GB2555262B - A Robot Welding System and Its Welding Method - Google Patents

A Robot Welding System and Its Welding Method Download PDF

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Publication number
GB2555262B
GB2555262B GB1718196.7A GB201718196A GB2555262B GB 2555262 B GB2555262 B GB 2555262B GB 201718196 A GB201718196 A GB 201718196A GB 2555262 B GB2555262 B GB 2555262B
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GB
United Kingdom
Prior art keywords
welding
robot
welding method
welding system
robot welding
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
GB1718196.7A
Other versions
GB201718196D0 (en
GB2555262A (en
Inventor
Yang Chengdong
Tang Weibao
Zhang Maolong
Zhang Min
Luo Qing
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shanghai Electric Nuclear Power Equipment Co Ltd
Original Assignee
Shanghai Electric Nuclear Power Equipment Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Shanghai Electric Nuclear Power Equipment Co Ltd filed Critical Shanghai Electric Nuclear Power Equipment Co Ltd
Publication of GB201718196D0 publication Critical patent/GB201718196D0/en
Publication of GB2555262A publication Critical patent/GB2555262A/en
Application granted granted Critical
Publication of GB2555262B publication Critical patent/GB2555262B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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
    • B23K9/126—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
    • B23K31/00—Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups
    • B23K31/12—Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups relating to investigating the properties, e.g. the weldability, of materials
    • B23K31/125—Weld quality monitoring
    • 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
    • B23K9/02—Seam welding; Backing means; Inserts
    • 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
    • B23K9/02—Seam welding; Backing means; Inserts
    • B23K9/028—Seam welding; Backing means; Inserts for curved planar seams
    • B23K9/0288—Seam welding; Backing means; Inserts for curved planar seams for welding of tubes to tube plates
    • 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
    • B23K9/10—Other electric circuits therefor; Protective circuits; Remote controls
    • B23K9/1006—Power supply
    • B23K9/1043—Power supply characterised by the electric circuit
    • B23K9/1056—Power supply characterised by the electric circuit by using digital 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
    • B23K9/12—Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
    • B23K9/124—Circuits or methods for feeding welding wire
    • B23K9/125—Feeding of electrodes
    • 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
    • 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
    • B23K9/16—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
    • B23K9/00—Arc welding or cutting
    • B23K9/16—Arc welding or cutting making use of shielding gas
    • B23K9/173—Arc welding or cutting making use of shielding gas and of a 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
    • B23K9/00—Arc welding or cutting
    • B23K9/32—Accessories
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B25J19/021—Optical sensing devices
    • B25J19/022—Optical sensing devices using lasers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • B25J9/1666—Avoiding collision or forbidden zones
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
    • B25J9/1676—Avoiding collision or forbidden zones
    • 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
    • B23K2101/00—Articles made by soldering, welding or cutting
    • B23K2101/04—Tubular or hollow articles
    • B23K2101/14—Heat exchangers

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Plasma & Fusion (AREA)
  • Robotics (AREA)
  • Quality & Reliability (AREA)
  • Optics & Photonics (AREA)
  • Geometry (AREA)
  • Butt Welding And Welding Of Specific Article (AREA)
  • Manipulator (AREA)
  • Laser Beam Processing (AREA)
  • Arc Welding In General (AREA)
  • Numerical Control (AREA)
  • Lining Or Joining Of Plastics Or The Like (AREA)
GB1718196.7A 2015-11-12 2015-11-23 A Robot Welding System and Its Welding Method Active GB2555262B (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201510769050.0A CN105195868B (en) 2015-11-12 2015-11-12 A kind of robot welding system and its welding method
PCT/CN2015/095306 WO2017079995A1 (en) 2015-11-12 2015-11-23 Robot-based welding system and method

Publications (3)

Publication Number Publication Date
GB201718196D0 GB201718196D0 (en) 2017-12-20
GB2555262A GB2555262A (en) 2018-04-25
GB2555262B true GB2555262B (en) 2023-02-08

Family

ID=54944002

Family Applications (1)

Application Number Title Priority Date Filing Date
GB1718196.7A Active GB2555262B (en) 2015-11-12 2015-11-23 A Robot Welding System and Its Welding Method

Country Status (6)

Country Link
KR (1) KR101982433B1 (en)
CN (1) CN105195868B (en)
GB (1) GB2555262B (en)
RO (1) RO133553B1 (en)
TR (1) TR201718224T2 (en)
WO (1) WO2017079995A1 (en)

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CN105729469B (en) * 2016-02-17 2017-12-22 中国科学院自动化研究所 A kind of peg-in-hole assembly method and system based on environment domain of attraction
CN105904126B (en) * 2016-06-17 2017-07-21 尔智机器人（上海）有限公司 A kind of robot welding system of view-based access control model positioning and welding method
CN106001849A (en) * 2016-06-24 2016-10-12 中车南京浦镇车辆有限公司 Environment self-adaption welding system and method for intercity rail train bogie
CN106041258B (en) * 2016-08-17 2018-02-06 江苏北人机器人系统股份有限公司 A kind of intelligent robot's welding system
CN106238946B (en) * 2016-08-31 2019-04-19 武汉法利莱切焊系统工程有限公司 Wire filling laser welding quality on-line checking and dimension feedback system and method
CN107813282A (en) * 2016-09-13 2018-03-20 天津市安维康家科技发展有限公司 Petroleum transportation pipeline intelligence laying machine people
CN107813340A (en) * 2016-09-14 2018-03-20 天津市安维康家科技发展有限公司 The laser equilibrium control system of pipe laying machine people
CN106670622B (en) * 2017-01-12 2018-08-03 上海电气核电设备有限公司 A kind of the U-tube axial movement detection device and method of tube-tubesheet welding system
CN106552989B (en) * 2017-01-12 2019-08-23 上海电气核电设备有限公司 The gas shielded arc welding tungsten electrode apparatus for automatic change and method of robot welding system
CN107335900B (en) * 2017-08-30 2023-12-01 国网浙江省电力有限公司台州供电公司 Welding robot
CN107617828B (en) * 2017-10-31 2019-12-13 杭州焊林科技有限公司 Method and device for welding tube row of steam turbine condenser
CN108515299A (en) * 2018-03-30 2018-09-11 江苏金恒信息科技股份有限公司 A kind of bar label welding method
CN108961285B (en) * 2018-06-20 2022-02-15 广东工业大学 Method and device for extracting welding seam edge of container hinge
CN109108419A (en) * 2018-07-18 2019-01-01 苏州菲丽丝智能科技有限公司 Copper pipe robot welding system and method
CN108788585B (en) * 2018-08-20 2024-03-19 沃得精机(中国)有限公司 Automatic welding gun head locating device and working method thereof
DE102018123363B4 (en) * 2018-09-24 2021-01-07 Bystronic Laser Ag Procedure for collision avoidance and laser processing machine
KR102125167B1 (en) * 2019-01-21 2020-06-19 한양대학교 에리카산학협력단 Automatic welding device, working method thereof
CN110154034A (en) * 2019-06-21 2019-08-23 成都钧诺威视智能科技有限公司 A kind of robot pipe plate welding method based on laser three-D modeling
CN110497210A (en) * 2019-09-18 2019-11-26 北京荣盛时代科技发展有限公司 A kind of multifunctional intellectual surface treatment center fixture and method
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CN115647686B (en) * 2022-12-28 2023-03-21 上海电气核电集团有限公司 Nuclear power pipe-pipe plate welding gun balancing device, welding device and control method
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CN102430841A (en) * 2011-08-26 2012-05-02 昆山工研院工业机器人研究所有限公司 Arc welding robot laser vision weld joint tracking control method based on off-line planning
CN104588839A (en) * 2015-02-12 2015-05-06 山西平阳重工机械有限责任公司 Welding seam automatic tracking method for large-sized complex box-shaped structural part
CN105033419A (en) * 2015-08-14 2015-11-11 北京石油化工学院 Moving type welding robot device based on weld pool image welding line tracking

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Publication number Priority date Publication date Assignee Title
KR870002164A (en) * 1985-08-09 1987-03-30 윌리암 데이비스 헌 Process for preparing renin inhibitors containing 5-amino-2,5-disubstituted-4-hydroxypentanoic acid residues
JPH11342473A (en) * 1998-05-29 1999-12-14 Daihen Corp Control of tig welding robot
CN102430841A (en) * 2011-08-26 2012-05-02 昆山工研院工业机器人研究所有限公司 Arc welding robot laser vision weld joint tracking control method based on off-line planning
CN104588839A (en) * 2015-02-12 2015-05-06 山西平阳重工机械有限责任公司 Welding seam automatic tracking method for large-sized complex box-shaped structural part
CN105033419A (en) * 2015-08-14 2015-11-11 北京石油化工学院 Moving type welding robot device based on weld pool image welding line tracking

Also Published As

Publication number Publication date
KR20170141793A (en) 2017-12-26
WO2017079995A1 (en) 2017-05-18
CN105195868A (en) 2015-12-30
KR101982433B1 (en) 2019-08-30
RO133553B1 (en) 2023-08-30
TR201718224T2 (en) 2018-08-27
CN105195868B (en) 2018-05-15
RO133553A2 (en) 2019-08-30
GB201718196D0 (en) 2017-12-20
GB2555262A (en) 2018-04-25

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