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1. (WO2019041984) WELDING METHOD AND DEVICE CAPABLE OF VARIABLE-AMPLITUDE OSCILLATION AND WELDING ROBOT
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Pub. No.: WO/2019/041984 International Application No.: PCT/CN2018/092331
Publication Date: 07.03.2019 International Filing Date: 22.06.2018
IPC:
B23K 37/02 (2006.01) ,B25J 11/00 (2006.01)
B PERFORMING OPERATIONS; TRANSPORTING
23
MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
K
SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
37
Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the other main groups of this subclass
02
Carriages for supporting the welding or cutting element
B PERFORMING OPERATIONS; TRANSPORTING
25
HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
J
MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
11
Manipulators not otherwise provided for
Applicants:
中建钢构有限公司 CHINA CONSTRUCTION STEEL STRUCTURE CORP. LTD. [CN/CN]; 中国广东省深圳市 南山区粤海街道中心路3331号中建钢构大厦27层2701室 Room 2701, 27th Floor China Construction Steel Building, No. 3331, Zhongxin Road, Yuehai Street, Nanshan District Shenzhen, Guangdong 518000, CN
Inventors:
欧阳超 OUYANG, Chao; CN
刘曙 LIU, Shu; CN
王亚磊 WANG, Yalei; CN
汪金祥 WANG, Jinxiang; CN
甘霖 GAN, Lin; CN
侯军华 HOU, Junhua; CN
黄世涛 HUANG, Shitao; CN
Agent:
北京超凡志成知识产权代理事务所(普通合伙) CHOFN INTELLECTUAL PROPERTY; 中国北京市 海淀区北四环西路68号左岸工社1215-1218室 Room 1215-1218, Floor 12 Left Bank Community No.68 Beisihuanxilu, Haidian District Beijing 100080, CN
Priority Data:
201710770894.631.08.2017CN
Title (EN) WELDING METHOD AND DEVICE CAPABLE OF VARIABLE-AMPLITUDE OSCILLATION AND WELDING ROBOT
(FR) PROCÉDÉ ET DISPOSITIF DE SOUDAGE APTE À UNE OSCILLATION À AMPLITUDE VARIABLE ET ROBOT DE SOUDAGE
(ZH) 变幅摆动焊接方法、装置及焊接机器人
Abstract:
(EN) A welding method capable of variable-amplitude oscillation comprises: calling a pre-configured measurement sensor to obtain groove information of a groove; establishing, according to the groove information, a Cartesian coordinate system, and calculating, according to a preset step length of a welding torch, coordinates of each welding point on a groove surface on two sides of the groove; and generating, according to the calculated coordinates of each welding point, a corresponding oscillation path of the welding torch, and controlling the welding torch to perform welding along the oscillation path. The invention also relates to a device capable of variable-amplitude oscillation and a welding robot having the device. The welding method and device and the welding robot effectively weld a component having a wedge-shaped or flare groove, and solve the technical problem in the prior art that using a welding robot to weld asymmetrical components is prone to result in a defective weld.
(FR) Procédé de soudage apte à une oscillation à amplitude variable consistant à : appeler un capteur de mesure préconfiguré pour obtenir des informations de rainure d'une rainure; établir, en fonction des informations de rainure, un système de coordonnées cartésiennes, et calculer, en fonction d'une longueur de pas prédéfinie d'un chalumeau de soudage, les coordonnées de chaque point de soudage sur une surface de rainure sur deux côtés de la rainure; et générer, en fonction des coordonnées calculées de chaque point de soudage, un chemin d'oscillation correspondant du chalumeau de soudage, et commander le chalumeau de soudage pour effectuer un soudage le long du chemin d'oscillation. L'invention concerne également un dispositif apte à une oscillation à amplitude variable et un robot de soudage comportant le dispositif. Le procédé et le dispositif de soudage et le robot de soudage soudent efficacement un composant ayant une rainure cunéiforme ou évasée, et résolvent le problème technique de l'état de la technique selon lequel l'utilisation d'un robot de soudage pour souder des composants asymétriques est susceptible de conduire à une soudure défectueuse.
(ZH) 一种变幅摆动焊接方法,包括:调用预置的检测传感器检测坡口的坡口信息;根据坡口信息建立空间直角坐标系,并根据焊枪预设的步进宽度,计算出坡口两侧坡口面上各个焊接点的坐标;根据计算出的各个焊接点的坐标,生成焊枪对应的摆动路径,并控制上述焊枪沿该摆动路径进行焊接。还涉及一种变幅摆动焊接装置及其具备该装置的焊接机器人。该焊接方法、装置及焊接机器人能够有效地焊接具有如楔形坡口或"喇叭口"型坡口的构件,解决了现有技术中在构件装配不对称的情况下采用焊接机器人焊接容易出现焊接不良的技术问题。
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Designated States: AE, AG, AL, AM, AO, AT, AU, AZ, BA, BB, BG, BH, BN, BR, BW, BY, BZ, CA, CH, CL, CN, CO, CR, CU, CZ, DE, DJ, DK, DM, DO, DZ, EC, EE, EG, ES, FI, GB, GD, GE, GH, GM, GT, HN, HR, HU, ID, IL, IN, IR, IS, JO, JP, KE, KG, KH, KN, KP, KR, KW, KZ, LA, LC, LK, LR, LS, LU, LY, MA, MD, ME, MG, MK, MN, MW, MX, MY, MZ, NA, NG, NI, NO, NZ, OM, PA, PE, PG, PH, PL, PT, QA, RO, RS, RU, RW, SA, SC, SD, SE, SG, SK, SL, SM, ST, SV, SY, TH, TJ, TM, TN, TR, TT, TZ, UA, UG, US, UZ, VC, VN, ZA, ZM, ZW
African Regional Intellectual Property Organization (ARIPO) (BW, GH, GM, KE, LR, LS, MW, MZ, NA, RW, SD, SL, ST, SZ, TZ, UG, ZM, ZW)
Eurasian Patent Office (AM, AZ, BY, KG, KZ, RU, TJ, TM)
European Patent Office (EPO) (AL, AT, BE, BG, CH, CY, CZ, DE, DK, EE, ES, FI, FR, GB, GR, HR, HU, IE, IS, IT, LT, LU, LV, MC, MK, MT, NL, NO, PL, PT, RO, RS, SE, SI, SK, SM, TR)
African Intellectual Property Organization (BF, BJ, CF, CG, CI, CM, GA, GN, GQ, GW, KM, ML, MR, NE, SN, TD, TG)
Publication Language: Chinese (ZH)
Filing Language: Chinese (ZH)