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    • 5. 发明授权
    • Method of multi-layer welding
    • 多层焊接方法
    • US4508953A
    • 1985-04-02
    • US487687
    • 1983-04-22
    • Tsudoi MurakamiShoji NasuKazuaki TatsumiYasuhide Nagahama
    • Tsudoi MurakamiShoji NasuKazuaki TatsumiYasuhide Nagahama
    • B23K9/02B23K9/12
    • B23K9/0216
    • A method of multi-layer welding in which the welding operation is performed according to a path of welding defined by interpolating a plurality of instructed points by a suitable line, the method being characterized by storing in a memory device the coordinates actually passed by a welding torch in the welding operation of the first layer at the instructed points and determining the welding path of the second and succeeding layers by adding a predetermined amount of shift to the actual detected coordinates stored in the memory device at the instructed points and interpolating the shifted coordinates by a suitable line. According to another aspect of the present invention, therefor provided is a method for controlling the locus of operation in the second and succeeding layers in a multi-layer welding operation by a teach/playback type robot including an arithmetic control mechanism the method being characterized by teaching an arcuate locus of operation of the first layer; utilizing as a parameter a shift width corresponding to the arcuate bead to be formed in the second and succeeding layers through an external input member; determining the direction of shift of the second and succeeding layers by calculating the inner product of the directional vector of a welding torch according to the teaching data of the first layer and a directional vector from a point on the arcuate locus of operation to the center of the arc; and calculating the locus of operation of the second or a succeeding layer from the shift direction and width by the arithmetic control mechanism.
    • 一种多层焊接方法,其中根据通过适当的线插入多个指示点所限定的焊接路径执行焊接操作,该方法的特征在于,在存储装置中存储通过焊接实际通过的坐标 在指示点处焊接第一层的焊炬,并且通过在指示点处对存储在存储装置中的实际检测到的坐标加上预定量的位移来确定第二层和后层的焊接路径,并且内插移位的坐标 通过合适的线。 根据本发明的另一方面,提供了一种用于通过包括算术控制机构的教导/重放型机器人在多层焊接操作中控制第二层和后层中的操作轨迹的方法,该方法的特征在于 教授第一层的弧形轨迹; 利用与通过外部输入构件形成在第二层和后层中的弓形凸缘相对应的移位宽度作为参数; 通过根据第一层的教学数据计算焊炬的方向矢量的内积和从弓形操作轨迹上的点到方向矢量的方向矢量来确定第二层和后层的移位方向 电弧 并且通过算术控制机构从移位方向和宽度计算第二层或后层的工作轨迹。