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1. 发明专利

DE2412569A1 未知
公开(公告)号：DE2412569A1
公开(公告)日：1974-09-26
申请号：DE2412569
申请日：1974-03-15
申请人： DAIKIN IND LTD
发明人： NAKURA KUNIHIRO , YOSHIMURA TAKAYOSHI
IPC分类号： B25J9/06 , B21J13/10 , B25J9/04 , B25J9/10 , B25J17/02 , B25J1/02

2. 发明专利

JPS5242440A METHOD OF BOXING FILLET END CORNER PART AND DEVICE THEREFOR 失效
公开(公告)号：JPS5242440A
公开(公告)日：1977-04-02
申请号：JP11868475
申请日：1975-09-30
申请人： DAIKIN IND LTD
发明人： YOSHIMURA TAKAYOSHI , NAGURA KUNIHIRO , FUTAMI KENICHIROU , NAKADA YOUJI , GESHI OSAMU
IPC分类号： B23K9/095 , B23K9/02 , B23K9/12 , B23K9/127 , B23K31/00 , B23K37/00

3. 发明专利

JPS551959A AUTOMATIC WELDING METHOD 失效
公开(公告)号：JPS551959A
公开(公告)日：1980-01-09
申请号：JP7568578
申请日：1978-06-21
申请人： DAIKIN IND LTD
发明人： YOSHIMURA TAKAYOSHI , MIYAGI YOSHIKAZU
IPC分类号： B23K9/127 , B23K9/12
摘要： PURPOSE:To facilitate controlling and enhance working accuracy by providing a main axis system and a correcting axis system to a welding robot, instructing the position of a welding torch with respect to weld line to each axis of the main axis system, mounting a copying sensor to the leading end of the torch,giving copying instructions to the correcting axis stytem and performing automatic welding in a closed loop controlsystem. CONSTITUTION:The robot body is fixed to the top end flange of a small-diameter nozzle pipe 3. The position of a welding torch 11 is instructed to the main axis system by a P.T.P. system. A copying sensor 15 is mounted to the leading end of the welding torch 11. While the robot is being responsively moved in compliance with the instructions, it is traced one round along a weld line 5. Its axes are driven by the position correction information and the position information is stored in a RAM and this ends copying instructions. Instructions such as of voltages, currents, speeds,etc. are given by the pins on the pinboard matrix. The main axis system and correcting axis system are operated, whereby automatic continuous welding of a closed loop control system is accomplished.

4. 发明专利

JPS5227157A ARM OF INDUSTRIAL ROBBOT 失效
公开(公告)号：JPS5227157A
公开(公告)日：1977-03-01
申请号：JP10433275
申请日：1975-08-27
申请人： DAIKIN IND LTD
发明人： MATSUSHIMA RIYOUICHI , YOSHIMURA TAKAYOSHI , KITAHATA HISAHARU
IPC分类号： B25J9/06 , B25J19/00
摘要： PURPOSE:Arm of industrial robbot in which the arm is gravitationaly belanced at any postures.

5. 发明专利

JPS5514112A TRACING WELDING MACHINE 失效
公开(公告)号：JPS5514112A
公开(公告)日：1980-01-31
申请号：JP8481478
申请日：1978-07-11
申请人： DAIKIN IND LTD
发明人： GESHI OSAMU , KITAHATA HISAHARU , MIYAGI YOSHIKAZU , YOSHIMURA TAKAYOSHI , MATSUSHIMA RIYOUICHI
IPC分类号： B23K9/127 , B23K9/032 , B23K9/12
摘要： PURPOSE:To improve the workability and eliminate the phase deviation between the welding torch and tracing sensor, by spacing the welding torch and tracing sensor in the direction of curvature radius at each point of weld line consisting of three-dimensional curve so that the specified relative configuration may be maintained. CONSTITUTION:A tracing sensor 5 for Z-axis provided at the lower end of a turnin shaft F on which a welding torch 6 is mounted, and applies output to a motor 7 by detecting the Z-axis component and sending signal to the control system. By the electrical displacement of potentiometer 8 for Z, the height of the welding torch 6 is judged. By the composition of the three electrical displacements of potensiometers 10, 12, 14 for X, Y and F, the relative position of the welding torch 6 is judged. From both tracing sensors 5 and 17, correction commands to Z-axis, X-axis and Y- axis are issued, and the welding torch 6 is directed at a specified aiming angle with respect to the weld line l.

6. 发明专利

JPS5452280A WEIGHT BALANCED HYDRAULIC CIRCUIT 失效
公开(公告)号：JPS5452280A
公开(公告)日：1979-04-24
申请号：JP11831277
申请日：1977-09-30
申请人： DAIKIN IND LTD
发明人： YOSHIMURA TAKAYOSHI
IPC分类号： F15B13/10 , F15B11/02
摘要： PURPOSE:To balance the weight and making the vertical speed constant by adjusting the pressure on the load side of a rod type cylinder for vertical action shaft so that the pressure on the other side thereof is half that of hydraulic source. CONSTITUTION:Let P1 denote the pressure of the port on the load side of a servo valve 2 and a1 the area of the opening, then where the hydraulic port A is communicated to the port C, flow Q1=Ca1 (Ps-P1) (2g/gamma) (C: flow coeficient). On the opening area of the port B, then where the tank port C is communicated to the port C, flow Q2=Ca1(P1-Pgamma) (2g/gamma) . Accordingly, the curve of the flow of servo valve-drop in the valve pressure is as indicated by the drawing. When driving is made at a constant speed, the balancing of the load 7 keeps the vertical drop in the valve pressure equal. Thus, if the opening of the servo valve 2 is the same, the vertical speed is equal.

7. 发明专利

JPS5514113A TRACING WELDING MACHINE 失效
公开(公告)号：JPS5514113A
公开(公告)日：1980-01-31
申请号：JP8481578
申请日：1978-07-11
申请人： DAIKIN IND LTD
发明人： GESHI OSAMU , KITAHATA HISAHARU , MIYAGI YOSHIKAZU , YOSHIMURA TAKAYOSHI , MATSUSHIMA RIYOUICHI
IPC分类号： B23K9/127 , B23K9/032 , B23K9/12
摘要： PURPOSE:To improve the workability and enable accurate and easy tracing control by eliminating the phase deviation between the aiming positon of welding torch and detecting position of tracing sensor, by providing a tracing sensor in a position spaced from the target weld line. CONSTITUTION:A welding torch 6 is pivoted on the tip of a turning shaft F which is revolved by a motor 13 in a manner swingable in the vertical plane. By the electrical displacement of a potentiometer 8 for Z, the height and aiming angle of the welding torch 6 are judged. By the composition of three electrical displacements of potentiometers 10, 12, 14 for X, Y and F, the relative position of the welding torch 6 with respect to a work 1 is judged. Correction commands to Z-axis, X-axis and Y- axis are issued from both tracing sensors 5 and 17, and the welding torch 6 is directed at a specified aiming angle with respect to the weld line l which composes a three-dimensional curve.

8. 发明专利

JPS551973A AUTOMATIC WELDING METHOD 失效
公开(公告)号：JPS551973A
公开(公告)日：1980-01-09
申请号：JP7614878
申请日：1978-06-22
申请人： DAIKIN IND LTD
发明人： YOSHIMURA TAKAYOSHI , MIYAGI YOSHIKAZU
IPC分类号： B23K9/127 , B23K9/12
摘要： PURPOSE:To weld the weld lines of swiftly changing forms automatically and continuously by means of a welding torch through an easy control, by equipping a welding robot with the main shafting having four degrees of freedom and the compensating shafting having two degree of freedom. CONSTITUTION:An extension line 5 which is present on the peripheral edge of a work in curve form and of which three-dimensional displacement point cotinues endlessly is automatically welded by a welding robot 6 having a welding torch 11 pivoted on the end of an arm 9 extended from a column 7. In this case, the main shafting consisting of four degrees of freedom in R-axis, X-axis, Z-axis and S-axis, and the compensating shafting consisting of two degrees of freedom in V-axis and H-axis are equipped to the robot 6. The column 7 is erected up and secured by placing roughly orthogonally in the central part with respect to the work, while the positions of X- axis, Z-axis and S-axis on the torch 11 are instructed by cam plates 26, 27, 28 which are secured to the column 7. And the movements of cam engaging pieces 29, 30, 31 which are being engaged with said cam plates are transmitted directly and mechanically to the converpanding axes. That is, by the swivel motion of R-axis alone, the main shafting 4 in four degrees of freedom may be moved as determined.

9. 发明专利

JPS5447847A HAND APPARATUS FOR WELDING TORCH 失效
公开(公告)号：JPS5447847A
公开(公告)日：1979-04-14
申请号：JP11438577
申请日：1977-09-21
申请人： DAIKIN IND LTD
发明人： YOSHIMURA TAKAYOSHI
IPC分类号： B23K9/28 , B23K37/00
摘要： PURPOSE:Hand apparatus for welding torch, so as to easily change the position of welding torch around welding spot separately form the axis control of arm, by making the composite type parallel four joint link mechanism as the main structure of machine. CONSTITUTION:Composite type four joint link mechanism is formed by the fixing link 3 provided on the tip end part of the rotation base moving part 8, the first link 1, the second link 2, the third link 4, the fourth link 5 and the fifth link 6 and is put in the bosom of the part 8 so as to carry out the action resemble to pantograph. Hereby, rotating motion of the link 4 is carried out centering around the axis joint part A and fan-shaped motion of the link 6 is carried out. Central axis of the welding torch 7 is accorded with central line of the link 6 and the tip end is accorded with the point P on the extension line of central line of the link 3. Two- system motion transmitting mechanisms separately rotating the link 4 and the part 8, are provided on the above hand apparatus and the torch 7 is able to three dimentionally move in desired position.

10. 发明专利

JPS5510386A TREATER FOR TRACING WORK 失效
公开(公告)号：JPS5510386A
公开(公告)日：1980-01-24
申请号：JP8481378
申请日：1978-07-11
申请人： DAIKIN IND LTD
发明人： GESHI OSAMU , KITAHATA HISAHARU , MIYAGI YOSHIKAZU , YOSHIMURA TAKAYOSHI , MATSUSHIMA RIYOUICHI
IPC分类号： B23Q35/04 , B23K9/12 , B23K9/127 , B23K37/00 , B23Q35/00
摘要： PURPOSE:To make possible such tools as the welding torch, etc., to exactly trace the aim line, by using the on-off type sensor at a position far from the aim line like as the weld line, etc., in combination with the potentiometer. CONSTITUTION:On the base 4, the vertical axis Z, the axis of abscissa X, the axis of ordinate Y, and the turning axis F, are settled with freedom; the turning axis F turns around the outside of the round steel pipe 2, while the vertical axis Z and the reference axis V keep the parallelism against the generatrix of the round steel pipe 2 of the work 1. The torch 6 is rotatably attached to the turning axis F. The displacements of the axis of abscissa X, the axis of ordinate Y, and the turning axis F are respectively measured by the potentiometers 10, 12, 14; the height of the torch 6 is judged by the electric displacement of the potentiometer 8 for the vertical axis Z. The on-off type tracing sensor 17 produces the correcting signal directing the same direction as the torch 6. The velocity commanding device 21 detects the turning angle based on the axis of ordinate Y of the reference axis V, and produces the correcting signal. According to this method, the tracing work holding constant the target angle and velocity can be exactly executed.

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