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1. 发明授权

US4260870A Automatic welding apparatus for upward welding of curved joint 失效
标题翻译：自动焊接设备用于向上焊接弯曲接头
公开(公告)号：US4260870A
公开(公告)日：1981-04-07
申请号：US026816
申请日：1979-04-04
申请人： Teruyoshi Sekino , Takaaki Ogasawara
发明人： Teruyoshi Sekino , Takaaki Ogasawara
IPC分类号： B23K9/038 , B23K25/00 , B23K9/12
CPC分类号： B23K9/038 , B23K25/005
摘要： Disclosed is an automatic welding apparatus for upward welding of curved joints having a plurality of welding nozzles mounted on an arm for independent or separate movement in directions tangent and normal to the welding line, the arm being carried by a column for free vertical and horizontal movement, and a nozzle orientation controlling mechanism adapted to rotate the welding nozzles on the arm to put the welding wire fed from the welding nozzle in parallel with a line tangent to the welding line, upon detecting the inclination of the tangential line.
摘要翻译：公开了一种用于向上焊接弯曲接头的自动焊接装置，其具有安装在臂上的多个焊接喷嘴，用于在与焊接线相切和垂直的方向上独立或分离的运动，该臂由柱承载，用于自由垂直和水平运动以及喷嘴取向控制机构，其适于将焊接喷嘴旋转到臂上，以便在检测到切线的倾斜度时，将从焊接喷嘴供给的焊丝平行于与焊接线相切的线。

2. 发明授权

US4592697A Gravity balancing device for rocking arm 失效
标题翻译：摇臂重力平衡装置
公开(公告)号：US4592697A
公开(公告)日：1986-06-03
申请号：US488721
申请日：1983-04-26
申请人： Goro Tuda , Hironosuke Kada , Teruyoshi Sekino , Yasuhide Nagahama
发明人： Goro Tuda , Hironosuke Kada , Teruyoshi Sekino , Yasuhide Nagahama
IPC分类号： B25J9/04 , B25J9/10 , B25J19/00
CPC分类号： B25J19/0016 , B25J9/046 , B25J9/1025
摘要： A gravity offsetting device for offsetting the gravitational moment of a rocking arm, mounted between a fixed point located above a pivotal point of the rocking arm at a predetermined distance a and substantially in vertical alignment therewith, and an arbitrary point on the rocking arm, the gravity balancing device including: a compression spring having a spring constant k of a value corresponding to the load W at the arbitrary point as divided by the distance a, and a free length corresponding to the sum of the length l between the fixed and arbitrary points and the initial set length l.sub.s of the compression spring, and adapted to apply a counterbalancing tensile force varying in proportion to the distance between the fixed and arbitrary points.
摘要翻译：一种用于抵消摆臂的重力的重力偏移装置，其安装在位于摇摆臂的枢转点之上的固定点处，预定距离a并且基本上与其垂直对准，以及摇臂上的任意点，重力平衡装置，包括：压缩弹簧，其弹簧常数k与任意点处的载荷W相对应，除以距离a，以及与固定点和任意点之间的长度l之和相对应的自由长度以及压缩弹簧的初始设定长度ls，并且适于施加与固定点和任意点之间的距离成比例变化的平衡张力。

3. 发明授权

US4541062A Method of interlockingly controlling a robot and positioner 失效
标题翻译：互锁控制机器人和定位器的方法
公开(公告)号：US4541062A
公开(公告)日：1985-09-10
申请号：US488808
申请日：1983-04-26
申请人： Hironosuke Kada , Teruyoshi Sekino , Hirogazu Murayama , Iazuaki Tatsumi , Tsudoi Murakami
发明人： Hironosuke Kada , Teruyoshi Sekino , Hirogazu Murayama , Iazuaki Tatsumi , Tsudoi Murakami
IPC分类号： B23K9/032 , B23K37/04 , G05B19/418 , G05B19/423 , G06F15/46 , G05B19/42
CPC分类号： B23K37/0461 , B23K9/032 , G05B19/41825 , G05B19/423 , Y02P90/087
摘要： A method of interlockingly controlling a robot and a positioner which includes operating manually or automatically a teaching roller along a weld line of a workpiece fixed to a rotatable positioner, teaching the position of the weld line, storing the positional data thereby obtained, and performing a welding operation automatically on the basis of the stored data during playback, in which, during teaching, the positioner is rotated at any desired speed, the robot is moved manually or automatically while maintaining a welding torch in a proper welding position with respect to the weld line and positional data on each shaft of the robot and that on a rotating shaft of the positioner are stored each time the teaching roller advances by a predetermined distance, while during playback the welding speed is kept constant by controlling the moving speed of the robot and the rotating speed of the positioner simultaneously while controlling a relative positional relation between the positioner and the robot on the basis of the positional data on each shaft of the robot and that on the rotating shaft of the positioner.
摘要翻译：一种联锁地控制机器人和定位器的方法，其包括沿着固定到可旋转定位器的工件的焊接线手动或自动地操作示教辊，指示焊接线的位置，存储由此获得的位置数据，并执行在回放期间根据存储的数据自动进行焊接操作，其中在教学期间，定位器以任何所需的速度旋转，机器人手动或自动地移动，同时将焊枪保持在相对于焊缝的适当焊接位置每当教导辊前进预定距离时，机器人的每个轴上的线和位置数据被存储在定位器的旋转轴上，而在回放期间，通过控制机器人的移动速度来保持焊接速度恒定，并且定位器的旋转速度同时控制定位器a之间的相对位置关系基于机器人的每个轴上的位置数据和定位器的旋转轴上的位置数据来发现机器人。

4. 发明授权

US4608651A Control system for direct teaching/playback type robots 失效
标题翻译：直接教学/播放型机器人控制系统
公开(公告)号：US4608651A
公开(公告)日：1986-08-26
申请号：US499880
申请日：1983-06-01
申请人： Tsudoi Murakami , Shoji Nasu , Yasuhide Nagahama , Hironosuke Kada , Teruyoshi Sekino , Hirokazu Murayama , Yoshiaki Munezane , Goro Tuda , Osamu Mizuguchi
发明人： Tsudoi Murakami , Shoji Nasu , Yasuhide Nagahama , Hironosuke Kada , Teruyoshi Sekino , Hirokazu Murayama , Yoshiaki Munezane , Goro Tuda , Osamu Mizuguchi
IPC分类号： B25J9/18 , G05B19/423 , B25J11/00 , F16D21/04 , G05B19/18
CPC分类号： G05B19/423 , G05B2219/37297 , G05B2219/45083 , Y10T477/327
摘要： A control system for a direct teaching/playback type robot, including a low spring constant member connected to a drive source for driving a robot element through a frictional coupling. The control system basically includes a first incremental position detector provided between the robot element and the frictional coupling for detecting the rotational position of the robot element, a second incremental position detector connected to the drive source for detecting the rotational position of the drive source, and a switch for selectively connecting the output terminals of the first and second position detectors to a drive source controller in teaching and playback modes of operation, respectively.
摘要翻译：一种用于直接教学/回放型机器人的控制系统，包括连接到用于通过摩擦联接驱动机器人元件的驱动源的低弹簧常数构件。控制系统基本上包括设置在机器人元件和用于检测机器人元件的旋转位置的摩擦联接器之间的第一增量位置检测器，连接到驱动源的第二增量位置检测器，用于检测驱动源的旋转位置;以及分别用于在教学和重放操作模式下选择性地将第一和第二位置检测器的输出端连接到驱动源控制器的开关。

5. 发明授权

US3989921A Method and apparatus for non-consumable electrode type automatic arc welding 失效
标题翻译：非消耗性电极式自动电弧焊接方法及装置
公开(公告)号：US3989921A
公开(公告)日：1976-11-02
申请号：US455908
申请日：1974-03-28
申请人： Atsushi Ohi , Toshio Arai , Akihiko Ihochi , Hironosuke Kada , Teruyoshi Sekino , Kenichi Akahori
发明人： Atsushi Ohi , Toshio Arai , Akihiko Ihochi , Hironosuke Kada , Teruyoshi Sekino , Kenichi Akahori
IPC分类号： B23K9/28 , B23K9/02 , B23K9/073 , B23K9/127 , B23K9/12
CPC分类号： B23K9/0735
摘要： A method and an apparatus for non-consumable electrode type automatic arc welding in which the length of an arc produced between a non-consumable electrode and a workpiece which is being welded, is automatically controlled to an optimum value by means of an electric drive motor for driving an electrode according to a signal obtained by proportionally integrating or multiplying the voltage difference between the arc voltage detected by using an integrating element and the set reference voltage.
摘要翻译：一种用于非消耗性电极型自动电弧焊接的方法和装置，其中在非消耗性电极和被焊接的工件之间产生的电弧的长度通过电动驱动电动机被自动控制到最佳值用于根据通过使用积分元件检测的电弧电压与设定的参考电压之间的电压差成比例地积分或乘以获得的信号来驱动电极。

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