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AssigneeFronius International GmbH
InventorsJosef Artelsmair, Michael Brunner, Rudolf Etzenberger
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The invention describes a method of continuously controlling and tracking a position of a welding torch (10) and welding head relative to a weld seam to be produced on a workpiece (16), whereby the welding torch (10), spaced at a distance apart from a workpiece (16) and the weld seam, effects a pendulum motion which is superimposed on its linear welding motion, during which state variables, in particular an ohmic resistance or a current and/or a voltage, are detected as they change in time. The lateral deviation of the welding torch (10) from the weld seam, in particular from the welding line centre, and/or the height of the welding torch (10) above the workpiece (16) and the welding head are derived from the detected actual values and signals in order to control and track the position of the welding torch (10). Depending on periodically occurring process phases of a welding process, the measurement value detection routine for at least one measurement signal, in particular to detect the state variable, is run at fixed instants and/or states of the periodically recurring process phases of the welding process.
Method of continuously controlling and tracking a position of a welding torch and a welding head relative to a weld seam to be produced on a workpiece, wherein the welding torch is spaced at a distance apart from the workpiece and the weld seam, and effects a pendulum motion which is superimposed on its linear welding motion, electric state variables are detected as they vary in time, the lateral deviation of the welding torch from the weld seam, in particular from the weld seam center, and/or the height of the welding torch above the workpiece and weld seam being derived from the detected actual value signals in order to control and track the position of the welding torch, characterised in that process-dependent actual values are evaluated by a control system of the welding device or at least one other control system in the welding device, whereupon the control system transmits one or more correction value(s) relating to the position of the welding torch to a device or system connected to the welding device, in particular a welding robot or a robot system, and a measurement value is detected during specific process phases of a pulse period during pulse welding, several measurement signals being generated during a pulse period, and specific process phases during the pulse period are detected solely on the basis of the electric state variable value signals generated in the welding device during the welding process.
Method of generating a signal for continuously controlling and tracking a position of a welding torch and welding head relative to a weld seam to be produced on a workpiece, wherein the welding torch is spaced at a distance apart from the workpiece and the weld seam, and effects a pendulum motion which is superimposed on its linear welding motion, electric state variables are detected as they vary in time, the lateral deviation of the welding torch from the weld seam, in particular from the weld seam center, and/or the height of the welding torch above the workpiece and the weld seam being derived from the detected actual value signals in order to control and track the position of the welding torch, characterised in that, depending on periodically recurring process phases of a welding process, a measurement value detection for at least one measurement signal of the detected electric state variable is run at states of the periodically recurring process phases of a pulse period of the welding process, measurement signal parameters are defined in a program data bank, which are correlated with welding process parameters of the process phases and a welding process controller, and the process phases during the pulse period are detected solely on the basis of the electric state variable value signals generated in the welding device during the welding process.
Method of continuously controlling and tracking a position of a welding torch and a welding head relative to a weld seam to be produced on a workpiece, wherein the welding torch is spaced at a distance apart from the workpiece and the weld seam, and effects a pendulum motion which is superimposed on its linear welding motion, electric state variables are detected as they vary in time, the lateral deviation of the welding torch from the weld seam, in particular from the weld seam center, and/or the height of the welding torch above the workpiece and weld seam being derived from the detected actual value signals in order to control and track the position of the welding torch, characterised in that process-dependent actual values are evaluated by a control system of the welding device or at least one other control system in the welding device, whereupon the control system transmits one or more correction value(s) relating to the position of the welding torch to a device or system connected to the welding device, in particular a welding robot or a robot system, and a measurement value is detected at fixed points in time, the fixed points in time are detected solely on the basis of the electric state variable value signals generated in the welding device during the welding process, and an arc length equivalent and/or contact pipe equivalent signal computed from the electric state variables is forwarded to an external device or system.
Method of generating a signal for continuously controlling and tracking a position of a welding torch and welding head relative to a weld seam to be produced on a workpiece, wherein the welding torch is spaced at a distance apart from the workpiece and the weld seam, and effects a pendulum motion which is superimposed on its linear welding motion, electric state variables are detected as they vary in time, the lateral deviation of the welding torch from the weld seam, in particular from the weld seam center, and/or the height of the welding torch above the workpiece and the weld seam being derived from the detected actual value signals in order to control and track the position of the welding torch, characterised in that, depending on periodically recurring process phases of a welding process, a measurement value detection for at least one measurement signal of the detected electric state variables is run at fixed instants of the welding process, measurement signal parameters are defined in a program data bank, which are correlated with welding process parameters of the process phases and a welding process controller, the fixed instants are detected solely on the basis of the electric state variable value signals generated in the welding device during the welding process, and an arc length equivalent and/or contact pipe equivalent signal computed from the electric state variables is forwarded to an external device or system.
Dependencies are inferred from the claim text.