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1. 发明专利

JPH03151165A MULTILAYER AUTOMATIC WELDING CONTROL METHOD 失效
公开(公告)号：JPH03151165A
公开(公告)日：1991-06-27
申请号：JP28792489
申请日：1989-11-07
申请人： HITACHI LTD
发明人： ASUKA TEPPEI , SUZUKI SHIGERU , SATO KOICHI , SUGAWARA TAKASHI , KOMATSU JUNZO , SAKURAI TAKASHI
IPC分类号： B23K9/095 , B23K9/127
摘要： PURPOSE:To easily perform stable multilayer welding with high precision by carrying out correction processing in consideration of one side at least of a groove shape and a weld bead shape just before the welding stage for every welding stage. CONSTITUTION:Automatic picture processing groove teaching on all points is carried out and registered (S4) on a welding parameter table and a welding condition parameter is set (S5) from this set parameter. Robot control angle arithmetic processing is then carried out (S6) with respect to this welding parameter table and a program code of a numerical controller is produced in order and an NC program is produced (S7) automatically therefrom. A circuit for transferring data is used to register (S8) on a specified region of an NC data memory of the numerical controller. Thereafter, it is confirmed by processing of S10 whether or not the position of a welding torch it obtained suitably by test running of playback operation of the numerical controller and when necessary, it is returned to processing of S4. When unnecessary, playback automatic welding operation is started and satisfactory automatic welding is obtained.

2. 发明专利

JPS63273911A WELDING METHOD FOR LARGE STRUCTURE 失效
公开(公告)号：JPS63273911A
公开(公告)日：1988-11-11
申请号：JP10904787
申请日：1987-05-06
申请人： HITACHI LTD
发明人： ASUKA TEPPEI , KADOWAKI HIROKUNI , NEZU TOSHIO , UEDA KAZUHIKO
IPC分类号： G05B19/42 , G05B19/4155
摘要： PURPOSE:To perform a welding job just with teaching of the start and end points of a welding torch by securing such an action based on a specific relational formula to evade the attitude of the torch in case the interference objects exist at both ends of said start and end points against a line to be welded. CONSTITUTION:The tip coordinate value of a welding torch 4 is shown as Pt(xt, yt, zt) via an AC 3-axis manipulator, the coordinate value of a welded head 3 is shown as Pm(xm, ym, zm) via the same manipulator, and the effective torch length from the head 3 through the torch head 4 is defined as Rt respectively. Furthermore the angle formed between the torch 4 and a Z axis is defined as (a) with the angle formed between the torch 4 and an X axis defined as C. Under such conditions, the torch 4 is made follow the linear axis shift positions X, Y and Z between the start and end points of an object to be welded together with changes of the bend shift value A and the rotary shift value C based on the equations I. Thus it is possible to follow the welding line in evading the interference areas at both ends of the line just by teaching the start and end points of the welding line.

3. 发明专利

JP2003114711A PROCESS PLANNING METHOD, PROCESS PLANNING ASSISTING METHOD, PROCESS PLANNING SYSTEM, PROCESS PLANNING ASSISTING SYSTEM, MANUFACTURING METHOD AND PROGRAM, AND RECORDING MEDIUM 审中-公开
公开(公告)号：JP2003114711A
公开(公告)日：2003-04-18
申请号：JP2001307700
申请日：2001-10-03
申请人： HITACHI LTD
发明人： ICHINOHE MASAYUKI , ASUKA TEPPEI
IPC分类号： G05B19/418 , G06Q50/00 , G06Q50/04 , G06F17/60
摘要： PROBLEM TO BE SOLVED: To provide a processing plan with the manufacturing time shortened by reducing the dead time generated under a process planning method based on the first-come-first-served policy in handling parts. SOLUTION: The manufacturing time is reduced by reversing the processing order of parts having much time to wait and that of parts in the critical path.

4. 发明专利

JPH04201053A GRINDING DEVICE 失效
公开(公告)号：JPH04201053A
公开(公告)日：1992-07-22
申请号：JP33155990
申请日：1990-11-28
申请人： HITACHI LTD
发明人： SUZUKI SHIGERU , ASUKA TEPPEI , SAKURAI TAKASHI , KUWABARA HIROSHI , MIDORIKAWA MASAKAZU , SATO TAKASHI
IPC分类号： B24B49/12 , B23K37/08 , B24B9/04 , B24B19/00 , H04N7/18
摘要： PURPOSE:To obtain not only a plane buy also grind finishing faces in various shapes by registering in advance a finishing face shape, deciding the grinding zone corresponding to this finishing face shape, and controlling a grinding tool so as to grind this grinding zone. CONSTITUTION:A weld zone image pickup means 9 picking up a weld zone 4, a shape recognizing means 12 recognizing the shape and position of the weld zone 4 from the data obtained from this picking up of the image, and a grinding zone deciding means 13 deciding the grinding zone of the weld, zone 4, with the position of a finishing face being calculated, based on a preset finishing face shape and the shape and position of the recognized weld zone, are provided. Based on this decided grinding zone, the moving route of a grinding tool is calculated by a moving route calculation means 14, and the grinding tool 7 is moved according to this moving route 5.

5. 发明专利

JPH0238913A DIMENSION INSPECTING METHOD FOR WORK 失效
公开(公告)号：JPH0238913A
公开(公告)日：1990-02-08
申请号：JP18975988
申请日：1988-07-29
申请人： HITACHI LTD
发明人： ASUKA TEPPEI , NEZU TOSHIO , SATO KOICHI , KUWABARA HIROSHI , KOMATSU JUNJI , KITAMURA NORIO
IPC分类号： G01B21/20 , G01B21/00
摘要： PURPOSE:To accurately measure the dimension of a work by inspecting the size of the work according to coordinate values corrected based upon a correcting value for eliminating a positioning error. CONSTITUTION:A driving device which drives a manipulator 26 and a driving device 28 is connected to a movement console panel 44, a numerical controller 46, and a dimension inspecting device 48 through a console panel 42. The dimension inspecting device 48 is connected to a display device 50 and a printer 52. This dimension inspecting device 48 corrects the coordinate values of an expected measurement start point and the coordinate values of an expected measurement carrying-out point as criteria according to the correcting value for eliminating the positioning error of the work and also inspects the dimension of the work according to the corrected coordinate values. The inspection result is outputted on a floppy disk 56 and a printer 52.

6. 发明专利

JPH0615450A WELDING DEVICE 失效
公开(公告)号：JPH0615450A
公开(公告)日：1994-01-25
申请号：JP17699392
申请日：1992-07-03
申请人： HITACHI LTD
发明人： ASUKA TEPPEI , SUZUKI SHIGERU , KUWABARA HIROSHI , KITAMURA NORIO
IPC分类号： B23K9/095 , B23K9/022 , B23K9/12 , B23K9/127
摘要： PURPOSE:To continuously enable automatic welding without forming trough at bead end part by setting weaving amounts to the three directions and calculating driving amount of a welding torch moving means based on the wearing amount. CONSTITUTION:The torch moving mechanism 10 is travelled by a teaching and the picture of a specific range of the welding part is picked up by a TV camera 23 and the picture is processed by a picture processor 37. A weaving operation setting part 33 of a teaching program preparing device 31 calculates a teaching point information from the picture processing data to register it in a storage part. The weaving condition corresponding to the welding condition from a knowhow information is automatically set. Driving amount, etc., of each arm of play back is calculated from this setting condition by the weaving operation setting part, and registered on the welding parameter chart and also, this information is transferred to numerical control device 41. Various information in the numerical controller 41 is transferred to the torch shifting mechanism 10, and each arm in the torch moving mechanism 10 is driven according to a robot information.

7. 发明专利

JPH01170583A METHOD AND EQUIPMENT FOR MULTI-LAYER WELDING FOR LARGE-SIZED STRUCTURE 失效
公开(公告)号：JPH01170583A
公开(公告)日：1989-07-05
申请号：JP32730087
申请日：1987-12-25
申请人： HITACHI LTD
发明人： ASUKA TEPPEI , SATO KOICHI , KOMATSU JUNZO , KITAMURA NORIO
IPC分类号： B23K9/127 , B23K9/12
摘要： PURPOSE:To perform stable welding work with high accuracy by picking up an image on a bead constituted by a preliminary stage for every stage to weld each layer of a multilayer and analyzing it and calculating deviation of this existing bead and repeating welding while correcting this deviation. CONSTITUTION:A rail 6 is fitted along a weld predetermined line to the surface of material 2 to be welded such as a hydraulic turbine runner and a robot of an articulated five-axis moving mechanism 9 to support a welding torch 8 is provided on said rail 6. Welding equipment on which a visual camera 10 to pick up an image on height and width of the weld bead and a slit light source 11 are mounted is made to travel and picked-up image information of the visual camera 10 is processed by an image processor 14. A preset groove contour shape and a bead contour at the preliminary stage are recognized and according to teaching contents immediately before root running starting, multilayer welding is repeated while correcting the deviation of the weld bead after the second pass for each layer. By this method, the multilayer operation of assembly welding work having a deformed groove shape can be realized by teaching work of only the root pass.

8. 发明专利

JPS6272486A SENSING INSTRUMENT BY WELDING WIRE 失效
公开(公告)号：JPS6272486A
公开(公告)日：1987-04-03
申请号：JP20997985
申请日：1985-09-25
申请人： HITACHI LTD
发明人： ASUKA TEPPEI , NEZU TOSHIO , UEDA KAZUHIKO , SAGI SHIGEKIYO , KADOWAKI HIROKUNI
IPC分类号： B23K9/127 , B23K9/12
摘要： PURPOSE:To fix the position of the tip of a welding wire and to enable a good welding by providing the measuring and correcting gage of the welding wire cut and the welding wire extension length and bending quantity in the movable range of a welding robot. CONSTITUTION:The tip of the welding wire after completion of the welding is cut by a wire cutting device. In this case, if there is any bend at the tip of the welding wire, a torch is moved to position xl and the wire tip is brought in contact with the gage 12 with the inner diameter phiR and having concave edge. And a contact position xDELTAl is detected and the slippage DELTAl is operated. Then, the bending quantity DELTAR of the wire is operated by bringing the wire tip in contact with the edge part of the gage 12. The bend straightening treatment of the welding wire is performed in the four direction of the vertical upper part and lower part and horizontal right side and left side, then, and the misregistration of the wire tip is corrected.

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