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31. 发明专利

JPS6167567A Welding device 失效
标题翻译：焊接设备
公开(公告)号：JPS6167567A
公开(公告)日：1986-04-07
申请号：JP18656584
申请日：1984-09-07
申请人： Mitsuboshi Seisakusho:Kk
发明人： SUZUKI SEIGOROU
IPC分类号： B23K9/12 , B23K9/127 , B23K9/28
CPC分类号： B23K9/1272 , B23K9/287
摘要： PURPOSE:To make a device small in size and light in weight by providing a moving running base on a guide bar which is freely attachable and detachable, and also providing a profile roller whose outside periphery contacts a material to be welded, on a torch supporting tool. CONSTITUTION:A guide bar 1 is fixed so as to be freely attachable and detachable to and from a material to be welded 4 by adsorption of fixing magnets 2, 3. With respect to the guide bar 1, a running base 11 is provided, and it is run in the upper and lower directions by driving of a 44, 50 are supported so as to be freely rotatable through an arm 43, etc., by a turning part 35 of a torch supporting tool 32. In this state, an arc is generated after positioning a welding torch 41 by adjusting knobs 37, 42. As the running base 11 runs, the profile rollers 50, 44 roll by following deflection of the materials to be welded 4, 47, and the welding torch 41 moves faithfully along a weld line 48. Accordingly, profile welding can be executed by one piece of thin guide bar, and the device is made small in size and light in weight.
摘要翻译：目的：通过在可自由安装和拆卸的导杆上设置移动的运行基座，并使外周与接触材料接触的型材辊，在火炬支撑件上形成尺寸小，重量轻的装置，工具。构成：通过固定磁铁2,3的吸附，引导杆1被固定成能够自由地附接和从可焊接材料4上拆卸。相对于导向杆1，提供行进基座11，它通过驱动44,50在上下方向上运行，通过手柄支撑工具32的转动部分35被支撑以能够通过臂43等自由旋转。在该状态下，在通过调节旋钮37和42定位焊炬41之后产生。随着运行基座11运行，轮廓辊50,44通过随后的被焊接材料4,47的偏转而滚动，并且焊炬41忠实地移动焊接线48.因此，轮廓焊接可以由一片薄导向杆执行，并且该装置的尺寸和重量轻。

32. 发明专利

JPS6137376A Welding line following-up device 失效
标题翻译：焊接线以下设备
公开(公告)号：JPS6137376A
公开(公告)日：1986-02-22
申请号：JP15763084
申请日：1984-07-30
申请人： Mitsubishi Electric Corp
发明人： KAWABATA OSAMU , MURAKAMI YASUO
IPC分类号： B23K9/12 , B23K9/127
CPC分类号： B23K9/1272
摘要： PURPOSE:To provide the titled device simplifying and miniaturizing a device and enabling a following-up with good accuracy stably by detecting a welding current, by discriminating the dislocation of up and down and right and left for a welding line and by correcting the position of a welding torch. CONSTITUTION:The welding current changing on each one cycle of a weaving is detected by a current detector 24 and the DC part of the detecting signal is inputted into up and down dislocation detecting circuit 26 and the AC part into right and left deslocation detecting circuit 29. The position signal of a welding torch 11 detected by a position detector 21 and also the detecting signal which is obtd. by inputting into the detecting circuit 26, 29 are inputted into a discriminating circuit 30. The circuit 30 discrminates the existance of the dislocation of a welding line 3 and the torch 11 and in case of the dislocation being found calculates the position correction of the torch 11 and inputs the dislocation discriminating signal into the controlling circuit 31 of the driving part. The circuit 31 corrects the position of the torch 11 by giving the dislocation correcting signal to the right and left driving part 6 and the up and down driving parts 7.
摘要翻译：目的：提供标准装置，通过检测焊接电流，通过识别焊接线的上下左右错位，并通过校正焊接电流的位置来简化和小型化设备，并且以良好的精度稳定地进行后续跟踪焊炬。构成：通过电流检测器24检测编织的每个周期的焊接电流变化，将检测信号的直流部分输入到上下位错检测电路26，将AC部分输入到左右离解检测电路29 由位置检测器21检测到的焊炬11的位置信号，以及被检测的检测信号。通过输入到检测电路26中，29被输入鉴别电路30.电路30消除了焊接线3和焊炬11的脱位的存在，并且在发现位错的情况下计算了焊炬的位置校正并将位错识别信号输入到驱动部的控制电路31中。电路31通过给左右驱动部分6和上下驱动部分7提供位错校正信号来校正割炬11的位置。

33. 发明专利

JPS6133776A Position shift correcting method in automatic arc welding 失效
标题翻译：自动焊接中的位移移位校正方法
公开(公告)号：JPS6133776A
公开(公告)日：1986-02-17
申请号：JP15624084
申请日：1984-07-25
申请人： Toyota Motor Corp
发明人： NODA NAOKI
IPC分类号： B25J9/22 , B23K9/12 , B23K9/127 , B25J9/10 , G05B19/18 , G05B19/404 , G05B19/42 , G05B19/423
CPC分类号： G05B19/423 , B23K9/1272
摘要： PURPOSE:To perform the welding of a work surely and quickly by detecting the width of position shift with performing an arc scanning for detecting position shift and by making a teaching welding line coincided with actual welding line. CONSTITUTION:An arc scanning for detecting position shift scanning an arc along the detecting line SE crossing with a teaching weld line AB is performed prior to the arc welding of works 18a, 18b. In this case of width (d) of position shift against the actual welding line A'B' of the teaching weld line AB is detected based on the generating arc current or voltage. The correction coinciding the teaching weld line AB with the actual weld line A'B' is performed based on the detected width (d) of misregistration thereof.
摘要翻译：目的：通过进行电弧扫描检测位置偏移，并使教学焊接线与实际焊接线一致，通过检测位置偏移的宽度来确保和快速地进行焊接。构成：在工件18a，18b的电弧焊之前，进行用于检测位置偏移的电弧扫描，沿着与示教焊接线AB交叉的检测线SE扫描电弧。在这种情况下，基于产生电弧电流或电压来检测针对实际焊接线A的位置偏移的宽度（d）。基于检测到的不对准宽度（d），进行与实际焊接线A'B'一致的校正焊接线AB的校正。

34. 发明专利

JPS59189077A Controlling method of welding torch 失效
标题翻译：焊接管理控制方法
公开(公告)号：JPS59189077A
公开(公告)日：1984-10-26
申请号：JP6426283
申请日：1983-04-12
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： B23K9/1272
摘要： PURPOSE:To obtain a product having high welding quality by changing wrist data with respect to the deviation between a welding torch and a weld line when a welding robot is played back in accordance with teaching data, thereby controlling the welding torch and correcting the deviation. CONSTITUTION:Wrist data with the length l3 in the direction Y of a wrist 2 is changed by the value corresponding to a deviation DELTAY by a robot control device 4 and at the same time the wrist data with the length l2 in the direction Z of the wrist 2 is changed by a deviation DELTAZ when a work 15B' deviates by DELTAY and DELTAZ. The magnitude of the DELTAZ, DELTAY necessary for changing the wrist data in this stage is easily known by try-running a torch 1 in accordance with the teaching data or putting preliminarily marks M1, M2 in the symmetrical positions spaced from each other of the work 15, moving the torch 1 to the positions of the marks M1, M2 and comparing and calculating the position data of the torch 1 in these marked positions with the device 4.
摘要翻译：目的：通过根据教学数据回放焊接机器人时，通过改变手枪数据相对于焊枪和焊接线之间的偏差来获得焊接质量高的产品，从而控制焊炬并纠正偏差。构成：手腕2的方向Y上的长度l3的手腕数据由机器人控制装置4改变与偏差DELTAY对应的值，同时沿着方向Z的长度l2的腕部数据改变当工件15B'偏离DELTAY和DELTAZ时，手腕2由偏差DELTAZ改变。在这个阶段改变腕部数据所需的DELTAZ DELTAY的大小通过根据教学数据尝试使用割炬1或者将预先标记的M1，M2放在彼此间隔开的对称位置，如图15所示，将割炬1移动到标记M1，M2的位置，并用装置4比较并计算这些标记位置的割炬1的位置数据。

35. 发明专利

JPS59113979A Method for controlling moving speed during storage in automatic welding device 失效
标题翻译：自动焊接设备存储期间移动速度控制方法
公开(公告)号：JPS59113979A
公开(公告)日：1984-06-30
申请号：JP22357282
申请日：1982-12-20
申请人： Kobe Steel Ltd
发明人： OGASAWARA TAKAAKI , KOJIYOU KAZUNOBU
IPC分类号： B23K9/127
CPC分类号： B23K9/1272
摘要： PURPOSE:To reduce the time required for a copying storage operation and to store the position of a weld line with high accuracy in an automatic welding device by controlling adequately the moving speed of a position sensor within a linear range according to the deviation signal of the position sensor. CONSTITUTION:The deviation signal D outputted from an amplifier 8 is converted to the absolute value ¦D¦ by an absolute value converter 12 and is fed to a comparator 13 in an automatic welding device having a storage device 10. The differential signal Vs between the set value Vm outputted from the comparator 13 and the value ¦D¦ is amplified with an amplifier 15 and is inputted to a servoamplifier 16, by which a servocontrol motor M0 is driven. The number of revolution of the motor M0 is detected with a tachogenerator TG0, and is fed back to the comparator 17 inserted to the input side of the amplifier 16, by which the motor M0 is automatically controlled. The moving speed of a position sensor is therefore controlled to the highest speed meeting the output of the position sensor within a linear range.
摘要翻译：目的：为了减少复制存储操作所需的时间，并通过根据自动焊接装置的偏差信号适当地控制位置传感器在线性范围内的移动速度，将焊接线的位置高精度地存储在自动焊接装置中位置传感器构成：通过绝对值转换器12将从放大器8输出的偏差信号D转换为绝对值| D“，并将其馈送到具有存储装置10的自动焊接装置中的比较器13中。从比较器13输出的设定值Vm和放大器15的值| D|被放大并被输入到驱动伺服控制电动机M0的伺服放大器16。用转速发生器TG0检测电动机M0的转数，并将其反馈到插入到放大器16的输入侧的比较器17，由此马达M0被自动控制。因此，位置传感器的移动速度被控制到在线性范围内满足位置传感器的输出的最高速度。

36. 发明专利

JPS59111502A Robot controller 失效
标题翻译：机器人控制器
公开(公告)号：JPS59111502A
公开(公告)日：1984-06-27
申请号：JP22672383
申请日：1983-11-30
申请人： Siemens Ag
发明人： KURISUTOFU MAIYAA , RIHIARUTO BARUTERUTO , HANSUYOAHIMU MASAATO
IPC分类号： B23K9/127 , B25J9/16 , B25J9/18 , G05B19/19 , G05B19/414
CPC分类号： B23K9/1272 , B25J9/161 , B25J9/1694 , G05B19/414 , G05B2219/31154 , G05B2219/35285 , G05B2219/36417

38. 发明专利

JP2009166076A Welding robot 审中-公开
标题翻译：焊接机器人
公开(公告)号：JP2009166076A
公开(公告)日：2009-07-30
申请号：JP2008006026
申请日：2008-01-15
申请人： Kobe Steel Ltd , 株式会社神戸製鋼所
发明人： NISHIMURA TOSHIHIKO , SHIGEYOSHI MASAYUKI
IPC分类号： B23K9/12 , B23K9/00 , B23K9/127 , B25J13/08
CPC分类号： B23K9/1272
摘要： PROBLEM TO BE SOLVED: To provide a welding robot which can realize a high profile follow-up capability not only for a preceding electrode but also for a following electrode in following a weld line in tandem welding. SOLUTION: A translation correction computation unit 23 corrects a target value Plead(t) by a translation correction level ΔP(t) in a preceding electrode 5a, which is a correction level in a translation direction in a base coordinate system Σbase at a position of a void time in the preceding electrode 5a to obtain a primary correction target value Plead(t)'. A rotary correction computing unit 24 calculates a rotation correction level Δθ(t) for correcting a deviation of the posture of the torch 6 around the preceding electrode 5a from an actual welding line Lre caused by the correction by the translation correction level ΔP(t) and calculates a secondary correction target value Plead(t)" obtained by correcting the primary correction target value Plead(t)' so that the torch 6 is rotated around the preceding electrode 5a by the rotation correction level Δθ(t). A manipulator 2 is driven by the secondary correction target value Plead (t)". COPYRIGHT: (C)2009,JPO&INPIT
摘要翻译：要解决的问题：提供一种焊接机器人，其不仅可以实现先进电极的高轮廓跟随能力，而且可以在串联焊接中跟随焊接线时实现跟随电极。解决方案：平移校正计算单元23将目标值Plead（t）校正为前一电极5a中的平移校正水平ΔP（t），其为基坐标系Σbase中的平移方向上的校正水平在前一电极5a中的空隙时间的位置以获得主要校正目标值Plead（t）'。旋转校正计算单元24计算用于校正前面的电极5a周围的割炬6的姿势与由校正引起的实际焊接线Lre的平移校正水平ΔP（t）的偏差的旋转校正水平Δθ（t）并计算通过校正主校正目标值Plead（t）而获得的二次校正目标值Plead（t），使得割炬6绕前一个电极5a旋转旋转校正水平Δθ（t），操纵器2 由二次校正目标值Plead（t）“驱动。版权所有（C）2009，JPO＆INPIT

39. 发明专利

JP2008242550A Controller for work positioning device, and its program 有权
标题翻译：工位定位装置控制器及其程序
公开(公告)号：JP2008242550A
公开(公告)日：2008-10-09
申请号：JP2007078209
申请日：2007-03-26
申请人： Kobe Steel Ltd , 株式会社神戸製鋼所
发明人： KOIKE TAKESHI , SHIGEYOSHI MASAYUKI , SHIBAIKE MASAKI
IPC分类号： G05B19/4061 , B23K9/12 , B23K37/047 , G05B19/4093
CPC分类号： B25J9/0096 , B23K9/12 , B23K9/1272 , B25J9/1676
摘要： PROBLEM TO BE SOLVED: To provide the controller of a work positioning device for preventing a workpiece fixed to a workpiece positioning device from colliding with an obstacle.
SOLUTION: The controller 1 is provided with: an operation limit line storage means 26 for storing position coordinates of an operation limit line designated in front of an obstacle with respect to a workpiece; a deceleration section storage means 27 for storing the section width of a deceleration section with a deceleration start position decided in front of the operation limit line and the operation limit line as both ends; a check point storage means 25 for storing the position coordinates of a check point set for the workpiece; a check point updating means 70 for updating the position coordinates by calculating the position coordinates of the check point moved according to the operation of a positioner; a deceleration section entry deciding means 103 for deciding whether or not the check point has entered the deceleration section on the basis of the position coordinates of the check point; and a positioner control means 30 for commanding deceleration to a positioner motor M
P when it is decided that the check point has entered the deceleration section.
COPYRIGHT: (C)2009,JPO&INPIT
摘要翻译：要解决的问题：提供一种用于防止固定在工件定位装置上的工件与障碍物碰撞的工件定位装置的控制器。解决方案：控制器1设置有：操作限制线存储装置26，用于存储相对于工件在障碍物前方指定的操作限制线的位置坐标; 减速部分存储装置27，用于存储在操作限制线前面确定的减速开始位置和操作极限线作为两端的减速部分的截面宽度; 检查点存储装置25，用于存储为工件设定的检查点的位置坐标; 检查点更新装置70，用于通过计算根据定位器的操作移动的检查点的位置坐标来更新位置坐标; 减速部分条目决定装置103，用于根据检查点的位置坐标确定检查点是否已经进入减速部分; 以及定位器控制装置30，用于当确定检查点已经进入减速部分时，对定位器电动机M P 进行减速指令。版权所有（C）2009，JPO＆INPIT

40. 发明专利

JPWO2005120758A1 ロボット溶接制御装置及び制御方法审中-公开
公开(公告)号：JPWO2005120758A1
公开(公告)日：2008-04-03
申请号：JP2006514444
申请日：2005-05-23
申请人：株式会社安川電機
发明人：公徳西村 , 公徳西村 , 守田　隆一 , 隆一守田 , 西川　清吾 , 清吾西川
IPC分类号： B23K9/12 , B23K9/067 , B23K9/09 , B23K9/095 , B23K9/127 , B23K9/173
CPC分类号： B23K9/173 , B23K9/0671 , B23K9/0953 , B23K9/1272
摘要：ロボットを用いて、高品質な溶接を実現するロボット溶接制御装置及び制御方法を提供する。先端に溶接トーチ(2)を備えるロボット(1)と、ロボット(1)を制御するロボット制御装置(5)と、溶接トーチ(2)にワイヤを送給するワイヤ送給装置(3)と、ワイヤと母材の間に電力を供給する溶接電源(10)とを備え、溶接トーチ(2)を教示された溶接線に基づいて移動させ、溶接を行うロボット溶接制御装置において、ワイヤと母材との接触を検知する接触検知部(16)と、ワイヤの送給方向を切替える送給方向切替部(12)と、ワイヤと母材との間にアークが発生したことを検知するアーク発生検知部(13)と、ワイヤと母材との間に印加する複数の形状の電力波形を制御する波形制御部(22)と、接触検知部(16)、送給方向切替部(12)、アーク発生検知部(13)、波形制御部(22)を統括して制御する溶接シーケンス部(20)とを備える。

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