック表示する手段を有す
る請求項１記載のアークセンサモニター装置。5. The arc sensor according to claim 1, further comprising means for storing the respective information in a memory storage element for a predetermined time selected in advance and for graphically displaying a change with time of an integrated value of the respective information after completion of welding. Monitor device.
くは基準電圧と、溶接トーチへ出力される出力端子から
検出する実溶接電流信号もしくは実溶接電圧信号と、に
基づき算出される請求項１記載のアークセンサモニター
装置。6. The information is calculated based on a preset reference current or reference voltage and an actual welding current signal or actual welding voltage signal detected from an output terminal output to a welding torch. The described arc sensor monitoring device.
情報の値の程度をグラフィック表示する出力手段、及び
該各情報を予め選択した一定時間にわたって記憶保存素
子に記憶し、該一定時間の溶接終了後に該各情報の経時
的な変化をグラフィック表示する手段、はパーソナルコ
ンピュータを使用するる請求項１記載のアークセンサモ
ニター装置。7. Output means for graphically displaying the degree of the value of each information in real time according to each information, and storing each information in a storage element for a predetermined time selected beforehand, The arc sensor monitor device according to claim 1, wherein a personal computer is used as the means for graphically displaying changes over time of the respective information after welding is completed.
位置を補正するアークセンサを使用する溶接ロボットシ
ステムにおいて、アークセンサ回路から出力される溶接
トーチチップと母材間の位置補正情報即ち上下方向補正
情報、及び溶接トーチチップの各オシレート端部位置補
正情報即ち左右方向補正情報、及びその使用方法を入力
する手段と、該各情報に応じて、リアルタイムで該各情
報の値の程度をグラフィック表示する出力手段と、を有
するアークセンサモニター装置を使用し、該各情報の値
の程度の該グラフィック表示を見て、初期設定溶接電流
もしくは基準溶接電流、又は初期基準溶接電流もしくは
基準溶接電圧を含む溶接条件、及びアークセンサパラメ
ータを定めることを特徴とするアークセンサモニター装
置の使用方法。8. In a welding robot system using an arc sensor for correcting the position of a welding torch by utilizing a change in welding phenomenon, position correction information between the welding torch tip and the base metal output from the arc sensor circuit, that is, upper and lower positions. Direction correction information, means for inputting each oscillating end position correction information of the welding torch tip, that is, left-right direction correction information, and a method of using the same, and a graphic of the degree of the value of each information in real time according to the information Using an arc sensor monitor device having an output means for displaying, the initial setting welding current or reference welding current, or the initial reference welding current or reference welding voltage is observed by observing the graphic display of the degree of the value of each information. A method of using an arc sensor monitoring device, comprising defining welding conditions including the arc sensor parameters.
を予め選択した一定時間にわたって記憶保存素子に記憶
させ、該一定時間の溶接終了後に該各情報の経時的な変
化をグラフィック表示させ、該各情報の経時的な変化の
該グラフィック表示を見て、又は該一定時間の溶接終了
後に該各情報の平均値を表示させ、該各情報の該平均値
を見て、もしくは該一定時間の溶接終了後に該各情報の
標準偏差値を表示させ、該各情報の該標準偏差値を見
て、又は／及び該一定時間の溶接終了後に該各情報の積
分値の経時的な変化をグラフィック表示させ、該各情報
の積分値の経時的な変化の該グラフィック表示を見て、
次の作業の設定溶接電流もしくは溶接電圧、又は次の作
業の基準溶接電流もしくは基準溶接電圧を含む溶接条
件、及びアークセンサパラメータを定める請求項８記載
のアークセンサモニター装置の使用方法。9. The arc sensor monitoring device stores each of the information in a memory storage element for a predetermined time selected in advance, and after the welding of the certain time is completed, a time-dependent change of each of the information is graphically displayed. Looking at the graphic display of the change of information with time, or displaying the average value of each of the information after completion of the welding for the certain time, looking at the average value of each of the information, or completing the welding for the certain time After that, the standard deviation value of each information is displayed, the standard deviation value of each information is viewed, and / or the change with time of the integral value of each information is graphically displayed after the welding for a certain period of time, Looking at the graphic display of the change in integrated value of each of the information with time,
9. The method of using the arc sensor monitoring device according to claim 8, wherein the welding current or welding voltage for the next operation, the welding condition including the reference welding current or reference welding voltage for the next operation, and the arc sensor parameter are determined.
しくは基準電圧と、溶接トーチへ出力される出力端子か
ら検出する実溶接電流信号もしくは実溶接電圧信号と、
に基づき算出される請求項８記載のアークセンサモニタ
ー装置の使用方法。10. The respective information includes a preset reference current or reference voltage and an actual welding current signal or an actual welding voltage signal detected from an output terminal output to a welding torch.
The method of using the arc sensor monitoring device according to claim 8, which is calculated based on the above.
各情報の値の程度をグラフィック表示する出力手段、及
び該各情報を予め選択した一定時間にわたって記憶保存
素子に記憶し、該一定時間の溶接終了後に該各情報の経
時的な変化をグラフィック表示する手段、はパーソナル
コンピュータを使用する請求項８記載のアークセンサモ
ニター装置の使用方法。11. Output means for graphically displaying the degree of the value of each information in real time according to each information, and storing each information in a memory storage element for a predetermined time selected in advance, 9. The method of using the arc sensor monitoring device according to claim 8, wherein a personal computer is used as the means for graphically displaying the change with time of each piece of information after welding is completed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP4165484A JPH05329645A (en) | 1992-06-02 | 1992-06-02 | Arc sensor monitoring device and its using method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP4165484A JPH05329645A (en) | 1992-06-02 | 1992-06-02 | Arc sensor monitoring device and its using method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH05329645A true JPH05329645A (en) | 1993-12-14 |
Family
ID=15813283
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP4165484A Withdrawn JPH05329645A (en) | 1992-06-02 | 1992-06-02 | Arc sensor monitoring device and its using method |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH05329645A (en) |
Cited By (35)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20020066126A (en) * | 2001-02-09 | 2002-08-14 | 현대중공업 주식회사 | Automatic seam tracking system by using regression method |
| US7355145B2 (en) | 2004-07-12 | 2008-04-08 | Matsushita Electric Industrial Co., Ltd. | Arc welding robot |
| US8834168B2 (en) | 2008-08-21 | 2014-09-16 | Lincoln Global, Inc. | System and method providing combined virtual reality arc welding and three-dimensional (3D) viewing |
| US8851896B2 (en) | 2008-08-21 | 2014-10-07 | Lincoln Global, Inc. | Virtual reality GTAW and pipe welding simulator and setup |
| US8884177B2 (en) | 2009-11-13 | 2014-11-11 | Lincoln Global, Inc. | Systems, methods, and apparatuses for monitoring weld quality |
| US8911237B2 (en) | 2008-08-21 | 2014-12-16 | Lincoln Global, Inc. | Virtual reality pipe welding simulator and setup |
| US8915740B2 (en) | 2008-08-21 | 2014-12-23 | Lincoln Global, Inc. | Virtual reality pipe welding simulator |
| US8987628B2 (en) | 2009-11-13 | 2015-03-24 | Lincoln Global, Inc. | Systems, methods, and apparatuses for monitoring weld quality |
| US9011154B2 (en) | 2009-07-10 | 2015-04-21 | Lincoln Global, Inc. | Virtual welding system |
| US9196169B2 (en) | 2008-08-21 | 2015-11-24 | Lincoln Global, Inc. | Importing and analyzing external data using a virtual reality welding system |
| US9221117B2 (en) | 2009-07-08 | 2015-12-29 | Lincoln Global, Inc. | System for characterizing manual welding operations |
| US9230449B2 (en) | 2009-07-08 | 2016-01-05 | Lincoln Global, Inc. | Welding training system |
| US9280913B2 (en) | 2009-07-10 | 2016-03-08 | Lincoln Global, Inc. | Systems and methods providing enhanced education and training in a virtual reality environment |
| US9318026B2 (en) | 2008-08-21 | 2016-04-19 | Lincoln Global, Inc. | Systems and methods providing an enhanced user experience in a real-time simulated virtual reality welding environment |
| US9330575B2 (en) | 2008-08-21 | 2016-05-03 | Lincoln Global, Inc. | Tablet-based welding simulator |
| US9468988B2 (en) | 2009-11-13 | 2016-10-18 | Lincoln Global, Inc. | Systems, methods, and apparatuses for monitoring weld quality |
| US9483959B2 (en) | 2008-08-21 | 2016-11-01 | Lincoln Global, Inc. | Welding simulator |
| WO2017033832A1 (en) * | 2015-08-21 | 2017-03-02 | 株式会社ダイヘン | Arc welding quality assessing system |
| US9685099B2 (en) | 2009-07-08 | 2017-06-20 | Lincoln Global, Inc. | System for characterizing manual welding operations |
| US9767712B2 (en) | 2012-07-10 | 2017-09-19 | Lincoln Global, Inc. | Virtual reality pipe welding simulator and setup |
| US9773429B2 (en) | 2009-07-08 | 2017-09-26 | Lincoln Global, Inc. | System and method for manual welder training |
| US9836987B2 (en) | 2014-02-14 | 2017-12-05 | Lincoln Global, Inc. | Virtual reality pipe welding simulator and setup |
| US9895267B2 (en) | 2009-10-13 | 2018-02-20 | Lincoln Global, Inc. | Welding helmet with integral user interface |
| WO2018088372A1 (en) | 2016-11-11 | 2018-05-17 | 株式会社神戸製鋼所 | Arc welding display device and display method |
| JP2018089655A (en) * | 2016-12-02 | 2018-06-14 | ファナック株式会社 | Arc-welding robot system |
| US10083627B2 (en) | 2013-11-05 | 2018-09-25 | Lincoln Global, Inc. | Virtual reality and real welding training system and method |
| US10198962B2 (en) | 2013-09-11 | 2019-02-05 | Lincoln Global, Inc. | Learning management system for a real-time simulated virtual reality welding training environment |
| US10373524B2 (en) | 2009-07-10 | 2019-08-06 | Lincoln Global, Inc. | Systems and methods providing a computerized eyewear device to aid in welding |
| US10473447B2 (en) | 2016-11-04 | 2019-11-12 | Lincoln Global, Inc. | Magnetic frequency selection for electromagnetic position tracking |
| US10475353B2 (en) | 2014-09-26 | 2019-11-12 | Lincoln Global, Inc. | System for characterizing manual welding operations on pipe and other curved structures |
| US10496080B2 (en) | 2006-12-20 | 2019-12-03 | Lincoln Global, Inc. | Welding job sequencer |
| US10940555B2 (en) | 2006-12-20 | 2021-03-09 | Lincoln Global, Inc. | System for a welding sequencer |
| US10994358B2 (en) | 2006-12-20 | 2021-05-04 | Lincoln Global, Inc. | System and method for creating or modifying a welding sequence based on non-real world weld data |
| US11475792B2 (en) | 2018-04-19 | 2022-10-18 | Lincoln Global, Inc. | Welding simulator with dual-user configuration |
| US11557223B2 (en) | 2018-04-19 | 2023-01-17 | Lincoln Global, Inc. | Modular and reconfigurable chassis for simulated welding training |
-
1992
- 1992-06-02 JP JP4165484A patent/JPH05329645A/en not_active Withdrawn
Cited By (84)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20020066126A (en) * | 2001-02-09 | 2002-08-14 | 현대중공업 주식회사 | Automatic seam tracking system by using regression method |
| US7355145B2 (en) | 2004-07-12 | 2008-04-08 | Matsushita Electric Industrial Co., Ltd. | Arc welding robot |
| US10994358B2 (en) | 2006-12-20 | 2021-05-04 | Lincoln Global, Inc. | System and method for creating or modifying a welding sequence based on non-real world weld data |
| US10496080B2 (en) | 2006-12-20 | 2019-12-03 | Lincoln Global, Inc. | Welding job sequencer |
| US11980976B2 (en) | 2006-12-20 | 2024-05-14 | Lincoln Global, Inc. | Method for a welding sequencer |
| US10940555B2 (en) | 2006-12-20 | 2021-03-09 | Lincoln Global, Inc. | System for a welding sequencer |
| US9293056B2 (en) | 2008-08-21 | 2016-03-22 | Lincoln Global, Inc. | Importing and analyzing external data using a virtual reality welding system |
| US9330575B2 (en) | 2008-08-21 | 2016-05-03 | Lincoln Global, Inc. | Tablet-based welding simulator |
| US11521513B2 (en) | 2008-08-21 | 2022-12-06 | Lincoln Global, Inc. | Importing and analyzing external data using a virtual reality welding system |
| US11030920B2 (en) | 2008-08-21 | 2021-06-08 | Lincoln Global, Inc. | Importing and analyzing external data using a virtual reality welding system |
| US8915740B2 (en) | 2008-08-21 | 2014-12-23 | Lincoln Global, Inc. | Virtual reality pipe welding simulator |
| US8911237B2 (en) | 2008-08-21 | 2014-12-16 | Lincoln Global, Inc. | Virtual reality pipe welding simulator and setup |
| US10916153B2 (en) | 2008-08-21 | 2021-02-09 | Lincoln Global, Inc. | Systems and methods providing an enhanced user experience in a real-time simulated virtual reality welding environment |
| US9196169B2 (en) | 2008-08-21 | 2015-11-24 | Lincoln Global, Inc. | Importing and analyzing external data using a virtual reality welding system |
| US10762802B2 (en) | 2008-08-21 | 2020-09-01 | Lincoln Global, Inc. | Welding simulator |
| US10629093B2 (en) | 2008-08-21 | 2020-04-21 | Lincoln Global Inc. | Systems and methods providing enhanced education and training in a virtual reality environment |
| US8851896B2 (en) | 2008-08-21 | 2014-10-07 | Lincoln Global, Inc. | Virtual reality GTAW and pipe welding simulator and setup |
| US8834168B2 (en) | 2008-08-21 | 2014-09-16 | Lincoln Global, Inc. | System and method providing combined virtual reality arc welding and three-dimensional (3D) viewing |
| US9858833B2 (en) | 2008-08-21 | 2018-01-02 | Lincoln Global, Inc. | Importing and analyzing external data using a virtual reality welding system |
| US9293057B2 (en) | 2008-08-21 | 2016-03-22 | Lincoln Global, Inc. | Importing and analyzing external data using a virtual reality welding system |
| US9318026B2 (en) | 2008-08-21 | 2016-04-19 | Lincoln Global, Inc. | Systems and methods providing an enhanced user experience in a real-time simulated virtual reality welding environment |
| US11715388B2 (en) | 2008-08-21 | 2023-08-01 | Lincoln Global, Inc. | Importing and analyzing external data using a virtual reality welding system |
| US9336686B2 (en) | 2008-08-21 | 2016-05-10 | Lincoln Global, Inc. | Tablet-based welding simulator |
| US10249215B2 (en) | 2008-08-21 | 2019-04-02 | Lincoln Global, Inc. | Systems and methods providing enhanced education and training in a virtual reality environment |
| US9483959B2 (en) | 2008-08-21 | 2016-11-01 | Lincoln Global, Inc. | Welding simulator |
| US10204529B2 (en) | 2008-08-21 | 2019-02-12 | Lincoln Global, Inc. | System and methods providing an enhanced user Experience in a real-time simulated virtual reality welding environment |
| US10056011B2 (en) | 2008-08-21 | 2018-08-21 | Lincoln Global, Inc. | Importing and analyzing external data using a virtual reality welding system |
| US9691299B2 (en) | 2008-08-21 | 2017-06-27 | Lincoln Global, Inc. | Systems and methods providing an enhanced user experience in a real-time simulated virtual reality welding environment |
| US9754509B2 (en) | 2008-08-21 | 2017-09-05 | Lincoln Global, Inc. | Importing and analyzing external data using a virtual reality welding system |
| US9761153B2 (en) | 2008-08-21 | 2017-09-12 | Lincoln Global, Inc. | Importing and analyzing external data using a virtual reality welding system |
| US9965973B2 (en) | 2008-08-21 | 2018-05-08 | Lincoln Global, Inc. | Systems and methods providing enhanced education and training in a virtual reality environment |
| US9928755B2 (en) | 2008-08-21 | 2018-03-27 | Lincoln Global, Inc. | Virtual reality GTAW and pipe welding simulator and setup |
| US9779636B2 (en) | 2008-08-21 | 2017-10-03 | Lincoln Global, Inc. | Importing and analyzing external data using a virtual reality welding system |
| US9779635B2 (en) | 2008-08-21 | 2017-10-03 | Lincoln Global, Inc. | Importing and analyzing external data using a virtual reality welding system |
| US9792833B2 (en) | 2008-08-21 | 2017-10-17 | Lincoln Global, Inc. | Systems and methods providing an enhanced user experience in a real-time simulated virtual reality welding environment |
| US9818311B2 (en) | 2008-08-21 | 2017-11-14 | Lincoln Global, Inc. | Importing and analyzing external data using a virtual reality welding system |
| US9818312B2 (en) | 2008-08-21 | 2017-11-14 | Lincoln Global, Inc. | Importing and analyzing external data using a virtual reality welding system |
| US9836995B2 (en) | 2008-08-21 | 2017-12-05 | Lincoln Global, Inc. | Importing and analyzing external data using a virtual reality welding system |
| US10522055B2 (en) | 2009-07-08 | 2019-12-31 | Lincoln Global, Inc. | System for characterizing manual welding operations |
| US9230449B2 (en) | 2009-07-08 | 2016-01-05 | Lincoln Global, Inc. | Welding training system |
| US10347154B2 (en) | 2009-07-08 | 2019-07-09 | Lincoln Global, Inc. | System for characterizing manual welding operations |
| US10068495B2 (en) | 2009-07-08 | 2018-09-04 | Lincoln Global, Inc. | System for characterizing manual welding operations |
| US9685099B2 (en) | 2009-07-08 | 2017-06-20 | Lincoln Global, Inc. | System for characterizing manual welding operations |
| US9221117B2 (en) | 2009-07-08 | 2015-12-29 | Lincoln Global, Inc. | System for characterizing manual welding operations |
| US9773429B2 (en) | 2009-07-08 | 2017-09-26 | Lincoln Global, Inc. | System and method for manual welder training |
| US9011154B2 (en) | 2009-07-10 | 2015-04-21 | Lincoln Global, Inc. | Virtual welding system |
| US10991267B2 (en) | 2009-07-10 | 2021-04-27 | Lincoln Global, Inc. | Systems and methods providing a computerized eyewear device to aid in welding |
| US9911359B2 (en) | 2009-07-10 | 2018-03-06 | Lincoln Global, Inc. | Virtual testing and inspection of a virtual weldment |
| US10643496B2 (en) | 2009-07-10 | 2020-05-05 | Lincoln Global Inc. | Virtual testing and inspection of a virtual weldment |
| US9911360B2 (en) | 2009-07-10 | 2018-03-06 | Lincoln Global, Inc. | Virtual testing and inspection of a virtual weldment |
| US9836994B2 (en) | 2009-07-10 | 2017-12-05 | Lincoln Global, Inc. | Virtual welding system |
| US10134303B2 (en) | 2009-07-10 | 2018-11-20 | Lincoln Global, Inc. | Systems and methods providing enhanced education and training in a virtual reality environment |
| US9280913B2 (en) | 2009-07-10 | 2016-03-08 | Lincoln Global, Inc. | Systems and methods providing enhanced education and training in a virtual reality environment |
| US10373524B2 (en) | 2009-07-10 | 2019-08-06 | Lincoln Global, Inc. | Systems and methods providing a computerized eyewear device to aid in welding |
| US9895267B2 (en) | 2009-10-13 | 2018-02-20 | Lincoln Global, Inc. | Welding helmet with integral user interface |
| US9089921B2 (en) | 2009-11-13 | 2015-07-28 | Lincoln Global, Inc. | Systems, methods, and apparatuses for monitoring weld quality |
| US8884177B2 (en) | 2009-11-13 | 2014-11-11 | Lincoln Global, Inc. | Systems, methods, and apparatuses for monitoring weld quality |
| US8987628B2 (en) | 2009-11-13 | 2015-03-24 | Lincoln Global, Inc. | Systems, methods, and apparatuses for monitoring weld quality |
| US9468988B2 (en) | 2009-11-13 | 2016-10-18 | Lincoln Global, Inc. | Systems, methods, and apparatuses for monitoring weld quality |
| US9012802B2 (en) | 2009-11-13 | 2015-04-21 | Lincoln Global, Inc. | Systems, methods, and apparatuses for monitoring weld quality |
| US9050679B2 (en) | 2009-11-13 | 2015-06-09 | Lincoln Global, Inc. | Systems, methods, and apparatuses for monitoring weld quality |
| US9050678B2 (en) | 2009-11-13 | 2015-06-09 | Lincoln Global, Inc. | Systems, methods, and apparatuses for monitoring weld quality |
| US9269279B2 (en) | 2010-12-13 | 2016-02-23 | Lincoln Global, Inc. | Welding training system |
| US9767712B2 (en) | 2012-07-10 | 2017-09-19 | Lincoln Global, Inc. | Virtual reality pipe welding simulator and setup |
| US10748447B2 (en) | 2013-05-24 | 2020-08-18 | Lincoln Global, Inc. | Systems and methods providing a computerized eyewear device to aid in welding |
| US10198962B2 (en) | 2013-09-11 | 2019-02-05 | Lincoln Global, Inc. | Learning management system for a real-time simulated virtual reality welding training environment |
| US11100812B2 (en) | 2013-11-05 | 2021-08-24 | Lincoln Global, Inc. | Virtual reality and real welding training system and method |
| US10083627B2 (en) | 2013-11-05 | 2018-09-25 | Lincoln Global, Inc. | Virtual reality and real welding training system and method |
| US10720074B2 (en) | 2014-02-14 | 2020-07-21 | Lincoln Global, Inc. | Welding simulator |
| US9836987B2 (en) | 2014-02-14 | 2017-12-05 | Lincoln Global, Inc. | Virtual reality pipe welding simulator and setup |
| US10475353B2 (en) | 2014-09-26 | 2019-11-12 | Lincoln Global, Inc. | System for characterizing manual welding operations on pipe and other curved structures |
| CN107921587A (en) * | 2015-08-21 | 2018-04-17 | 株式会社达谊恒 | Electric arc welds Quality estimation system |
| WO2017033832A1 (en) * | 2015-08-21 | 2017-03-02 | 株式会社ダイヘン | Arc welding quality assessing system |
| CN107921587B (en) * | 2015-08-21 | 2020-11-10 | 株式会社达谊恒 | Arc welding quality judgment system |
| US10473447B2 (en) | 2016-11-04 | 2019-11-12 | Lincoln Global, Inc. | Magnetic frequency selection for electromagnetic position tracking |
| WO2018088372A1 (en) | 2016-11-11 | 2018-05-17 | 株式会社神戸製鋼所 | Arc welding display device and display method |
| US11318551B2 (en) | 2016-11-11 | 2022-05-03 | Kobe Steel, Ltd. | Arc welding display device and display method |
| EP3539707A4 (en) * | 2016-11-11 | 2020-07-22 | Kabushiki Kaisha Kobe Seiko Sho (Kobe Steel, Ltd.) | Arc welding display device and display method |
| CN109937112A (en) * | 2016-11-11 | 2019-06-25 | 株式会社神户制钢所 | The display device and display methods of arc welding |
| KR20190065381A (en) | 2016-11-11 | 2019-06-11 | 가부시키가이샤 고베 세이코쇼 | Apparatus and method for displaying arc welding |
| JP2018089655A (en) * | 2016-12-02 | 2018-06-14 | ファナック株式会社 | Arc-welding robot system |
| US10232457B2 (en) | 2016-12-02 | 2019-03-19 | Fanuc Corporation | Arc welding robot system |
| US11475792B2 (en) | 2018-04-19 | 2022-10-18 | Lincoln Global, Inc. | Welding simulator with dual-user configuration |
| US11557223B2 (en) | 2018-04-19 | 2023-01-17 | Lincoln Global, Inc. | Modular and reconfigurable chassis for simulated welding training |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JPH05329645A (en) | Arc sensor monitoring device and its using method | |
| US6232572B1 (en) | Spot welding control system and control method | |
| JP7045243B2 (en) | Computer program, welding information calculator, welding torch, welding power supply, welding system | |
| KR20130143480A (en) | A method of automatically setting a welding parameter for mig/mag welding and a controller for performing the method | |
| US5440092A (en) | Welding controller and/or pinching force controller | |
| JP6912660B2 (en) | Methods and devices for providing reference distance signals to control the position of the welding torch | |
| JP2825708B2 (en) | Resistance welding control device | |
| JP6672551B2 (en) | Display device and display method for arc welding | |
| US5347105A (en) | Welding controller | |
| JP3724016B2 (en) | Automatic control equipment for arc welding | |
| JP2002239733A (en) | Weld line profiling judging device and profiling control device | |
| JPH0985443A (en) | Arc welding equipment and welding condition setting method | |
| JP3186539B2 (en) | Drop welding mode setting management device for arc welding | |
| JP3769787B2 (en) | Automatic welding machine control device | |
| JP3311403B2 (en) | Automatic arc welding control method and apparatus | |
| JP3117764B2 (en) | Resistance welding control method | |
| JPH06218548A (en) | Welding control method for welding robot | |
| JPH0671442A (en) | Method for calculating wire projecting length and arc length and device for observing welding state | |
| JP3146943B2 (en) | Arc welding robot system | |
| WO2024171561A1 (en) | Arc welding device and welding condition correction method using same, and welding condition correction program | |
| JPS63268573A (en) | Method for correcting path of automatic welding machine and its device | |
| JP3299867B2 (en) | Arc sensor adjustment device | |
| JP3163530B2 (en) | Control device for resistance welding | |
| JP2638401B2 (en) | Wire feeding speed control device for consumable electrode arc welding machine | |
| JP7296791B2 (en) | Controllers, programs, and robot control systems |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| A300 | Withdrawal of application because of no request for examination |
Free format text: JAPANESE INTERMEDIATE CODE: A300 Effective date: 19990803 |