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1. 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。

2. 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.

3. 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.

4. 发明专利

JPS57184649A DEVICE FOR CARRYING IN AND OUT WORKS 失效
公开(公告)号：JPS57184649A
公开(公告)日：1982-11-13
申请号：JP6753081
申请日：1981-05-02
申请人： DAIKIN IND LTD
发明人： MATSUSHIMA RIYOUICHI , NAGURA KUNIHIRO , KITAHATA HISAHARU , NAKADA YOUJI
IPC分类号： B23Q7/04
摘要： PURPOSE:To reduce number of shafts to be controlled and thereby simplify the control system of coupling a rotary shaft, to rotate arm shaft, and an arm shaft having a pair of holding tools at its foremost part, with a planetary gearing mechanism interlockedly, and thereby providing possibility of automatic direction change of the holding tools only by means of turning of the arm shaft. CONSTITUTION:If a processed work W2 is released and unprocessed work W1 is chucked on a transport machine 6, an actuator 17 is put in operation to revolve an arm shaft 2 in the direction toward the machine tool, when the arm shaft 2 shall be rotated around its own axis approx. 90 deg. by a sun gear 7 and a planetary gear 8 to allow the holder 3B, which functions solely as receiver, to face the chuck 5. The subsequent action of another actuator 21 will permit the base part 1, holders 3A, 3B etc. to move forward for reception of work W2. Then the base part, holders, etc. are retracted, and the arm shaft 2 is rotated approx. 180 deg. through the action of an actuator 16. Thereafter the unprocessed work W1 held by the holder 3A, which functions solely as handover tool, is handed over to the chuck 5 through the action of an actuator 21.

5. 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.

6. 发明专利

JPS57189749A WORKPIECE CLAMPING DEVICE 失效
公开(公告)号：JPS57189749A
公开(公告)日：1982-11-22
申请号：JP7249781
申请日：1981-05-13
申请人： DAIKIN IND LTD
发明人： MASUDA KENJI , MATSUKI ISAO , NAGURA KUNIHIRO , KITAHATA HISAHARU , MATSUSHIMA RIYOUICHI
IPC分类号： B25J15/00 , B23Q7/04 , B25J15/08
摘要： PURPOSE:To feed a workpiece to a chuck without causing positional deviation and misalignment by providing a pushing piece, which can contact the surface of the workpiece, on the back side of a clamp in the captioned clamping device which feeds a workpiece to a chuck. CONSTITUTION:A workpiece W1 held by a clamp 3A is first carried to a point which meets a clamping shaft of a chuck on its extended line by the pivoting motion R and revolving motion Ro of an arm 2. Then, the clamp 3A and a pushing piece 12 are promptly fed to a chuck 12. While clamping the workpiece W1 by the clamp 3A with a force which can lightly slide the workpiece W1, the workpiece W1, the workpiece W1 is allowed to approach the chuck at slow speed and to enter the chuck 4 under pressure. When the end surface of the workpiece W1 contacts the pushing piece 12, the feed is accomplished and hence the clamp 3A is turned to the operation on the relief side.

7. 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.

8. 发明专利

JPS5227157A ARM OF INDUSTRIAL ROBBOT 失效
公开(公告)号：JPS5227157A
公开(公告)日：1977-03-01
申请号：JP10433275
申请日：1975-08-27
申请人： DAIKIN IND LTD
发明人： MATSUSHIMA RIYOUICHI , YOSHIMURA TAKAYOSHI , KITAHATA HISAHARU
IPC分类号： B25J9/06 , B25J19/00
摘要： PURPOSE:Arm of industrial robbot in which the arm is gravitationaly belanced at any postures.

9. 发明专利

JPS5581082A WELDING MATERIAL FEEDING DEVICE 失效
公开(公告)号：JPS5581082A
公开(公告)日：1980-06-18
申请号：JP15598678
申请日：1978-12-13
申请人： DAIKIN IND LTD , SUMIKIN WELDING ELECTRODE CO
发明人： GESHI OSAMU , MIYAGI YOSHIKAZU , MATSUSHIMA RIYOUICHI , KITAHATA HISAHARU , TSUJI TATSUO , KOSUGE KUNIHIRO , NAKAMURA MASATOSHI
IPC分类号： B23K9/133 , B23K9/12
摘要： PURPOSE:To realize let-off of welding material following the movement of welding machine without causing twist, by feeding the welding material from the table through a flexible conduit fitted to an arm of which end may be stabilized at an arbitrary position, and a guide member held on the welding machine ahead of a rotatable joint. CONSTITUTION:Arms 3a, 3b of an arm 3 extended from a table 1 in the vicinity of a welding machine 12 constitute a gravity balanced structure so as to be stabilized at an arbitrary position by means of springs 4a, 4b fitted between the pivotal part and intermediate part. A welding torch 13 is connected to the end of the arm 3b through a guide member 7 having a rotatable joint 8 in the middle. A welding material 11 being let off from a reel 2 is communicated to the torch 13 by way of flexible conduit 6, straightening device 9 and guide member 7. The welding machine 12 consists of swivel shaft 14, lateral and vertical shafts 15, 16 moving in the longitudinal and vertical directions. Therefore, when moving along a weld line 5 of the torch 13 which moves three-dimensionally, the welding material 11 may be fed smoothly without having to change the length because the arms 3a and 3b are movable in vertical, lateral and radial directions.

10. 发明专利

JPS5514112A TRACING WELDING MACHINE 失效
公开(公告)号：JPS5514112A
公开(公告)日：1980-01-31
申请号：JP8481478
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 eliminate the phase deviation between the welding torch and tracing sensor, by spacing the welding torch and tracing sensor in the direction of curvature radius at each point of weld line consisting of three-dimensional curve so that the specified relative configuration may be maintained. CONSTITUTION:A tracing sensor 5 for Z-axis provided at the lower end of a turnin shaft F on which a welding torch 6 is mounted, and applies output to a motor 7 by detecting the Z-axis component and sending signal to the control system. By the electrical displacement of potentiometer 8 for Z, the height of the welding torch 6 is judged. By the composition of the three electrical displacements of potensiometers 10, 12, 14 for X, Y and F, the relative position of the welding torch 6 is judged. From both tracing sensors 5 and 17, correction commands to Z-axis, X-axis and Y- axis are issued, and the welding torch 6 is directed at a specified aiming angle with respect to the weld line l.

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