KR101683044B1 - Automatic welding apparatus for uniformizing weld pool - Google Patents

Automatic welding apparatus for uniformizing weld pool Download PDF

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Publication number
KR101683044B1
KR101683044B1 KR1020150164393A KR20150164393A KR101683044B1 KR 101683044 B1 KR101683044 B1 KR 101683044B1 KR 1020150164393 A KR1020150164393 A KR 1020150164393A KR 20150164393 A KR20150164393 A KR 20150164393A KR 101683044 B1 KR101683044 B1 KR 101683044B1
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South Korea
Prior art keywords
area
welding
welding torch
length
melting
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KR1020150164393A
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Korean (ko)
Inventor
김성렬
김철민
김노원
황경환
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한국생산기술연구원
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K9/00—Arc welding or cutting
    • B23K9/095—Monitoring or automatic control of welding parameters
    • 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
    • B23K9/095—Monitoring or automatic control of welding parameters
    • B23K9/0956—Monitoring or automatic control of welding parameters using sensing means, e.g. optical
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K9/00—Arc welding or cutting
    • B23K9/12—Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
    • B23K9/126—Controlling the spatial relationship between the work and the gas torch

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Plasma & Fusion (AREA)
  • Mechanical Engineering (AREA)
  • Laser Beam Processing (AREA)

Abstract

The present invention can stably perform control to keep the area of the fused paper uniform during the welding process by a relatively simple structure. According to the present invention, there is provided a welding apparatus comprising: height adjusting means for raising and lowering a welding torch to a welding portion of a base material; imaging means for photographing a melting point of the welding portion; And a constant current supply means for supplying a constant current so that an arc is generated between the welding torch and the base material and melting of the welded portion is performed, If the area is larger than the set area, the welding torch is lowered.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic welding apparatus for uniformizing a melting area,

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic welding apparatus for uniformizing a surface area of a molten metal and, more particularly, to an automatic welding apparatus for uniformly maintaining a molten metal area by adjusting a distance between a welding torch and a metal material.

Generally, when arc welding, core wires and base metal are melted by arc heat to form a melting pond like pond.

The shape of the fused paper is an important factor for determining the quality of the weld bead since the fused paper is continuously formed along the trajectory of welding to form the weld bead.

Fig. 1 is a view of a conventional method and apparatus for automating a welding process, which is described in Japanese Patent Laid-Open Publication No. 61-17366, in which welding quality can be stabilized.

According to the present invention, the width of the molten bond A is detected and the detected data is compared with a set value to control the welding current and the welding speed, thereby stabilizing the welding quality.

In the control process, the photographed image of the melting paper A outputted from the image sensor 3 and the image processing section 6 is calculated by the measuring device 7, the area of the melting paper A is calculated, And controls the welding speed by the bogie driving motor 8 and the welding current of the welding power source 5 according to the result. Accordingly, it is intended to adjust the area of the melting paper (A).

However, the method of controlling the area of the melting paper A by controlling the welding current is difficult to precisely control due to the occurrence of overshoot due to frequent fluctuations of current, disturbance, and the like.

In addition, the method of controlling the welding speed by controlling the area of the fusing paper A requires a precise and large-capacity driving apparatus, and it is an object of the present invention to solve the problems .

SUMMARY OF THE INVENTION The present invention has been made in view of the above-mentioned problems, and it is an object of the present invention to provide an automatic welding apparatus which can stably control the control of keeping the area of the melting paper uniform during the welding process.

According to the present invention, there is provided a welding apparatus comprising: height adjusting means for raising and lowering a welding torch to a welding portion of a base material; imaging means for photographing a melting point of the welding portion; And a constant current supply means for supplying a constant current so that an arc is generated between the welding torch and the base material and melting of the welding portion is performed, characterized in that the control means Is characterized in that the arc length is controlled by raising the welding torch when the area of the melting paper is larger than the set area and controlling the height adjusting means to lower the welding torch when the area of the melting paper is smaller than the set area .

Further, in the present invention, the control means controls the height of the welding torch with respect to the base material by bringing the welding torch down by the height adjusting means before bringing the welding torch into contact with the base material, Another feature is that the height information of the torch is controlled to be received.

Further, the present invention is characterized in that, when the length of the arc at the time of welding is larger than the boundary length, any one length selected from the range of 2.0 mm to 3.0 mm is regarded as a boundary length, And the control means controls the height adjusting means so as to raise the torch and to lower the welding torch when the area of the melting furnace is smaller than the set area.

When the length of the arc at welding is smaller than the boundary length, the control means controls the height adjustment so that the length of the arc is longer than the boundary length or the boundary length, And the height adjusting means is controlled according to the area of the melting paper after the means causes the welding torch to rise.

In the configuration of the apparatus, the boundary length is set to 2.5 mm, and the upper limit of the arc length is set to 5.5 mm.

Further, the present invention is characterized in that a laser light source for scanning laser light with a pulse signal is provided on the melting paper, the photographing means comprises a camera, a frame having a photographing hole formed therein so that the camera can photograph the melting paper, And a driving device for sliding the filter between a position between the camera and the photographing hole and a position deviating from the position, And a structural light source for irradiating structural light to the welded portion is provided, the laser light source is fixed to the welding torch and is directed to the end of the welding torch, and the structural light source is attached to the frame of the welding apparatus .

According to another aspect of the present invention, there is provided a welding control method for an automatic welding apparatus, comprising: a welding start step of positioning an arc welding torch at an initial welding height and supplying a constant current to generate an arc; A welding process step in which welding is performed after the welding start step, in which a welding ground is formed by an arc; An image obtaining step of photographing the melting paper to obtain an image; Calculating the area of the molten bond by the obtained image; An area comparison step of comparing the calculated area with the set area; And a welding torch adjusting step of raising the welding torch when the area of the melting paper is larger than the set area as a result of the area comparing step and lowering the welding torch when the area of the melting paper is smaller than the set area.

Further, the present invention is characterized in that, prior to the welding start step, the welding torch is lowered to be brought into contact with the base material and then raised to the welding height, thereby obtaining height information of the welding height with respect to the base material.

Further, in the present invention, in the welding torch adjusting step, a length selected from a range of 2.0 mm to 3.0 mm is set as a boundary length, and a length of an arc, which is an interval between the end of the welding torch and the base material, , The welding torch is raised when the area of the melting paper is larger than the set area and the welding torch is lowered when the area of the melting paper is smaller than the set area and when the arc length at the time of welding is smaller than the boundary length The welding torch is first adjusted to have a longer length than the boundary length or the boundary length when the area of the melting paper is larger than the setting area and then the welding torch is raised or lowered in accordance with the area of the melting paper Other features.

Further, in the above-described method, it is preferable that the boundary length is 2.5 mm and the upper limit of the arc length is set to 5.5 mm.

The automatic welding apparatus according to the present invention according to the above-described configuration controls the welding torch so that the size of the welding paper is uniform by vertically raising and lowering the welding torch. Therefore, compared with the method of controlling the welding area by controlling the current and voltage, The control is simple and the reliability is not affected by the disturbance.

Particularly, in the present invention, the melting area is adjusted in a length selected from the range of 2.0 mm to 3.0 mm, more specifically, 2.5 mm as the boundary length, and the length of the arc is longer than the boundary length. .

Particularly, when the arc length is smaller than the boundary length, the welding torch is adjusted so that the welding area can not be controlled by the vertical adjustment of the welding torch. Therefore, the welding torch is first adjusted so that the arc length is longer than the boundary length The reliability of the welding result can be improved by controlling the height adjusting means according to the area of the melting paper.

1 is a block diagram of a conventional automatic welding process apparatus
2 is a schematic view of an automatic welding apparatus according to an embodiment of the present invention
3 is a block diagram of the photographing means according to the embodiment of the present invention
4 is a block flow diagram illustrating an automatic welding method according to an embodiment of the present invention.
Fig. 5 is an explanatory diagram for explaining a change in the area of the fused paper generated in the welding process
6 is a graph showing the relationship between the arc length and the melting zone area
7 is an explanatory diagram for explaining a method of calculating an area of a fusing paper in an image according to an embodiment of the present invention

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

Referring to FIG. 2, an automatic welding apparatus according to an embodiment of the present invention includes height adjusting means 20 for raising and lowering a welding torch 10 to a welded portion of a base material, And control means for controlling the height adjusting means (20) based on the area calculated by receiving the image taken by the photographing means (30) and calculating the area of the melting paper (A) And a constant current supplying means (not shown) for supplying a constant current so that an arc is generated between the welding torch 10 and the base material 70 to melt the welded portion.

The height adjusting means 20 is means for vertically moving the support body 62 supporting the welding torch 10 upward and downward. The elevating block is normally raised and lowered on a vertically installed rail.

In this embodiment, the support body 62 supporting the welding torch 10 is provided on the horizontal moving means 50 that moves in the horizontal direction (longitudinal direction of the pipe to be welded) (23) of the height adjusting means (21).

The height adjustment means 20 includes a fine adjustment means 21 and a fine adjustment means 21 for adjusting the fine adjustment means 21 to move the fine adjustment means 21 up and down along the rail 26 And adjustment means (25).

The height of the welding torch 10 is adjusted mainly by the fine height adjusting means 21 because the arc length b is finely adjusted in order to control the area of the welding paper A uniformly.

When the fine height adjusting means 21 moves the elevating block 23 up and down along the rail 24 and is coupled to the horizontal moving means 50 coupled to the elevating block 23 and the horizontal moving means 50 So that the welding torch 10 with the welding torch 10 is raised and lowered together. The horizontally moving means 50 also includes a rail 51 in the horizontal direction and a horizontal block 53 moving horizontally along the rail.

The photographing means 30 is for acquiring an image of the fusing paper A by photographing the fusing paper A of the welding portion.

The photographing means 30 is fixed to the frame 61 of the welding apparatus and is directed to a welding portion which is the lower end of the welding torch 10. [

3, the photographing means 30 includes a camera 31, a frame 32 in which a photographing hole 33 is formed so that the camera 31 can photograph the melting paper A, A filter 34 disposed between the camera 31 and the photographing hole 33 for removing arc light and passing light of a specific wavelength band reflected by the melting paper A, And a driving device (35) for sliding the filter (34) so as to come and go to a position deviating from the position. The camera 31 is a CCD carrera.

The filter 34 is a band-pass filter that cuts off the light beam of the wavelength of the arc light and passes only the wavelength of a specific wavelength band (for example, 905 nm ± 25 nm). It can be removed because the wavelength of the arc light is mostly less than the wavelength range and it is necessary to inject the laser beam A as a pulse signal using a laser light source 37 of 905 nm wavelength band to reliably obtain the image of the melting paper A have. A trigger signal must be given to the laser light source 37 and the camera 31 at the same time so that the camera 31 can take a picture every pulse signal of the laser light source 37. [

Accordingly, the passing of the filter 34 is the laser light of the 905 nm wavelength band reflected by the fusing paper A, so that the shape of the fusing paper A may appear as an image distinct from the peripheral part.

The filter 34 is slid by the drive device 35 without being fixed to the tip end side of the camera 31 so that the image of the carrera 31 with and without the filter 34 You can get it all.

As described above, in order to obtain the image of the melting paper A, the filter 34 is photographed while being slid to the position between the camera 31 and the photographing hole 33. However, In order to confirm the gap and the weld line of the welded portion by the image obtained by the welder 31 and to confirm the state of the bead after welding, the film 34 must be taken out from the front side of the camera without the filter 34 do.

That is, the structural light source 39 separate from the laser light source 37 is installed in the frame 61 of the welding apparatus together with the camera 31, and the structural light source 39 is irradiated with structured light of 600 nm in width The camera 31 acquires the image. When the structure light source 39 irradiates and acquires an image, information on a gap and a weld line of the welded portion is obtained while traveling along a portion to be welded in advance, and after welding is performed, the weld bead is photographed This is the case where a welding defect is detected. Therefore, in the case of using the structured light, the filter 34 is unnecessary because the arc light does not exist in the photographed image, and rather the structured light having the wavelength of 600 nm is prevented from passing through the filter 34, To be separated from the front side of the camera.

The structure light source 39 and the camera 31 are fixed to the welding torch 10 so as to face only the end of the welding torch 10 because the laser light source 37 irradiates only the fusing paper A, Is attached to the frame (61) of the welding apparatus so as not to interfere with the weaving operation of the welding torch (10).

On the other hand, the control means receives the image photographed by the photographing means (30) and calculates the area of the fusing paper (A) and controls the height adjusting means (20) based on the calculated area. The control means raises the welding torch 10 when the area of the fusing paper A is larger than the set area and the height adjusting means 10 to lower the welding torch 10 when the area of the fusing paper A is smaller than the set area, (20) to control the arc length (b). Arc is generated between the end of the core wire at the lower end of the welding torch 10 and the base material 70 so that the arc length b can be defined as the distance between the end of the welding torch 10 and the base material 70.

The setting area is set as a range, and is preferably set to an area within a range of +/- 20% of a reference area forming a good weld bead.

The current supply means (not shown) supplies a constant current so that an arc is generated between the welding torch 10 and the base material 70 to melt the welded portion. In this embodiment, current and voltage are not controlled in this embodiment , A normal constant current power supply is used.

Hereinafter, the function of uniformly holding the molten bond A during welding by the control means will be described.

3, the control means controls the height adjusting means 20 to lower the welding torch 10 to bring the welding torch 10 into contact with the base material 70, 10) is measured.

That is, in the state where the coarse height adjusting means 20 is fixed by adjusting the approximate height, the fine height adjusting means 21 moves down the welding torch 10 to come into contact with the base material 70, Information on the driving amount from the contact point with the base material 70 to the current height at which the arc is prepared is transmitted to the control means. Accordingly, the control means receives the height information of the welding torch 10 at the start of welding and the information can be set.

Further, before the setting, the welding apparatus (groove) in which the welding apparatus is to be welded is previously run, and the camera 31 acquires the shape information of the welded portion (groove) in advance. At the time when the height information is set, Information on how the current height of the welding torch 10 changes with respect to the running position of the welding apparatus with reference to the base material is also calculated in advance using the shape information.

Referring to FIG. 4, the subsequent welding process includes a welding start step (S10) in which the welding torch 10 is positioned at an initial welding height and a constant current is supplied to generate an arc, (Step S10) in which the welding paper A is formed and the welding proceeds, an image obtaining step (S20) of photographing the melting paper A to obtain an image, An area comparison step (S40) of comparing the calculated area and the set area, and a step of comparing the area of the melting paper (A) And a welding torch adjusting step of lowering the welding torch 10 when the area of the melting furnace A is smaller than the set area (S50).

In the image acquiring step, the photographing of the melting paper A is performed by installing a filter 34 in front of the camera 31 to block the light beam of the arc light and passing only wavelengths of a specific wavelength band (for example, 905 nm ± 25 nm) 31 acquire an image (step S20)

It is necessary to use the laser light source of the 905 nm wavelength range to scan the laser light as a pulse signal to the fused paper A so that reflected light of 905 nm wavelength band can be obtained from the fusing paper (A).

Thus, passing through the filter 34 is laser light having a wavelength of 905 nm reflected by the fusing paper A, so that arc light can be removed from the photographed image and the image of the fusing paper A can be distinguished from the peripheral part Can be obtained. When the arc light is photographed without being removed, the image as a whole is too bright, so that the fusing paper A can not be distinguished.

In the calculating of the area of the melting paper, an image is analyzed to extract a boundary line corresponding to the melting paper (A), and the area is calculated by the number of pixels existing in the melting paper (A)

Referring to FIG. 7, each data relating to brightness is successively obtained along a plurality of measurement lines (k) parallel to each other on an image, and both boundary points (k1, k2) in which the brightness changes sharply for each measurement line And obtains the boundary points k1 and k2 for each of a plurality of adjacent measurement lines k to specify the range of the melting paper A as shown in FIG. 7 (b). The area of the melting paper A is determined by the number of pixels falling within the range.

After the area is calculated in the melting area calculation step, the area comparison step proceeds (step S40)

In the area comparison step, the calculated area is compared with the set area. The reference value may be set in advance by the administrator's input, or the area of the melting paper A during the initial predetermined time may be calculated a plurality of times, The setting area may be set based on the area.

It is preferable that the set area in the area comparing step is set to a value range rather than a single value. For example, it is determined that the input area value is within ± 20% of the set area, and if the input area value is within the range, it is determined to be equal to the set area.

The welding torch adjusting step is a step of controlling the height of the welding torch 10 according to the result of the comparison in the area comparing step.

Referring to FIG. 5, when the weaving welding is performed between the two side boundary lines 83 and 84 of the weaving width centering on the welding center line 82, the weaving area is narrower than the setting area A A narrow area of the melting point A1 may occur.

In the welding torch controlling step, the welding torch 10 is raised when the area of the melting paper A is larger than the set area, and the welding torch 10 is lowered when the area of the melting paper A is smaller than the set area. (Step S50)

Since the upper and lower force of the welding torch 10 is made in a small range, the control means controls the fine height adjustment means 21 to equalize the area of the melting paper A.

On the other hand, in the welding method for uniformizing the area of the melting paper (A), only when the arc length (b) at the time of welding is set to be larger than the boundary length by setting the boundary length of the arc length (b) The welding torch 10 is raised when the area of the welding torch 10 is larger than the set area and the welding torch 10 is lowered when the area of the welding spot A is smaller than the set area, (20).

As shown in the graph of FIG. 6, as the arc length (b) increases, the decrease in the area of the fusing paper A does not show a relationship that is approximately inversely proportional to all arc lengths (b) Length) from the above.

The specific area is roughly in the range of 2.0 mm to 3.0 mm, and it is preferable to set any one length selected in the range of 2.0 mm to 3.0 mm as the boundary length.

Most preferably, the boundary length is set to 2.5 mm and the upper limit of the arc length b is set to 5.5 mm so that the arc length b does not exceed 5.5 mm and the welding torch 10 is not raised. This is because when the arc length (b) becomes too large, the arc flame spreads and spatter is generated excessively.

On the other hand, there may be a case where the arc length b becomes smaller than the boundary length due to accumulation of the control action.

When the area of the molten bond A is larger than the set area, the height adjusting means 20 adjusts the length of the welding torch 20 so that the height of the welding ground is longer than the boundary length or the boundary length, (10).

Thereafter, the height adjusting means 20 is controlled according to the area of the molten bond (A).

When the arc length b is smaller than the boundary length, as shown in the graph of FIG. 3, the arc length is not inversely proportional to the melting point area, and the area adjustment of the melting point A And it may interfere with the base material 70 during the control process.

Accordingly, the fine adjustment means 21 raises the welding torch 10 so that the length is longer than the boundary length or the boundary length, and then the control operation of the above-described process is performed. Here, the value to be adjusted to the border length or to be longer than the border length is set in advance.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is clearly understood that the same is by way of illustration and example only and is not to be construed as limited to the particular embodiments set forth herein. It goes without saying that other modified embodiments are possible.

10; Welding torch 20; Height adjusting means
21; Fine adjustment means 23; Lift block
24; Rail 25; Coarse height adjustment means
26; Rail 30; Shooting means
31; Camera 32; frame
33; Shooting ball 34; filter
35; A driving device 37; Laser light source
50; Horizontal moving means 51; rail
53; A horizontal block 62; Support
70; Base metal 82; Welding center line
83,84; Both sides boundaries A, A1; Melting point
k; Measurement lines k1 and k2; Boundary point

Claims (10)

Height adjusting means 20 for raising and lowering the welding torch 10 with respect to the welding portion of the base material 70,
A photographing means (30) for photographing a melting point of a welded portion,
Control means for calculating the area of the molten metal by receiving the photographed image from the photographing means (30) and controlling the height adjusting means (20) based on the calculated area,
And a constant current supply means for supplying a constant current so that an arc is generated between the welding torch (10) and the base material (70) to melt the welding portion,
The control means raises the welding torch 10 when the area of the melting paper is larger than the set area and the height adjusting means 20 to lower the welding torch 10 if the area of the melting paper is smaller than the set area, To adjust the arc length (b)
A laser light source 37 for scanning laser light with a pulse signal is provided on the melting paper,
The photographing means (30)
A camera 31,
A frame 32 in which the photographing hole 33 is formed so that the camera 31 can photograph the melting paper,
A filter (34) positioned between the camera (31) and the photographing hole (33) for removing arc light and passing the laser light reflected from the melting paper,
And a driving device (35) for sliding the filter (34) so as to come and go between a position between the camera (31) and the photographing hole (33)
A structure light source 39 for irradiating a structure light to the welded portion is further provided,
Characterized in that the laser light source (37) is fixed to the welding torch (10) and is directed towards the end of the welding torch (10) and the structural light source (39) is coupled to the frame Welding device The method according to claim 1,
A length selected from the range of 2.0 mm to 3.0 mm is defined as a boundary length,
The welding torch 10 is raised when the area of the melting paper is larger than the predetermined area and only when the arc length b at the time of welding is larger than the boundary length, Characterized in that the control means controls the height adjusting means (20) so as to lower the torch (10) 3. The method of claim 2,
When the arc length (b) at the time of welding is smaller than the boundary length
The control means
When the area of the melting paper is larger than the set area,
After the height adjusting means 20 causes the welding torch 10 to rise so that the arc length b is longer than the boundary length or the boundary length,
And controlling the height adjusting means (20) according to the area of the melting paper delete delete delete delete delete delete delete
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CN109158741A (en) * 2018-10-16 2019-01-08 宁夏吴忠市好运电焊机有限公司 Compound eye type for welding robot filters arc light weld seam real-time viewing device
CN109290659A (en) * 2018-09-25 2019-02-01 北京机械设备研究所 A kind of arc length measuring device and its method
WO2019050372A1 (en) * 2017-09-11 2019-03-14 주식회사 엘지화학 Laser welding method between different kinds of metals for optimizing welding conditions through intermetallic compound analysis
WO2020258712A1 (en) * 2019-06-28 2020-12-30 清华大学 Weld seam formation control apparatus and method
US11541483B2 (en) 2019-06-28 2023-01-03 Tsinghua University Control device and method for formation of weld seam

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KR20080070132A (en) * 2007-01-25 2008-07-30 김석조 Apparatus for weld seam tracking
KR101160059B1 (en) * 2010-09-07 2012-06-26 삼성중공업 주식회사 Method and Device for cutting gap maintain of Plasma cutter

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JPH08174217A (en) * 1994-12-27 1996-07-09 Kawasaki Steel Corp Automatic welding method and apparatus thereof
KR20080070132A (en) * 2007-01-25 2008-07-30 김석조 Apparatus for weld seam tracking
KR101160059B1 (en) * 2010-09-07 2012-06-26 삼성중공업 주식회사 Method and Device for cutting gap maintain of Plasma cutter

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2019050372A1 (en) * 2017-09-11 2019-03-14 주식회사 엘지화학 Laser welding method between different kinds of metals for optimizing welding conditions through intermetallic compound analysis
US11383324B2 (en) 2017-09-11 2022-07-12 Lg Chem, Ltd. Laser welding method between different kinds of metals for optimizing welding conditions through intermetallic compound analysis
CN109290659A (en) * 2018-09-25 2019-02-01 北京机械设备研究所 A kind of arc length measuring device and its method
CN109290659B (en) * 2018-09-25 2020-11-06 北京机械设备研究所 Arc length measuring device and method
CN109158741A (en) * 2018-10-16 2019-01-08 宁夏吴忠市好运电焊机有限公司 Compound eye type for welding robot filters arc light weld seam real-time viewing device
CN109158741B (en) * 2018-10-16 2020-04-14 宁夏吴忠市好运电焊机有限公司 Compound eye type arc light filtering welding seam real-time observation device for welding robot
WO2020258712A1 (en) * 2019-06-28 2020-12-30 清华大学 Weld seam formation control apparatus and method
US11541483B2 (en) 2019-06-28 2023-01-03 Tsinghua University Control device and method for formation of weld seam

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