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31. 发明专利

JPS53103955A ARC WELDER 失效
公开(公告)号：JPS53103955A
公开(公告)日：1978-09-09
申请号：JP1818477
申请日：1977-02-23
申请人： HITACHI LTD , HITACHI SEIKO KK
发明人： TAGUCHI HIRONARI , HANEDA MITSUAKI , IMANAGA AKIYOSHI , TAKANASHI KENICHI , SHIMADA MINORU , SHIMIZU GIICHIROU
IPC分类号： B23K10/02 , B23K9/12
摘要： PURPOSE:The welder possible to melt the wire at approximately constant position, by controlling the welding previously suitably settling two factors of the current across the non-consumable electrode and the welded material, the current across the non-consumable electrode and the wire, and the wire feeding rate.

32. 发明专利

JP2000317632A WELD LINE TRACKING DEVICE 失效
公开(公告)号：JP2000317632A
公开(公告)日：2000-11-21
申请号：JP12557199
申请日：1999-05-06
申请人： HITACHI LTD
发明人： SAITO NOBORU , HANEDA MITSUAKI , IMANAGA AKIYOSHI , ARAYA TAKESHI
IPC分类号： B23K9/127 , B23K9/12
摘要： PROBLEM TO BE SOLVED: To achieve the desired weld line tracking by oscillating a non-consumable electrode in a narrow gap to achieve the welding, adjusting the angle of oscillation from the detected value of the arc voltage at both ends of the amplitude of oscillation, and moving a welding torch based on the ratio of the right and left angle of oscillation to easily control the position of the welding torch. SOLUTION: A non-consumable electrode 1 is oscillated in a horizontal narrow gap with the amplitudes L, R in the right-to-left direction from a center 2 of oscillation, the welding is achieved along a weld line 6 at the position of the shift quantity D from a groove center 3, and a molten pool 4 is formed by the right and left arc voltage EL, ER1 at the end of amplitude of oscillation. The right and left arc voltages EL2, ER2 at the end of the amplitude of oscillation of the non-consumable electrode 1 at an arbitrary position are detected, and compared with the preset reference value, and the right and left angles of oscillation are adjusted according to the difference. In addition, the angle of oscillation is detected on calculate the ratio of the right and left detected values. The obtained ratio of the angle of oscillation is compared with the preset ratio of the reference angle of oscillation, and the weld line is tracked by moving the center 2 of oscillation in a specified direction by a specified quantity according to the difference.

33. 发明专利

JPH11207461A LAP WELDING METHOD FOR BEAD CONNECTION AND ITS AUTOMATIC WELDING DEVICE 失效
公开(公告)号：JPH11207461A
公开(公告)日：1999-08-03
申请号：JP1067198
申请日：1998-01-22
申请人： HITACHI LTD , HITACHI CONSTRUCTION MACHINERY
发明人： IMANAGA AKIYOSHI , HANEDA MITSUAKI , SHIBATA NOBUO , NARUSE KIYOTSUYO , SOMA SHUJI , UDAGAWA TSUGIO , TAKATANI TORU
IPC分类号： B23K9/12 , B23K9/127
摘要： PROBLEM TO BE SOLVED: To provide a lap welding method for bead connection and its automatic welding device capable of executing high reliable welding wherein excellent smooth weld beads without any welding defect are formed in a bead connected part between existing weld beads. SOLUTION: With respect to a weld joint wherein a bead connection between an initial end part or a terminal end part of the existing weld beads or the bead connection between both an initial end and a terminal end of the existing beads is required, a positional deviation of a bead connection and overlap welding line is detected by a sensing operation in a first process by a touch sensor unit 39, further a bead boundary position and the positional deviation of the existing weld beads are detected by the sensing operation in a second process by an optical sensor 50 and a picture processor 52. A positional correction of a torch and a correction of a welding condition in the bead connection and overlap welding are controlled based on the detected information with a welding controller 38 by the welding operation in a third process by a welding robot 30.

34. 发明专利

JPH09101113A METHOD AND DEVICE FOR MEASURING BEVELING POSITION AND ITS FORM 失效
公开(公告)号：JPH09101113A
公开(公告)日：1997-04-15
申请号：JP26122795
申请日：1995-10-09
申请人： HITACHI LTD
发明人： KIKUCHI HIRONARI , SHIBATA NOBUO , NAKAJIMA YOSHIO , HANEDA MITSUAKI , IMANAGA AKIYOSHI , KOBAYASHI MASAHIRO , UEHARA TAKEO , HINO EIJI
IPC分类号： G01B11/00 , B23K9/127 , G01B11/24 , G06T1/00 , G06T7/00 , G06T7/60
摘要： PROBLEM TO BE SOLVED: To accurately measure the position and form of bevelling accurately without erroneous detection of a secondary reflection image by detecting a line element corresponding to the outer surface part of an object to be welded, obtaining a terminal point on the side of its slant surface, and detecting a line element group being a candidate corresponding to a slant surface part of bevelling. SOLUTION: In measuring the position and form of objects to be welded 21, 22, first an linear element (a) corresponding to the outer surface part A of the object 21, 22 is detected, then a terminal point (u) on the side of its slant face part is obtained. Then, all candidate linear elements b1, b2... corresponding to the part B including a secondary reflection image are detected, and the candidates b1, b2... of linear element corresponding to the slant surface part B and the linear element (a) corresponding to the part A and crossing points p1, p2 are obtained respectively. Thereafter, in consideration of the distance between the crossing points p1, p2... and the terminal point (u) the linear element corresponding to the slant part B is determined.

35. 发明专利

JPH08197254A AUTOMATIC WELDING METHOD AND EQUIPMENT THEREFOR 失效
公开(公告)号：JPH08197254A
公开(公告)日：1996-08-06
申请号：JP1075395
申请日：1995-01-26
申请人： HITACHI LTD
发明人： IMANAGA AKIYOSHI , HANEDA MITSUAKI , FURUSAWA KOICHIRO , SHIBATA NOBUO , NAKAJIMA YOSHIO , KIKUCHI HIRONARI , KOBAYASHI MASAHIRO , UEHARA TAKEO , HINO EIJI , MIZUGUCHI KAZUHIKO
IPC分类号： B23K9/235 , B23K9/028 , B23K9/095 , B23K9/12 , B23K9/127 , B23K37/04 , G05B19/4093
摘要： PURPOSE: To tack weld the groove bottoms which are fixed by mounting a block on weld line in two works formed with butt groove and assembled each other. CONSTITUTION: From a number of pieces, dimension and reference point of a block 3, the information of position of each block, etc., is inputted, by an arithmetic unit 14 from the information, a welding route consisting of the weld line part not including the block 3 as the route of welding torch 6 and the detour route to jump/detour each block are operated, the welding control head 9 to mount the welding torch 6 movable up/down, left/right the torch 6 is run along the weld line. The welding torch 6 is operated in accordance with the operated route of welding torch 6 by the welding control head 9, further, arc is generated at the welding route from the welding torch and welding is executed, arc is stopped at the detour route of the groove block 3.

36. 发明专利

JPH0839252A CONTROL METHOD OF WELDING WIRE POSITION AND DEVICE THEREFOR 失效
公开(公告)号：JPH0839252A
公开(公告)日：1996-02-13
申请号：JP17552394
申请日：1994-07-27
申请人： HITACHI LTD
发明人： IMANAGA AKIYOSHI , HANEDA MITSUAKI , SHIBATA NOBUO , MIZUGUCHI KAZUHIKO , YAMAGUCHI YUJI , HINO EIJI
IPC分类号： B23K9/167 , B23K9/12 , B23K9/127
摘要： PURPOSE:To stably maintain droplet transfer of welding wire so as to obtain high quality welding. CONSTITUTION:The device is provided with a wire short circuit detecting means 14 to detect short circuit transfer of welding wire while taking a voltage Vw between wire and base metal generated between a non-energized welding wire feeded into an arc 6 and welding base metal 8 as the input and a wire position discriminating means 15 to discriminate normal/fault of a wire position based on the output of wire short circuit detecting means 14, the operating control to descend its height in case that the height of wire is excessive, on the contrary, the operation control to ascend its height in case that the height of wire is too low are executed by a welding controller 16. Further, the device is provided with an abnormality discriminating means 24 to discriminate abnormality of an electrode and welding wire by an electrode voltage Ve and welding voltage Ea, when the welding wire in welding is brought into contact with an electrode 2 and the electrode is brought into contact with molten pool, stopping command of welding and display command of electrode abnormality are executed by the means. By this method, droplet transfer of welding wire is stably maintained to produce good quality welding bead.

37. 发明专利

JPH06277844A METHOD FOR MULTILAYER WELDING OF FILLET JOINT 失效
公开(公告)号：JPH06277844A
公开(公告)日：1994-10-04
申请号：JP9195393
申请日：1993-03-26
申请人： HITACHI LTD , HITACHI KEIYO ENG
发明人： IMANAGA AKIYOSHI , HANEDA MITSUAKI , SHIBATA NOBUO , HIRAI AKIRA , HIGASHIDA HIDEO , SARUGAKU SHINICHI
IPC分类号： B23K9/02 , B23K9/095 , B23K9/127
摘要： PURPOSE:To provide a method which even a beginner can easily operate, by which an optimum welding line and a torch position for each pass from a first layer to a last layer as well as an optimum welding condition are automatically computed and determined, and by which welding passes are carried out from the first layer to the last layer that are required for a prescribe welding leg length. CONSTITUTION:An automatic arithmetic processor is provided by which, based on an initial input, conditions such as a welding voltage, wire melting speed, total sectional area for welding, and the number of welding passes from a first layer to a last layer are computed, and the pass coordinates for each welding pass and the positional coordinates of a welding torch are computed. In addition, a pass plan data is prepared which is constituted of the optimum welding condition for each welding pass that is required for a multilayer welding, pass coordinates and the positional coordinates of the welding torch; by an teaching data and the pass plan data required for performing the first welding, a teaching pass plan data is prepared for teaching the optimum welding line for each pass from the first layer to the last layer, the positional coordinates of the welding torch and the optimum welding condition, and is transmitted to an automatic welding equipment; and based on the teaching pass plan data, each welding pass is carried out.

38. 发明专利

JPH05138349A AUTOMATIC MULTILAYER WEDDING EQUIPMENT 失效
公开(公告)号：JPH05138349A
公开(公告)日：1993-06-01
申请号：JP33289591
申请日：1991-11-22
申请人： HITACHI LTD , HITACHI KEIYO ENG
发明人： SARUGAKU SHINICHI , MATSUURA TAKEO , IMANAGA AKIYOSHI , HIRAI AKIRA
IPC分类号： B23K9/095 , B23K9/127 , B25J9/10 , B25J13/08 , G05B19/42
摘要： PURPOSE:To provide the above automatic multilayer welding equipment which absorbs an error by thermal deformation of a work and a building-up method of a bead and can surely obtain multilayer welding of a predetermined leg length at all times. CONSTITUTION:The shape of a bead 5 till a previous layer is detected during welding operation by a detection means consisting of a slit light irradiation lens 1 and a photodetecting lens 2, by which the welding position and welding conditions of a next layer are determined so that the error between the bead shape at the time of planning and the bead shape formed actually is corrected. Consequently, even in multilayer welding having many number of layers, a satisfactory welding result is obtained at all times.

39. 发明专利

JPH0550246A WELDING SPEED CONTROL METHOD 失效
公开(公告)号：JPH0550246A
公开(公告)日：1993-03-02
申请号：JP20915791
申请日：1991-08-21
申请人： HITACHI LTD , HITACHI KEIYO ENG
发明人： SAITO NOBORU , NAKAJIMA JUN , HANEDA MITSUAKI , SAITO HITOSHI , SARUGAKU SHINICHI , IGUCHI KOJI , IMANAGA AKIYOSHI , FUJIWARA KIROKU
IPC分类号： B23K9/127
摘要： PURPOSE:To set a proper welding speed from an operation expression obtained by an experiment by detecting a gap on a weld line by using an ultrasonic sensor. CONSTITUTION:An ultrasonic sensor is allowed to execute a reciprocating motion roughly vertically against a weld line, and by a receiving existence/non- existence signal S which is obtained, a receiving time Tsj is extracted, and from reference receiving time length Tsi at the time when there is no gap on the weld line and gain, a welding speed control signal Pm is derived by using an operation expression From this Pm and a welding speed signal Vt set in advance, a welding speed change command value Va is derived by an operation expression, and by this Va, welding speed control of a welding device is executed in accordance with the gap. In such a way, the welding speed control being strong against weld fumes and sputter can be executed by a miniature and inexpensive device.

40. 发明专利

JPS6216879A PIPING WELDING EQUIPMENT 失效
公开(公告)号：JPS6216879A
公开(公告)日：1987-01-26
申请号：JP15395185
申请日：1985-07-15
申请人： HITACHI LTD
发明人： HANEDA MITSUAKI , IMANAGA AKIYOSHI , KANAMARU MASATOSHI , YAMADE TAKESHI , ANDO BUNZO
IPC分类号： B23K9/028 , B23K9/02 , B23K9/12 , B23K9/127 , B23K10/00 , B23K37/02
摘要： PURPOSE:To enable to start a welding automatically even at whatever angle a welding head is fitted for the piping by making the positional relation of the welding head main body at attaching and detaching time and a welding torch constant and by inputting to a control device the inclination of the welding head main body at its fitting time to a pipe. CONSTITUTION:The rotary gear wheel 6 having an opening part 4 and placing a welding torch 5 on board is provided to the main body 3 of a welding head having an opening part 2 as well and in the state of the opening parts 2, 4 being coincided the attaching and detaching to a pipe 1 is performed by a chuck mechanism 12. The main body 3 and rotary gear wheel 6 are rotated around the pipe 1 by the engagement of either one part of the rotary gear wheel 6 and gears 7, 8. Since the inclination of the welding head main body 3 is detected by an angle detector 15 and inputted into a conditions control device 16 even if the position of the openings 2, 4 be fitted by inserting it from whatever angle for the pipe 1 the welding torch 5 moves with the prescribed motion automatically and can return to the state of its fitting time even after completion of the welding progress.

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