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1. 发明专利

JPS5942182A Method for removing weld slag 失效
标题翻译：去除焊缝的方法
公开(公告)号：JPS5942182A
公开(公告)日：1984-03-08
申请号：JP15197482
申请日：1982-08-31
申请人： Daikin Ind Ltd , Hitachi Zosen Corp , Sumikin Yousetsubou Kk
发明人： MURAKAMI SHIYUNZOU , TAKAMATSU SHIGEO , OOTSUKA TAKAO , GESHI OSAMU , MIYAGI YOSHIKAZU , UEDA TSUTOMU , KODAMA GENZOU , IRIGUCHI EIJI , NAKAMURA MASATOSHI , AKITANI SHIORI
IPC分类号： B23K9/16 , B23K9/23 , B23K9/32
CPC分类号： B23K9/324
摘要： PURPOSE:To automate the removal of slag formed in the groove of a closed curving shape and to make the same efficient, by using a slag grinder and a slag sucker operating cooperatively with a welding torch. CONSTITUTION:A slag grinder 20 and a slag sucker 24 are mounted to the mounting plate 10 of a welding torch 15, and the respective bottom end parts of a chipper 19 and a suction nozzle 22 are inserted together with the forward end part of the torch 15 into the groove of a closed curving shape and are positioned. The grinder 20 and sucker 24 are operated cooperatively with the movement of the torch 15 traveling along the weld line to grind the slag in the groove with the chipper 19 and to suck away the ground slag with the nozzle 22. The automatic and efficient removal of the slag formed in the deep groove is thus made possible.
摘要翻译：目的：通过使用与焊炬合作操作的炉渣研磨机和渣滓机，自动化形成在封闭弯曲形状的槽中形成的炉渣并使其效率相同。构成：在焊炬15的安装板10上安装有渣滓机20和炉渣吸盘24，将切屑机19和吸嘴22的各个底端部与火炬的前端部一起插入 15进入封闭弯曲形状的槽，并定位。研磨机20和吸盘24与焊枪15的移动协同工作，焊枪15沿着焊接线行进，以便利用切屑机19在槽中研磨炉渣，并用喷嘴22吸出掉渣。自动高效地除去因此，形成在深槽中的炉渣成为可能。

2. 发明专利

JPS58184072A Multi-layer build-up welding method 失效
标题翻译：多层建筑焊接方法
公开(公告)号：JPS58184072A
公开(公告)日：1983-10-27
申请号：JP6782282
申请日：1982-04-21
申请人： Daikin Ind Ltd , Hitachi Zosen Corp , Sumikin Yousetsubou Kk
发明人： KODAMA MOTOJI , IRIGUCHI EIJI , NAKAMURA MASATOSHI , AKITANI SHIORI , GESHI OSAMU , MIYAGI YOSHIKAZU , UEDA TSUTOMU , NAKAJIMA HIROYUKI , MURAKAMI SHIYUNZOU
IPC分类号： B23K9/127 , B23K9/028
CPC分类号： B23K9/0288
摘要： PURPOSE:To enable narrow gap multi-layer welding using a welding robot, by performing welding of the first layer while detecting the weld line by a sensor and performing welding of the second and succeeding layers by reading out the stored newest position of the torch. CONSTITUTION:Welding of the first layer is performed by allowing a welding torch 5 to follow up the weld line by a sensor 4. At the same time, the position of the torch 5 is detected and stored over the whole circumference of the weld line. To perform welding of the second layer, the position of the torch 5 stored in welding of the first layer is read out and performed by allowing the torch 5 to follow up the weld line basing on the reading. At the same time, the position of the torch 5 is detected and stored in place of the position stored in welding of the first layer. Welding of all layers is performed by repeating this procedure. By this method, teaching of the weld line becomes unnecessary and a good weld zone free from welding defect can be obtained.
摘要翻译：目的：为了实现使用焊接机器人的窄间隙多层焊接，通过在通过传感器检测焊接线的同时执行第一层的焊接并且通过读出焊枪的存储的最新位置来执行第二层和后续层的焊接。构成：通过允许焊炬5通过传感器4跟踪焊接线来进行第一层的焊接。同时，焊炬5的位置被检测并存储在焊接线的整个圆周上。为了执行第二层的焊接，通过允许焊炬5在读取时基于焊接线来读出并执行存储在第一层的焊接中的焊炬5的位置。同时，代替第一层焊接中存储的位置，检测并存储焊炬5的位置。通过重复此过程来执行所有层的焊接。通过这种方法，不需要焊接线的教导，并且可以获得没有焊接缺陷的良好的焊接区。

3. 发明专利

JPS5942184A Welding method 失效
标题翻译：焊接方法
公开(公告)号：JPS5942184A
公开(公告)日：1984-03-08
申请号：JP15197382
申请日：1982-08-31
申请人： Daikin Ind Ltd , Hitachi Zosen Corp , Sumikin Yousetsubou Kk
发明人： MURAKAMI SHIYUNZOU , TAKAMATSU SHIGEO , OOTSUKA TAKAO , GESHI OSAMU , MIYAGI YOSHIKAZU , UEDA TSUTOMU , KODAMA MOTOJI , IRIGUCHI EIJI , NAKAMURA MASATOSHI , AKITANI SHIORI
IPC分类号： B23K9/127 , B23K9/032 , B23K9/073
CPC分类号： B23K9/073
摘要： PURPOSE:To stabilize the welding of an intersecting joint of pipe, by performing copying control in the vertical direction of a welding torch according to a precalculated displacement upon starting of welding and changing over the control to copying control by welding current after the stabilization of the arc. CONSTITUTION:A welding torch 7 which is moved by a circulating mechanism 12 and a horizontal moving mechanism 13 to circulate a branch 2 and is moved vertically by a vertical movement mechanism 14 is disposed. The forward end of a wire 8 is positioned and an electric power source 5 for welding is turned on. A control section 11 which is inputted with the detection signal for a copying position and outputs a control signal is operated to control the torch 7 to the copying position determined by the vertical displacement at each point of a weld line 4, thereby starting welding. The control is changed over to the control for moving vertically the torch 7 to the copying position where the welding current can be maintained constant after the stabilization of the welding arc, thereby welding an intersecting joint of pipe where a main pipe 1 and the branch pipe 2 intersect with each other orthogonally. The forward end of the torch is thus maintained always equidistantly from the weld zone.
摘要翻译：目的：为了稳定管道交叉接头的焊接，通过在焊接开始时根据预先计算的位移执行焊枪垂直方向的复印控制，并在稳定化之后通过焊接电流将控制转换为复印控制弧。构成：设置有由循环机构12和水平移动机构13移动以使分支2循环并由垂直运动机构14垂直移动的焊枪7。电线8的前端定位，用于焊接的电源5接通。操作输入了复印位置的检测信号并输出控制信号的控制部分11，以将焊炬7控制到由焊接线4的每个点处的垂直位移确定的复印位置，从而开始焊接。将控制切换到用于将焊炬7竖直移动到焊接电弧稳定之后焊接电流可以保持恒定的复制位置的控制，从而焊接主管1和分支管道 2相互正交相交。因此，焊枪的前端始终与焊接区域保持等距离。

4. 发明专利

JPS58202979A Automatic welding set 失效
标题翻译：自动焊接机
公开(公告)号：JPS58202979A
公开(公告)日：1983-11-26
申请号：JP8698882
申请日：1982-05-22
申请人： Daikin Ind Ltd , Hitachi Zosen Corp , Sumikin Yousetsubou Kk
发明人： GESHI OSAMU , MIYAGI YOSHIKAZU , UEDA TSUTOMU , MATSUSHIMA RIYOUICHI , KODAMA MOTOJI , IRIGUCHI EIJI , NAKAMURA MASATOSHI , AKITANI SHIORI , NAKAJIMA HIROYUKI , MURAKAMI SHIYUNZOU
IPC分类号： B23K9/127 , B23K9/032 , B23K9/12 , B23K9/28
CPC分类号： B23K9/287
摘要： PURPOSE:To obtain an automatic welding set which is controlled easily and is handled simply, by forming a main shaft system given to a welding torch and a correcting shaft system by total four degrees of freedom of three degrees of freedom and one degee of freedom, respectively, and reducing a control system comparing with a conventional system. CONSTITUTION:Especially, said main shaft system is formed by three degrees of freedom of an R shaft, a Z shaft and an X shaft, and on the other hand, as for a correcting shaft system, a line being parallel to the Z axis is made a center shaft. Subsequently, a lower shaft which can be rocked around this center shaft is formed by one degree of freedom, and a welding torch 6 and a detector holding part 9 are fitted to this lower shaft. A detector holding shaft 10 which is parallel to the Z axis and moves linearly in the upper and lower directions is supported pivotally by this holding part 9, and a pair of profile detectors 7a, 7b are directed in the extending direction of the center shaft of a fixed base part 4 being a device base shaft by which each shaft 10 is made to conform with a shaft of a nozzle 2. Also, the detectors 7a, 7b are fixed vertically against the shaft 10 in a state that the torch 6 is pinched and is placed symmetrically to both sides, the side of the nozzle 2 is detected, the position and direction of the torch 6 are controlled, and also control of calculation, regeneration of a memory value of the Z axis, etc. are executed.
摘要翻译：目的：为了获得易于控制和简单操作的自动焊接设备，通过以三自由度和一个自由度的四个自由度形成给予焊炬的主轴系统和校正轴系统，并且与常规系统相比减少了控制系统。构成：特别地，所述主轴系统由R轴，Z轴和X轴的三个自由度形成，另一方面，对于校正轴系，与Z轴平行的线是做了一个中心轴。随后，围绕该中心轴摆动的下轴形成一个自由度，并且焊枪6和检测器保持部9安装在该下轴上。检测器保持轴10平行于Z轴并沿上下方向线性运动，由该保持部9枢转地支撑，一对轮廓检测器7a，7b沿着中心轴的延伸方向每个轴10与喷嘴2的轴一致的装置基础轴固定基部4。另外，检测器7a，7b在割炬6被夹紧的状态下垂直地固定在轴10上并且被对称地放置在两侧，检测喷嘴2的一侧，控制割炬6的位置和方向，并且还执行计算，再生Z轴的存储器值等的控制。

5. 发明专利

JPS5927776A Groove welding control device 失效
标题翻译：焊接控制装置
公开(公告)号：JPS5927776A
公开(公告)日：1984-02-14
申请号：JP13614082
申请日：1982-08-03
申请人： Daikin Ind Ltd , Sumikin Yousetsubou Kk
发明人： GESHI OSAMU , MIYAGI YOSHIKAZU , UEDA TSUTOMU , KODAMA MOTOJI , NAKAMURA MASATOSHI , AKITANI SHIORI
IPC分类号： B23K9/127 , B23K9/02
CPC分类号： B23K9/0216
摘要： PURPOSE:To detect exactly a rocking reversed position of a groove weld line, and to raise accuracy of automatic welding, by basing on an electric welding current detecting system, and complementing its base by a position detecting function of a profile detector. CONSTITUTION:A current comparing circuit 14 compares a detecting value of a current detector 12 for detecting a welding current, with a value obtained by adding a threshold level to a welding current reference value set in advance, and generates an output when the detecting value of the current detector 12 is larger. A reversed position comparing circuit 15 compares a detecting value of a profile detector 13 for detecting a moving extent to the left and right directions against the reference line of the groove of a welding torch 1, with stored information of a storing circuit 25-1 for storing a welding torch reversed position of the same direction side immediately before said time, as a moving extent to the left and right directions against the reference line of the groove, and generates an output when the detecting value of the profile detector 13 is larger. A rocking controlling circuit 16 provides an output for reversing the rocking direction, to the rocking shaft of the welding torch 1 by an output of one of the comparing circuits 14, 15, and corrects automatically the rocking width of the welding torch 1.
摘要翻译：目的：通过基于电焊电流检测系统，通过轮廓检测器的位置检测功能，完全检测槽焊接线的摆动反转位置，提高自动焊接精度。构成：电流比较电路14将用于检测焊接电流的电流检测器12的检测值与预先设定的焊接电流基准值相加而得到的值进行比较，当检测值为电流检测器12较大。反转位置比较电路15将用于检测相对于焊炬1的凹槽的参考线的左右方向的移动范围的轮廓检测器13的检测值与存储电路25-1的存储信息进行比较在所述时间之前存储相同方向侧的焊炬反转位置，作为相对于槽的基准线的左右方向的移动范围，并且当轮廓检测器13的检测值较大时产生输出。摇摆控制电路16通过比较电路14,15中的一个的输出提供用于将摇摆方向反转到焊炬1的摆动轴的输出，并自动校正焊炬1的摇摆宽度。

6. 发明专利

JPS5950969A Multi-layer build-up welding method 失效
标题翻译：多层建筑焊接方法
公开(公告)号：JPS5950969A
公开(公告)日：1984-03-24
申请号：JP16278282
申请日：1982-09-18
申请人： Daikin Ind Ltd , Sumikin Yousetsubou Kk
发明人： KODAMA MOTOJI , NAKAMURA MASATOSHI , AKITANI SHIORI , GESHI OSAMU , MIYAGI YOSHIKAZU , NAKADA YOUJI
IPC分类号： B23K9/02 , B23K9/04 , B23K33/00
CPC分类号： B23K9/04
摘要： PURPOSE:To prevent the internal defect occurring in the nonuniformity of beads and to improve the quality of a joint in multi-layer welding of a horizontal wall and a vertical wall which intersect orthogonally with each other, by laminating the beads which extend in a transverse direction from the vertical wall and are increasingly narrower from the 1st layer toward the final layer. CONSTITUTION:The weld line of a horizontal wall 3 and a vertical wall 4 is stored and a weaving width is set according to a leg length. While a welding torch 5 is subjected to weaving at the above-described set width, the welding of the 1st layer is accomplished along the stored weld line and a flat bead 11 of a prescribed width extending in the transverse direction from the wall 4 is formed. The extent of pulling up the torch 5 and the width of the new weaving are determined by arithmetic processing and the welding of the 2nd layer is carried out, thereby forming the bead 12 of the 2nd layer which overlaps on the 1st layer bead 11, extends in the transverse direction from the wall 4 and is narrower than the bead 11. The torch 5 is pulled upward and the welding of the bead 13 of the 3rd layer and succeeding beads is accomplished while the weaving width is gradually increased.
摘要翻译：目的：为了防止在珠的不均匀性中发生的内部缺陷，并且提高了彼此正交相交的水平壁和垂直壁的多层焊接中的接头的质量，通过层叠在横向方向从垂直的墙壁逐渐变窄，从第一层到最后一层。构成：存储水平壁3和垂直壁4的焊接线，并根据腿部长度设定织造宽度。当焊枪5以上述设定宽度进行编织时，沿着所存储的焊接线实现第一层的焊接，并且形成从壁4沿横向方向延伸的规定宽度的扁平焊盘11 。通过算术处理确定提升割炬5的宽度和新编织物的宽度，进行第二层的焊接，从而形成与第一层珠11重叠的第二层的珠粒12，延伸在距离壁4的横向上，并且比胎圈11窄。焊炬5被向上拉，并且在编织宽度逐渐增加的同时实现第三层和随后的珠的胎圈13的焊接。

7. 发明专利

JPS5514113A TRACING WELDING MACHINE 失效
公开(公告)号：JPS5514113A
公开(公告)日：1980-01-31
申请号：JP8481578
申请日：1978-07-11
申请人： DAIKIN IND LTD
发明人： GESHI OSAMU , KITAHATA HISAHARU , MIYAGI YOSHIKAZU , YOSHIMURA TAKAYOSHI , MATSUSHIMA RIYOUICHI
IPC分类号： B23K9/127 , B23K9/032 , B23K9/12
摘要： PURPOSE:To improve the workability and enable accurate and easy tracing control by eliminating the phase deviation between the aiming positon of welding torch and detecting position of tracing sensor, by providing a tracing sensor in a position spaced from the target weld line. CONSTITUTION:A welding torch 6 is pivoted on the tip of a turning shaft F which is revolved by a motor 13 in a manner swingable in the vertical plane. By the electrical displacement of a potentiometer 8 for Z, the height and aiming angle of the welding torch 6 are judged. By the composition of three electrical displacements of potentiometers 10, 12, 14 for X, Y and F, the relative position of the welding torch 6 with respect to a work 1 is judged. Correction commands to Z-axis, X-axis and Y- axis are issued from both tracing sensors 5 and 17, and the welding torch 6 is directed at a specified aiming angle with respect to the weld line l which composes a three-dimensional curve.

8. 发明专利

JPS5581083A AUTOMATIC WELDING METHOD 失效
公开(公告)号：JPS5581083A
公开(公告)日：1980-06-18
申请号：JP15599578
申请日：1978-12-13
申请人： DAIKIN IND LTD , SUMIKIN WELDING ELECTRODE CO
发明人： TSUJI TATSUO , KOSUGE KUNIHIRO , NAKAMURA MASATOSHI , GESHI OSAMU , KITAHATA HISAHARU , MIYAGI YOSHIKAZU , MATSUSHIMA RIYOUICHI
IPC分类号： B23K9/032 , B23K9/095 , B23K9/12
摘要： PURPOSE:To obtain a uniform welding over the entire weld line, by varying the welding current and voltage according to the inclination angle of weld line, in a torch of which relative angles to the projected lines of weld lines of two- and three- dimensional curves inclining with respect to the horizontal plane are unchanged. CONSTITUTION:When the vertical inclination of weld line shaped like a saddle is large, the welding current and voltage are lowered and raised in the upward slope and downward slope, respectively, according to the inclination of the weld line so as to improve the bead shape. The rotating angle of the torch in the process of trace welding is detected by a sensor 5 provided on the phi-axis of the torch 4. The torch 4 rotates once around the phi-axis in every revolution about a branch pipe 2 along the weld line. Since the relative angle of the nozzle with respect to the projected line of the weld line 3 is not changed, the angle of revolution may be detected from the rotating angle, taking the rotating angle at an arbitrary reference point 0 on the line 3 as 0 deg.. Then, the torch position is detected from the angle of revolution, and the welding current and voltage corresponding to the inclination of the weld line in that part with respect to the horizontal plane are applied.

9. 发明专利

JPS55136577A TRACING WELDING EQUIPMENT 失效
公开(公告)号：JPS55136577A
公开(公告)日：1980-10-24
申请号：JP4476579
申请日：1979-04-11
申请人： DAIKIN IND LTD
发明人： GESHI OSAMU , KITAHATA HISAHARU , MIYAGI YOSHIKAZU , MATSUSHIMA RIYOUICHI
IPC分类号： B23K9/127 , B23K9/032 , B23K9/12
摘要： PURPOSE:To set the proportional constant between a welding torch and Z-axis sensor with ease by teaching the Z-axis level of the torch and Z-axis sensor in the two specific positions prior to regular welding, in a teaching mechanism. CONSTITUTION:The teaching function that if the heights ZMIN, ZMAX of the arc point A and the heights SMIN, SMAX of the intersecting point B are taught by actually tracing a welding torch 6 and Z-axis sensor 5, the respective substractions of ZMIN- ZMAX=ZW, SMIN-SMAX=ZS and the division of KA=ZW/ZS are performed is provided to the Z-axis control system. The Z-axis is controlled by the output of the value multiplying constant KA to the displacement of the Z-axis sensor 5. Hence, simply by teaching the two points showing the maximum values of the height change first, the tracing welding is feasible, the need for laborious computations is eliminated, the number of parts reduced and the cost lowered.

10. 发明专利

JPS5581070A AUTOMATIC CIRCUMFERENTIAL WELDING METHOD 失效
公开(公告)号：JPS5581070A
公开(公告)日：1980-06-18
申请号：JP15599478
申请日：1978-12-13
申请人： DAIKIN IND LTD , SUMIKIN WELDING ELECTRODE CO
发明人： TSUJI TATSUO , KOSUGE KUNIHIRO , NAKAMURA MASATOSHI , GESHI OSAMU , KITAHATA HISAHARU , MIYAGI YOSHIKAZU , MATSUSHIMA RIYOUICHI
IPC分类号： B23K9/028 , B23K9/00
摘要： PURPOSE:To enable the beautiful and trouble-free welded joint to be obtained by mutually deviating the overlap positions of the start points and end points of circumferential multilayer welding at every 1 pass. CONSTITUTION:First, the 1st pass starts at the (a) point as a welding start point, overlaps at DELTAF0 and ends at the (b) point. Next, the 2nd pass starts at the (c) point by avoiding the DELTAF0 of the 1st pass, i.e., the point near the position inverted by DELTAF0 as a start point, inverts in the direction opposite from the 1st pass, overlaps at DELTAF0 and ends at the (d) point. Following to this, the 3rd pass starts at the (e) point as a start point by avoiding the DELTAF0 of the 1st and 2nd passes, inverts in the direction opposite from the 2nd pass, overlaps at DELTAF0 and ends at the (f) point. The subsequent passes are similar and the specified n-th pass starts near the position inverted by DELTAF=DELTAF0X(n-1) from the end point of one previous path and ends by leaving the overlap of DELTAF.

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