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1. 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.

2. 发明专利

JPS63112072A METHOD AND DEVICE FOR CONTROLLING ARC WELDING ROBOT 失效
公开(公告)号：JPS63112072A
公开(公告)日：1988-05-17
申请号：JP25829786
申请日：1986-10-31
申请人： HITACHI LTD , HITACHI KEIYO ENG
发明人： UDAGAWA TSUGIO , SUGIYAMA KENGO , FUJIWARA KIROKU , SARUGAKU SHINICHI
IPC分类号： B23K9/127 , B23K9/12
摘要： PURPOSE:To restrain the generation of a welding defect to the minimum by holding the position prior to the arc cut being caused by suspending a normal correction motion when the arc cut is caused during the arc welding rocking a welding torch. CONSTITUTION:An arc welding is performed with rocking a welding torch 8 in the groove width direction and when the dislocation in the width direction of the welding torch 8, it is corrected and welding is performed by following to the weld line. At this time, an arc cut detection circuit 6 monitors the welding current from the shunt 5 provided in the welding circuit and monitors the terminal voltage of a welding power source 1 as well. When the arc cut is detected by this arc cut detection circuit 6, a signal is transmitted to a robot control circuit 2, the takeup of the weld-current from an arc sensor circuit 7 is suspended in the robot control circuit 2, the motion of the robot main body 3 is controlled by the positional information prior to the arc cut being caused and the welding is performed. The weldline following performance is thus not reduced and the generation of the welding defect can be minimized.

3. 发明专利

JPS63295062A AUTOMATIC ARC WELDING EQUIPMENT 失效
公开(公告)号：JPS63295062A
公开(公告)日：1988-12-01
申请号：JP12724987
申请日：1987-05-26
申请人： HITACHI LTD , HITACHI KEIYO ENG
发明人： SHIMOMURA YUKIJI , TERAMOTO KAZUYOSHI , MIYAKE NORIHISA , YOSHIHARA MINORU , FUJII KENJIRO , MOURI TOSHIHARU , OURA MASAO , HATORI KOICHI , KUBO KENJI , FUJIWARA KIROKU
IPC分类号： B23K9/095 , B23K9/00 , B23K9/12 , B23K9/127
摘要： PURPOSE:To always form uniform beads by detecting a welding current to feed back it to control the feed speed of a welding wire and the travel speed of a welding torch with automatic arc welding equipment using a constant voltage welding source. CONSTITUTION:With the automatic arc welding equipment having the constant voltage welding source held by a robot, the welding torch 1 is fitted to a carriage 2 to move on a rail by a ball screw to rotate by a motor 4 and the welding wire 11 is used to arc-weld a work 23. In this case, the welding current is detected by a current detector 24 fitted to the wiring from an arc welding machine 8 and its detected value 16 is inputted to a controller 6 and subjected to the arithmetic processing with the welding voltage 17, current 18 and the reference speed 19 set therein and a welding voltage command 14 and a welding current command 15 are supplied to the arc welding machine 8 and a speed command 25 is issued to a motor speed controller 7. By this method, a driving signal 12 is outputted to the motor 4 and the speed of the carriage 2 and the rotating speed of a motor 20 for feeding the welding torch 11 are automatically controlled thereby to form the uniform weld beads stably.

4. 发明专利

JPH0211391B2 失效
公开(公告)号：JPH0211391B2
公开(公告)日：1990-03-14
申请号：JP8141182
申请日：1982-05-17
申请人： HITACHI LTD
发明人： FUJIWARA KIROKU , MYAKE NORIHISA , MARUYAMA YUTAKA , HASHIMOTO YASUHIRO , TAKAHASHI ICHIRO , ARAYA TAKESHI
IPC分类号： B25J9/00 , B25J5/02

5. 发明专利

JPS6475177A ARC WELDING EQUIPMENT 失效
公开(公告)号：JPS6475177A
公开(公告)日：1989-03-20
申请号：JP23220787
申请日：1987-09-18
申请人： HITACHI LTD
发明人： FUJIWARA KIROKU , ARAYA TAKESHI
IPC分类号： B23K9/06 , B23K9/073
摘要： PURPOSE:To perform welding with little occurrence of welding spatters by forming a compensating ring of composite material which is formed by joining high-temperature superconductive material to superior conductive material on sheet metal and moving a position of the compensating ring. CONSTITUTION:A negative electrode output terminal of a DC arc welding source 5 is connected to base metal 1 via an inductive reactor 6 in series and a positive electrode output terminal is connected to a feeding chip 4. The arc voltage is fed between the base metal 1 and a welding wire 2 and a welding current is carried thereto. Winding 8 is wound round an open magnetic circuit shape iron core 7 and the compensating ring 9 which is formed by joining the high- temperature superconductive material to the outside periphery of a square tubular conductor of the superior conductive material is fitted in an insulated state on the outside periphery of the central part thereof to form the inductive reactor 6. The compensating ring 9 is moved in the longitudinal direction of the winding 8. By this method, a leading gradient of the welding current, a limitation of a peak value and the subsequent gradient of the welding current can be selected and improved freely by the compensating ring 9.

6. 发明专利

JPS6321588B2 失效
公开(公告)号：JPS6321588B2
公开(公告)日：1988-05-07
申请号：JP8289280
申请日：1980-06-20
申请人： HITACHI LTD
发明人： FUJIWARA KIROKU , UDAGAWA TSUGIO , MIHARA NAGAHARU , ARAYA TAKESHI
IPC分类号： B23K9/12 , B23K9/095 , B23K9/127

7. 发明专利

JPS59189415A Method and device for teaching motion of industrial robot 失效
标题翻译：教学工业机器人运动的方法与装置
公开(公告)号：JPS59189415A
公开(公告)日：1984-10-27
申请号：JP6359383
申请日：1983-04-13
申请人： Hitachi Ltd
发明人： MIYAKE NORIHISA , DOBASHI AKIRA , FUJIWARA KIROKU , HASHIMOTO YASUHIRO , MARUYAMA YUTAKA
IPC分类号： B25J9/22 , B23K9/12 , B25J9/18 , G05B19/42
CPC分类号： G05B19/42 , B23K9/12 , G05B2219/36461 , G05B2219/36503 , G05B2219/45083
摘要： PURPOSE: To execute the work contents taught in advance even if a relative position relation of a robot and a work object place is different, by teaching compared reference points of several points in a moving destination with regard to a working motion in the moving destination of the robot.
CONSTITUTION: Compared reference points of several points in a moving destination with regard to a working motion in the moving destination of a robot are taught so that a working motion locus corresponding to a work object place in the moving destination can be obtained. For instance, teaching of a working of a work object place W
1 A is executed to a robot R installed at a position P of a work object place of a work object 1, and this work is executed. Subsequently, when the work is ended, the robot R is installed at a position Q in the vicinity of a work object place W
2 A, and the work of the work object place W
2 A is executed in the same way as above. Also, even in case when the robot R is installed at a different work place from the taught place, only compared reference points of several points are taught without executing a reteaching operation following a relative position of the robot R and the work object in other work place of the same work condition.
COPYRIGHT: (C)1984,JPO&Japio
摘要翻译：目的：即使在机器人与工作对象位置的相对位置关系不同的情况下，通过教导移动目的地中的若干点的比较参考点相对于移动目的地的移动目的地中的工作运动来执行预先教导的工作内容机器人。规定：相对于机器人的移动目的地中的工作运动，移动目的地中的多个点的参考点被比较，从而可以获得与移动目的地中的工作对象相对应的工作运动轨迹。例如，对安装在作业对象1的作业对象位置的位置P的机器人R执行工作对象位置W1A的工作的教导，并执行该工作。随后，当工作结束时，机器人R安装在工作对象位置W2A附近的位置Q处，并且以与上述相同的方式执行工作对象位置W2A的工作。此外，即使在将机器人R安装在与教导的地方不同的工作地点的情况下，只教导若干点的比较参考点，而不执行机器人R和工作对象在其他工作中的相对位置之后的重新操作相同工作条件的地方。

8. 发明专利

JPS61119378A Dc arc welding power source 失效
标题翻译：直流电弧焊电源
公开(公告)号：JPS61119378A
公开(公告)日：1986-06-06
申请号：JP24068684
申请日：1984-11-16
申请人： Hitachi Ltd , Hitachi Seiko Ltd
发明人： FUJIWARA KIROKU , ARAYA TAKESHI , FUKUI HIROSHI , TAJIMA SHINJI
IPC分类号： B23K9/073 , B23K9/06
CPC分类号： B23K9/06
摘要： PURPOSE:To regulate a welding current waveform by a simple device, and to execute welding of high quality by adding a deviation value of a detecting welding voltage and an output set value, and a deviation value of a detecting voltage of welding current variation and a reference voltage which has discriminated a short-circuit arc, and controlling an inverter. CONSTITUTION:A feedback circuit 7 value of a deviation of a detecting 13 welding voltage which has rectified and smoothed 10 an input 1 through a rectifier 8 and an inverter circuit 9, and an output set voltage 4, and a deviation- amplified value 17 of an amplified value 14 of a DC reactor or Rogowskii coil 12 voltage of a welding current and a reference voltage 16 which has discriminated 15 a short-circuit arc are added and amplified 18, and the inverter circuit 9 is controlled by an inverter driving circuit 11. According to this method, waveform control of a welding current by a variation of a welding load can be executed by a simple device without using a large-sized welding reactor, and welding is executed with high quality.
摘要翻译：目的：通过简单的装置来调节焊接电流波形，并通过增加检测焊接电压和输出设定值的偏差值，以及焊接电流变化的检测电压的偏差值和识别短路电弧的基准电压，以及逆变器的控制。构成：反馈电路7通过整流器8和逆变器电路9对输入1进行整流并平滑的检测13焊接电压的偏差值，输出设定电压4和偏差放大值17 DC电抗器或Rogowskii线圈12的放大值14焊接电流的电压和鉴别为短路电弧的参考电压16被加法并放大18，并且逆变器电路9由逆变器驱动电路11 根据该方法，可以通过简单的装置通过焊接负载的变化来进行焊接电流的波形控制，而不使用大型焊接电抗器，并且以高质量执行焊接。

9. 发明专利

JPS61108472A Arc welding method 失效
标题翻译：弧焊方法
公开(公告)号：JPS61108472A
公开(公告)日：1986-05-27
申请号：JP22774884
申请日：1984-10-31
申请人： Hitachi Ltd , Hitachi Seiko Ltd
发明人： FUJIWARA KIROKU , IMANAGA AKIYOSHI , SHINADA TSUNEO
IPC分类号： B23K9/067 , B23K9/12
CPC分类号： B23K9/12
摘要： PURPOSE:To improve the stability of an arc by discriminating the contact state between a wire and a material to be welded and an arc generating state of the time of starting an arc, and shifting a lower speed than a wire feed speed to a set speed. CONSTITUTION:When a welding start switch 7 is turned on, a timer circuit 14 is operated, and by a control signal of the timer circuit 14, a wire feed speed switching circuit 10 inputs a set value of a low speed wire feed setting part 11 to a wire feed motor driving circuit 5 for another prescribed time (the time which has been set by a timer). After the prescribed time has elapsed, a set value of a welding condition wire feed setting part 12 is inputted automatically to the wire feed motor driving circuit 5 by the wire feed speed switching circuit 10. The prescribed time in this case is determined by the required for the time when a wire 2 contacts to a material to be welded 8, and an arc is generated, and the time required for the time when the wire 2 is fed for a short time through an interval extending from the tip of a welding chip to the material to be welded 8 by an inching operation in a welding work.
摘要翻译：目的：通过区分电线和被焊接材料之间的接触状态以及起弧时间的电弧产生状态，并将低于送丝速度的速度移动到设定速度来提高电弧的稳定性。构成：当焊接启动开关7接通时，定时器电路14被操作，并且通过定时器电路14的控制信号，送丝速度切换电路10输入低速送丝设定部11的设定值到送丝马达驱动电路5另一规定时间（由定时器设定的时间）。经过规定时间后，通过送丝速度切换电路10自动地向送丝马达驱动电路5输入焊接条件送丝设定部12的设定值。这种情况下的规定时间由所需的时间在电线2与待焊接材料8接触并产生电弧的时刻，以及当焊丝2从焊接芯片的尖端延伸的短时间内供给时间所需的时间通过在焊接工作中的微动操作到被焊接材料8。

10. 发明专利

JPS6099485A MULTI-LAYER WELDING METHOD OF BUTT WELDED JOINT HAVING GROOVE 失效
公开(公告)号：JPS6099485A
公开(公告)日：1985-06-03
申请号：JP20741583
申请日：1983-11-07
申请人： HITACHI LTD
发明人： FUJIWARA KIROKU , ARAYA TAKESHI , MIYAKE NORIHISA
IPC分类号： B23K9/095 , B23K9/12 , B23K33/00
摘要： PURPOSE:To perform multi-layer welding while controlling automatically and easily the position of a torch and welding conditions by calculating the rate of deposition per unit time, welding speed, arc voltage, etc. from the sectional shape of the groove to be welded and set welding current value. CONSTITUTION:Welding current is set as welding conditions with a multi-layer welding method for a butt joint of a single Vee groove 1 having a groove angle theta, groove depth (t) and groove root width W0. The welding speed for welding the i-th layer 2 and other welding conditions such as arc voltage, etc. can be calculated from the empirical equation using said conditions. The rate of deposition per unit time is further calculated from various constants and welding current value and the sectional area of the i-th layer is calculated from said rate and the welding speed. The laminating width Wi and thickness hi of the i-th layer 2 are calculated from the laminated width Wi-1 of the (i-1)th layer. Wi is therefore calculated by the successive calculation from the width W0 and further the position of the welding torch for the (i+1)th layer is automatically determined.

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