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1. 发明专利

JPS6487071A TURNING SPEED CONTROLLER 失效
公开(公告)号：JPS6487071A
公开(公告)日：1989-03-31
申请号：JP25072686
申请日：1986-10-23
申请人： MITSUBISHI HEAVY IND LTD , RYOMEI ENG CORP LTD
发明人： WADA KOICHI , MANABE YUKIO , KIKO HIDEKI
IPC分类号： B23K9/12 , B05B13/06 , B23K7/00 , G05D13/00
摘要： PURPOSE:To perform uniform working without working peripheral speed variation by detecting the distance between a cylindrical member and the turning center and calculating the turning speed from the detected distance and the set speed to control the turning speed from a calculated result. CONSTITUTION:Device fixing mechanism 3 such as air cylinders to fix a working device main body 2 exist in the cylindrical member 1 and these mechanisms 3 are pressed against the inside of the cylindrical member 1 to fix the main body 2. The device main body 2 is provided with a turning mechanism 4 constituted of a motor, etc., and a turning shaft 5 and a distance sensor 6 are turned thereby. A turning working tool, a welding torch, etc., are provided to the tip of the turning shaft 5. A distance signal (l) and the set speed (v) are inputted to an arithmetic processing unit 8 and the turning angular speed omega where the speed (v) is maintained constant is calculated and the speed of a motor 10 is determined, by which the turning speed is controlled. By this method, the misalignment of the cylindrical member and the peripheral speed variation due to out-of-roundness inferiority are eliminated and the uniform working can be performed.

2. 发明专利

JPS61140376A Automatic welding method of circumferential joint 失效
标题翻译：自动焊接方法
公开(公告)号：JPS61140376A
公开(公告)日：1986-06-27
申请号：JP26387984
申请日：1984-12-14
申请人： Mitsubishi Heavy Ind Ltd , Ryomei Eng Corp Ltd
发明人： WADA KOICHI , MANABE YUKIO , INOUE SHIGEO , KUWABARA HIDETOSHI , OBATA KOJI
IPC分类号： B23K9/127 , B23K9/02 , B23K9/095 , B23K9/12
CPC分类号： B23K9/0216
摘要： PURPOSE:To stabilize a welding quality and to save labors by detecting the groove shape with rocking an optical distance sensor at the front of a weld part and by deciding the delay timing and symmetry timing to the succeeding layer conditions based on the detected shape thereof. CONSTITUTION:The optical distance sensor 8 to rock in about right angles direction with a welding line is arranged at the front part of the fixed distance from the weld zone and the processing unit 11 of the distance signal and arithmetic unit 12 are connected. The groove shape is detected with high accuracy with rocking the sensor 8, with receiving the continued distance signal at a minute pitch and with the combination of this signal and the sensor position signal. The target position of the torch 7 and welding conditions are set and temporarily memorized based on this sectional shape. A proper delay timing is then decided with counting the pulse signal transmitted from and encoder. Further by providing the mark of weld starting position a symmetry timing is decided. With this method the labor saving in welding and the stabilization of quality are enabled.
摘要翻译：目的：通过在焊接部分的前部摆动光学距离传感器检测槽形状，并根据检测到的形状，确定后续层条件的延迟时间和对称时间，来稳定焊接质量并节省劳动力。构成：在距离焊接区域的固定距离的前部配置有用焊接线在大致直角方向上摇动的光学距离传感器8，距离信号和运算单元12的处理单元11连接。通过摇动传感器8，以高精度检测凹槽形状，同时以这种信号和传感器位置信号的组合接收连续距离信号。焊枪7的目标位置和焊接条件被设定并基于该截面形状临时存储。然后通过计数从编码器发送的脉冲信号来确定适当的延迟定时。此外，通过提供焊接起始位置的标记，确定对称定时。采用这种方法可以实现焊接省力，质量稳定。

3. 发明专利

JPH06285634A AUTOMATIC WELDING METHOD FOR STRUCTUAL STEELWORK 失效
公开(公告)号：JPH06285634A
公开(公告)日：1994-10-11
申请号：JP2297291
申请日：1991-01-23
申请人： MITSUBISHI HEAVY IND LTD , SHIMIZU CONSTRUCTION CO LTD
发明人： MATSUMOTO TAKEJI , MUKOYA YOSHINORI , WADA KOICHI , YUZAKI YOSHIHIRO , MINAMI NAGIO
IPC分类号： B23K9/00 , B23K9/12 , B23K9/127 , B23K37/00 , E04B1/35 , E04G21/12
摘要： PURPOSE:To improve working efficiency without incidental work such as tab plate fitting in welding assembly of pillars of the structual steelwork. CONSTITUTION:A rail 9 provided on a base carriage 7 to travel on the floor face is arranged around the periphery of an existing pillar 1 and a setting process which sets a welding carriage 16 mounted with a welding torch 17 and a position detector 18 on the same rail 9 and a teaching process which detects the positional relation between the welding carriage 16 and the pillar 1 by the position detector 18 and sets welding conditions on the welding carriage 16 are carried out. Further, a playback process which performs automatic welding on the existing pillar 1 and a pillar 1' of the next position by the welding conditions while moving the welding carriage 16 along the rail 9 and a preparatory process which pulls up and transfers the base carriage 7 and the welding carriage 16 to the upper area are carried out in order.

4. 发明专利

JPH0691394A TRAVELING RAIL FOR STEELWORK WELDING ROBOT 失效
公开(公告)号：JPH0691394A
公开(公告)日：1994-04-05
申请号：JP24517592
申请日：1992-09-14
申请人： MITSUBISHI HEAVY IND LTD , SHIMIZU CONSTRUCTION CO LTD
发明人： MATSUMOTO TAKEJI , WADA KOICHI , YOSHIDA YASUYUKI , HIROMOTO NOBUMI , HARADA SHINGO , OKUYAMA NOBUHIRO , KOSHIDA KAZUNORI
IPC分类号： B23K9/00 , B23K9/12 , B23K37/02
摘要： PURPOSE:To secure the accuracy of positioning by integrally forming a rail main body and a rail base mounted on a bracket to support the load on the rail main body to consist a rail unit and mounting the rail base on the bracket in a freely attachable/detachable state. CONSTITUTION:The bracket 3 is fixed on the side of a steel column 1 and a rail 2 for a carrier device 11 mounted with a welding robot and freely running in the longitudinal direction is provided aroung the steel column 1. The rail unit 4 integrally consists of the rail main body 5 and the rail base 6 by which the load on the rail main body 5 is supported and mounted on the bracket 3. The rail base 6 is mounted on the bracket 3 with a mounting means in a freely attachable/detachable state. Thus, the rail main body 5 and the bracket 3 are accurately positioned and the working efficiency to provide the rail 2 is improved.

5. 发明专利

JPH05104046A APPARATUS FOR PAINTING WALL SURFACE 失效
公开(公告)号：JPH05104046A
公开(公告)日：1993-04-27
申请号：JP8975391
申请日：1991-03-28
申请人： MITSUBISHI HEAVY IND LTD
发明人： INOUE SHIGEO , WADA KOICHI , TAKEUCHI SHO
IPC分类号： B05B13/04 , B05B13/02 , B05B15/04 , B05B15/12 , B05C11/02
摘要： PURPOSE:To form a painting surface of high quality while effectively preventing the outflow and scattering of the paint mist in a hood to the outside. CONSTITUTION:An outside hood 3 opened at the front thereof is attached to a truck movable along a wall surface 1 to be painted and an inside hood 4 opened at the front thereof and movable almost in parallel to the wall surface 1 is arranged within the outside hood 3. A pair of rollers 10 provided at an appropriate interval so as to tumble in contact with the wall surface 1 are arranged in the inside hood 4 and, further, a spray gun 12 is attached to the inside hood 4 so as to inject paint to the wall surface 1 between a pair of the rollers 10.

6. 发明专利

JPH04338258A WALL SURFACE APPLICATOR 失效
公开(公告)号：JPH04338258A
公开(公告)日：1992-11-25
申请号：JP11047891
申请日：1991-05-15
申请人： MITSUBISHI HEAVY IND LTD
发明人： INOUE SHIGEO , WADA KOICHI , TAKEUCHI SHO
IPC分类号： B05C1/06 , B05C1/02
摘要： PURPOSE:To provide a wall surface applicator by which an operation at a high position can be conducted safely and efficiently without scattering coating material mist. CONSTITUTION:A wall surface moving device is shown with 1 in figure and the applicator is constituted of a mobile device main body 2, suction disks 3 and driving wheels (not shown in figure), etc. The suction disks 3 adhere to the wall surface 4 of the structure by the action of vacuum and the weight of the wall surface movement device 1 is supported, while the driving wheels move the wall surface moving device 1 along the wall surface 1. On other hand, the applicator 5 moves integrally with the wall surface moving device 1 and the coating rollers 6 conducting reciprocal movements horizontally are provided inside the applicator.

7. 发明专利

JPH04299711A AUTOMATIC CARRIER TRUCK 失效
公开(公告)号：JPH04299711A
公开(公告)日：1992-10-22
申请号：JP6471891
申请日：1991-03-28
申请人： MITSUBISHI HEAVY IND LTD , SHIMIZU CONSTRUCTION CO LTD
发明人： WADA KOICHI , YUZAKI YOSHIHIRO , MINAMI NAGIO , OYAMADA NOBORU , NOMURA HAJIME , OKANO TADASHI , UENO TAKATOSHI
IPC分类号： G05D1/02
摘要： PURPOSE:To improve the running stability of an automatic carrier truck and also to prevent the easy derailment even at the curve parts by providing the sensors at the front and rear parts of the truck. CONSTITUTION:The sensors 3A and 3B are provided on the center position of the front and rear parts of a four-wheel, carrier truck 2 respectively. Thus the front wheels 4 are steered by the signals of the sensor 3A, and the rear wheels 5 are steered by the signals of the sensor 3B respectively. In this case, the steering value of the wheels 5 is set smaller then that of the wheels 4. Therefore the independent steering control is attained to both wheels 4 and 5 along the path of an optical reflecting tape 1 with high accuracy especially in such a case where the straight lines and curves are mixed together. Owing to this individual steering control of both wheels, the attitude of the attitude of the truck 2 much more than the wheels 4. In this respect, the steering value of the wheels 5 is reduced. So that, the running stability of the vehicle 2 is improved.

8. 发明专利

JPH04166481A WALL WORKING DEVICE 失效
公开(公告)号：JPH04166481A
公开(公告)日：1992-06-12
申请号：JP29065690
申请日：1990-10-30
申请人： CHUBU ELECTRIC POWER , MITSUBISHI HEAVY IND LTD
发明人： UESUGI HIDEYUKI , SAKUMA TAKESHI , NOMURA TADASHI , HIRABAYASHI MORIO , INOUE SHIGEO , WADA KOICHI , TAKEUCHI SHO , YUGAWA NOBUHIRO
IPC分类号： B62D57/024 , B25J5/00 , B63B59/10 , F16B47/00
摘要： PURPOSE:To surely suckingly fit to a cylindrical object face by providing an expansion/contraction mechanism to adjust projecting and retreating of a plurality of divided flexible suction cups against the wall, and a curvature varying mechanism to elastically press side edge parts in the horizontal direction of the back of respective suction cups and fit the surfaces of suction curs along the curved wall. CONSTITUTION:Flexible suction cups 1 arranged on suitable places of the device main body are suckingly fitted to a wall 13 due to inner vacuum condition by a vacuum source, and the device is provided with a variable curvature mechanism 1-a to press both sides of the back of respective suction cups 1 with springs and an expansion/contraction mechanism to adjust projecting and retreating of respective suction cups against the wall 13. A plurality of suction cups suitably arranged are suckingly fitted on the wall (cylindrical face), and sucking movement on the wall can be realized by driving wheels of four corners in this condition. Working on a wall of cylindrical structure of various diameters can be executed with one kind wall working device without revision, and hence such working on wall can be executed with useul cost and good quality.

9. 发明专利

JPH04166480A WALL SUCKING FIT DEVICE 失效
公开(公告)号：JPH04166480A
公开(公告)日：1992-06-12
申请号：JP29065590
申请日：1990-10-30
申请人： CHUBU ELECTRIC POWER , MITSUBISHI HEAVY IND LTD
发明人： KIDO SEIJI , SAKUMA TAKESHI , NOMURA TADASHI , OTA HIROKAZU , INOUE SHIGEO , WADA KOICHI , TAKEUCHI SHO , YUGAWA NOBUHIRO
IPC分类号： B62D57/024 , B25J5/00 , B63B59/10 , F16B47/00
摘要： PURPOSE:To surely suckingly fit to a cylindrical object face by forming a flexible seal member which is contacted with the wall and form a reduced pressure territory into a ring-like and hollow shape capable of being injected with pressure fluid therein, and providing a pressure adjusting means to adust pressure in the hollow part on a sucking fit device main body. CONSTITUTION:A flexible seal member 13 is formed into a ring-like and hollow shape capable of being injected with pressure fluid therein, and a reduced pressure space part 8 is formed out of a disc-like sucking fit device main body 17 and a hollow ring-like flexible seal member 13. The pressure in the hollow ring-like flexible member 13 is measured with a pressure control device through a vacuum measuring port 19, a supply quantity of pressure fluid from a pressure fluid supply source into the hollow ring-like flexible seal member 13 through a pressure fluid introducing port 15 is adjusted, the share of the hollow ring-like flexible seal member 13 is deformed according to recessed and projecting form of a wall 9 to closely contact with the wall 9, and the interior of the reduced pressure space part 8 formed between the sucking fit device main body 17 and the flexible seal member 13 is maintain in vacuum condition.

10. 发明专利

JPH038571A UNDERWATER VERTICAL WELDING METHOD 失效
公开(公告)号：JPH038571A
公开(公告)日：1991-01-16
申请号：JP14362589
申请日：1989-06-06
申请人： MITSUBISHI HEAVY IND LTD
发明人： WADA KOICHI , INOUE SHIGEO
IPC分类号： B23K9/00 , B23K9/08
摘要： PURPOSE:To perform fine welding of high quality on an underwater vertical lap joint by removing water locally in the vicinity of a joint part to form a, cavity and performing welding while executing magnetic stirring by using a welding wire. CONSTITUTION:CO2 shielding gas is first fed and the shielding gas is injected in a shield hood 6 wherein a magnetic stirring coil incorporated welding torch 13 is stored and the water is removed and the local cavity is formed. In this local cavity, a welding arc 17 is generated between the welding wire 15 tip and the vertical lap joint 2 to form a weld bead 18. In addition, while the shield hood 6 being maintained airtight by sealing materials 9 by operating a driving motor 10, it is elevated along a guide shaft 8 and the welding arc 17 is elevated on the vertical lap joint 2 and the weld bead 18 is formed extending over the entire length of the joint. At this time, even if a certain amount of water content remains in the vertical lap joint 2, since a specified magnetizing current is impressed on the welding arc 177, weld metal receives a stirring action and steam is dispersed and raised to the surface and the generation of a blowhole in the weld bead 18 is prevented.

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