WO1991004125A1 - Method of locating a welding starting-point - Google Patents
Method of locating a welding starting-point Download PDFInfo
- Publication number
- WO1991004125A1 WO1991004125A1 PCT/SE1990/000580 SE9000580W WO9104125A1 WO 1991004125 A1 WO1991004125 A1 WO 1991004125A1 SE 9000580 W SE9000580 W SE 9000580W WO 9104125 A1 WO9104125 A1 WO 9104125A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- joint
- welding
- sensor
- welding head
- head
- Prior art date
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/12—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
Definitions
- the present invention concerns a locating metnod wherein a sensor which is movable in at least two direc ⁇ tions is used in continuous welding operations to auto ⁇ matically locate the welding starting point in order to produce a butt joint, defined by two surfaces, in a workpiece, said welding being performed by means of an electrode arranged for relative displacement along the joint and directed towards a welding point in the joint while being advanced continually by means of a welding head of an arc-weldmg apparatus, said nead being movable m at least three directions relatively to the workpiece.
- the main purpose of the invention therefore is to provide a method of the kind outlined initially which in an ingenious and efficient manner eliminates the problems in connection with the differences referred to, and consequently also the need for perpetual checking and re-setting operations.
- the sensor is connected to the welding head so as to assume a posi- tion at a predetermined distance ahead of the latter as seen in the direction of welding and essentially in alignment with said head in order to follow the move ⁇ ments of the head, in that from a predetermined initial position off the joint the sensor is displaced over a predetermined distance towards the joint and the welding head is lowered while following a track at a fixed height level until the sensor detects the joint, in that the sensor is displaced laterally backwards and forwards between the groove faces of the joint in order to deter- mine, by means of measurements, the joint centre line, in that the welding head is moved up to said centre line by being displaced laterally and in that the welding head is lowered into the welding position to start the welding operation.
- Fig. 1 shows schematically and in a perspective view obliquely from above and from behind an at present particularly preferred embodiment of a machine for appli ⁇ cation of the method in accordance with the invention.
- Fig. 2 illustrates in a view from the side a welding head incorporated in the machine illustrated in Fig. 1 together with the sensor associated therewith, this figure also showing a workpiece in the form of a tube as seen in cross section in the area of a circumferential butt joint to be welded in a continuous welding operation.
- Fig. 3 illustrates schematically the object in accordance with Fig. 2 in a . view from the front, also illustrating the coordinates used to define the initial position for the starting-point locating process
- Figs. 4A and 4B illustrate in a lateral and an end view, respectively, a workpiece to be joined by a longitudinal weld, by indicating the coordinates used to define the initial position for the starting-point locating process.
- Fig. 1 is illustrated a machine adapted to perform continuous welding operations to provide a circumferential butt joint 1, i.e. an endless joint, as well as lengthwise extending butt joints 2, see Figs. 4A and 4B.
- Fig. 1 illustrates continous welding of the circumferential butt joint 1 in a workpiece 3 in the shape of tubular work pieces of optional length.
- the machine in accordance with Fig. 1 has a base 4 and as shown is movable backwards and forwards on tracks 5 in order to produce the longitudinal weld 2 by means of continuous welding, as will be described in the fol ⁇ lowing.
- a column 6 supporting an arm 7, the latter extending above and being directed towards the workpiece 3.
- the arm 7 may be arranged for vertical movements upwards and downwards along the column 6, see double arrow 8, and in a manner not either illustrated in detail, the arm 7 may be extendible and retractable, for instance telescopically, see double arrow 9.
- the arm 7 may be split in such a manner that the outer arm part may perform horizontal and vertical movements, see double arrows 10 and 11, with respect to the inner part of the arm. If needed, the arm 7 could also be arranged for pivotal movements about its centre axis or an axis in parallel therewith.
- the arm 7 supports a welding head, designated generally by numeral reference 12, see also Fig. 2.
- the head is of conventional configuration and therefore it will not be described herein in any detail.
- a sensor 13 is connected to the welding head 12 in such a manner as to assume a position at a predeter ⁇ mined distance ahead of the latter as seen in the direc ⁇ tion of welding and essentially in alignment with said head in order to be able to follow the movements of the head.
- the sensor 13 is movably mounted in a housing 14 supported by the welding head 12 or the arm 7 and it is arranged for vertical upwards and downwards move ⁇ ments as well as for rotational movements with respect to the housing 14 and consequently with respect to the welding head 12, as indicated by double arrows 15 and 16 in Fig. 2.
- the machine described briefly in the aforegoing thus is particularly suitable for the practical applica ⁇ tion of the method in accordance with the invention in order to automatically locate, by means of the sensor 13 which is movable in two directions 15 and 16, the welding starting point for the purpose of continuously produce, by welding, a butt joint defined by two surfaces, more precisely the circumferential butt joint 1 illu- strated in Figs. 1 and 3 and the longitudinal joint 2 illustrated in Figs. 4A and 4B, in the workpiece 3.
- the welding process proper is effected in the conventional manner by means of the arc-welding head which is movable in three directions 9, 10 and 11 and which supports a continuously fed electrode 17 which is directed towards the welding spot and is moved relatively along the joint.
- the method that is particularly preferred at the moment for locating the starting point in the continuous welding of a circumferential butt joint 1 is performed in the following manner.
- a predetermined and initial position 18 defined by X- and Y-axis coordinates a position in which the welding head 12 together with the sensor 13 is -located at a higher level than, i.e. above the workpiece 3, and in the example illustrated to the left of the joint 1, the sensor 13 which is in its mid-position is moved downwards over a distance of 20 mm.
- the set-value position 15 is chosen at a dis ⁇ tance 15 mm downwards and sideways with a "fixed" toler ⁇ ance value of j ⁇ 3 mm for emergency stops.
- the sensor is turned over 5 mm to the right and the set value is set at a point located 3 mm to the right.
- the welding head 12 is lowered until it comes into contact with the surface 19 of the workpiece 3, laterally of the joint 1 in the 15 mm position.
- the welding head is dragged to the right while following a track at a fixed height level, i.e. moving in parallel with the surface 19, until the joint 1 has been detected.
- the welding head 12 is stopped.
- the sensor 13 is moved laterally, i.e.
- the X- and Y-axis coordinates determining the ini ⁇ tial position 18 referred to .above are derived/plotted with respect to the first workpiece 3 and are utilized for the subsequent automatic starting-point locating process with respect to the subsequent, identical objects to be welded.
- the predetermined initial position 18 is, however, chosen on the basis of predeter ⁇ mined X-, Y- and Z coordinates so that this position is at a higher level than or above the workpiece 3 and also laterally of and on the hither side of the left end of the joint 3.
- the sensor 13 is displaced in the direction towards and in alignment with the joint 2 and the 3 mm set-value position in the same direction is set.
- the welding head 12 is lowered to the 15 mm position.
- the welding head 12 is then advanced in the direction towards the joint while following a track at a fixed height level, until it enters the joint.
- the head When the welding head has been lowered 5 mm in response to an error signal the head is stopped.
- the sensor 13 is moved (turned) laterally backwards and forwards between the groove faces of the joint in order also in this case to determine the longitudinal centre line 21 of the joint by means of spacing measurements, whereupon the welding head is advanced up to said centre line 21.
- the welding head 12 is lowered further over approxi- mately 20 mm or to the bottom of the joint, followed b.y renewed spacing measurements to determine the centre line.
- the welding head 12 is positioned on the centre line and is lowered to the 15 mm position and at. this point a new check measurement operation is effected. Subsequently, the welding head 12 is retracted while "continuous" easure- ment operations and position corrections with respect to the centre line are performed.
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Plasma & Fusion (AREA)
- Mechanical Engineering (AREA)
- Butt Welding And Welding Of Specific Article (AREA)
Abstract
A method of locating, by means of a sensor (13), the welding starting point in continuous bead welding operations to produce butt joints (1) in a workpiece (3) by means of the welding head (12) of an arc-welding apparatus, the method comprising moving the sensor towards the joint and lowering the welding head towards the surface (19) of the workpiece from a predetermined initial position externally of the joint, whereupon the welding head is moved towards the joint until the sensor detects the latter, whereupon the sensor determines the centre line of the joint and the welding head is set with respect to the latter to be finally lowered into the welding position.
Description
METHOD OF LOCATING A WELDING STARTING-POINT
The present invention concerns a locating metnod wherein a sensor which is movable in at least two direc¬ tions is used in continuous welding operations to auto¬ matically locate the welding starting point in order to produce a butt joint, defined by two surfaces, in a workpiece, said welding being performed by means of an electrode arranged for relative displacement along the joint and directed towards a welding point in the joint while being advanced continually by means of a welding head of an arc-weldmg apparatus, said nead being movable m at least three directions relatively to the workpiece.
In continuous bead welding of identical butt joints in a number of identical workpieces, such as tubular workpieces, in succession according to the method out¬ lined above, differences frequently occur, within the allowed tolerances, both as regards the shape and the position of the joints on the workpieces as with regard to the setting/fixation of the discrete objects, with the result that the joints will not ail assume an exactly identical position in readiness for the welding.
One consequence of this is that once the welding head starting position as been set in accordance with the first joint to be welded, which is the common mode of operation, and the set values have been entered into tne programme of a controlling computer, these values often cannot be applied to the identical outt joints in tne subsequent workpieces.
As a result, an operator must continually e in surveillance to check and manually re-set the position of the welding head relatively to the joint each time a new joint is to be welded, a procedure which is botn. time-consuming and expensive.
The main purpose of the invention therefore is to provide a method of the kind outlined initially which in an ingenious and efficient manner eliminates the problems in connection with the differences referred to, and consequently also the need for perpetual checking and re-setting operations.
This purpose is achieved in accordance with the teachings of the subject invention in that the sensor is connected to the welding head so as to assume a posi- tion at a predetermined distance ahead of the latter as seen in the direction of welding and essentially in alignment with said head in order to follow the move¬ ments of the head, in that from a predetermined initial position off the joint the sensor is displaced over a predetermined distance towards the joint and the welding head is lowered while following a track at a fixed height level until the sensor detects the joint, in that the sensor is displaced laterally backwards and forwards between the groove faces of the joint in order to deter- mine, by means of measurements, the joint centre line, in that the welding head is moved up to said centre line by being displaced laterally and in that the welding head is lowered into the welding position to start the welding operation. The invention will be described in closer detail in the following with reference to the accompanying drawings, wherein
Fig. 1 shows schematically and in a perspective view obliquely from above and from behind an at present particularly preferred embodiment of a machine for appli¬ cation of the method in accordance with the invention.
Fig. 2 illustrates in a view from the side a welding head incorporated in the machine illustrated in Fig. 1 together with the sensor associated therewith, this figure also showing a workpiece in the form of a tube as seen in cross section in the area of a circumferential butt joint to be welded in a continuous welding operation.
Fig. 3 illustrates schematically the object in accordance with Fig. 2 in a. view from the front, also illustrating the coordinates used to define the initial position for the starting-point locating process, and Figs. 4A and 4B illustrate in a lateral and an end view, respectively, a workpiece to be joined by a longitudinal weld, by indicating the coordinates used to define the initial position for the starting-point locating process. in the drawings are shown only the components which are required to illustrate the invention. In Fig. 1 is illustrated a machine adapted to perform continuous welding operations to provide a circumferential butt joint 1, i.e. an endless joint, as well as lengthwise extending butt joints 2, see Figs. 4A and 4B. Fig. 1 illustrates continous welding of the circumferential butt joint 1 in a workpiece 3 in the shape of tubular work pieces of optional length.
The machine in accordance with Fig. 1 has a base 4 and as shown is movable backwards and forwards on tracks 5 in order to produce the longitudinal weld 2 by means of continuous welding, as will be described in the fol¬ lowing. On the base 4 is mounted a column 6 supporting an arm 7, the latter extending above and being directed towards the workpiece 3. In a manner not illustrated in detail the arm 7 may be arranged for vertical movements upwards and downwards along the column 6, see double arrow 8, and in a manner not either illustrated in detail, the arm 7 may be extendible and retractable, for instance telescopically, see double arrow 9. Furthermore, the arm 7 may be split in such a manner that the outer arm part may perform horizontal and vertical movements, see double arrows 10 and 11, with respect to the inner part of the arm. If needed, the arm 7 could also be arranged for pivotal movements about its centre axis or an axis in parallel therewith.
At its outer end the arm 7 supports a welding head, designated generally by numeral reference 12, see also Fig. 2. The head is of conventional configuration and therefore it will not be described herein in any detail. A sensor 13 is connected to the welding head 12 in such a manner as to assume a position at a predeter¬ mined distance ahead of the latter as seen in the direc¬ tion of welding and essentially in alignment with said head in order to be able to follow the movements of the head. The sensor 13 is movably mounted in a housing 14 supported by the welding head 12 or the arm 7 and it is arranged for vertical upwards and downwards move¬ ments as well as for rotational movements with respect to the housing 14 and consequently with respect to the welding head 12, as indicated by double arrows 15 and 16 in Fig. 2.
The machine described briefly in the aforegoing thus is particularly suitable for the practical applica¬ tion of the method in accordance with the invention in order to automatically locate, by means of the sensor 13 which is movable in two directions 15 and 16, the welding starting point for the purpose of continuously produce, by welding, a butt joint defined by two surfaces, more precisely the circumferential butt joint 1 illu- strated in Figs. 1 and 3 and the longitudinal joint 2 illustrated in Figs. 4A and 4B, in the workpiece 3. The welding process proper is effected in the conventional manner by means of the arc-welding head which is movable in three directions 9, 10 and 11 and which supports a continuously fed electrode 17 which is directed towards the welding spot and is moved relatively along the joint.
The method that is particularly preferred at the moment for locating the starting point in the continuous welding of a circumferential butt joint 1 is performed in the following manner. In a predetermined and initial
position 18 defined by X- and Y-axis coordinates, a position in which the welding head 12 together with the sensor 13 is -located at a higher level than, i.e. above the workpiece 3, and in the example illustrated to the left of the joint 1, the sensor 13 which is in its mid-position is moved downwards over a distance of 20 mm. The set-value position 15 is chosen at a dis¬ tance 15 mm downwards and sideways with a "fixed" toler¬ ance value of j^3 mm for emergency stops. From this initial position 18, the sensor is turned over 5 mm to the right and the set value is set at a point located 3 mm to the right. The welding head 12 is lowered until it comes into contact with the surface 19 of the workpiece 3, laterally of the joint 1 in the 15 mm position. The welding head is dragged to the right while following a track at a fixed height level, i.e. moving in parallel with the surface 19, until the joint 1 has been detected. After having been lowered 5 mm response to an error signal, the welding head 12 is stopped. The sensor 13 is moved laterally, i.e. it is turned backwards and forwards between the groove faces of the joint in order to determine the centre line 20 of the joint 1 , where¬ upon the welding head 12 is advanced up to said centre line 20 thus determined, by being displaced laterally. The welding head is lowered further to the 15 mm position in the direction towards the bottom of the joint, where¬ after the sensor 13 again performs measurements to deter¬ mine the centre line. Depending on the readings of the new measurements further adjustment of the position of the welding head 12 laterally with respect to the centre line 20 may be needed. Repeated measurements may be required, but eventually the welding head is lowered to a new set-value position, determining the welding position appropriate for starting the welding operation.
The X- and Y-axis coordinates determining the ini¬ tial position 18 referred to .above are derived/plotted with respect to the first workpiece 3 and are utilized for the subsequent automatic starting-point locating process with respect to the subsequent, identical objects to be welded.
To locate the starting point for the welding of the longitudinal joint 2 illustrated in Figs. 4A and 4B one proceeds basically in the same manner as described in the aforegoing. In this case the predetermined initial position 18 is, however, chosen on the basis of predeter¬ mined X-, Y- and Z coordinates so that this position is at a higher level than or above the workpiece 3 and also laterally of and on the hither side of the left end of the joint 3. The sensor 13 is displaced in the direction towards and in alignment with the joint 2 and the 3 mm set-value position in the same direction is set. The welding head 12 is lowered to the 15 mm position. The welding head 12 is then advanced in the direction towards the joint while following a track at a fixed height level, until it enters the joint. When the welding head has been lowered 5 mm in response to an error signal the head is stopped. The sensor 13 is moved (turned) laterally backwards and forwards between the groove faces of the joint in order also in this case to determine the longitudinal centre line 21 of the joint by means of spacing measurements, whereupon the welding head is advanced up to said centre line 21. The welding head 12 is lowered further over approxi- mately 20 mm or to the bottom of the joint, followed b.y renewed spacing measurements to determine the centre line. In case of deviations corrections are made with the aid of the turning roll assembly 22 supporting the workpiece 3, by turning the sensor 13 in the correcting direction and the estimated set value = 1 mm is set.. One may then return to the previous measuring position for re-checking purposes. In this case, the welding
head 12 is positioned on the centre line and is lowered to the 15 mm position and at. this point a new check measurement operation is effected. Subsequently, the welding head 12 is retracted while "continuous" easure- ment operations and position corrections with respect to the centre line are performed.
At the end of the run-off plate 23 or similar means that commonly is provided at the end of the workpiece 3 a sudden increased deviation of approximately 2 mm in either direction occurs. This results in the sensor 13 being lowered on the centre line 21 to a position the error deviation of which is 4 mm. In this position, the welding head 12 is placed at a point spaced 10 mm from the edge of the run-off plate 23, whereafter the welding head is again lowered to a new set-value position indicating the welding position for starting the welding operation.
Just like in the case of the continuous welding of the circumferential joint 1 the coordinates X, Y and Z are derived from the end position readings from the first object to be welded, and the initial position 18 derived from said coordinates is used in continuous welding of the longitudinal joints 2 in the subsequent workpiece 3. It goes without saying that the invention is not limited to the embodiments illustrated in the drawings and described herein but that the invention may be modi¬ fied optionally within the scope of the claimed patent protection.
Claims
1. A locating method wherein a sensor which is movable in at least two directions is used in continuous welding operations to automatically locate the welding starting point in order to produce a butt joint, defined by two surfaces, in a workpiece, said welding being performed by means of an electrode arranged for relative displacement along the joint and directed towards a welding point in the joint while being advanced continu¬ ally by means of a welding head of an arc-welding apparat- us, said head being movable in at least three directions relatively to the object to be welded, c h a r a c t e ¬ r i z e d in that the sensor is connected to the welding head so as to assume a position at a predetermined dist¬ ance ahead of the latter as seen in the direction of welding and essentially in alignment with said head in order to follow the movements of the head, in that from a predetermined initial position off the joint the sensor is displaced over a predetermined distance towards the joint and the welding head is lowered while following a track at a fixed height level, until the sensor detects the joint, in that the sensor is displaced laterally backwards and forwards between the groove faces of the joint in order to determine, by means of measurements, the joint centre line, in that the welding head is moved up to said centre line by being displaced laterally, and in that the welding head is lowered into the welding position to start the welding operation.
2. A locating method as claimed in claim 1 for continuous welding of a circumferential joint, c h a ¬ r a c t e r i z e d in that the predetermined initial position is chosen to be situated at a higher level than the workpiece and laterally of the joint.
3. A locating method as. claimed in claims 1 and 2, c h a r a c t e r i z e d in that from the pre¬ determined initial position the sensor is displaced over the predetermined distance laterally towards the joint and the welding head is lowered until it contacts the workpiece surface laterally of the joint, whereupon the welding head while following a track at a fixed height level is made to drag laterally on said surface in a direction towards the joint, until the sensor detects the adjacent joint edge.
4. A locating method as claimed in any one of the preceding claims, c h a r a c t e r i z e d in that when the sensor has detected the adjacent joint edge the welding head together with the sensor is lowered over a predetermined distance in the direction towards the bottom of the joint, whereupon the sensor establishes the joint centre line by means of measurement operations.
5. A locating method as claimed in any one of the preceding claims, c h a r a c t e r i z e d in that after having been moved up to said centre line, the welding head is lowered further over at least a predeter¬ mined distance in the direction towards the bottom of the joint, and in that the sensor performs at least one more centre line measurement operation as well as any consequential further adjustment of the welding head position as may be required laterally with respect to the centre line.
6. A locating method as claimed in claim 1, in continuous bead welding of a longitudinal joint, c h a - •r a c t e i z e d in that the predetermined initial position is chosen to be situated at a higher level than the workpiece and laterally as well as on the hither side of one end of the joint.
7. A locating method as claimed in claims 1 and
6, c h a r a c t e r i z e d in that the sensor is moved from the predetermined initial position along the joint and the welding head is lowered, until it assumes a position on the hither side of one of the ends of the joint and opposite the latter, whereupon the welding head while following a track at a fixed height level is displaced until it enters the joint where it is stopped, as the case may be, after having been lowered further over a predetermined distance.
8. A locating method as claimed in any one of claims 1 , 6 and 7 , c h a r a c t e r i z e d in that the welding head, after having been carried up to said centre line, is lowered further at least over a predetermined distance in the direction towards the bottom of the joint and in that the sensor performs at least one more centre line measurement operation as well as any con¬ sequential adjustment of the welding head position as may be required relatively to the joint laterally for the purpose of setting the welding head with respect to the centre line.
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
SE8903026A SE503701C2 (en) | 1989-09-13 | 1989-09-13 | A method for finding a starting point in string welding with a mechanical working sensor |
SE8903026-6 | 1989-09-13 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO1991004125A1 true WO1991004125A1 (en) | 1991-04-04 |
Family
ID=20376878
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/SE1990/000580 WO1991004125A1 (en) | 1989-09-13 | 1990-09-13 | Method of locating a welding starting-point |
Country Status (2)
Country | Link |
---|---|
SE (1) | SE503701C2 (en) |
WO (1) | WO1991004125A1 (en) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
ES2094674A2 (en) * | 1993-11-11 | 1997-01-16 | Metalurgicas Juanola S A | Submerged arc welding plant |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE1752442A1 (en) * | 1968-05-27 | 1971-05-27 | Zentralinstitut Schweiss | Optical device for automatically guiding a welding head to the center of the welding gap |
SE419952B (en) * | 1980-01-09 | 1981-09-07 | Torsteknik Ab | DEVICE FOR WELDING HEAD HEAD ADJUSTMENT TO THE STRUGGLE'S STRENGTH |
SE425768B (en) * | 1977-11-08 | 1982-11-08 | Gelenkwellenbau Gmbh | DEVICE FOR ACCURATE HEALTH CARE OF A WELDING DEVICE |
SE432370B (en) * | 1975-10-15 | 1984-04-02 | Eichhorn Friedrich Prof Dr | DEVICE FOR FORMING A LIGHT BAG WELDENER AROUND A JOINT CENTER |
SE452966B (en) * | 1980-11-17 | 1988-01-04 | Komatsu Mfg Co Ltd | BANK CORRECTION DEVICE IN A SWEET ROBOT |
-
1989
- 1989-09-13 SE SE8903026A patent/SE503701C2/en not_active IP Right Cessation
-
1990
- 1990-09-13 WO PCT/SE1990/000580 patent/WO1991004125A1/en unknown
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE1752442A1 (en) * | 1968-05-27 | 1971-05-27 | Zentralinstitut Schweiss | Optical device for automatically guiding a welding head to the center of the welding gap |
SE432370B (en) * | 1975-10-15 | 1984-04-02 | Eichhorn Friedrich Prof Dr | DEVICE FOR FORMING A LIGHT BAG WELDENER AROUND A JOINT CENTER |
SE425768B (en) * | 1977-11-08 | 1982-11-08 | Gelenkwellenbau Gmbh | DEVICE FOR ACCURATE HEALTH CARE OF A WELDING DEVICE |
SE419952B (en) * | 1980-01-09 | 1981-09-07 | Torsteknik Ab | DEVICE FOR WELDING HEAD HEAD ADJUSTMENT TO THE STRUGGLE'S STRENGTH |
SE452966B (en) * | 1980-11-17 | 1988-01-04 | Komatsu Mfg Co Ltd | BANK CORRECTION DEVICE IN A SWEET ROBOT |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
ES2094674A2 (en) * | 1993-11-11 | 1997-01-16 | Metalurgicas Juanola S A | Submerged arc welding plant |
Also Published As
Publication number | Publication date |
---|---|
SE8903026L (en) | 1991-03-14 |
SE8903026D0 (en) | 1989-09-13 |
SE503701C2 (en) | 1996-08-05 |
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