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11. 发明专利

JPS60209815A Automatic qualifier generating method for insertion of move statement of robot language 失效
标题翻译：机器人语言移动声明的自动合格产生方法
公开(公告)号：JPS60209815A
公开(公告)日：1985-10-22
申请号：JP6650684
申请日：1984-04-03
申请人： Komatsu Ltd
发明人： TAKAGI HIROYUKI , MATSUDA AKIRA , NAKAGAWA HITOSHI , YAMANAKA NOBUYOSHI , YOSHIMI YASUHIRO
IPC分类号： B23K9/12 , B25J9/22 , G05B19/4093 , G05B19/42 , G05B19/425
CPC分类号： G05B19/425
摘要： PURPOSE:To facilitate changing a program to improve the operability of a robot by inserting automatically a qualifier simultaneously with insertion of a move statement if the move statement has the qualifier when the move statement is inserted to the program. CONSTITUTION:It is discriminated whether a qualifier is added to a move statement to be inserted or not by lighting or extinction of a lower left lamp of a button SENSE 16 of a teaching box 16. If the move statement has a qualifier, the qualifier is added automatically to the move statement to be inserted; but if it has not a qualifier, no qualifiers are added to the move statement to be inserted. The button SENSE 16 whose lamp is extinguished is depressed to light the lamp, thus adding the qualifier. Finally, a write button 17 is depressed to write the statement to be inserted, and thus, write of the statement to be inserted is terminated.
摘要翻译：目的：为了方便更改程序以提高机器人的可操作性，如果移动语句在将移动语句插入到程序中时具有限定符，则通过自动插入限定符来插入移动语句。构成：通过照明或熄灭教学盒16的按钮SENSE 16的左下方的灯，鉴别出移动语句是否添加了限定词。如果移动语句具有限定词，则限定词是自动添加到要插入的移动语句中; 但是如果它没有限定符，则没有限制符被添加到要插入的move语句。按下灯泡熄灭的按钮SENSE 16点亮灯，从而添加限定符。最后，按下写入按钮17来写入要插入的语句，从而终止要插入的语句的写入。

12. 发明专利

JPS59110472A Controlling method of welding torch 失效
标题翻译：焊接管理控制方法
公开(公告)号：JPS59110472A
公开(公告)日：1984-06-26
申请号：JP22157682
申请日：1982-12-17
申请人： Komatsu Ltd
发明人： TAKAGI HIROYUKI , TANAHASHI SAKAE , KIDO NOBUAKI , NISHIDA SATOSHI , KOZONO MASAKAZU , HOTSUTA TOSHIICHI , NAKAGAWA HITOSHI , MATSUDA AKIRA
IPC分类号： B23K9/127 , B23K9/02
CPC分类号： B23K9/0216
摘要： PURPOSE:To obtain a welded product having good quality by comparing the difference in welding current at both ends of weaving with a value preset for said difference and correcting teaching data so as to attain the preset value. CONSTITUTION:The change in welding current in the stage of weaving a welding torch to the right and left is detected with an arc sensor 10 and the output signal thereof is inputted, via an amplifier 11 and an A/D converter 12, to an arithmetic device 13. The device 13 calculates welding current IR, IL at both ends of weaving and the difference DELTAI thereof. On the other hand, the current values DELTAI1, DELTAIOTA2,...DELTAIn which assign the deviation DELTAl between the weaving center of the torch 1 and the weld line are beforehand stored in a memory 14. The device 13 compares the actual current difference DELTAI and the current value DELTAIi selected from the memory 14 and outputs only the teaching data DT in accordance with the result thereof or outputs the same after adding the signal for moving the torch 1 to the left or right to the data DT.
摘要翻译：目的：通过将织造两端的焊接电流的差异与所述差异预设的值进行比较，并且校正教导数据以获得预设值，以获得具有良好质量的焊接产品。构成：使用电弧传感器10检测在左右编织焊炬的阶段的焊接电流的变化，并且其输出信号通过放大器11和A / D转换器12输入到算术设备13计算编织两端的焊接电流IR，IL和差ΔTATA。另一方面，在焊枪1的编织中心与焊接线之间分配偏差DELTA1的电流值DELTAI1，DELTAIOTA2，... DELTAIn预先存储在存储器14中。器件13将实际电流差DELTAI 以及从存储器14中选择的当前值DELTAIi，并且仅根据其结果输出示教数据DT，或者在将用于将割炬1移动到左侧或右侧的信号添加到数据DT之后输出。

13. 发明专利

JPS59109809A Device for confirming return to origin 失效
标题翻译：用于确认返回原物的设备
公开(公告)号：JPS59109809A
公开(公告)日：1984-06-25
申请号：JP21992782
申请日：1982-12-15
申请人： Komatsu Ltd
发明人： TAKAGI HIROYUKI , TANAHASHI SAKAE , KIDO NOBUAKI , NISHIDA SATOSHI , KOZONO MASAKAZU , HOTSUTA TOSHIICHI , NAKAGAWA HITOSHI , MATSUDA AKIRA
IPC分类号： G01D5/245 , G01B7/00 , G01B21/00 , G01D5/244
摘要： PURPOSE: To confirm whether a body to be driven is returned to the origin or not, by discriminating the return to the origin on a basis of the extent of movement of the body to be driven from the arrival at a place near the origin position to the generation of a zero point output due to an incremental encoder interlocking with the body to be driven.
CONSTITUTION: When a body 1 to be driven such as a robot which is returned toward an origin A is detected by a sensor 3 near the origin A, an FF6 is set through a trigger circuit 5, and the FF 6 is reset by the zero point output outputted first from an incremental encoder 2 interlocking with the body 1 to be driven. A counter counts encode pulses, which are outputted from the encoder 2 through an AND gate opened by the set high-level Q output of the FF6, to detect the distance of movement of the body 1 to be driven during the time from the detection due to the sensor 3 to the generation of the first zero point output. A comparing circuit 10 outputs a confirmation signal of normalcy of return to the zero point if the difference between this distance and a set distance of a distance setter 9 is small; and thus, it is confirmed whether the body to be driven is returned to the origin or not even in case of specular change or the like.
COPYRIGHT: (C)1984,JPO&Japio
摘要翻译：目的：确定被驱动的身体是否被归还到原点，通过根据到达原始位置附近的地方的被驱动身体的运动程度来区分返回原点，由于增量编码器与被驱动体相互锁定而产生零点输出。构成：当通过原点A附近的传感器3检测到诸如返回原点A的机器人等被驱动的主体1时，通过触发电路5设置FF6，并且FF 6被复位为零从与要被驱动的主体1互锁的增量编码器2首先输出。计数器对通过FF6的设定的高电平Q输出打开的与门从编码器2输出的编码脉冲进行计数，以检测在从检测到的时间期间待驱动的主体1的移动距离传递到传感器3以产生第一零点输出。如果该距离与距离设定器9的设定距离之间的差小，则比较电路10输出返回正常值的确认信号; 因此，即使在镜面变化等的情况下，也可以确认被驱动体是否返回原点。

14. 发明专利

JPS59169673A Method for controlling driving of welding torch 失效
标题翻译：控制焊机转向的方法
公开(公告)号：JPS59169673A
公开(公告)日：1984-09-25
申请号：JP4582083
申请日：1983-03-18
申请人： Komatsu Ltd
发明人： TAKAGI HIROYUKI , TANAHASHI SAKAE , KIDO NOBUAKI , NISHIDA SATOSHI , KOZONO MASAKAZU , HOTSUTA TOSHIICHI , NAKAGAWA HITOSHI , MATSUDA AKIRA
IPC分类号： B23K9/12 , B23K9/127
CPC分类号： B23K9/1272
摘要： PURPOSE:To get away or move safely and quickly a welding torch and to make a welding robot unmanned with lessened manpower by providing safety points by each of weld lines. CONSTITUTION:When a welding torch 5 collides against a work 1 on account of a tack welding error, etc. during welding of a weld line 3, the operation is stopped and the torch 5 is moved along the weld line 3 in an opposite direction. When the torch 5 arrives at the beginning end position P3 of the line 3, the torch 5 is moved to the safety point P2 which is preliminarily taught and further the torch 5 is moved at a high speed by point-to-point control to a check point C2. The torch is further moved from the point C2 to a point C1, and the adequateness of the torch 5 is decided by a means 10 for deciding the adequateness of the welding torch disposed at the point C1. When the torch 5 is decided to be normal, the torch is moved to the point C2 and the torch 5 is moved at a high speed to a safety point S3 taught in accordance with the beginning end position P5 of the weld line 4 next to the line 3 where there is the collision.
摘要翻译：目的：为了摆脱焊枪的安全快速移动，通过为焊接线提供安全点，使焊接机器人无人值班，人力减少。构成：在焊接线3的焊接期间，当焊枪5由于定位焊接误差等而与工件1碰撞时，操作停止，焊炬5沿着焊接线3沿相反方向移动。当手电筒5到达线3的起始位置P3时，手电筒5移动到预先教导的安全点P2，并且进一步通过点对点控制将火炬5高速移动到检查点C2。割炬进一步从点C2移动到点C1，并且通过用于确定设置在点C1处的焊炬的适合性的装置10来确定焊炬5的适合性。当割炬5被判断为正常时，手电筒移动到点C2，并且割炬5以高速移动到根据焊接线4的起始端位置P5所教导的安全点S3 第3行有碰撞。

15. 发明专利

JPS59169672A Method and device for controlling welding robot 失效
标题翻译：用于控制焊接机器人的方法和装置
公开(公告)号：JPS59169672A
公开(公告)日：1984-09-25
申请号：JP4581983
申请日：1983-03-18
申请人： Komatsu Ltd
发明人： TAKAGI HIROYUKI , TANAHASHI SAKAE , KIDO NOBUAKI , NISHIDA SATOSHI , KOZONO MASAKAZU , HOTSUTA TOSHIICHI , NAKAGAWA HITOSHI , MATSUDA AKIRA
IPC分类号： B25J9/16 , B23K9/127
CPC分类号： B23K9/127
摘要： PURPOSE:To prevent the decrease in welding quality by dettermining the attitude angle of a torch in accordance with teaching data and the output signal of an arc sensor and stopping the function of the arc sensor when said angle attains a preset angle or above. CONSTITUTION:An arc sensor 23 outputs a copying correction signal in accordance with the arc current flowing in a welding torch 1 during welding and the correction signal is inputted to a subtractor 21 and an arithmetic circuit 25 for an attitude angle, respectively. As a result, the copying operation of the torch 1 is accomplished and the circuit 25 calculates the attitude angle of the torch 1 with respect to the weld line presently under welding in accordance with the correction signal and the teaching data. The calculated attitude angle is compared with a reference value in a comparator 26, and when the torch 1 attains the attitude angle at which the copying control is infeasible, the comparator 26 opens a normally closed witching element to stop the copying control of the torch 1. When the torch attains the attitude angle at which the execution of welding is infeasible, the comparator 26 opens the normally closed switching element 28 to stop the actuator 33 of the robot.
摘要翻译：目的：通过根据教学数据和电弧传感器的输出信号，消除手电筒的姿态角度，防止焊接质量下降，并且当所述角度达到预设角度或更高时停止电弧传感器的功能。构成：电弧传感器23根据在焊接中焊接的焊炬1中流动的电弧电流输出复印校正信号，并且将校正信号分别输入到减法器21和用于姿态角的运算电路25。结果，完成了焊炬1的复印操作，并且电路25根据校正信号和示教数据计算焊炬1相对于焊接时的焊接线的姿态角。将计算出的姿态角与比较器26中的参考值进行比较，并且当手电筒1达到复印控制不可行的姿态角时，比较器26打开常闭的巫师元件以停止手电筒1的复制控制当割炬达到焊接执行不可行的姿态角时，比较器26打开常闭开关元件28以停止机器人的致动器33。

16. 发明专利

JPS59153579A Control device for driving of welding torch 失效
标题翻译：用于驱动焊接转向器的控制装置
公开(公告)号：JPS59153579A
公开(公告)日：1984-09-01
申请号：JP2900283
申请日：1983-02-23
申请人： Komatsu Ltd
发明人： TAKAGI HIROYUKI , TANAHASHI SAKAE , KIDO NOBUAKI , NISHIDA SATOSHI , KOZONO MASAKAZU , HOTSUTA TOSHIICHI , NAKAGAWA HITOSHI , MATSUDA AKIRA
IPC分类号： B23K9/127 , B23K9/028
CPC分类号： B23K9/028
摘要： PURPOSE:To make welding continuous and to improve welding quality in welding of an annular weld line by changing the rotating amt. of a revolving shaft to a pulse signal, measuring the same, carrying up the signal at every 360 deg. and controlling the rotating movement and rotating speed of the revolving shaft. CONSTITUTION:Teaching data of each axis of a robot body at teaching points P1-P4 are preliminarily stored in a memory 10, and a rotating speed setter 11 outputs the number of welding layers to a CPU12. Automatic welding is started to weld the circular weld line running P1 P2 P3 P4. The rotating amt. of the revolving shaft by welding is made into a pulse signal by an incremental encoder 13 and the pulse signal is outputted to the 1st counter 15. Said signal is subtracted from the set value by a subtractor 16 and the movement of the revolving shaft is controlled by a command value output circuit 17. The signal is carried up to the 2nd counter 19 at every 360 deg. rotation of the revolving shaft and is compared with the number of the welding layers set in the CPU12. The welding is stopped when both coincide.
摘要翻译：目的：通过改变旋转角度，焊接连续，提高焊接环境焊接线焊接质量。的旋转轴与脉冲信号，测量相同，每360度承载信号。并控制旋转轴的旋转运动和转速。构成：在示教点P1-P4处的机器人体的各轴的教导数据被预先存储在存储器10中，转速设定器11将焊接层的数量输出到CPU12。开始自动焊接焊接P1 P2 P3 P4的圆形焊接线。旋转的通过增量编码器13将旋转轴进行脉冲信号，并将脉冲信号输出到第一计数器15.通过减法器16从设定值减去所述信号，并且控制回转轴的移动通过指令值输出电路17.信号在每360度传送到第二计数器19。旋转轴的旋转，并与CPU12中设置的焊接层的数量进行比较。当两者重合时，焊接停止。

17. 发明专利

JPS59130681A Control device for driving of welding torch 失效
标题翻译：用于驱动焊接转向器的控制装置
公开(公告)号：JPS59130681A
公开(公告)日：1984-07-27
申请号：JP466583
申请日：1983-01-14
申请人： Komatsu Ltd
发明人： TAKAGI HIROYUKI , TANAHASHI SAKAE , KIDO NOBUAKI , NISHIDA SATOSHI , KOZONO MASAKAZU , HOTSUTA TOSHIICHI , NAKAGAWA HITOSHI , MATSUDA AKIRA
IPC分类号： B23K9/12 , B23K9/28
CPC分类号： B23K9/287
摘要： PURPOSE:To move the tip of a torch to a desired position in a short time with good efficiency of a teaching operation in a welding robot having orthogonal three axes for controlling the position of a wrist having a shaft for swiveling and bending a torch by controlling simultaneously the orthogonal three axes. CONSTITUTION:Linear movement of, for example, a torch 1, to the direction P Q where it faces is accomplished by driving and controlling simultaneously orthogonal three axes so that the X-, Y- and Z-axes move by DELTAX, DELTAY, DELTAZ in a unit time. The equations are obtd. here if the distance between P and Q which is the moving distance of the torch 1 per unit time is designated as (d), and the angles of the S-axis and B-axis of the wrist 2 are designed respectively as THETAS, THETAB. The torch can be moved in a desired direction by outputting the DELTAX, DELTAY, DELTAZ calculated by said equations to the respective axes at every unit time. A switch 10 for indicating the moving direction of the torch is provided to this device. An arithmethic device 12 performs the above-described calculation in accordance with the calculation equations indicated by the switch 10 and the THETAS, THETAB from an angle detector 11. A control device 13 controls simultaneously the orthogonal three axes in accordance with the command thereof.
摘要翻译：目的：在具有正交三轴的焊接机器人中，在短时间内将手柄的尖端移动到期望的位置，具有良好的教学操作效率，用于通过控制来控制具有用于旋转和弯曲割炬的轴的手腕的位置同时正交三轴。构成：例如割炬1对其所面向的方向PQ的线性移动通过同时驱动和控制正交的三个轴来实现，使得X轴，Y轴和Z轴以DELTAX，DELTAY，DELTAZ移动单位时间方程式是有限的。这里，如果作为（d）将作为割炬1的移动距离的P和Q之间的距离指定为（d），并且将手腕2的S轴和B轴的角度分别设计为THETAS，THETAB 。通过在每个单位时间将由所述等式计算的DELTAX，DELTAY，DELTAZ输出到相应的轴，可以在期望的方向上移动割炬。用于指示手电筒的移动方向的开关10被提供给该装置。算术装置12根据来自角度检测器11的开关10和THETAS，THETAB所示的计算式进行上述计算。控制装置13根据其指令同时控制正交三轴。

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