KR101750783B1 - Control method for weaving motion in welding device and welding device using the same method - Google Patents

Control method for weaving motion in welding device and welding device using the same method Download PDF

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KR101750783B1
KR101750783B1 KR1020150173912A KR20150173912A KR101750783B1 KR 101750783 B1 KR101750783 B1 KR 101750783B1 KR 1020150173912 A KR1020150173912 A KR 1020150173912A KR 20150173912 A KR20150173912 A KR 20150173912A KR 101750783 B1 KR101750783 B1 KR 101750783B1
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South Korea
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weaving
welding
width
current value
correction amount
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KR1020150173912A
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Korean (ko)
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KR20170067346A (en
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문형순
이주동
김민주
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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
    • B23K9/12—Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
    • B23K9/127—Means for tracking lines during arc welding or cutting
    • 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
    • B23K9/06—Arrangements or circuits for starting the arc, e.g. by generating ignition voltage, or for stabilising the arc
    • B23K9/073—Stabilising the arc
    • B23K9/0732—Stabilising of the arc current
    • 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
    • B23K9/12—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)
  • Butt Welding And Welding Of Specific Article (AREA)
  • Arc Welding In General (AREA)

Abstract

According to the present invention, welding is performed so that the weaving width corresponds to the groove width (welding width) at the time of weaving with respect to grooves whose width is not constant due to processing defects or the like, thereby preventing the occurrence of welding defects And a welding apparatus using the same. The present invention relates to a V-shaped groove formed so that both sides have the same inclination angle (?) With respect to a vertical line of a welding center line, and the welding is performed by weaving welding along the groove while reciprocating between one side and the other side, ) Of time is measured, an average current value (I L ) is measured during a dwell time on one side, then weaving is performed in the other direction by a set winking width (w) And the next wobbling width is determined by the correction amount? W 'calculated by the calculation formula after the average current value I R is measured.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method of controlling weaving of a welding apparatus and a welding apparatus using the same,

The present invention relates to a weaving control method of a welding apparatus and a welding apparatus using the same, and more particularly, to a weaving control method of a welding apparatus capable of obtaining a good welding result by tracing and welding a weld line to a groove having a constant width, .

Generally, weaving welding is a welding method in which a welding bead is formed by alternately moving the welding rod in both directions with respect to the welding direction.

In the case where the pipes are usually brought into contact with each other or the plates are welded to each other, as shown in Fig. 1, the side members 2 and 3 are inclined so that the butted portions form a V-shaped groove 4 , And the welding torch 1 is reciprocated on one side and the other side in such grooves (welded portions) to perform weaving welding. In this case, the bogie equipped with the welding device moves along the groove at a constant speed, so that the welding torch 1 continues to run at a constant speed in the longitudinal direction of the groove during the weaving operation.

On the other hand, the grooves formed for welding the members to be welded against each other, such as pipes, due to grooving errors, fat-up errors before welding, welding shrinkage due to welding heat during welding, A groove is formed in which the width is changed and the width is not constant.

When a groove having such a nonuniform width is welded at a constant glazing width as shown in Fig. 3, if the glazing width is larger than the groove width as shown in Fig. 3 (a), an undercut If defects occur and the weaving width is smaller than the groove width as shown in FIG. 3 (b), the right and left side ends of the groove are not sufficiently melted, resulting in insufficient penetration.

Korean Patent Laid-Open Publication No. 10-2014-0063034 discloses a welding line automatic tracing method for performing weaving using only one side of a groove with respect to a weld portion having a constant groove width. However, since only one side of the groove is used And the other side is formed parallel to the center weld line, good welding results can be obtained, and when the other side is inclined relative to the weld center line, it is difficult to apply.

In addition, in the prior art, since the inclination angle forming the V-shape of the groove is not taken into consideration at all, there is a problem that the welding amount can not be adjusted according to the groove inclination angle, so that it is difficult to perform the welding work with high precision.

Korean Patent Publication No. 10-2014-0063034 U.S. Patent Publication No. 5206474

SUMMARY OF THE INVENTION The present invention has been made in view of the above problems, and it is an object of the present invention to provide a groove width (welding width) due to a shape in which both sides of a groove gradually converge with each other around a welding center line, The weaving control method for preventing or minimizing the occurrence of welding defects by performing the weaving welding adapted to the weaving width even when the weaving width is not constant, and a welding apparatus using the same.

Another object of the present invention is to provide a weaving control method in which precise weaving control is performed in consideration of an inclination angle of a groove forming a V shape at the time of welding with respect to a groove whose width is not constant due to a defective machining accuracy or the like, .

The present invention relates to a weaving controlling method of welding apparatus for performing welding by weaving (weaving) the welding torch along the groove with respect to the weld that is political days groove width operation, the setting of the one side and the other side current (I LS, I RS ); Measuring the average current value I L during a dwell time by weaving one side of a half of the weir width w set at a welding start position which is a welding center line; Three steps of weaving in the other direction by the set wiping width (w); Measuring the average current value I R during the dwell time on the other side; The correction amount? W 'for correcting the wobbling width w is calculated by using the obtained average current values I L and I R of one side and the other side and the set current values I LS and I RS of one side and the other side 5 steps to calculate; 6) performing weaving as much as the corrected wipe width (w ') by adding half of the correction amount (? W') calculated in the step 5 while performing weaving again to the opposite side; (W ") corrected in the step 6 is further weighed by a further modified wick width (w ") which is a half of the calculated correction amount [Delta] w '7; To be sequentially performed.

Further, in the present invention, the calculation formula of the correction amount? W 'in the step 5 has another feature as shown in the following equation.

Figure 112015119977655-pat00001

Where k is the tip-to-substrate distance and the welding current,

θ is the inclination angle of one side of the groove with respect to the vertical line at the welding center line

I LS , I RS : preset current value of one side and the other side

I L , I R : average current value measured during dwell time on one side and the other side

The weaving control method of the present invention further includes a step 6-1 of measuring a new average current value I L during the dwell time in the presence of a dwell time between steps 6 and 7, A step 7-1 of measuring a new average current value I R in the dwell time after the seventh step; Calculating a correction amount? W 'to be applied at the next weaving using the average current values I L and I R of the one side and the other side measured in steps 6-1 and 7-1; And further performing step 6 and step 7 again using the correction amount? W 'calculated in step 8 above.

On the other hand, according to another aspect of the present invention, there is provided a V-shaped groove formed on both sides of a vertical line of a welding center line so as to have the same inclination angle?, To be welded along the groove while reciprocating between one side and the other side, (I L ) is measured during a dwell time at one side, and then the average current value (I L ) is measured at a dwell time at a side of the weaving apparatus in a weaving direction (I R ) during the dwell time is measured on the other side, and the next winking width is determined by the correction amount? W 'calculated by the following calculation formula.

Figure 112015119977655-pat00002

Where k is the tip-to-substrate distance and the welding current,

θ is the inclination angle of one side of the groove with respect to the vertical line at the welding center line

I LS , I RS : preset current value of one side and the other side

I L , I R : average current value measured during dwell time on one side and the other side

In addition, the present invention may further include: a first weaving step of calculating the correction amount? W 'in the above-described configuration, then performing weaving by a corrected wipe width w' that is a half of the calculated correction amount? W '; Weaving is performed with the further modified wavy ice (w ") by adding half of the correction amount (Δw ') to the waving width (w') performed in the one weaving step while performing weaving again in the opposite direction And the other side weaving step.

Further, the present invention is characterized in that in the above configuration, there is a dwell time between the one side weaving step and the other side weaving step, and measuring a new average current value I L during the dwell time;

Measuring a new average current value (I R ) in the dwell time after the other weaving step; Newly calculating a correction amount to be applied at the next weaving by using the newly measured average current value (I L , I R ); And the one weaving step and the other weaving step are performed again using the newly calculated correction amount.

On the other hand, in another aspect of the present invention, there is provided a welding apparatus including a welding means for performing a weaving operation of a welding torch and a control means for controlling the weaving means, wherein the control means comprises: We measured the average current value (I L ) during dwell time on one side and then measured the average current value (I L ) on the other side by weaving in the other direction by the set wobble width (w) The other side measures an average current value I R during the dwell time and then determines the next winking width by the correction amount? W 'calculated by the following calculation formula.

Figure 112015119977655-pat00003

Where k is the tip-to-substrate distance and the welding current,

θ is the inclination angle of one side of the groove with respect to the vertical line at the welding center line

I LS , I RS : preset current value of one side and the other side

I L , I R : average current value measured during dwell time on one side and the other side

Further, the welding apparatus of the present invention is characterized in that the control means calculates the correction amount? W 'and then calculates the correction amount? W' (W ') performed in the one-side weaving step is further added with half of the correction amount (? W'), while the weaving is performed again in the opposite direction, To perform weaving at the other weaving step.

The weaving control method of the present invention according to the present invention and the welding apparatus using the same according to the present invention can adapt the welding portion in which the groove width is changed in real time so as to determine an appropriate wobbling width and to form a good welding state in which undercutting or short- have.

Particularly, in the present invention, the inclination angle [theta] of the groove is considered in calculation of the correction amount, so that a more precise weaving action can be performed in the V-shaped groove of the butt welding.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is an explanatory view for explaining the operation of a conventional weaving welding by a welding apparatus;
Fig. 2 is an explanatory diagram illustrating a groove shape having a constant width. Fig.
FIGS. 3 (a) and 3 (b) are explanatory diagrams explaining a defective state that occurs due to the progress of welding with a normal waving width for a groove having a constant width
4 is a block explanatory diagram for explaining a weaving control method according to an embodiment of the present invention, step by step;
5 is an explanatory view for explaining a process of performing weaving welding on a groove whose groove width gradually decreases according to a weaving control method according to an embodiment of the present invention
6 (a) is a graph showing a correlation between the welding current and the welding tip-base material distance for deriving the calculation formula of the correction amount? W 'in the weaving control method according to the embodiment of the present invention, and FIG. 6 (b) are explanatory diagrams for explaining the correlation of the V-shaped inclination angle [theta] of the groove, the change amount of the height of the welding tip and the variation amount of the wobbling width
7 is an explanatory view for explaining a process of performing weaving welding on a groove whose groove width gradually increases according to a weaving control method according to an embodiment of the present invention
8 is a photograph showing a good welding result by applying the weaving control method according to the embodiment of the present invention

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

The present invention relates to a weaving control method of a welding apparatus including a weaving means for performing weaving welding by reciprocating a welding torch and control means for controlling the weaving means.

The groove to which the present weaving control method is applied can be applied not only to a case where the groove width is constant but also to obtain a good welding result even when the groove width is not constant.

The groove in which the welding is performed according to the present invention is a groove in which both members to be welded (pipes, plates, etc.) are machined so that both sides forming the V shape with reference to the vertical line (reference numeral 15 in Fig. 6) Respectively.

4 and 5, a weaving control method for a welding apparatus according to an exemplary embodiment of the present invention includes a welding operation in which a welding torch is welded to a welded portion having a uniform groove width by a weaving operation along a groove , Setting one set current value (I LS , I RS ) on one side and the other side, weaving one side by half of the weaving width (w) set at the welding starting position as the welding center line, average current value (I L) for measuring two-phase and is set to the above third step of weaving in the other direction by bingpok (w), step 4 to measure the dwell time average current value (I R) while at the other to the over, The correction amount? W 'for correcting the wobbling width w is calculated by using the obtained average current values I L and I R of one side and the other side and the set current values I LS and I RS of one side and the other side The weaving is performed again to the one side which is the opposite direction, (W ') corrected by the step 6 while performing weaving by the modified wipe width (w') by half of the fixed amount (w '), and performing weaving again to the other side in the opposite direction, Waving is performed by the additional corrected w ice width w " which is the sum of the calculated correction amount? W 'and the calculated correction amount? W'.

The step 1 is a step of setting the set current values I LS and I RS of one side and the other side and is measured and set in advance on one side and the other side before the weaving welding is performed.

5, grooved boundary lines in which the width of a V-shaped groove is gradually narrowed are denoted by reference numerals 21 and 22, a center line of a groove is denoted by reference numeral 10, and dotted lines denoted by reference numerals 31 and 32 The set current value (I LS , I RS ) at the position of the dotted line is measured in advance as a position at which the position becomes a boundary line at which the weaving welding is to be performed, and is set in the control means.

The dotted line positions denoted by reference numerals 31 and 32 are located at a certain distance from the groove boundary lines 21 and 22, respectively, so that the dotted line position ( 31, and 32, the set current values I LS and I RS can be said to be the same anywhere on the dotted line for each dotted line.

5, the step 2 is performed by weaving one half of the wiping width w set at the welding start position S, which is the welding center line 10, and calculating an average current value (dwell time) I L ) is measured. (S110 and S120)

As shown in FIG. 5, the welding torch starts from the welding center line 10 and moves in one direction by half of the pre-set wiping width w. Since the pre-set weaving width w is a constant weaving width w without considering the change of the groove width, the dotted line 31 in which the set current value I LS can be generated in a groove having a gradually narrowing groove width Move over.

After the weaving to one half of the weir width w, the weaving is stopped and a dwell operation is performed in which the welding torch is relatively advanced with respect to the groove, and the average current value I L ).

In the subsequent step (3), weaving is performed in the other direction by the predetermined wiping width (w) (S130)

In step 4, a dwell operation is performed after three weaving steps, and an average current value I R is measured during the dwell time on the other side (step S140)

The step 5 is a step of calculating a correction amount for correcting the wobble width w by using the obtained average current values I L and I R of one side and the other side and the set current values I LS and I RS of one side and the other side (Δw '). (S150)

In step 5, the calculation formula of the correction amount? W 'is as follows.

Figure 112015119977655-pat00004

Where k is the tip-to-substrate distance and the welding current,

θ is the inclination angle of one side of the groove with respect to the vertical line at the welding center line

I LS , I RS : preset current value of one side and the other side

I L , I R : average current value measured during dwell time on one side and the other side

The slope k in the above equation represents the rate of change ΔI / ΔL of the welding current with respect to the distance between the welding tip and the base material, as shown in the graph shown in FIG. As the distance L between the tip and the base metal becomes larger, the magnitude of the welding current I becomes smaller in a constant voltage (constant output voltage) welding apparatus. ) Values. ≪ / RTI >

6 (b), D = ΔL × tan θ = (ΔI / k) × tan θ, and ΔL is difficult to measure in view of welding characteristics. Therefore, If it can be obtained, it is possible to obtain the D value which is the distance (= distance required to be corrected) by using known values k and θ. Based on this principle, an expression for calculating the correction amount? W 'can be derived.

On the other hand, the correction amount? W 'calculated in step 5 is used for determination of the ice width during weaving of the next one cycle to be performed later. The term " 1 cycle " means the interval between weaving to one side and weaving to another side after weaving to one side as in the period of a normal wave. Since the dwell operation is an operation in which the weaving width is not applied, And the correction amount? W 'is applied at the other weaving step. At this time, as will be described later with respect to steps 6 and 7, the correction amount? W 'is applied to one side of the weaving step and the other side of the weaving step for one cycle of the next one by half of the correction amount? W' do.

In the sixth step, after calculating the correction amount? W 'of the fifth step, the corrected wobbling width w', which is a half of the correction amount? W 'calculated in the fifth step, ). (S160 section)

In the step 7, the weaving is performed again to the other side in the opposite direction after the sixth step, and the wavy width w 'corrected in the step 6 is further added by half of the calculated correction amount? W' Weaving is performed as much as the ice width (w ") (S180)

5, since the weir width w is a half width on the left and right sides of the center line of the welding, the corrected weir width w ', which is a half of the correction amount? W' calculated in step 6, ), The position of the one-side set current value I LS set in advance can be found by performing soaking as in S160. As shown in the section S170, the weft width is calculated based on the calculated correction amount? W ' If the weaving is performed by the additional corrected w ice width (w ") which is an additional half of the set current value I LS , the position of the other set current value I LS set in advance can be found.

5 is a case in which the width of the groove is gradually decreased. Since the calculated correction amount? W 'is a negative value, the corrected wobbling width w' and the further corrected wobbling width w ' W is smaller than the ice width (w).

7 is a case where the width of the groove gradually increases. Since the calculated correction amount? W 'is a positive value, the corrected wipe width w' and the further corrected waving width w ' Is larger than the ice width (w).

Meanwhile, there is a dwell time between the sixth step and the seventh step, and in step 6-1 (step S170) in which a new average current value I L is measured during the dwell time, 7-1 step (S190 section) for measuring the average current value I R is further included.

In the next step 8, the current values I L and I R are updated using the average current values I L and I R of the one side and the other side measured in steps 6-1 and 7-1 (Step S150 in FIG. 4), and the steps 6 and 7 are performed again using the correction amount? W 'calculated in the step 8 Step 9 (S160,180 block repetition in FIG. 4).

FIG. 8 shows a result of welding in which the weaving control method of the welding apparatus described above is applied. FIG. 8 shows a state in which a good weld 200 is formed for a groove whose groove width 300 gradually increases toward the upper side.

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 center line 15; vertical
21, 22; Groove boundary lines 31 and 32; dotted line
200; Welds 300; Groove width
I LS , I RS ; Set current values I L and I R ; Average current value
L; Distance S; Weld start position
W; Weak Width W '; Modified WBC
W '; Additional modified WBC ΔW '; Correction amount
θ; Inclination angle

Claims (8)

A weaving control method of a welding apparatus for performing welding by a weaving operation of a welding torch along a groove with respect to a welding portion having a constant groove width,
Setting one set current value (I LS , I RS ) of one side and the other side;
Measuring the average current value I L during a dwell time by weaving one side of a half of the weir width w set at a welding start position which is a welding center line;
Three steps of weaving in the other direction by the set wiping width (w);
Measuring the average current value I R during the dwell time on the other side;
The correction amount? W 'for correcting the wobbling width w is calculated by using the obtained average current values I L and I R of one side and the other side and the set current values I LS and I RS of one side and the other side 5 steps to calculate;
6) performing weaving as much as the corrected wipe width (w ') by adding half of the correction amount (? W') calculated in the step 5 while performing weaving again to the opposite side;
(W ") corrected in the step 6 is further weighed by a further modified wick width (w ") which is a half of the calculated correction amount [Delta] w '7;
The weaving control method of the welding apparatus The method according to claim 1,
The calculation formula of the correction amount? W 'in the step 5 is the same as the following formula:
Figure 112015119977655-pat00005

Where k is the tip-to-substrate distance and the welding current,
θ is the inclination angle of one side of the groove with respect to the vertical line at the welding center line
I LS , I RS : preset current value of one side and the other side
I L , I R : average current value measured during dwell time on one side and the other side 3. The method according to claim 1 or 2,
A step 6-1 in which a dwell time exists between the step 6 and the step 7 and a new average current value I L is measured during the dwell time;
A step 7-1 of measuring a new average current value I R in the dwell time after the seventh step;
Calculating a correction amount? W 'to be applied at the next weaving using the average current values I L and I R of the one side and the other side measured in steps 6-1 and 7-1;
Further comprising the step of performing the steps 6 and 7 again using the correction amount? W 'calculated in the step 8, A groove having a V-shape having the same inclination angle? On both sides with respect to a vertical line at the welding center line is weighed and welded along the groove while reciprocating between one side and the other side and a dwell time In the weaving control method of the present welding apparatus,
The average current value I R is measured during one dwell time and then measured in the other direction by the set winking width w and the average current value I R during the dwell time on the other side, And the next weighing width is determined by the correction amount? W 'calculated by the following calculation formula:
Figure 112015119977655-pat00006

Where k is the tip-to-substrate distance and the welding current,
θ is the inclination angle of one side of the groove with respect to the vertical line at the welding center line
I LS , I RS : preset current value of one side and the other side
I L , I R : average current value measured during dwell time on one side and the other side 5. The method of claim 4,
After calculating the correction amount? W '
One weaving step for performing weaving by a corrected wipe width w 'which is a half of the calculated correction amount? W';
Weaving is performed with the further modified wavy ice (w ") by adding half of the correction amount (Δw ') to the waving width (w') performed in the one weaving step while performing weaving again in the opposite direction The other side weaving step;
A weaving control method of a welding apparatus 6. The method of claim 5,
Measuring a new average current value (I L ) during the dwell time when there is a dwell time between the one side weaving step and the other side weaving step;
Measuring a new average current value (I R ) in the dwell time after the other weaving step;
Newly calculating a correction amount to be applied at the next weaving by using the newly measured average current value (I L , I R );
And the weaving operation is performed again using the newly calculated correction amount. Weaving means for performing a weaving operation of the welding torch,
And control means for controlling the weaving means,
The control means
And a dwell time is present at one side and the other side of the groove, the average current value (I L ) is measured during one dwell time, (W) in the other direction so as to measure the average current value (I R ) during the dwell time on the other side, and to determine the next winking width by the correction amount? w 'calculated by the following calculation formula A welding device
Figure 112015119977655-pat00007

Where k is the tip-to-substrate distance and the welding current,
θ is the inclination angle of one side of the groove with respect to the vertical line at the welding center line
I LS , I RS : preset current value of one side and the other side
I L , I R : average current value measured during dwell time on one side and the other side 8. The method of claim 7,
The control means
After calculating the correction amount? W '
Performing one weaving step that performs weaving by a corrected wipe width w 'that is a half of the calculated correction amount? W'
Weaving is then performed with the further modified wick width (w "), which is the sum of the wick width (w ') performed in the one weaving step and the half of the correction amount (Δw') while performing weaving again in the opposite direction So as to perform the other side weaving step
KR1020150173912A 2015-12-08 2015-12-08 Control method for weaving motion in welding device and welding device using the same method KR101750783B1 (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11305366B2 (en) 2019-01-04 2022-04-19 Lincoln Global, Inc. Systems and methods providing dynamic bead spacing and weave fill in additive manufacturing

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11305366B2 (en) 2019-01-04 2022-04-19 Lincoln Global, Inc. Systems and methods providing dynamic bead spacing and weave fill in additive manufacturing
US11731208B2 (en) 2019-01-04 2023-08-22 Lincoln Global, Inc. Systems and methods providing dynamic bead spacing and weave fill in additive manufacturing

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