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1. 发明专利

JP2014180726A Compensating device for spring constant of multi-joint robot 有权
标题翻译：用于多机器人弹簧恒定的补偿装置
公开(公告)号：JP2014180726A
公开(公告)日：2014-09-29
申请号：JP2013056772
申请日：2013-03-19
申请人： Kobe Steel Ltd , 株式会社神戸製鋼所
发明人： WADA TAKASHI , NISHIDA YOSHIHARU , INOUE YOSHIHIDE , INADA SHUICHI
IPC分类号： B25J9/10
摘要： PROBLEM TO BE SOLVED: To easily compensate a spring element of decelerator of a power transmission system of a multi-joint robot in the multi-joint robot suitable for arc-welding requiring a weaving motion.SOLUTION: An elastic deformation compensating portion included in a robot controller acquires an inertial term (J), a non-linear term (C), a gravity term (G) in each shaft of the multi-joint robot and a spring constant (K) before compensation (S4); extracts an error at a weaving endpoint (S5); converts a position error into an angle error of robot joints using a jacobi matrix (S6); calculates estimated torque at the weaving endpoint using a model of the multi-joint robot (S7); and calculates an error dE used to compensate the spring constant on the basis of the angle error of the robot joints (calculated at the S6), at the time of multiple weaving, calculated by changing the posture of the multi-joint robot and the estimated torque (calculated at the S7) so as to compensate (renew) the spring constant.
摘要翻译：要解决的问题：为了容易地补偿适用于需要编织运动的电弧焊接的多关节机器人中的多关节机器人的动力传递系统的减速器的弹簧元件。解决方案：包括在弹性变形补偿部机器人控制器获取多关节机器人的每个轴中的惯性项（J），非线性项（C），重力项（G）和补偿前的弹簧常数（K）（S4）; 在织造端点提取错误（S5）; 使用雅可比矩阵将位置误差转换为机器人关节的角度误差（S6）; 使用多关节机器人的模型计算织造端点处的估计扭矩（S7）; 并且通过改变多关节机器人的姿势和估计的多个机器人的姿势来计算用于在多次编织时基于机器人关节的角度误差（在S6计算）的角度误差来补偿弹簧常数的误差dE 扭矩（在S7计算），以补偿（更新）弹簧常数。

2. 发明专利

JP2013184249A System having motor driving structure, program used for the same, and weldment manufacturing method 有权
标题翻译：具有电机驱动结构的系统，使用其的程序和制造方法
公开(公告)号：JP2013184249A
公开(公告)日：2013-09-19
申请号：JP2012050844
申请日：2012-03-07
申请人： Kobe Steel Ltd , 株式会社神戸製鋼所
发明人： INADA SHUICHI , INOUE YOSHIHIDE , NISHIDA YOSHIHARU , WADA TAKASHI
IPC分类号： B25J13/00 , G05B19/18 , G05B19/409
摘要： PROBLEM TO BE SOLVED: To reduce burdens on a user when a threshold value is set.SOLUTION: A welding robot system 1 includes: a threshold setting means (robot controller 30) for calculating an external disturbance value added to a joint (shaft) and setting a threshold value where the joint (shaft) collides with the outside world compared with the external disturbance value; a providing means for providing a user interface (display screen 41) in which the user of the welding robot 10 can stepwise set a sensitivity level for detecting collision prior to setting of the threshold value by the threshold setting means; and a recognition means for recognizing the setting of the stepwise sensitivity level of the user achieved by the user interface provided by the providing means. Then, the threshold setting means defines a threshold value based on the setting of the stepwise sensitivity level recognized by the recognition means to set the threshold value as the threshold value for comparison with the external disturbance value.
摘要翻译：要解决的问题：减小阈值时用户的负担。解决方案：焊接机器人系统1包括：阈值设定装置（机器人控制器30），用于计算添加到接头（轴）的外部干扰值，以及设定与外部扰动值相比，接头（轴）与外界碰撞的阈值; 用于提供用户界面（显示屏幕41）的提供装置，其中焊接机器人10的用户可以在通过阈值设定装置设置阈值之前逐步地设置用于检测冲突的灵敏度级别; 以及识别装置，用于识别由提供装置提供的用户界面实现的用户的逐步灵敏度级别的设置。然后，阈值设定装置基于由识别装置识别的逐步灵敏度级别的设置来定义阈值，以将阈值设置为用于与外部干扰值进行比较的阈值。

3. 发明专利

JPH04138895A HIGH CELLULOSE COVERED ELECTRODE 失效
公开(公告)号：JPH04138895A
公开(公告)日：1992-05-13
申请号：JP26224390
申请日：1990-09-29
申请人： KOBE STEEL LTD
发明人： WADA TAKASHI , NARUSE SHOZO , SUGINO TAKESHI
IPC分类号： B23K35/30 , B23K35/36 , B23K35/365
摘要： PURPOSE:To provide a high cellulose covered electrode having good welding workability and excellent toughness by suitably controlling the ratio of B and TiO2 in covering material. CONSTITUTION:In the high cellulose covered electrode covering the covering material, which kneads the covering raw material containing large quantity of cellulose together with binder, on outer periphery of steel core wire, 0.1-7.0% MgO, 7-15% iron oxide (FeO conversion), 8-19% TiO2, 10-30% SiO2, 5-27% Mn, 0.05-0.5% B and TiO2/B=18-200 are incorporated in the covering material and wt. ratio of the covering material to the electrode is 0.1-0.19. By using this invention, the high cellulose covered electrode having good welding workability and excellent toughness is obtd., and particularly, this is suitable to use to a substrate welding in a cold district.

4. 发明专利

JPH03118947A FLUX FOR CONTINUOUS CASTING 失效
公开(公告)号：JPH03118947A
公开(公告)日：1991-05-21
申请号：JP25482689
申请日：1989-09-29
申请人： KOBE STEEL LTD
发明人： WADA TAKASHI , SEIKE NORIO , MATSUSHITA YUKINOBU , TAKAHASHI TETSUO
IPC分类号： B22D11/07 , B22D11/10 , B22D11/108 , B22D11/111
摘要： PURPOSE:To make good of slagging and flowability of molten slag into between inner wall of a mold and molten steel without forming sintered body and to stably produce a continuously cast slab having high quality by specifying melting temp., softening shrinkage starting temp. and value of linear shrinkage ratio of flux used at the time of continuously casting the molten steel. CONSTITUTION:As the flux for adding to the molten steel in a mold for continuous casting at the time of continuously casting the molten steel, silica, qualtz, qualtzite, soda ash, fluorite, sodium fluoride, magnesia clinker, etc., are mixed at the specific ratio and after burning, these are pulverized into fine powder- state having undersize of 100 mesh to manufacture the flux. In this case, by regulating the flux so as to be in the range of 900-1200 deg.C the molten temp., >=700 deg.C the softening shrinkage starting temp. and

5. 发明专利

JPS6210212A PRODUCTION OF BEND PIPE 失效
公开(公告)号：JPS6210212A
公开(公告)日：1987-01-19
申请号：JP14946785
申请日：1985-07-08
申请人： NIPPON KOKAN KK , KOBE STEEL LTD
发明人： AKAO KAZUTAKA , ISHIHARA TOSHIRO , KITADA TOYOFUMI , OKUDA NAOKI , WADA TAKASHI , HASE KAORU
IPC分类号： B21D7/16 , B21D7/00 , C21D8/10 , C21D9/08 , C22C38/00 , C22C38/14 , C22C38/16
摘要： PURPOSE:To produce a large-diameter bend pipe having excellent low-temp. toughness and strength in the bent part and straight part by adequately selecting the compsn. and heat treatment conditions of a molten metal in the stage of producing the large-diameter bend pipe by welding a steel plate by a submerged arc welding method and bending the welded pipe by bending. CONSTITUTION:The metal of the compsn. basically composed of 0.05-0.15% C, =1 kinds among =5min at 550-700 deg.C and is thus tempered.

6. 发明专利

JPS6054297A PRODUCTION OF LOW HYDROGEN FUSED FLUX 失效
公开(公告)号：JPS6054297A
公开(公告)日：1985-03-28
申请号：JP16364883
申请日：1983-09-05
申请人： KOBE STEEL LTD
发明人： OKUDA NAOKI , WADA TAKASHI , FUJIMOTO TOSHIAKI
IPC分类号： B23K35/40 , B23K35/362
摘要： PURPOSE:To form a low hydrogen flux at a relatively low cost in the production of a fused flux by compounding and melting a separately melted raw material among all the compounded raw materials at specific weight % or above. CONSTITUTION:Basicity of a flux is necessary to obtain a weld metal having good notch toughness and a flux is required to be compounded with much high melting oxide such as MgO. The melting temp. of the flux increases consequently and the amt. of hydrogen increases, resulting in the deteriorated porperty of the flux. If the separately melted raw material among all the compounded raw materials is made >=25wt%, the melting temp. decreases considerably and the amt. of hydrogen in the flux decreases as well. The lower hydrogen of the flux is made possible and the lower hydrogen of weld metal is made possible as well by the above-mentioned method and the flux suitable for welding of high-grade steel having good resistance to cracking is provided.

7. 发明专利

JPS59218296A Fused flux for submerged arc welding 失效
标题翻译：熔断焊接用于埋弧焊
公开(公告)号：JPS59218296A
公开(公告)日：1984-12-08
申请号：JP9384883
申请日：1983-05-26
申请人： Kobe Steel Ltd
发明人： OKUDA NAOKI , WADA TAKASHI , KUMAGAI MASAHARU
IPC分类号： B23K35/362 , B23K35/36
CPC分类号： B23K35/3607 , B23K35/3608
摘要： PURPOSE:To obtain a titled flux which has good slag detachability and forms a defectless and beautiful weld bead by incorporating a specific ratio of SiO2, TiO2, MgO and MnO as essential components in said flux in such a way that the contents of said components satisfy the specific inequality. CONSTITUTION:A flux is so prepd. that said flux contains, by weight %, 26- 50% SiO2, 21-55% TiO2, 6-30% MgO and 5-14% MnO as essential components and that the contents of the respective components satisfy the inequality consisting of 0.20
摘要翻译：目的：为了获得具有良好的炉渣可拆卸性的标称焊剂，通过以特定比例的SiO 2，TiO 2，MgO和MnO作为所述焊剂中的必需组分，以使所述组分的含量满足的方式形成无缺陷和美观的焊道具体的不平等。构成：焊剂如此准备。所述助熔剂以重量％计含有26-50％SiO 2，21-55％TiO 2，6-30％MgO和5-14％MnO作为必要组分，并且各组分的含量满足由0.20 < （+的CaO + MnO的氧化镁）/（二氧化硅+二氧化钛）<0.47。根据需要可以并入<= 13％的Al2O3，<= 10％的CaO，<= 10％的金属氟化物（CaF 2等）和<= 10％的金属氧化物（FeO，BaO等）。焊剂的晶粒尺寸构成为含有0.1-20％的具有0.07-1.0mm的细晶粒。直径。

8. 发明专利

JP2014083605A Weaving control device of articulated robot 有权
标题翻译：装饰机器人的装配控制装置
公开(公告)号：JP2014083605A
公开(公告)日：2014-05-12
申请号：JP2012231871
申请日：2012-10-19
申请人： Kobe Steel Ltd , 株式会社神戸製鋼所
发明人： WADA TAKASHI , NISHIDA YOSHIHARU , INOUE YOSHIHIDE , INADA SHUICHI
IPC分类号： B25J9/10 , B23K9/12
CPC分类号： B23K9/0216 , B23K9/0953 , B23K9/173 , B25J9/10 , B25J9/1641 , Y10S901/42
摘要： PROBLEM TO BE SOLVED: To make an articulated robot perform weaving motion with high locus accuracy, by suppressing generation of errors caused by dynamic characteristics of a motor itself, and errors caused by influence of motion of other axes.SOLUTION: A weaving control device 10 includes: a signal calculation part for calculating a target position signal of each axis of a robot; a filter calculation part 400 for, in order to remove a natural oscillation component of the robot from the calculated target position signal, calculating a low-pass filter processed target command signal; and a motor control part 2500 for driving each axis, with the low-pass filter processed target command signal as input. The frequency characteristic of gain of the motor control part 2500 is configured to be substantially flat, and the dynamic characteristic from a target position to a motor output angle is approximated to a filter. A weaving signal correction part 200 calculates a gain corrected target position signal, on the basis of a filter characteristic.
摘要翻译：要解决的问题：通过抑制由电动机本身的动态特性引起的误差的产生以及由其他轴的运动的影响引起的误差，使得铰接机器人以高轨迹精度执行织造运动。解决方案：编织控制装置10 包括：信号计算部，其计算机器人的各轴的目标位置信号; 滤波器计算部400，用于从计算出的目标位置信号中去除机器人的自然振荡分量，计算低通滤波处理目标指令信号; 以及用于驱动每个轴的电动机控制部分2500，其中低通滤波器处理的目标指令信号作为输入。马达控制部件2500的增益的频率特性被构造成基本平坦，并且从目标位置到马达输出角度的动态特性被近似为滤波器。织造信号校正部200基于滤波器特性来计算增益校正对象位置信号。

9. 发明专利

JPS60240382A MULTIPLE-ELECTRODE HIGH SPEED SUBMERGED ARC WELDING 失效
公开(公告)号：JPS60240382A
公开(公告)日：1985-11-29
申请号：JP9513284
申请日：1984-05-12
申请人： KOBE STEEL LTD
发明人： OKUDA NAOKI , WADA TAKASHI , KUMAGAI MASAHARU
IPC分类号： B23K9/08 , B23K9/18
摘要： PURPOSE:To speed up submerged arc welding further without spoiling the quality of a weld zone by making welding giving a magnetic field of specified intensity to the lower part of the second and sulese quent electrode wires. CONSTITUTION:An arc 6a is oscillated electromagnetically in the direction perpendicular to the face of paper (perpendicular to the weld line) by making the direction of magnetic line of force that crosses the arc 6a of preceding electrode P1 perpendicularly under a succeeding electrode wire 1b, i.e. magnetic vector H, giving fixed magnetic field at all times, and changing the direction of welding current of the preceding electrode P1, i.e. the direction of current vector I, with the passage of time. At this time, the intensity of the magnetic field that makes magnetic flux density (unit: gauss) under the electrode wire 1a at least >=1/4 of welding current value (unit: ampere) is maintained. To give the magnetic field 8, there are various ways such as providing an electrode solenoid around the electrode wire 1b.

10. 发明专利

JPS59156599A Submerged arc welding method 失效
标题翻译：电弧焊接方法
公开(公告)号：JPS59156599A
公开(公告)日：1984-09-05
申请号：JP2969783
申请日：1983-02-23
申请人： Kobe Steel Ltd
发明人： OKUDA NAOKI , WADA TAKASHI , HASE KAORU
IPC分类号： B23K9/18 , B23K35/36 , B23K35/362
CPC分类号： B23K35/3602
摘要： PURPOSE:To provide a weld metal having a high level of low temp. toughness by specifying the component compsn. and bulk density of a flux for submerged arc welding and decreasing the content of oxygen and nitrogen in a welding wire. CONSTITUTION:A flux for submerged arc welding which contains the following components by weight % and having a bulk specific density of flux of 0.85- 1.85g/cm is used: The flux contains the respective components consisting of 22-35% CaF2, 22-38% MgO, 3-12% CaO, 54-80% CaF2+MgO+CaO, 10- 25% Al2O3, 7-20% SiO2 and 0.5-3.0%>=1 kind of Na2O and K2O. A welding wire contg.
摘要翻译：目的：提供具有高水平低温的焊缝金属。通过指定组件compsn的韧性。以及用于埋弧焊的助焊剂的体积密度，并降低焊丝中氧和氮的含量。构成：用于埋弧焊的焊剂，其含有以重量％计的以下组分，其堆积体积比密度为0.85-1.85g / cm 2：焊剂含有由22-35％的CaF 2组成的各组分，22-38％MgO，3-12％CaO，54-80％CaF2 + MgO + CaO，10-25％Al2O3，7-20％SiO2和0.5-3.0％≥1种Na2O和K2O。一根焊丝 <= 40ppm氮气和<= 100ppm氧气。焊接金属具有优良的低温韧性是有限的。如果使用上述焊剂和焊丝进行埋弧焊。

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