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1. 发明申请

WO1997010919A1 AUTOMATIC WELDING CONDITION SETTING DEVICE 审中-公开
标题翻译：自动焊接条件设定装置
公开(公告)号：WO1997010919A1
公开(公告)日：1997-03-27
申请号：PCT/JP1996002690
申请日：1996-09-19
申请人： KABUSHIKI KAISHA YASKAWA DENKI , HANDA, Hiroyuki , OKUMURA, Shinji , FUJI, Hajime , MITSUSHIO, Takanori , TAKAOKA, Keiichi , OHSAWA, Noriyuki , NISHIMURA, Isao , NISHIMURA, Kiminori , AMANO, Tadayuki , SUZUSHIMA, Michiko
发明人： KABUSHIKI KAISHA YASKAWA DENKI
IPC分类号： B23K09/095
CPC分类号： B23K9/1062 , B23K9/0953
摘要： A welding condition setting device that allows even a beginner to easily set a work process and welding conditions for a target welding, comprising a welding information recording unit (12) recording therein welding working information on welding working such as information on a welding machine for use in arc welding, information on shield gas and information on welding wires, welding information inputting and outputting means (11) for inputting and outputting the welding working information, welding working information setting means (15) for setting the welding working information, retrieving means (13) for retrieving relevant information from the information stored in the welding information storing unit (12) based on information so set, and information control means (14) for giving the retrieving means (13) a retrieving requirement instruction in retrieving information in the information storing unit (12) and outputting the relevant welding information.
摘要翻译：一种焊接条件设定装置，其能够即使初学者容易地设定用于目标焊接的工作过程和焊接条件，包括焊接信息记录单元（12），其中记录关于焊接工作的焊接工作信息，例如关于使用的焊接机的信息在电弧焊接中，关于保护气体的信息和焊丝信息，焊接信息输入输出装置（11），用于输入和输出焊接作业信息，焊接作业信息设定装置（15），用于设定焊接作业信息，检索装置 13），用于根据所设置的信息从存储在焊接信息存储单元（12）中的信息中检索相关信息;以及信息控制装置（14），用于在检索信息中提供检索要求指令，存储单元（12）并输出相关的焊接信息。

2. 发明申请

WO1997049518A1 ARC WELDING METHOD 审中-公开
标题翻译：弧焊方法
公开(公告)号：WO1997049518A1
公开(公告)日：1997-12-31
申请号：PCT/JP1997002179
申请日：1997-06-24
申请人： FANUC LTD , WATANABE, Atsushi , ITO, Takayuki , KOSAKA, Tetsuya , NISHI, Hiroji , TAKAHASHI, Hiromitsu
发明人： FANUC LTD
IPC分类号： B23K09/095
CPC分类号： G05B19/40937 , B23K9/0953 , B23K9/1062 , B23K9/127 , G05B2219/35569 , G05B2219/45135 , Y02P90/265
摘要： An arc welding method by which welding conditions such as the welding speed, the voltage and the current can be varied easily. A starting point at which the change of the welding conditions, i.e., the welding speed, voltage and current, is started and a finishing point at which the change of the conditions is finished are taught, and the welding speeds, voltages and currents at those starting and finishing points are determined. At the starting point, the welding is started at the welding speed, voltage and current which are set as the conditions at the starting point and the welding conditions are gradually changed so as to reach, at the finishing point, the welding speed, voltage and current which are set as the conditions at the finishing point. Only by setting the positions of the starting point and finishing point and the welding conditions at the positions, the welding conditions can be gradually changed while a welding torch is moved from the starting point to the finishing point, so that the welding conditions can be varied easily.
摘要翻译：可以容易地改变诸如焊接速度，电压和电流之类的焊接条件的电弧焊接方法。开始焊接条件的变化，即焊接速度，电压和电流的起始点，以及完成条件变化的完成点，焊接速度，电压和电流在这些确定起点和终点。在起始点，以焊接速度开始焊接，设定为起始点处的条件的电压和电流，焊接条件逐渐变化，以在最终点达到焊接速度，电压和设定为终点处的条件的电流。只要通过设定起点和终点的位置以及位置处的焊接条件，焊接条件可以在焊炬从起始点到终点处移动的同时逐渐改变，从而可以改变焊接条件容易。

3. 发明申请

WO1996040465A1 COMPUTERIZED CONTROL, MEASUREMENT, DOCUMENTATION OF ARC WELDING 审中-公开
标题翻译：计算机控制，测量，电弧焊接文件
公开(公告)号：WO1996040465A1
公开(公告)日：1996-12-19
申请号：PCT/US1996009300
申请日：1996-06-06
申请人： HILL TECHNICAL SERVICES, INC.
发明人： HILL TECHNICAL SERVICES, INC. , BLOCH, Christopher, J. , HARRISON, Don , HILL, John
IPC分类号： B23K09/095
CPC分类号： B23K9/0953
摘要： Computerized interactive control, measurement and documentation of arc welding utilizing a single power source (10) facilitates continuous precision welding. Interactivity between the welding operations and the workpiece operations, in connection with predetermined optimum welding operational parameters, provides contemporaneous feedback of critical welding operational parameters to the welding operator, producing an alarm if welding is attempted outside a first predetermined range of deviation from optimum welding operational parameters and temporarily interrupting power to the welding operation if welding is attempted outside of a second predetermined range of deviation from the optimum welding operation parameters. A complete log of the welding operational parameters is stored for subsequent retrieval and display, providing training and evaluation of welding operators and verification of compliance with required welding practices. Methods of performing continuous precision welding, facilitating temperbead welding, training and qualifying welders for such operations and verifying practice compliance are available utilizing the apparatus.
摘要翻译：使用单个电源（10）的电弧交互式控制，测量和记录电弧焊接有助于连续精密焊接。与预定的最佳焊接操作参数相结合，焊接操作和工件操作之间的交互性提供了对焊接操作者的临界焊接操作参数的同时反馈，如果尝试在偏离最佳焊接操作的第一预定范围之外进行焊接，则产生警报参数，并且如果在超过最佳焊接操作参数的第二预定范围之外进行焊接，则临时中断焊接操作的功率。存储焊接操作参数的完整日志，用于随后的检索和显示，提供焊接操作人员的培训和评估以及对所需焊接实践的合规性的验证。使用该装置可以进行连续精密焊接，促进温和焊接，培训和合格焊接工人的这种操作和验证实践合规性的方法。

4. 发明申请

WO1995034400A1 WELDING METHOD, AND WELDING DEVICE FOR USE THEREIN, AND METHOD OF ANALYSIS FOR EVALUATING WELDS 审中-公开
标题翻译：焊接方法及其使用的焊接装置，以及评估用途的分析方法
公开(公告)号：WO1995034400A1
公开(公告)日：1995-12-21
申请号：PCT/NL1995000208
申请日：1995-06-13
申请人： TECHNISCHE UNIVERSITEIT DELFT , AENDENROOMER, Antonius, Johannes, Rosa , DEN OUDEN, Gerrit , XIAO, You, Hong , BRABANDER, Wilhelmus, Antonius, Johannus
发明人： TECHNISCHE UNIVERSITEIT DELFT
IPC分类号： B23K09/095
CPC分类号： B23K9/095
摘要： Described is a method of automatically welding pipes, comprising welding with a pulsation welding current and monitoring, by means of a sensor, the variations occurring in the arc voltage caused by weld pool oscillations. The occurrence of voltage variations with only frequency components below 100 Hz indicates excessive welding through; the occurrence of voltage variations with only frequency components above 100 Hz indicates in sufficient welding through; a welding process showing proper welding through is characterized by the occurrence of voltage variations in two different frequency peaks.
摘要翻译：描述了一种自动焊接管道的方法，包括用脉动焊接电流进行焊接，并通过传感器监测由焊池振荡引起的电弧电压中发生的变化。仅频率分量低于100Hz的电压变化的发生表示过度焊接; 只有频率分量高于100Hz的电压变化的发生表明在足够的焊接中; 显示正确焊接的焊接过程的特征在于两个不同频率峰值中的电压变化的发生。

5. 发明申请

WO1998003294A1 WELDING ROBOT CONTROL SYSTEM 审中-公开
标题翻译：焊接机器人控制系统
公开(公告)号：WO1998003294A1
公开(公告)日：1998-01-29
申请号：PCT/JP1997002532
申请日：1997-07-22
申请人： FANUC LTD , TERADA, Akihiro , OKUDA, Mitsuhiro
发明人： FANUC LTD
IPC分类号： B23K09/095
CPC分类号： B23K9/1274
摘要： A welding robot control system for dealing in a reasonable manner with tack welding, which is effected by a welding robot and to which a real time tracking by a laser sensor is applied. An arc welding torch and a laser sensor (LS) are mounted on a robot hand. A tool tip end is set so as to correspond to a target position of a tip end of a welding wire, and is positioned at an end of a bead (B) formed and concurrently at a position immediately short of a tack welded portion (A1). Also, the tool tip end (4) is located on a weld standard line (P1 }... } P6). A bright line (5) is formed between (51 and 52) by laser beams projected by the laser sensor (LS) with a deflection range (SC). A detection point (SA) is such that the bright line (5) is on an edge of the tack welded portion (A1) (detection can be impossible). Deviation of the detection point (SA) from the original weld reference line is judged from an orientation of a robot path immediately before the detection. At that time, a detection substitution point (Q) is determined on the basis of the robot path immediately before the detection to cause the TCP to be directed thereto. Until the robot has passed the tack welded portion (A1), detection substitution points succeeding the point (Q) are sequentially determined so that the robot is caused to follow a path along the points.
摘要翻译：一种焊接机器人控制系统，用于通过焊接机器人进行定位焊接的合理方式，并且由激光传感器进行实时跟踪。电弧焊枪和激光传感器（LS）安装在机器人手上。工具尖端被设定为与焊丝的前端的目标位置相对应，并且位于形成在同时位于紧邻定位焊接部（A1）的位置的胎圈（B）的端部）。另外，工具末端（4）位于焊接标准线（P1 ... ... P6）上。通过激光传感器（LS）以偏转范围（SC）投影的激光束，在（51和52）之间形成亮线（5）。检测点（SA）使得亮线（5）位于定位焊接部（A1）的边缘（检测不可能）。从检测点之前的机器人路径的方向判断检测点（SA）与原始焊接基准线的偏差。此时，基于紧接在检测之前的机器人路径来确定检测替代点（Q），以使TCP指向它。直到机器人已经通过定位焊接部分（A1），顺序地确定在点（Q）之后的检测替代点，使得使机器人沿着点沿着路径。

6. 发明申请

WO1993000196A1 WELDING MACHINE HAVING AUTOMATIC PENETRATION-RELATED CONTROL 审中-公开
标题翻译：具有自动渗透相关控制的焊接机
公开(公告)号：WO1993000196A1
公开(公告)日：1993-01-07
申请号：PCT/FR1992000601
申请日：1992-06-26
申请人： COMMISSARIAT A L'ENERGIE ATOMIQUE , DILLET, Alain , DE PRUNELE, Diane
发明人： COMMISSARIAT A L'ENERGIE ATOMIQUE
IPC分类号： B23K09/095
CPC分类号： B23K9/095 , B23K9/0732
摘要： Automatic welding penetration-related control is achieved by combining automatic control of front-side doming welding current correction with contol of welding arc voltage welding head height adjustment. A measurement of the welding arc voltage is input into an electronic unit (20, 22) which determines the motion to be imparted to the welding head so that said voltage remains constant. Likewise, the welding head (1) has devices (15, 16) for measuring its height. This value is input into into an electronic unit (23, 25) which determines the welding current to be applied to the machine. The invention may be used in a variety of high-technology fields which require automatic welding, e.g. aeronautics and nuclear energy.

7. 发明申请

WO1994023882A1 METHOD FOR AUTOMATICALLY CONTROLLING WELDING CONDITIONS OF AN ARC WELDING ROBOT 审中-公开
标题翻译：用于自动控制电弧焊机器人焊接条件的方法
公开(公告)号：WO1994023882A1
公开(公告)日：1994-10-27
申请号：PCT/JP1994000589
申请日：1994-04-07
申请人： KAIHORI, Hirotsugu , IWASAKI, Kyozi
IPC分类号： B23K09/095
CPC分类号： B23K9/1062
摘要： A method for automatically controlling welding conditions of an arc welding robot comprising the steps of estimating the relationship between a target welding current and a welding current command to be given to a welding machine for obtaining said target welding current through a linear equation by using known data (S1, S2), determining a welding current command correponding to said target welding current by using said linear equation so as to give said welding current command so determined to said welding machine to thereby make said welding machine execute a welding operation (S3, S4), feeding back an actual welding current from said welding machine so as to store a set comprising said welding current command and said actual welding current (S6), executing this job for welding current commands having different values and then storing a plurality of sets of welding current commands and actual welding currents thus obtained (S7-S10), and determining by using a plurality of sets of data so obtained a linear relation between an actual welding current (target welding current) and a current command for each area of a welding current (S11).
摘要翻译：一种用于自动控制电弧焊机器人的焊接条件的方法，包括以下步骤：通过使用已知数据，通过线性方程来估计要提供给焊接机的目标焊接电流和焊接电流指令之间的关系，以获得所述目标焊接电流（S1，S2），通过使用所述线性方程来确定与所述目标焊接电流相对应的焊接电流指令，以便给予所述焊接机所确定的所述焊接电流指令，从而使所述焊接机执行焊接操作（S3，S4 ），从所述焊接机反馈实际的焊接电流，以存储包括所述焊接电流指令和所述实际焊接电流的组（S6），执行该工作以焊接具有不同值的电流命令，然后存储多组焊接电流指令和实际焊接电流（S7-S10），并通过使用多组数据进行确定实现焊接电流的各区域的实际焊接电流（目标焊接电流）和电流指令之间的线性关系（S11）。

8. 发明申请

WO1994017951A1 WELDING DEFORMATION REDUCING METHOD FOR ONE-SIDE STRAP JOINT WELDING 审中-公开
标题翻译：单面焊接接头焊接变形减少方法
公开(公告)号：WO1994017951A1
公开(公告)日：1994-08-18
申请号：PCT/JP1994000162
申请日：1994-02-03
申请人： NIPPON STEEL CORPORATION , HITACHI ZOSEN CORPORATION , KASUYA, Tadashi , SHINADA, Koichi , HORII, Yukihiko , MIYAZAKI, Tateo
发明人： NIPPON STEEL CORPORATION , HITACHI ZOSEN CORPORATION
IPC分类号： B23K09/095
CPC分类号： B23K9/0953
摘要： This invention relates to a welding deformation reducing method for a case where steel plates to be welded are set face to face with each other, the abutted portions of the plates being tack welded, one-side strap joint welding of the tack welded portions being done thereafter. In the welding deformation reducing method according to the present invention used when one-side strap joint welding is carried out, when not less than three welding electrodes are used, when Qi is welding heat input of each electrode which is determined on the basis of amperage, voltage and speed and Li the distance between a first electrode and each electrode, and when a maximum value H of the height of a tacked bead is set to be not more than a half of the thickness of the steel plates to be welded, the welding conditions are determined so that a value of a parameter P (P = 1/H SIGMA Qi/(Li + k)) becomes not higher than a predetermined level. In order to carry out tack welding using a tab plate as well, P is set not higher than a predetermined level, and the height Ht of tack welded bead of a tab plate not more than a half of the thickness of the steel plates to be welded, the welding conditions being determined so that Ptab obtained by substituting the resultant values for H has a value not less than a predetermined value.
摘要翻译：本发明涉及一种用于焊接钢板彼此面对地设置的情况的焊接变形减少方法，该板的邻接部分被定位焊接，该定位焊接部分的一侧带接合焊接其后。在进行单面带接合焊接时使用的本发明的焊接变形减少方法中，当使用不小于三个焊接电极时，当Qi根据电流强度确定每个电极的热输入时，电压和速度以及Li是第一电极和每个电极之间的距离，并且当将粘着珠的高度的最大值H设定为不超过待焊接钢板的厚度的一半时，确定焊接条件，使得参数P（P = 1 / H SIGMA Qi /（Li + k））的值变得不高于预定水平。为了进行使用接片板的定位焊接，P设定为不高于预定水平，并且凸片的定位焊珠的高度Ht不大于钢板厚度的一半焊接条件被确定，使得通过将所得到的值代入H而获得的Ptab具有不小于预定值的值。

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