WO2011136494A2 - 티그 용접장치 - Google Patents
티그 용접장치 Download PDFInfo
- Publication number
- WO2011136494A2 WO2011136494A2 PCT/KR2011/002775 KR2011002775W WO2011136494A2 WO 2011136494 A2 WO2011136494 A2 WO 2011136494A2 KR 2011002775 W KR2011002775 W KR 2011002775W WO 2011136494 A2 WO2011136494 A2 WO 2011136494A2
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- welding
- unit
- torch
- actuator
- line
- Prior art date
Links
- 238000003466 welding Methods 0.000 title claims abstract description 140
- 238000009941 weaving Methods 0.000 claims abstract description 6
- 239000000463 material Substances 0.000 claims description 26
- 230000000007 visual effect Effects 0.000 claims description 7
- 238000000034 method Methods 0.000 claims description 6
- 239000010953 base metal Substances 0.000 abstract description 2
- 230000036544 posture Effects 0.000 description 22
- 239000010949 copper Substances 0.000 description 5
- WFKWXMTUELFFGS-UHFFFAOYSA-N tungsten Chemical compound [W] WFKWXMTUELFFGS-UHFFFAOYSA-N 0.000 description 5
- 239000010937 tungsten Substances 0.000 description 5
- 229910052721 tungsten Inorganic materials 0.000 description 5
- 238000006073 displacement reaction Methods 0.000 description 4
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 description 3
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical group [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 description 3
- 239000011324 bead Substances 0.000 description 3
- 229910052799 carbon Inorganic materials 0.000 description 3
- 229910052802 copper Inorganic materials 0.000 description 3
- 239000011261 inert gas Substances 0.000 description 3
- 239000002904 solvent Substances 0.000 description 3
- XKRFYHLGVUSROY-UHFFFAOYSA-N Argon Chemical compound [Ar] XKRFYHLGVUSROY-UHFFFAOYSA-N 0.000 description 2
- 239000003795 chemical substances by application Substances 0.000 description 2
- 239000007789 gas Substances 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 229910052786 argon Inorganic materials 0.000 description 1
- 238000011109 contamination Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 239000001307 helium Substances 0.000 description 1
- 229910052734 helium Inorganic materials 0.000 description 1
- SWQJXJOGLNCZEY-UHFFFAOYSA-N helium atom Chemical compound [He] SWQJXJOGLNCZEY-UHFFFAOYSA-N 0.000 description 1
- 238000002844 melting Methods 0.000 description 1
- 230000008018 melting Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000005493 welding type Methods 0.000 description 1
Images
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
- B23K9/16—Arc welding or cutting making use of shielding gas
- B23K9/167—Arc welding or cutting making use of shielding gas and of a non-consumable electrode
-
- 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
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/02—Carriages for supporting the welding or cutting element
- B23K37/0241—Attachments between the welding or cutting element and the carriage
-
- 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
-
- 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
-
- 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
- B23K9/1272—Geometry oriented, e.g. beam optical trading
- B23K9/1274—Using non-contact, optical means, e.g. laser means
-
- 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
- B23K9/32—Accessories
Definitions
- the present invention relates to a TIG welding apparatus, and more particularly, to a TIG welding apparatus capable of tracking a welding line in real time and performing a TIG welding by moving a torch based on the tracked weld line information.
- TIG welding is generally abbreviated to "Tungsten Inert Gas arc welding.”
- an arc is generated using a tungsten rod as an electrode and welded while melting the solvent into an arc.
- the tungsten rod of the electrode is used, and the solvent is a copper (Cu) wire.
- the tungsten rods described above are hardly consumed, and only the copper wires described above are consumed.
- the TIG welding is performed by argon gas or helium gas is supplied to the arc generating portion through the welding holder, and the above-described solvent and base metal are welded in such an inert gas atmosphere.
- the thermal deformation occurs in the base material due to the high temperature generated during welding, and this thermal deformation may change the welding line.
- the distance between the electrode and the mother material is not constant due to the change of the welding line, due to the overcurrent and undercurrent Bonding to the weld occurs or weld failure occurs.
- the strength of the welding current changes due to the difference between the base material and the electrode between 1 mm and 2 mm, the best welding quality can be expected when the distance or angle of the torch to be welded is ideal, as described above. If the arc is abnormally generated due to the defect, the TIG welding does not proceed normally, therefore, a high level of skill is required.
- spatter is generated, and the spatter scatters and contaminates an optical lens such as a laser scanner, and the spatter interferes with the laser trace line in the air, so that the state of the welding base material cannot be accurately measured.
- the welding line information to be the basis of the welding path is wrong, and thus the welding does not proceed normally.
- the direction and posture of the base material is different depending on the welding working environment, which affects the welding quality according to the posture or direction of the electrode, thereby actively changing the welding posture to suit the welding working environment. Is required.
- an object of the present invention is to provide a TIG welding apparatus for tracking a welding line to advance the torch to an optimal welding path even when the state of the base material to be welded is somewhat twisted or uneven.
- Another object of the present invention is to provide a TIG welding device that can actively convert the welding position according to the direction in which the welding base material is placed, thereby improving the efficiency of the automated welding device.
- the torch unit is disposed electrode and wire and weaving unit;
- a welding posture control unit configured to control the welding posture by pivoting the torch unit in up, down, left and right directions;
- a welding line tracking unit installed in the welding posture control unit so as to precede the torch unit based on the traveling direction of the torch unit, and detecting a welding line by detecting a state in which a welding base material is placed;
- a torch transfer unit that moves the torch unit based on the information of the weld line tracked by the weld line tracking unit.
- the welding posture control unit may further include: a first swing actuator installed on the frame to pivot the first swing bracket; A second swing actuator installed on the first pivot bracket to pivot the second pivot bracket; And a third pivoting actuator installed on the second pivoting bracket to pivot the third pivoting bracket in which the torch unit is installed.
- the welding line tracking unit may further include: a vision sensor unit configured to scan a welding line of the welding base material; And a transfer control unit which calculates the information scanned from the visual sensor unit to track the weld line.
- the torch conveying unit may include: a first conveying actuator installed at one side of the weld posture control unit and moving the torch unit in a first direction based on a weld line traced by the weld seam tracking unit; and the first conveying actuator And a second transfer actuator installed at one side of the moving unit and moving the torch unit in a second direction perpendicular to the first direction based on the welding line tracked by the welding line tracking unit.
- the TIG welding device according to the present invention made as described above does not generate spatter in carbon arc welding, so that the welding line can be more accurately tracked and the welding position is precisely moved by moving the torch based on the tracked weld line information. It can maintain and improve the welding quality.
- the TIG welding apparatus can effectively cope with the welding work site by actively converting the direction of the torch according to the shape or posture of the welding base material is arranged, it is possible to implement an automated welding device with high maturity.
- FIG. 1 is a view for explaining a TIG welding apparatus according to an embodiment of the present invention.
- FIGS. 2 and 3 are a front view and a plan view for explaining the welding posture control unit 100 in the TIG welding apparatus according to an embodiment of the present invention.
- FIG 4 and 5 are views for explaining the torch transfer unit 300 in the TIG welding apparatus according to an embodiment of the present invention.
- weld position control unit 102 frame
- weaving unit 412 torch
- main control unit 610 wire feeding unit
- FIG. 1 is a view for explaining a TIG welding apparatus according to an embodiment of the present invention.
- the TIG welding apparatus has a state in which a welding posture control unit 100 and a welding base material are placed to control the welding posture by turning the torch unit 400 up, down, left, and right directions. And a torch transfer unit 300 that moves the torch unit 400 described above based on the weld line tracking unit 200 that detects and tracks the weld line.
- the torch unit 400 described above is provided with an electrode 632, a wire 634, and a weaving unit 410.
- the above-described electrode 632 may be a tungsten electrode rod, and the above-described wire 634 may be a welding agent of a wire made of copper (Cu) material.
- the above-mentioned weaving unit 410 is a device for reciprocating the torch 412 of the torch unit 400 described above from side to side within a predetermined width to form a welding bead when the welding proceeds.
- An electrode 632 is disposed at a lower end of the torch 412, a wire holder 416 is disposed at one side of the torch 412, and a wire 634 is supported in the idle state of the wire holder 416, so that the above-described wire is supported.
- the wire 634 is provided toward the part to be welded by the supply unit 610.
- the torch unit 400 described above is connected to the main control unit 600 and the holder cable 620, the supply unit for supplying the above-described wire 634 to one side of the main control unit 600 ( 610 may be disposed.
- the above-mentioned holder cable 620 may be a hose for supplying an inert gas to the above-described torch unit 400 and a power line for generating an arc may be disposed.
- the supply unit 610 described above feeds the wire 634 by maintaining the proper speed so as to feed the wire 634 and in particular suitable for the progress of the welding.
- the above-described welding line tracking unit 200 is disposed at a position preceding the above-described torch unit 400 on the basis of the direction in which the welding proceeds.
- the above-described welding line tracking unit 200 calculates the information scanned from the visual sensor unit 210 and the above-described visual sensor unit 210 for scanning the weld seam of the welding base material transfer control unit 220 to track the weld line It is configured to include.
- the weld line tracking unit 200 may scan the surfaces of the first and second base materials 512 and 514 in advance of the torch unit 400, and thus, the first and second base materials 512. It is possible to trace the welding line 516 between 514.
- the height of the welding line 516 can be detected in a form in which the height of the welding line 516 is changed or skewed from side to side.
- the weld line information calculated and tracked in) may be output as height displacement and left and right displacement values.
- FIGS. 2 and 3 are a front view and a plan view for explaining the welding posture control unit 100 in the TIG welding apparatus according to an embodiment of the present invention.
- the welding posture control unit 100 includes first, second, and third swing actuators 110, 120, 130.
- first swing actuator 110 is installed in the frame 12, and the first swing actuator 110 described above is provided with a first swing bracket 112, thereby providing a first swing actuator 110.
- the first pivot bracket 112 pivots by driving.
- first swing actuator 120 is installed in the above-mentioned first swing bracket 112, and the above-mentioned second swing actuator 120 is provided with the second swing bracket 122, thereby providing a second swing actuator ( The second turning bracket 122 is turned by the driving of 120.
- the operating axis of the above-described first swing actuator 110 and the above-described operating axis of the second swing actuator 120 may be disposed in a direction perpendicular to each other.
- the above-mentioned third pivoting actuator 130 is installed in the second pivoting bracket 122, and the third pivoting actuator 130 is installed in the third pivoting actuator 130 and the third pivoting actuator ( The third turning bracket 132 turns by the driving of 120.
- the operating axis of the above-described second swing actuator 120 and the above-described operating axis of the third swing actuator 130 may be disposed in a direction perpendicular to each other.
- the above-described third turning bracket 132 is provided with a fixing bracket 202, and the welding line tracking unit 200 described above is disposed in front of the fixing bracket 202.
- the torch transfer unit 300 is disposed behind the fixing bracket 202.
- the torch unit 400 may be in any direction by driving the above-described first, second, and third turning actuators 110, 120, 130, and thus, various postures, for example, It is possible to take an active posture corresponding to the direction in which the base material is placed, such as bogie welding, top welding, horizontal welding and vertical welding.
- the various postures implemented in the welding posture control unit 100 may vary the welding posture by changing the direction of the torch unit 400.
- the above-described frame 102 may be mounted to an automated welding machine capable of traveling, and as an example of the automated welding machine, there are various types of turning rollers, turntables, articulated robots, traveling robots, and the like. It can be installed and used in various types of automated welding machines as described above.
- the torch unit 400 may be inverted by the above-described third turning actuator 130, and in the inverted state, the torch unit 400 may be retracted so that the secondary to the first weld bead is welded. Welding beads may be formed repeatedly.
- the torch transfer unit 300 described above will be described in more detail with reference to FIGS. 4 and 5.
- FIG 4 and 5 are views for explaining the torch transfer unit 300 in the TIG welding apparatus according to an embodiment of the present invention.
- the torch transfer unit 300 is installed on one side of the welding position control unit 100, and more specifically, is installed on the third turning bracket 132.
- a first block 302 is installed in the above-described third turning bracket 132, a first screw 312 is installed in the first block 302, and the first block 302 is installed.
- a first transfer actuator 310 for rotating the above-described first screw 312.
- first nut block 314 is screwed to the first screw 312 described above, and the first nut block 314 is linearly moved in the above-described first block 302.
- the first nut block 314 is provided with a second block 316, a second screw 322 is installed in the second block 316, and one of the second blocks 316 is provided with the above-mentioned agent.
- the second transfer actuator 320 for rotating the two screws 322 is installed.
- the axis of the above-mentioned first screw 312 and the axis of the above-mentioned second screw 322 may be provided in a direction orthogonal to each other.
- a second nut block 324 is installed in the above-described second screw 322, and the second nut block 324 is linearly moved in the above-described second block 316.
- One side of the second block 316 described above is equipped with the torch unit 400 described above, and more specifically, as shown in FIG. 5, the holder arm 402 is installed in the second nut block 324.
- the torch unit 400 described above is disposed on the holder arm 402.
- the weld line information tracked by the weld line tracking unit 200 described above may give a command to the above-described first and second linear actuators 310 and 320, and thus, the first and second linear actuators 310.
- Reference numeral 320 is an example of moving left and right up and down.
- the above-described first linear actuator 310 is driven based on the height displacement information output from the welding line tracking unit 200 described above to adjust the height a of the torch unit 400, thereby adjusting the height of the torch unit 400.
- the distance between the electrodes 632 can be kept constant.
- the second linear actuator 320 is moved left and right based on the left and right displacement information output from the welding line tracking unit 200 described above so that the torch unit 400 is moved and adjusted in the left and right directions, thereby twisting or deforming the welding line. Even if it is possible to perform welding by tracking the changed weld line.
- the TIG welding apparatus can actively change the welding posture of the torch unit 400 by the welding posture control unit 100 according to the direction in which the base material is placed. Automation can be spherical to more diverse types of welding operations.
- the TIG welding apparatus can trace the weld line precisely because the contamination of the optical device by the spatter is not generated by tracking the weld line in an environment where spatter does not occur.
- the first and second base materials 512 and 514 are always moved by moving the torch unit 400 by the torch transfer unit 300 based on the tracked weld line information.
- the interval s of 632 can be kept constant, whereby the welding quality can be prevented from being lowered and the welding quality can be improved.
- the TIG welding apparatus can be used to precisely weld the TIG by moving the TIG welding holder based on the weld line information tracked by tracking the weld line in real time.
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Mechanical Engineering (AREA)
- Plasma & Fusion (AREA)
- Optics & Photonics (AREA)
- Geometry (AREA)
- Arc Welding In General (AREA)
- Butt Welding And Welding Of Specific Article (AREA)
- Arc Welding Control (AREA)
Abstract
Description
Claims (4)
- 전극(632)과 와이어(634)와 위빙 유닛(410)이 배치된 토치 유닛(400);상기 토치 유닛(400)을 상하좌우 방향으로 선회시켜 용접자세를 제어하는 용접자세 제어 유닛(100);상기 토치 유닛(400)의 진행방향을 기준으로 상기 토치 유닛(400)보다 선행되게 상기 용접자세 제어 유닛(100)에 설치되고 용접 모재가 놓인 상태를 검출하여 용접선을 추적하는 용접선 추적 유닛(200); 및상기 용접선 추적 유닛(200)에서 추적된 용접선의 정보에 근거하여 토치 유닛(400)을 이동시키는 토치 이송 유닛(300);을 포함하는 티그 용접장치.
- 제 1항에 있어서,상기 용접자세 제어 유닛(100)은,프레임(102)에 설치되어 제1 선회 브래킷(112)을 선회시키는 제1 선회 액추에이터(110);상기 제1 선회 브래킷(112)에 설치되어 제2 선회 브래킷(122)을 선회시키는 제2 선회 액추에이터(120); 및상기 제2 선회 브래킷(122)에 설치되어 상기 토치 유닛(400)이 설치되는 제3 선회 브래킷(132)을 선회시키는 제3 선회 액추에이터(130);를 포함하는 티그 용접장치.
- 제 1항에 있어서,상기 용접선 추적 유닛(200)은,상기 용접 모재의 용접선을 스캐닝하는 시각센서 유닛(210); 및상기 시각센서 유닛(210)으로부터 스캐닝된 정보를 연산하여 용접선을 추적하는 이송제어 유닛(220);을 포함하는 티그 용접장치.
- 제 1항에 있어서,상기 토치 이송 유닛(300)은,상기 용접자세 제어 유닛(100)의 한쪽에 설치되고 상기 용접선 추적 유닛(200)에서 추적된 용접선에 근거하여 상기 토치 유닛(400)을 제1 방향으로 이동시키는 제1 이송 액추에이터(310);와상기 제1 이송 액추에이터(310)의 한쪽에 설치되고 상기 용접선 추적 유닛(200)에서 추적된 용접선에 근거하여 상기 토치 유닛(400)을 상기 제1 방향과 직교되는 제2 방향으로 이동시키는 제2 이송 액추에이터(320);를 포함하는 티그 용접장치.
Priority Applications (7)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US13/695,307 US20130048620A1 (en) | 2010-04-30 | 2011-04-19 | Tig welding machine |
JP2013507867A JP2013525117A (ja) | 2010-04-30 | 2011-04-19 | ティグ溶接装置 |
EP11775199.0A EP2594356A2 (en) | 2010-04-30 | 2011-04-19 | Tig welding machine |
CN2011800219615A CN102939181A (zh) | 2010-04-30 | 2011-04-19 | 钨极氩弧焊装置 |
BR112012027709A BR112012027709A2 (pt) | 2010-04-30 | 2011-04-19 | máquina de soldagem tig |
RU2012151631/02A RU2012151631A (ru) | 2010-04-30 | 2011-04-19 | Аппарат для аргонодуговой сварки |
CA2797891A CA2797891A1 (en) | 2010-04-30 | 2011-04-19 | Tig welding machine |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
KR1020100040717A KR101178995B1 (ko) | 2010-04-30 | 2010-04-30 | 티그 용접장치 |
KR10-2010-0040717 | 2010-04-30 |
Publications (2)
Publication Number | Publication Date |
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WO2011136494A2 true WO2011136494A2 (ko) | 2011-11-03 |
WO2011136494A3 WO2011136494A3 (ko) | 2012-03-01 |
Family
ID=44862006
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/KR2011/002775 WO2011136494A2 (ko) | 2010-04-30 | 2011-04-19 | 티그 용접장치 |
Country Status (9)
Country | Link |
---|---|
US (1) | US20130048620A1 (ko) |
EP (1) | EP2594356A2 (ko) |
JP (1) | JP2013525117A (ko) |
KR (1) | KR101178995B1 (ko) |
CN (1) | CN102939181A (ko) |
BR (1) | BR112012027709A2 (ko) |
CA (1) | CA2797891A1 (ko) |
RU (1) | RU2012151631A (ko) |
WO (1) | WO2011136494A2 (ko) |
Families Citing this family (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US10486259B2 (en) * | 2015-11-10 | 2019-11-26 | Amada Miyachi Co., Ltd. | TIG welding device |
CN108637420B (zh) * | 2018-07-04 | 2024-06-11 | 武汉松盛光电科技有限公司 | 一种自动送丝系统 |
JP7228491B2 (ja) * | 2019-08-29 | 2023-02-24 | 三菱重工業株式会社 | 溶接装置および方法 |
JP7438896B2 (ja) * | 2020-08-25 | 2024-02-27 | 鹿島建設株式会社 | 溶接方法及び溶接装置 |
KR102345711B1 (ko) * | 2021-10-20 | 2021-12-30 | 김정현 | 모재에 형성된 용접선을 따라 정교한 위빙 동작으로 용접을 진행하여 균일한 위빙비드를 형성하는 용접 로봇의 제어방법 |
CN114131157A (zh) * | 2021-12-22 | 2022-03-04 | 一重集团大连核电石化有限公司 | 多功能管件自动钨极氩弧焊焊接装置 |
KR102635113B1 (ko) * | 2022-05-06 | 2024-02-13 | 우정엔지니어링 주식회사 | 3차원 파이프 커팅장치 |
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Publication number | Priority date | Publication date | Assignee | Title |
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JPS63192563A (ja) * | 1987-02-06 | 1988-08-09 | Nisshin Steel Co Ltd | Tig自動円周溶接方法 |
JPH0220663A (ja) * | 1988-07-07 | 1990-01-24 | Fanuc Ltd | 溶接ロボット |
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KR100200639B1 (ko) * | 1996-11-13 | 1999-06-15 | 윤종용 | 자동 용접장치의 용접토오치 경로 보정방법 |
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EP1555080B1 (en) * | 2002-05-13 | 2009-10-14 | Honda Giken Kogyo Kabushiki Kaisha | Tig welding equipment and tig welding method |
US7329827B2 (en) * | 2004-03-11 | 2008-02-12 | L'air Liquide, Societe Anonyme A Directoire Et Conseil De Surveillance Pour L'etude Et L'exploitation Des Procedes Georges Claude | Wire-guide nozzle assembly for a robotic TIG welding torch |
JP4859386B2 (ja) * | 2005-04-20 | 2012-01-25 | 株式会社小松製作所 | アーク溶接装置及びアーク溶接装置のウィービング溶接方法 |
US20070011873A1 (en) * | 2005-07-14 | 2007-01-18 | Teale David W | Methods for producing even wall down-hole power sections |
JP2008105056A (ja) * | 2006-10-25 | 2008-05-08 | Denso Corp | Tig溶接方法およびその装置 |
US8367962B2 (en) * | 2007-10-26 | 2013-02-05 | Ariel Andre Waitzman | Automated welding of moulds and stamping tools |
CN101623867B (zh) * | 2008-07-11 | 2010-12-01 | 中国科学院沈阳自动化研究所 | 一种使机器人高精度跟踪指定路径的设备和方法 |
JP2010089149A (ja) * | 2008-10-10 | 2010-04-22 | Komatsu Ltd | 溶接ロボットの制御装置および制御方法 |
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2010
- 2010-04-30 KR KR1020100040717A patent/KR101178995B1/ko active IP Right Grant
-
2011
- 2011-04-19 BR BR112012027709A patent/BR112012027709A2/pt not_active IP Right Cessation
- 2011-04-19 EP EP11775199.0A patent/EP2594356A2/en not_active Withdrawn
- 2011-04-19 RU RU2012151631/02A patent/RU2012151631A/ru not_active Application Discontinuation
- 2011-04-19 JP JP2013507867A patent/JP2013525117A/ja not_active Withdrawn
- 2011-04-19 CA CA2797891A patent/CA2797891A1/en not_active Abandoned
- 2011-04-19 CN CN2011800219615A patent/CN102939181A/zh active Pending
- 2011-04-19 US US13/695,307 patent/US20130048620A1/en not_active Abandoned
- 2011-04-19 WO PCT/KR2011/002775 patent/WO2011136494A2/ko active Application Filing
Non-Patent Citations (1)
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Also Published As
Publication number | Publication date |
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CN102939181A (zh) | 2013-02-20 |
KR20110121221A (ko) | 2011-11-07 |
JP2013525117A (ja) | 2013-06-20 |
EP2594356A2 (en) | 2013-05-22 |
WO2011136494A3 (ko) | 2012-03-01 |
KR101178995B1 (ko) | 2012-08-31 |
US20130048620A1 (en) | 2013-02-28 |
RU2012151631A (ru) | 2014-06-10 |
BR112012027709A2 (pt) | 2017-10-17 |
CA2797891A1 (en) | 2011-11-03 |
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