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1. 发明授权

US4667997A Grip device 失效
标题翻译：抓握装置
公开(公告)号：US4667997A
公开(公告)日：1987-05-26
申请号：US792284
申请日：1985-10-28
申请人： Tsugio Udagawa , Toshio Akatsu , Yasunori Hamada
发明人： Tsugio Udagawa , Toshio Akatsu , Yasunori Hamada
IPC分类号： B25J13/08 , G01L1/16 , G01L5/22 , B25J15/12
CPC分类号： G01L5/226 , B25J13/082 , G01L1/16 , Y10S294/907 , Y10S310/80
摘要： In a grip device wherein bimorph type piezoelectric elements are employed for fingers or claws for grasping a workpiece, a grip device comprising bimorph type piezoelectric elements which are mounted on a grip body and which form finger or claws, a voltage feed circuit which is connected to the piezoelectric elements in order to bend and deform the piezoelectric elements, and a control circuit is connected to an end of the piezoelectric elements providing an output signal for controlling a grasping force for a workpiece.
摘要翻译：在其中采用双压电晶片式压电元件用于抓握工件的手指或爪的夹持装置中，包括安装在手柄主体上并形成手指或爪的双压电晶片型压电元件的夹持装置，电压馈送电路连接到压电元件为了使压电元件弯曲和变形，并且控制电路连接到压电元件的端部，提供用于控制工件的抓取力的输出信号。

2. 发明授权

US4724301A Apparatus utilizing light stripe image for detecting portion to be welded prior to welding thereof 失效
标题翻译：利用轻条纹图像检测在焊接之前要被焊接的部分的装置
公开(公告)号：US4724301A
公开(公告)日：1988-02-09
申请号：US900425
申请日：1986-08-26
申请人： Nobuo Shibata , Kenji Mori , Akira Hirai , Tsugio Udagawa , Toshio Akatsu
发明人： Nobuo Shibata , Kenji Mori , Akira Hirai , Tsugio Udagawa , Toshio Akatsu
IPC分类号： B23K9/127 , B23Q35/128 , B25J9/16 , B25J19/04 , B23K9/12
CPC分类号： B23Q35/128 , B23K9/1274
摘要： The welding position detecting apparatus incorporates a detecting portion including light emitter for emitting a light stripe onto a beveling surface of a work to be welded and a camera for receiving a reflected light from the beveling surface, a support member to which the detecting portion is mounted, which is disposed for rotation about an axis of the welding torch, and a motor for rotating the support member, whereby the detecting portion is rotated to a desired angular position about the axis of the welding torch.
摘要翻译：焊接位置检测装置包括检测部分，该检测部分包括用于将光条发射到待焊接的工件的斜面上的光发射器和用于接收来自斜切表面的反射光的照相机;安装有检测部分的支撑部件，其设置成围绕焊炬的轴线旋转，以及用于旋转支撑构件的电动机，由此检测部分绕着焊炬的轴线旋转到期望的角度位置。

3. 发明授权

US4192986A Method and apparatus for automatic weld line tracing 失效
标题翻译：自动焊线跟踪的方法和装置
公开(公告)号：US4192986A
公开(公告)日：1980-03-11
申请号：US823196
申请日：1977-08-09
申请人： Tsugio Udagawa , Takeshi Araya , Takashi Yoshida
发明人： Tsugio Udagawa , Takeshi Araya , Takashi Yoshida
IPC分类号： B23Q35/04 , B23K9/127 , B23Q35/127 , G05B13/00 , G05B13/02 , B23K9/12
CPC分类号： B23Q35/127 , B23K9/1276
摘要： A method and apparatus for automatic weld line tracing using a non-contact sensor for detection of a weld line, which sensor is continuously reciprocated across the groove. Signals produced from the sensor during the reciprocation are compared at the ends of the groove, and the lower voltage value of the two signals is determined. A value lower than the lower voltage of the two signals by .delta. is predetermined and the position associated with the value is detected by a displacement-measuring instrument, the output of which is utilized for control of the positions of a welding torch.
摘要翻译：一种用于使用非接触式传感器自动焊接线追踪的方法和装置，用于检测焊接线，该传感器跨越凹槽连续往复运动。在往复运动期间由传感器产生的信号在槽的端部进行比较，并且确定两个信号的较低电压值。预定值低于两个信号的较低电压值，并且通过位移测量仪器检测与该值相关联的位置，该位移测量仪器的输出用于控制焊枪的位置。

4. 发明授权

US4242620A Automatic welding line tracing method and apparatus 失效
标题翻译：自动焊线追踪方法及装置
公开(公告)号：US4242620A
公开(公告)日：1980-12-30
申请号：US918276
申请日：1978-06-22
申请人： Osamu Fujiwara , Takeshi Araya , Tsugio Udagawa
发明人： Osamu Fujiwara , Takeshi Araya , Tsugio Udagawa
IPC分类号： B23K9/127 , B23Q35/127 , G05B19/33
CPC分类号： B23K9/1276 , B23Q35/127 , G05B2219/37425
摘要： An automatic welding line tracing method and apparatus for causing a welding torch to follow the welding line by using a single non-contact-type sensor for detecting the welding line which is continuously reciprocated to traverse the groove of two pieces to be welded. During the reciprocating motion of the sensor, the sensor generates output voltages E.sub.1 and E.sub.2 respectively obtained by detecting the both ends of the groove to obtain E.sub.1 -.delta. and E.sub.2 -.delta. on the basis of the detected voltages E.sub.1, E.sub.2 and a separately established reference voltage .delta., and an output voltage P.sub.S corresponding to the central position of the groove is obtained from E.sub.1 -.delta. and E.sub.2 -.delta. to thereby compare the voltage P.sub.S with a voltage indicative of the central position of the oscillating motion of the sensor to thereby cause the welding torch to follow the welding line in accordance with the difference between these two voltages.
摘要翻译：一种自动焊接线追踪方法和装置，用于通过使用用于检测连续往复运动的两条焊接槽的焊接线的单个非接触型传感器使焊炬跟随焊接线。在传感器的往复运动期间，传感器产生分别通过检测槽的两端而获得的输出电压E1和E2，以便根据检测的电压E1，E2和单独建立的参考值获得E1-δ和E2- 电压delta和与槽的中心位置对应的输出电压PS从E1-δ和E2-delta获得，从而将电压PS与表示传感器的振荡运动的中心位置的电压进行比较，由此导致焊炬跟随焊接线根据这两个电压之间的差异。

5. 发明授权

US4205217A Automatic weld line copying apparatus 失效
标题翻译：自动焊线复印机
公开(公告)号：US4205217A
公开(公告)日：1980-05-27
申请号：US755427
申请日：1976-12-29
申请人： Takeshi Araya , Tsugio Udagawa
发明人： Takeshi Araya , Tsugio Udagawa
IPC分类号： B23K9/127 , B23Q15/24 , B25J9/18 , B23K9/12
CPC分类号： B23K9/1276 , B23Q15/24
摘要： An automatic weld line copying apparatus has a non-contact type sensor including a core wound with an exciting primary winding which in turn is wound with a secondary winding a plurality of secondary coils differentially. The sensor is compact and able to detect, without contact, the distance from the flat surface or edge line of an object to be welded thus making possible accurate and efficient automatic welding of a small welding assembly with a complicated weld line.
摘要翻译：一种自动焊接线复制装置具有非接触型传感器，其包括卷绕有激励初级绕组的磁芯，该励磁的初级绕组分别绕有多个次级线圈的次级绕组。该传感器结构紧凑，能够无接触地检测待焊接物体的平坦表面或边缘线的距离，从而可以精确高效地自动焊接具有复杂焊缝的小型焊接组件。

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