TWI758961B - Method for multi-pass welding - Google Patents

Method for multi-pass welding Download PDF

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TWI758961B
TWI758961B TW109140570A TW109140570A TWI758961B TW I758961 B TWI758961 B TW I758961B TW 109140570 A TW109140570 A TW 109140570A TW 109140570 A TW109140570 A TW 109140570A TW I758961 B TWI758961 B TW I758961B
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welding
welded
initial
bead
area
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TW109140570A
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TW202220772A (en
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汪立德
林典永
曾國興
李捷
許偉倫
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財團法人金屬工業研究發展中心
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Abstract

A method for multi-pass welding includes the steps as follows: performing a first welding of a workpiece target using a welding tool, obtaining an image feature of the workpiece target and a first weld formed during the first welding using an image scanning device, selecting a welding parameter for the welding tool according to the image feature, and performing a second welding of the workpiece target using the welding tool with the welding parameter. Accordingly, the method of the present invention can improve efficiency and quality of multiple-layer welding.

Description

多層銲道之銲接方法Welding method of multilayer weld bead

本發明是關於一種銲接方法，尤其是一種運用於多層銲道之銲接方法。The present invention relates to a welding method, especially a welding method applied to a multi-layer weld bead.

銲接技術(如潛弧銲等)被普遍運用於工件間的接合，當以人工進行銲接時，可經由操作者目測被銲接工件及銲道，以確認銲道是否符合規格要求，再進行銲接修正，然而由於目測依賴著操作者的經驗，因此容易產生銲接品質不一的情形。Welding techniques (such as submerged arc welding, etc.) are widely used in the joint between workpieces. When welding is performed manually, the operator can visually inspect the welded workpiece and the weld bead to confirm whether the weld bead meets the specification requirements, and then perform welding corrections However, since the visual inspection depends on the operator's experience, it is easy to produce uneven welding quality.

為解決以人工進行銲接所產生的問題(如銲接品質不一、人力不足等問題)，衍生出一種以機械手臂取代人工的自動化銲接技術，然而以機械手臂進行多層銲道銲接，已將每一次的銲接參數固定，當其中一銲道發生異常時，下一個銲接程序仍依據固定的銲接參數進行銲接，因而導致後續銲道堆疊於發生異常的銲道上，而造成銲接品質不良。In order to solve the problems caused by manual welding (such as uneven welding quality, insufficient manpower, etc.), an automatic welding technology that replaces manual labor with robotic arms is derived. The welding parameters are fixed. When an abnormality occurs in one of the beads, the next welding procedure will still be welded according to the fixed welding parameters, resulting in the subsequent welding bead being stacked on the abnormal welding bead, resulting in poor welding quality.

本發明的主要目的是以一影像掃描裝置掃描一銲接工具對一待銲接件進行一第一次銲接時的一待銲區及一第一銲道，以擷取一第一影像特徵，並依據該第一影像特徵選取該銲接工具的一銲接參數，該銲接工具依據該銲接參數對該待銲區進行一第二次銲接，以形成一第二銲道。The main purpose of the present invention is to use an image scanning device to scan a to-be-welded area and a first weld bead when a welding tool performs a first welding on a to-be-welded part, so as to capture a first image feature, and according to The first image feature selects a welding parameter of the welding tool, and the welding tool performs a second welding on the to-be-welded area according to the welding parameter to form a second weld bead.

本發明之一種層銲道之銲接方法包含以一銲接工具對一待銲接件的一待銲區進行一第一次銲接，並於該待銲區形成一第一銲道，以一影像掃描裝置對該待銲區及該第一銲道進行一第一次掃描，以擷取一第一影像特徵，依據該第一影像特徵選取該銲接工具的一銲接參數，及該銲接工具依據該銲接參數對該待銲接件的該待銲區進行一第二次銲接，並於該待銲區形成一第二銲道。A welding method of a layered bead of the present invention comprises using a welding tool to perform a first welding on a to-be-welded area of a to-be-welded part, forming a first weld bead on the to-be-welded area, and using an image scanning device A first scan is performed on the to-be-welded area and the first weld bead to capture a first image feature, a welding parameter of the welding tool is selected according to the first image feature, and the welding tool is based on the welding parameter A second welding is performed on the to-be-welded area of the to-be-welded component, and a second weld bead is formed on the to-be-welded area.

本發明依據該第一影像特徵選取該銲接工具的該銲接參數，以利該銲接工具進行該第二次銲接，以避免該銲接工具盲目地進行多層銲道銲接，而造成工件間銲接品質不良的問題，且可有效地提升銲接效率。The present invention selects the welding parameters of the welding tool according to the first image feature, so as to facilitate the welding tool to perform the second welding, so as to avoid the welding tool blindly performing multi-layer bead welding, which may result in poor welding quality between workpieces. problem, and can effectively improve the welding efficiency.

請參閱第1圖，一種多層銲道之銲接方法，在本實施例中，以形成二層銲道說明，但不以此為限制，在不同的實施例中，可依據本發明之精神，例如：依據待銲區的特徵以及銲接工具的能力及參數，重複進行掃描、選取銲接參數及焊接步驟，以形成二層以上的銲道。Please refer to FIG. 1, a welding method of multi-layer bead, in this embodiment, the description of forming two-layer bead is not limited to this. In different embodiments, according to the spirit of the present invention, for example : According to the characteristics of the area to be welded and the capabilities and parameters of the welding tool, repeat scanning, selection of welding parameters and welding steps to form weld beads with more than two layers.

請參閱第1及2圖，首先，進行「初始掃描，擷取初始影像特徵」步驟S1，在步驟S1中是以一影像掃描裝置120對一待銲接件110的一待銲區111進行一初始掃描，在本實施例中，該待銲接件110包含一第一待銲件110a及一第二待銲件110b，該待銲區111位於該第一待銲件110a及該第二待銲件110b之間，請參閱第7圖，藉由該影像掃描裝置120擷取該待銲區111的一初始影像特徵I0。 Please refer to FIGS. 1 and 2. First, step S1 of “initial scanning, capturing initial image features” is performed. In step S1, an image scanning device 120 is used to perform an initial scan on a to-be-welded area 111 of a to-be-welded component 110. Scanning, in this embodiment, the to-be-welded part 110 includes a first to-be-welded part 110a and a second to-be-welded part 110b, and the to-be-welded area 111 is located on the first to-be-welded part 110a and the second to-be-welded part 110a Between 110b, please refer to FIG. 7, an initial image feature I0 of the to-be-bonded area 111 is captured by the image scanning device 120.

請參閱第2及7圖，在本實施例中，該影像掃描裝置120為一三維影像掃描裝置，該初始影像特徵I0為該待銲接件110的該待銲區111的一輪廓，該輪廓至少包含一夾角、一寬度或一初始深度的其中之一。 Referring to FIGS. 2 and 7, in this embodiment, the image scanning device 120 is a three-dimensional image scanning device, and the initial image feature I0 is an outline of the to-be-welded area 111 of the to-be-welded component 110, and the outline at least Contains one of an included angle, a width or an initial depth.

接著，請參閱第1圖，進行「依據初始影像特徵選取初始銲接參數」步驟S2，在步驟S2中是依據該初始影像特徵I0選取一銲接工具130的一初始銲接參數，在本實施例中，該初始銲接參數是經由該初始影像特徵I0對比一影像資料庫(圖未繪出)後所選取的銲接參數，該初始銲接參數至少包含進行一第一次銲接時的該銲接工具130的一初始起銲坐標、該銲接工具130相對於該待銲區111的一傾斜角度、該銲接工具130進行該第一次銲接的一移動速度、進行該第一次銲接時的電流及電壓或銲接次數的其中之一。 Next, referring to FIG. 1, step S2 of “selecting initial welding parameters based on initial image features” is performed. In step S2, an initial welding parameter of a welding tool 130 is selected according to the initial image feature I0. In this embodiment, The initial welding parameter is a welding parameter selected after comparing an image database (not shown) through the initial image feature I0, and the initial welding parameter at least includes an initial welding tool 130 during a first welding. Start-up coordinates, an inclination angle of the welding tool 130 relative to the area to be welded 111, a moving speed of the welding tool 130 for the first welding, the current and voltage during the first welding, or the number of times of welding one of them.

接著，請參閱第1及3圖，進行「依據初始銲接參數進行第一次銲接，並形成第一銲道」步驟S3，在步驟S3中的該銲接工具130依據該初始銲接參數移動該銲接工具130至一初始起銲位置，以對該待銲接件110的該待銲區111進行該第一次銲接，並於該待銲區111形成一第一銲道140。 Next, referring to FIGS. 1 and 3, step S3 of “the first welding is performed according to the initial welding parameters, and the first bead is formed” is performed, and the welding tool 130 in step S3 moves the welding tool according to the initial welding parameters 130 to an initial starting position, so as to perform the first welding on the to-be-welded area 111 of the to-be-welded component 110 , and form a first weld bead 140 on the to-be-welded area 111 .

在本實施例中，該銲接工具130及該影像掃描裝置120被固定一自動化機構(圖未繪出)，該銲接工具130及該影像掃描裝置120隨著該自動化機構(如機械手臂等機構)同步移動，該銲接工具130及該影像掃描裝置120藉由該自動化機構移動，以進行掃描及銲接步驟。 In this embodiment, the welding tool 130 and the image scanning device 120 are fixed by an automatic mechanism (not shown in the figure), and the welding tool 130 and the image scanning device 120 follow the automatic mechanism (such as a mechanical arm, etc.) Moving synchronously, the welding tool 130 and the image scanning device 120 are moved by the automated mechanism to perform scanning and welding steps.

接著，請參閱第1及4圖，進行「第一次掃描，擷取第一影像特徵」步驟S4，在步驟S4中，以該影像掃描裝置120對該待銲區111及該第一銲道140進行一第一次掃描，請參閱第8圖，藉由該影像掃描裝置120擷取該待銲區111的一第一影像特徵I1。 Next, referring to Figures 1 and 4, step S4 of "scanning for the first time, capturing the first image features" is performed. In step S4, the image scanning device 120 is used for the area to be welded 111 and the first weld bead. 140 performs a first scan, please refer to FIG. 8 , and captures a first image feature I1 of the to-be-welded area 111 by the image scanning device 120 .

請參閱第4及8圖，該第一影像特徵I1為該待銲接件110的該待銲區111及該第一銲道140的一輪廓，該輪廓至少包含該第一銲道140的一厚度、一寬度、一傾斜角度或一弧度的其中之一，在本實施例中，該第一影像特徵I1更至少包含在該第一次銲接後的該第一待銲件110a及該第二待銲件110b之間的該待銲區111的一夾角、一寬度、該第一銲道140至該第一待銲件110a或該第二待銲件110b之間的一間距、或該待銲區111的一未銲接深度的其中之一。 Please refer to FIGS. 4 and 8 , the first image feature I1 is an outline of the to-be-welded area 111 and the first weld bead 140 of the to-be-welded component 110 , and the outline at least includes a thickness of the first weld bead 140 , one of a width, an inclination angle or a radian. In this embodiment, the first image feature I1 further includes at least the first to-be-welded part 110a and the second to-be-welded part after the first welding An included angle, a width of the to-be-welded area 111 between weldments 110b, a distance from the first weld bead 140 to the first to-be-welded 110a or the second to-be-welded 110b, or the to-be-welded One of the unwelded depths of zone 111.

接著，請參閱第1圖，進行「依據第一影像特徵選取銲接參數」步驟S5，在步驟S5中是依據該第一影像特徵I1選取該銲接工具130的一銲接參數，在本實施例中，該銲接參數是經由該第一影像特徵I1對比該影像資料庫後所選取的銲接參數，該銲接參數至少包含進行一第二次銲接的該銲接工具130的一起銲坐標、該銲接工具130相對於該待銲區111的一傾斜角度、該銲接工具130進行該第二次銲接的一移動速度或進行該第二次銲接時的電流、電壓的其中之一。 Next, referring to FIG. 1, step S5 of “selecting welding parameters according to the first image feature” is performed. In step S5, a welding parameter of the welding tool 130 is selected according to the first image feature I1. In this embodiment, The welding parameter is a welding parameter selected after comparing the image database through the first image feature I1, and the welding parameter at least includes the co-welding coordinates of the welding tool 130 performing a second welding, the relative welding speed of the welding tool 130 relative to One of an inclination angle of the to-be-welded area 111 , a moving speed of the welding tool 130 for the second welding, or current and voltage during the second welding.

接著，請參閱第1及5圖，進行「依據銲接參數進行第二次銲接，並形成第二銲道」步驟S6，在步驟S6中的該銲接工具130依據該銲接參數移動該銲接工具130至該第二次銲接的起銲位置，以對該待銲接件110的該待銲區111進行該第二次銲接，並於該待銲區111形成一第二銲道150。 Next, referring to Figs. 1 and 5, step S6 of "performing the second welding according to the welding parameters and forming the second bead" is performed. In step S6, the welding tool 130 moves the welding tool 130 to The starting position of the second welding is to perform the second welding on the to-be-welded area 111 of the to-be-welded component 110 , and to form a second weld bead 150 on the to-be-welded area 111 .

較佳地，請參閱第1及6圖，進行「第二次掃描，擷取第二影像特徵」步驟S7，在步驟S7中，以該影像掃描裝置120對該待銲區111、該第一銲道140及該第二銲道150進行一第二次掃描，請參閱第9圖，藉由該影像掃描裝置120擷取該待銲區111、該第一銲道140及該第二銲道150的一第二影像特徵I2。Preferably, please refer to Figures 1 and 6, and perform the step S7 of "scanning for the second time, capturing the second image features". The welding bead 140 and the second welding bead 150 are scanned a second time. Please refer to FIG. 9 . The image scanning device 120 captures the to-be-welded area 111 , the first welding bead 140 and the second welding bead. A second image feature I2 of 150 .

請參閱第6及9圖，該第二影像特徵I2為該待銲接件110的該待銲區111、該第一銲道140及該第二銲道150的一輪廓，該輪廓至少包含該第二銲道150的一厚度、一寬度、一傾斜角度或一弧度的其中之一，在本實施例中，該第二影像特徵I2更至少包含在該第二次銲接後的該第一待銲件110a及該第二待銲件110b之間的該待銲區111的一夾角、一寬度、該第二銲道150至該第一待銲件110a或該第二待銲件110b之間的一間距、或該待銲區111的一未銲接深度的其中之一。Please refer to FIGS. 6 and 9 , the second image feature I2 is an outline of the to-be-welded area 111 , the first weld bead 140 and the second weld bead 150 of the to-be-welded component 110 , and the outline includes at least the first weld bead 150 . One of a thickness, a width, an inclination angle or a radian of the two welding beads 150. In this embodiment, the second image feature I2 further includes at least the first to-be-welded after the second welding An included angle, a width of the to-be-welded area 111 between the part 110a and the second to-be-welded part 110b, the distance between the second weld bead 150 to the first to-be-welded part 110a or the second to-be-welded part 110b One of a distance, or an unwelded depth of the to-be-welded area 111 .

請參閱第1圖，必要時，可重複進行該掃描步驟、選取銲接參數步驟及該銲接步驟，以對該待銲接件110的該待銲區111進行二層銲道以上的銲接。Referring to FIG. 1 , if necessary, the scanning step, the welding parameter selection step, and the welding step may be repeated to perform welding of more than two layers of welds on the to-be-welded area 111 of the to-be-welded part 110 .

本發明是藉由該影像掃描裝置120對該待銲接件110及該銲道140、150進行掃描並擷取該影像特徵I0、I1、I2，並依據該影像特徵I0、I1、I2選取該銲接工具130的該銲接參數，以利該銲接工具130對該待銲接件110進行多層銲道銲接，其可避免該銲接工具130盲目地進行多層銲道銲接，而造成工件間銲接品質不良的問題，且可有效地提升銲接效率。In the present invention, the image scanning device 120 scans the to-be-welded part 110 and the weld beads 140 and 150 and captures the image features I0, I1 and I2, and selects the welding according to the image features I0, I1 and I2. The welding parameters of the tool 130 are used to facilitate the welding tool 130 to perform multi-layer bead welding on the workpiece 110 to be welded, which can prevent the welding tool 130 from blindly performing multi-layer bead welding, resulting in poor welding quality between workpieces. And can effectively improve the welding efficiency.

本發明之保護範圍當視後附之申請專利範圍所界定者為準，任何熟知此項技藝者，在不脫離本發明之精神和範圍內所作之任何變化與修改，均屬於本發明之保護範圍。The protection scope of the present invention shall be determined by the scope of the appended patent application. Any changes and modifications made by anyone who is familiar with the art without departing from the spirit and scope of the present invention shall fall within the protection scope of the present invention. .

S1:初始掃描，擷取初始影像特徵 S2:依據初始影像特徵選取初始銲接參數 S3:依據初始銲接參數進行第一次銲接，並形成第一銲道 S4:第一次掃描，擷取第一影像特徵 S5:依據第一影像特徵選取銲接參數 S6:依據銲接參數進行第二次銲接，並形成第二銲道 S7:第二次掃描，擷取第二影像特徵 I0:初始影像特徵 I1:第一影像特徵 I2:第二影像特徵 110:待銲接件 110a:第一待銲件 110b:第二待銲件 111:待銲區 120:影像掃描裝置 130:銲接工具 140:第一銲道 150:第二銲道 S1: Initial scan, capture initial image features S2: Select initial welding parameters based on initial image features S3: The first welding is performed according to the initial welding parameters, and the first welding bead is formed S4: Scan for the first time, capture the first image feature S5: Select welding parameters according to the first image feature S6: The second welding is performed according to the welding parameters, and the second welding bead is formed S7: Scanning for the second time, capturing the second image feature I0: Initial image feature I1: First image feature I2: Second image feature 110: Parts to be welded 110a: The first part to be welded 110b: The second part to be welded 111: Area to be welded 120: Image scanning device 130: Welding Tools 140: First weld pass 150: Second weld pass

第1圖：本發明的多層銲道之銲接方法的流程圖。 第2至6圖：本發明的多層銲道之銲接方法的示意圖。 第7至9圖：本發明的多層銲道之銲接方法的影像特徵示意圖。 Fig. 1 is a flow chart of the welding method of the multilayer bead of the present invention. Figures 2 to 6: schematic diagrams of the welding method of the multilayer bead of the present invention. Figures 7 to 9: schematic diagrams of image characteristics of the multi-layer bead welding method of the present invention.

S1:初始掃描，擷取初始影像特徵 S1: Initial scan, capture initial image features

S2:依據初始影像特徵選取初始銲接參數 S2: Select initial welding parameters based on initial image features

S3:依據初始銲接參數進行第一次銲接，並形成第一銲道 S3: The first welding is performed according to the initial welding parameters, and the first welding bead is formed

S4:第一次掃描，擷取第一影像特徵 S4: Scan for the first time, capture the first image feature

S5:依據第一影像特徵選取銲接參數 S5: Select welding parameters according to the first image feature

S6:依據銲接參數進行第二次銲接，並形成第二銲道 S6: The second welding is performed according to the welding parameters, and the second welding bead is formed

S7:第二次掃描，擷取第二影像特徵 S7: Scanning for the second time, capturing the second image feature

Claims (9)

一種多層銲道之銲接方法，包含：以一銲接工具對一待銲接件的一待銲區進行一第一次銲接，並於該待銲區形成一第一銲道；以一影像掃描裝置對該待銲區及該第一銲道進行一第一次掃描，以擷取一第一影像特徵；依據該第一影像特徵選取該銲接工具的一銲接參數，該銲接參數至少包含進行一第二次銲接的該銲接工具的一起銲坐標、該銲接工具相對於該待銲區的一傾斜角度、該銲接工具進行該第二次銲接的一移動速度或進行該第二次銲接時的電流、電壓的其中之一；以及該銲接工具依據該銲接參數對該待銲接件的該待銲區進行該第二次銲接，並於該待銲區形成一第二銲道。 A welding method for multi-layer weld beads, comprising: performing a first welding on a to-be-welded area of a to-be-welded part with a welding tool, and forming a first weld bead in the to-be-welded area; A first scan is performed on the to-be-welded area and the first bead to capture a first image feature; a welding parameter of the welding tool is selected according to the first image feature, and the welding parameter at least includes performing a second The co-welding coordinates of the welding tool for the second welding, an inclination angle of the welding tool relative to the area to be welded, a moving speed of the welding tool for the second welding, or the current and voltage during the second welding One of them; and the welding tool performs the second welding on the to-be-welded area of the to-be-welded component according to the welding parameter, and forms a second weld bead on the to-be-welded area. 如請求項1之多層銲道之銲接方法，其中在該第一次銲接前，進行一初始掃描，其藉由該影像掃描裝置對該待銲接件的該待銲區進行該初始掃描，以擷取該待銲區的一初始影像特徵，並依據該初始影像特徵選取該銲接工具的一初始銲接參數，該初始銲接參數至少包含進行該第一次銲接時的該銲接工具的一初始起銲坐標、該銲接工具相對於該待銲區的一傾斜角度、該銲接工具進行該第一次銲接的一移動速度、進行該第一次銲接時的電流及電壓或銲接次數的其中之一，以使該銲接工具依據該初始銲接參數對該待銲接件的該待銲區進行該第一次銲接。 The welding method of the multi-layer bead as claimed in claim 1, wherein before the first welding, an initial scan is performed, and the initial scan is performed on the to-be-welded area of the to-be-welded part by the image scanning device to capture the Take an initial image feature of the to-be-welded area, and select an initial welding parameter of the welding tool according to the initial image feature, where the initial welding parameter at least includes an initial starting coordinate of the welding tool when the first welding is performed , an inclination angle of the welding tool relative to the area to be welded, a moving speed of the welding tool for the first welding, one of the current and voltage or the number of welding times during the first welding, so that The welding tool performs the first welding on the to-be-welded area of the to-be-welded component according to the initial welding parameters. 如請求項2之多層銲道之銲接方法，其中在該初始掃描後依據該初始銲接參數移動該銲接工具至一初始起銲位置，以進行該第一次銲接。 The welding method of the multilayer bead as claimed in claim 2, wherein after the initial scanning, the welding tool is moved to an initial starting position according to the initial welding parameters to perform the first welding. 如請求項2之多層銲道之銲接方法，其中該影像掃描裝置為一三維影像掃描裝置，該初始影像特徵為未進行該第一次銲接前的該待銲區的一輪廓，該輪廓至少包含一夾角、一寬度或一初始深度的其中之一。 The welding method for multi-layer bead as claimed in claim 2, wherein the image scanning device is a three-dimensional image scanning device, and the initial image feature is an outline of the to-be-welded area before the first welding is performed, and the outline at least includes One of an included angle, a width or an initial depth. 如請求項4之多層銲道之銲接方法，其中該初始銲接參數是經由該初始影像特徵對比一影像資料庫後所選取的銲接參數。 The welding method of the multi-layer weld bead according to claim 4, wherein the initial welding parameters are welding parameters selected after comparing an image database with the initial image features. 如請求項1之多層銲道之銲接方法，其中該影像掃描裝置為一三維影像掃描裝置，該第一影像特徵為該待銲接件的該待銲區及該第一銲道的一輪廓，該輪廓至少包含在該第一次銲接後的該第一銲道的一厚度、一寬度、一傾斜角度或一弧度的其中之一。 The welding method of the multi-layer weld bead as claimed in claim 1, wherein the image scanning device is a three-dimensional image scanning device, the first image feature is an outline of the to-be-welded area of the to-be-welded part and the first weld bead, the The profile includes at least one of a thickness, a width, an inclination angle or a radian of the first bead after the first welding. 如請求項6之多層銲道之銲接方法，其中該待銲接件包含一第一待銲件及一第二待銲件，該第一影像特徵至少包含在該第一次銲接後的該第一待銲件及該第二待銲件之間的該待銲區的一夾角、一寬度、該第一銲道至該第一待銲件或該第二待銲件之間的一間距、或該待銲區的一未銲接深度的其中之一。 The welding method of the multi-layer bead as claimed in claim 6, wherein the parts to be welded comprise a first part to be welded and a second part to be welded, and the first image feature at least includes the first part after the first welding An included angle, a width of the to-be-welded area between the to-be-welded part and the second to-be-welded part, a distance from the first weld bead to the first to-be-welded part or the second to-be-welded part, or One of an unwelded depth of the to-be-welded area. 如請求項1之多層銲道之銲接方法，其中該銲接參數是經由該第一影像特徵對比一影像資料庫後所選取的銲接參數。 The welding method of the multi-layer weld bead according to claim 1, wherein the welding parameter is a welding parameter selected after comparing an image database through the first image feature. 如請求項1之多層銲道之銲接方法，其中該銲接工具及該影像掃描裝置被固定一自動化機構，該銲接工具及該影像掃描裝置隨著該自動化機構同步移動。 The welding method of the multi-layer weld bead according to claim 1, wherein the welding tool and the image scanning device are fixed to an automatic mechanism, and the welding tool and the image scanning device move synchronously with the automatic mechanism.
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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102615389A (en) * 2012-03-31 2012-08-01 上海交通大学 Arc welding robot oscillating electric arc tracking system and method based on DSP (Digital Signal Processor)
CN105229545A (en) * 2013-03-14 2016-01-06 林肯环球股份有限公司 For creating or change the system and method for sequence of welds
TW201617463A (en) * 2014-11-07 2016-05-16 中國鋼鐵股份有限公司 Method for manufacturing steel and method for manufacturing pipe

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102615389A (en) * 2012-03-31 2012-08-01 上海交通大学 Arc welding robot oscillating electric arc tracking system and method based on DSP (Digital Signal Processor)
CN105229545A (en) * 2013-03-14 2016-01-06 林肯环球股份有限公司 For creating or change the system and method for sequence of welds
TW201617463A (en) * 2014-11-07 2016-05-16 中國鋼鐵股份有限公司 Method for manufacturing steel and method for manufacturing pipe

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