Abstract

Provided is a weaving control method for obtaining an excellent weld quality of various kinds of position welding such as flat welding, horizontal welding, and vertical welding using a portable welding robot that moves on a guide rail. The weaving control method includes: a setting step of setting at least a condition of a weaving reference trajectory relating to a reference distance for determining a weaving pattern; and a speed condition calculation step of calculating a speed condition for giving an instruction to a robot movement mechanism that moves the portable welding robot for each of a plurality of predetermined direction components based on the weaving pattern determined based on the setting step, in which an instruction of a stop signal and an instruction of a departure signal to be given immediately after instructing the stop signal or after the lapse of a predetermined stop time are synchronized with the speed condition of each of the plurality of direction components calculated in the speed condition calculation step at least when a weaving end is reached.

IPC Classes  ?

• B23K 9/02 - Seam weldingBacking meansInserts
• B23K 9/12 - Automatic feeding or moving of electrodes or work for spot or seam welding or cutting

Abstract

The present invention enables easy and multi-purpose setting of a welding condition regardless of the presence or absence of long welding while ensuring welding quality. This lamination design method is for performing multi-pass welding, by using a welding robot, on a material which is to be welded and to which a groove shape is provided, the method involving: detecting a plurality of positions of the groove shape and calculating reference groove shape data on the basis of data of the plurality of detected positions of the groove shape; calculating, as reference lamination information, at least the number of laminations and the layer thicknesses of respective layers on the basis of the reference groove shape data; and calculating, on the basis of the reference groove shape data, the data of the groove shape at each detected position, and the reference lamination information, the number of laminations and the layer thickness of each layer that are lamination information for the detected positions.

IPC Classes  ?

• B23K 9/095 - Monitoring or automatic control of welding parameters
• B23K 9/12 - Automatic feeding or moving of electrodes or work for spot or seam welding or cutting

Abstract

Provided is a weaving control method that is operable in a desired weaving pattern. A welding control device comprises a database in which, when an information group including at least installation information, welding condition information, and weaving information is defined as welding information, a control reference item selected from at least one item of the welding information and a control item selected from at least one item of the welding information are associated and stored for every reference item selected from at least one item of the welding information, the database being constructed such that the control item includes at least an offset amount for changing a direction and a distance of at least one point set in advance in one cycle of a weaving reference trajectory of the weaving information. Moreover, a weaving control method that uses the welding control device includes a step for extracting at least the offset amount from the database on the basis of measured values of the control reference items that are input.

IPC Classes  ?

• B23K 9/12 - Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
• B23K 9/095 - Monitoring or automatic control of welding parameters

Abstract

Provided is a weaving control method for obtaining excellent welding quality in welding in various positions such as downward welding, horizontal welding, and vertical welding using a portable welding robot that moves on a guiderail. This weaving control method includes: a setting step for setting at least a condition of a weaving reference trajectory related to a reference distance for determining a weaving pattern; and a velocity condition calculation step for calculating, for each of a plurality of predetermined direction components and on the basis of the weaving pattern determined on the basis of the setting step, a velocity condition for issuing a command to a robot movement mechanism that moves the portable welding robot. A stop signal command and a start signal command that is issued immediately after the stop signal command or after a predetermined stop time has elapsed are synchronized, for the velocity condition of each of the plurality of direction components calculated in the velocity condition calculation step, at at least an arrival time of a weaving end.

IPC Classes  ?

• B23K 37/02 - Carriages for supporting the welding or cutting element
• G05B 19/4093 - Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by part programming, e.g. entry of geometrical information as taken from a technical drawing, combining this with machining and material information to obtain control information, named part programme, for the NC machine
• B23K 9/12 - Automatic feeding or moving of electrodes or work for spot or seam welding or cutting

Goods & Services

electric arc welding apparatus; industrial robots for welding; metalworking machines and metalworking machine tools, and their parts and fittings; electric welding wire feeding apparatus; welding torches; electrodes for welding machines; bearings, as parts of machines; shaft couplings for machines; power transmissions for machines remote controls for welding apparatus; electrical apparatus for transmission of communication and replacement parts and fittings therefor; computers; electronic control systems for welding machines and apparatus and replacement parts and fittings therefor; electric power distribution machines; power controllers; power switches; voltage regulators; power sources for welding apparatus, namely, welding transformers and current generators; tool measuring instruments; electric wires and cables; electrodes

Abstract

In this welding control method for a portable welding robot that moves along a guide rail, for using the portable welding robot to weld a workpiece including a groove: a groove shape detection position is established in at least one location in a welding sector extending from a welding starting point to a welding end point; the groove shape at a groove shape detection position Pn is sensed by means of a detecting means of the portable welding robot, which is moving along the guide rail; groove shape information is calculated from detection data obtained by the sensing; and a welding condition is acquired on the basis of the groove shape information.

IPC Classes  ?

• B23K 9/127 - Means for tracking lines during arc welding or cutting
• B23K 9/095 - Monitoring or automatic control of welding parameters

Abstract

In this welding control method for a portable welding robot that moves along a guide rail, for using the portable welding robot to weld a workpiece including a groove: a groove shape detection position is established in at least one location in a welding sector extending from a welding starting point to a welding end point; the groove shape at a groove shape detection position Pn is sensed by means of a detecting means of the portable welding robot, which is moving along the guide rail; groove shape information is calculated from detection data obtained by the sensing; and a welding condition is acquired on the basis of the groove shape information.

IPC Classes  ?

• B23K 37/02 - Carriages for supporting the welding or cutting element
• B23K 9/095 - Monitoring or automatic control of welding parameters
• B23K 9/12 - Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
• B23K 9/127 - Means for tracking lines during arc welding or cutting

Abstract

nn is sensed by means of a detecting means of the portable welding robot, which is moving along the guide rail; groove shape information is calculated from detection data obtained by the sensing; and a welding condition is acquired on the basis of the groove shape information.

IPC Classes  ?

• B23K 37/02 - Carriages for supporting the welding or cutting element
• B23K 9/095 - Monitoring or automatic control of welding parameters
• B23K 9/12 - Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
• B23K 9/127 - Means for tracking lines during arc welding or cutting

Abstract

A welding device for gas shielded arc welding includes: a portable welding robot mounted with a welding torch including a nozzle that guides jetting of shielding gas and a contact tip that performs energization on a consumable electrode; a feeding device that supplies the consumable electrode to the welding torch; a welding power source that supplies electric power to the consumable electrode via the contact tip; a gas supply source that supplies the shielding gas to be jetted from a nozzle end; and a control device that controls the portable welding robot. When the welding torch is seen from a side of jetting of the shielding gas, the contact tip is placed in an inside of an opening of the nozzle, the nozzle and the contact tip have a relatively movable structure, and an inner diameter of the nozzle end is within a range of 10-20 mm.

IPC Classes  ?

• B23K 9/173 - Arc welding or cutting making use of shielding gas and of consumable electrode
• B23K 9/09 - Arrangements or circuits for arc welding with pulsed current or voltage
• B23K 9/095 - Monitoring or automatic control of welding parameters
• B23K 9/12 - Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
• B23K 9/16 - Arc welding or cutting making use of shielding gas
• B23K 9/29 - Supporting devices adapted for making use of shielding means
• B23K 37/02 - Carriages for supporting the welding or cutting element

Abstract

Provided are a welding device for gas shielded arc welding, and a welding method employing the welding device, which is provided with a portable welding robot fitted with a welding torch 200 provided with a nozzle 210 for guiding a jet of a shielding gas and a contact tip 220 for energizing a consumable electrode, a feeding device which supplies the consumable electrode to the welding torch, a welding power source which supplies electric power to the consumable electrode via the contact tip 220, a gas supply source which supplies the shielding gas to the welding torch 200, and a control device which controls the portable welding robot, wherein, when the welding torch 200 is seen from the shielding gas jet side, the contact tip 220 is disposed inside an opening of the nozzle 210, the nozzle 210 and the contact tip 220 have a construction allowing relative movement therebetween, and a tip end inner diameter of the nozzle 210 lies within a range of at least 10 mm and at most 20 mm.

IPC Classes  ?

• B23K 9/29 - Supporting devices adapted for making use of shielding means
• B23K 9/09 - Arrangements or circuits for arc welding with pulsed current or voltage
• B23K 9/12 - Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
• B23K 9/16 - Arc welding or cutting making use of shielding gas

Abstract

Provided are a welding device for gas shielded arc welding, and a welding method employing the welding device, which is provided with a portable welding robot fitted with a welding torch 200 provided with a nozzle 210 for guiding a jet of a shielding gas and a contact tip 220 for energizing a consumable electrode, a feeding device which supplies the consumable electrode to the welding torch, a welding power source which supplies electric power to the consumable electrode via the contact tip 220, a gas supply source which supplies the shielding gas to the welding torch 200, and a control device which controls the portable welding robot, wherein, when the welding torch 200 is seen from the shielding gas jet side, the contact tip 220 is disposed inside an opening of the nozzle 210, the nozzle 210 and the contact tip 220 have a construction allowing relative movement therebetween, and a tip end inner diameter of the nozzle 210 lies within a range of at least 10 mm and at most 20 mm.

IPC Classes  ?

• B23K 9/29 - Supporting devices adapted for making use of shielding means
• B23K 9/09 - Arrangements or circuits for arc welding with pulsed current or voltage
• B23K 9/12 - Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
• B23K 9/16 - Arc welding or cutting making use of shielding gas