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1. 发明专利

JP2014194656A Weld line information setting device, program, automatic teaching system, and weld line information setting method 有权
标题翻译：焊接线信息设置装置，程序，自动教学系统和焊接线信息设置方法
公开(公告)号：JP2014194656A
公开(公告)日：2014-10-09
申请号：JP2013070636
申请日：2013-03-28
申请人： Kobe Steel Ltd , 株式会社神戸製鋼所
发明人： KIM HYUNSEUNG , IZUMI TOSHIYUKI
IPC分类号： G05B19/42 , B23K9/127 , B25J9/22
摘要： PROBLEM TO BE SOLVED: To reduce operator's work of inputting weld line information, which is performed each time when operation locus information of a welding robot is generated for each of work models having similar shapes but being different in size.SOLUTION: A weld line information setting device is used in an automatic teaching system for a welding robot and sets weld line information for a work model on which the welding robot is to work, for a weld instruction before the work of the welding robot and includes: a base weld line information storage unit 61 in which weld line information for a base work model having a fundamental shape is stored; a similar work structure information acquisition unit 51 which acquires structure information of a similar work model having a size different from that of the base work model and having a shape similar to that of the base work model, which is a work model for which weld line information should be generated, from a similar work structure information storage unit 62; and a similar weld line information generation unit 55 which utilizes the weld line information for the base work model to automatically generate weld line information for the similar work model from the acquired structure information of the similar work model.
摘要翻译：要解决的问题：为了减少操作人员输入焊接线信息的工作，每次当对于具有相似形状但尺寸不同的各种工作模型产生焊接机器人的操作轨迹信息时，执行焊接线信息。解决方案：焊接线信息在焊接机器人的自动教学系统中使用设定装置，并且在焊接机器人的工作之前对焊接机器人的工作模型设定用于焊接机器人的工作模型的焊接线信息，并且包括：焊接线信息存储单元61，其中存储有具有基本形状的基础工作模型的焊接线信息; 类似的工作结构信息获取单元51，其获取具有与基本工作模型不同的尺寸的类似工作模型的结构信息，并且具有与基础工作模型类似的形状，该工作模型是作为焊接线应该从类似的工作结构信息存储单元62产生信息; 以及类似的焊接线信息生成单元55，其利用基准工作模型的焊接线信息根据所获取的类似工作模型的结构信息自动生成类似工作模型的焊接线信息。

2. 发明专利

JP2014194658A Work route information setting device, program, and work route information setting method 有权
标题翻译：工作路线信息设置设备，程序和工作路由信息设置方法
公开(公告)号：JP2014194658A
公开(公告)日：2014-10-09
申请号：JP2013070638
申请日：2013-03-28
申请人： Kobe Steel Ltd , 株式会社神戸製鋼所
发明人： KIM HYUNSEUNG , IZUMI TOSHIYUKI
IPC分类号： G05B19/42 , B25J9/22
摘要： PROBLEM TO BE SOLVED: To reduce operator's work of inputting work route information, which is performed each time when operation locus information of a work object device is generated.SOLUTION: A work route information setting device sets work route information for a workpiece on which a work object device is to work, for a work instruction before work of the work object device and includes: a weld line information storage unit 61 in which work route information for a base work model is stored in association with identification information; a similar work model structure information acquisition unit 51 which acquires structure information of a similar work model having a size different from that of the base work model and having a shape similar to that of the base work model, which is a work model for which work route information should be generated; and a similar weld line information generation unit 55 which utilizes the work route information for the base work model to generate work route information for the similar work model from the acquired structure information of the similar work model.
摘要翻译：要解决的问题：减少操作人员在每次生成工作对象装置的操作轨迹信息时执行的工作路线信息的工作。解决方案：工作路线信息设置装置设置工件的工作路线信息，工作对象装置对于工作对象装置的工作之前的工作指令工作，并且包括：焊接线信息存储单元61，其中与识别信息相关联地存储用于基础工作模型的工作路线信息; 类似的工作模型结构信息获取单元51，其获取具有与基本工作模型的尺寸不同的尺寸的类似工作模型的结构信息，并且具有与作为工作模型的工作模型相似的形状生成路线信息; 以及类似的焊接线信息生成单元55，其利用基础工作模型的工作路线信息从所获取的类似工作模型的结构信息生成类似工作模型的工作路线信息。

3. 发明专利

JP2013180328A Welding apparatus 有权
标题翻译：焊接设备
公开(公告)号：JP2013180328A
公开(公告)日：2013-09-12
申请号：JP2012046282
申请日：2012-03-02
申请人： Kobe Steel Ltd , 株式会社神戸製鋼所
发明人： IZUMI TOSHIYUKI , NAKAO TETSUYA
IPC分类号： B23K9/12
摘要： PROBLEM TO BE SOLVED: To provide a welding apparatus and a welding method which can perform welding work without wasting the welding work by a welding robot even when the number of welding spots is odd.SOLUTION: A welding apparatus 1 includes: a first running unit 10 and a second running unit 20 moving along a first running rail 1L and a second running rail 2L respectively; a welding robot A30 installed on a first traverse beam 13 of the first running unit and a welding robot B30 installed on a second traverse beam 23 of the second running unit independently perform welding on the members to be welded W placed between both the rails. At the position where the first running unit and the second running unit come to face each other, a top end of the first traverse beam and a top end of the second traverse beam are formed not to contact each other in their length. The welding robot A30 is installed on one side of transversal frame that moves along the first traverse beam, while the welding robot B30 is installed on a transversal frame on the other side that moves along the second traverse beam.
摘要翻译：要解决的问题：提供一种焊接设备和焊接方法，即使在焊接点的数量是奇数时，也可以通过焊接机器人进行焊接作业而不浪费焊接作业。解决方案：焊接设备1包括：第一运行单元 10和分别沿着第一行驶轨道1L和第二行驶轨道2L移动的第二行驶单元20; 安装在第一行进单元的第一横梁13上的焊接机器人A30和安装在第二行进单元的第二横动梁23上的焊接机器人B30独立地对放置在两个轨道之间的被焊接部件W进行焊接。在第一运行单元和第二运行单元彼此面对的位置处，第一横动梁的顶端和第二横动梁的顶端形成为不在其长度上彼此接触。焊接机器人A30安装在沿着第一横动梁移动的横向框架的一侧，而焊接机器人B30安装在沿着第二横梁移动的另一侧的横向框架上。

4. 发明专利

JP2006190228A Operation program creating method 有权
标题翻译：操作程序创建方法
公开(公告)号：JP2006190228A
公开(公告)日：2006-07-20
申请号：JP2005003256
申请日：2005-01-07
申请人： Kobe Steel Ltd , 株式会社神戸製鋼所
发明人： HARA OSAMU , IZUMI TOSHIYUKI
IPC分类号： G05B19/4093 , B23K9/12 , B25J9/22 , G05B19/42
摘要： PROBLEM TO BE SOLVED: To provide a welding robot operation program creating method for efficiently creating an operation program with no interference between a robot and a work.
SOLUTION: The method comprises displaying a robot model and a work model for the operation program to be created on a display screen (Step S2), presetting whether to check or not interference, whether to check or not near-miss and a near-miss distance (Step S3), moving the robot model to a first working point (Step S6), determining the presence of the interference at this time (Step S8), issuing an alarm when the interference or the near-miss occurs as the determination result (Steps S10, S12), and allowing an operator to change a guide pass for the robot model following the alarm (Steps S15a, S15b). The operation is repeated and the operation is performed for all working points of the robot (Step S17) to complete the program when no interference occurs.
COPYRIGHT: (C)2006,JPO&NCIPI
摘要翻译：要解决的问题：提供一种用于在机器人与作业之间没有干扰的情况下有效地创建操作程序的焊接机器人操作程序创建方法。解决方案：该方法包括在显示屏幕上显示要创建的操作程序的机器人模型和工作模型（步骤S2），预设是否检查或不干扰，是否检查是否接近错过，以及近距离（步骤S3），将机器人模型移动到第一工作点（步骤S6），确定此时的干扰的存在（步骤S8），当发生干扰或近错时，发出报警确定结果（步骤S10，S12），并且允许操作者改变跟随报警的机器人模型的引导通行（步骤S15a，S15b）。重复操作，对机器人的所有工作点进行操作（步骤S17），以在没有干扰的情况下完成程序。版权所有（C）2006，JPO＆NCIPI

5. 发明专利

JP2013198913A Welding method 有权
标题翻译：焊接方法
公开(公告)号：JP2013198913A
公开(公告)日：2013-10-03
申请号：JP2012067659
申请日：2012-03-23
申请人： Kobe Steel Ltd , 株式会社神戸製鋼所
发明人： IZUMI TOSHIYUKI , NAKAO TETSUYA , MORI HIDEAKI
IPC分类号： B23K9/12
摘要： PROBLEM TO BE SOLVED: To provide a welding method which can lessen the waste of welding work of a welding robot, irrespective of the number of welding portions in regard to the number of welding robots constituting a system.SOLUTION: In a welding method S, a plurality of weled members W is arranged between a first traveling rail 1L and a second taveling rail 2L which are in parallel, a welding robot A30 mounted on a first traveling body 10 traveling on the first traveling rail and a welding robot B30 mounted on a second traveling body 20 traveling on the second traveling rail perform welding, previously setting welding portions in charge about the welded members, wherein a welding method S executes repeatedly a moving process S4 (S10 etc.), a welding process S7 (S13 etc.), and a determination process S8 (SW14 etc.), until the welding portions of the arranged plurality of welding members is welded. Then, in the welding method S, the moving process is made to be a procedure where the first traveling body and the second traveling body are moved by the presence and the non-presence of the completion of the welded portion in charge, in the determination process.
摘要翻译：要解决的问题：提供一种焊接方法，其可以减少焊接机器人的焊接作业的浪费，而不管关于构成系统的焊接机器人的数量的焊接部分的数量。解决方案：在焊接方法S中，在平行的第一行进轨道1L和第二起爆轨道2L之间布置有多个焊接构件W，安装在第一行进轨道上行进的第一行驶体10上的焊接机器人A30和安装在第一行进轨道上的焊接机器人B30 在第二行进轨道上行进的第二行驶体20进行焊接，预先设定关于焊接部件的负荷的焊接部，其中焊接方法S重复执行移动过程S4（S10等），焊接处理S7（S13等），以及确定处理S8（SW14等），直到焊接被布置的多个焊接部件的焊接部分为止。然后，在焊接方法S中，移动过程是在第一行进体和第二行进体的存在和移动的过程中，在确定中的焊接部分的完成的存在和不存在的过程中处理。

6. 发明专利

JP2006072673A Positioner setting method for welding robot 有权
标题翻译：焊机机器人定位方法
公开(公告)号：JP2006072673A
公开(公告)日：2006-03-16
申请号：JP2004254957
申请日：2004-09-01
申请人： Kobe Steel Ltd , 株式会社神戸製鋼所
发明人： HARA OSAMU , IZUMI TOSHIYUKI
IPC分类号： G05B19/42
摘要： PROBLEM TO BE SOLVED: To provide a positioner setting method for a welding robot that can shortly, safely, and accurately position a positioner for supporting a workpiece.
SOLUTION: The positioner setting method for a welding robot has: a step (Step 1) of reading into a computer mechanism information about a positioner and a three-dimensional model of a workpiece; a step (Step 2 to Step 7) of specifying either a weld surface or line of at least either member to be welded of the model; a step (Step 8) of computing a reference line defining the inclination of a weld zone from the specified weld surface or line information; a step (Step 9) of setting α and β as target angles of the workpiece, where α and β are angles of inclination of the reference line against the vertical in two orthogonal directions; and a step (Step 10 to 20) of moving the workpiece model in a range allowable from the positioner mechanism to compute one or a combination of positioner positions bringing α and β into target angle ranges.
COPYRIGHT: (C)2006,JPO&NCIPI
摘要翻译：要解决的问题：提供一种焊接机器人的定位器设定方法，其可以短期，安全地和精确地定位用于支撑工件的定位器。焊接机器人的定位器设定方法具有以下步骤（步骤1）：读取计算机机构关于工件的定位器和三维模型的信息; 指定模型中要焊接的至少一个构件的焊接表面或管线的步骤（步骤2至步骤7）计算从规定的焊接面或线路信息确定焊接区域的倾斜度的基准线的步骤（步骤8）将α和β设定为工件的目标角度的步骤（步骤9），其中α和β是两个正交方向上参考线相对于垂直方向的倾斜角; 以及在从定位机构允许的范围内移动工件模型的步骤（步骤10至20），以计算将α和β的一个或组合定位到目标角度范围。版权所有（C）2006，JPO＆NCIPI

7. 发明专利

JP2014194657A Weld line information setting device, program, automatic teaching system, and weld line information setting method 有权
标题翻译：焊接线信息设置装置，程序，自动教学系统和焊接线信息设置方法
公开(公告)号：JP2014194657A
公开(公告)日：2014-10-09
申请号：JP2013070637
申请日：2013-03-28
申请人： Kobe Steel Ltd , 株式会社神戸製鋼所
发明人： KIM HYUNSEUNG , IZUMI TOSHIYUKI
IPC分类号： G05B19/42 , B23K9/127 , B25J9/22
摘要： PROBLEM TO BE SOLVED: To allow correction, deletion, or the like of information and secure consistency of information of a weld line for a new work model by notifying an operator of the state of consistency of information including components of the weld line of the new work model.SOLUTION: A weld line information setting device sets weld line information for a work for a weld instruction before work of a welding robot and includes: a weld line information storage unit 61 in which weld line information for a base work model is stored; a similar work structure information acquisition unit 51 which acquires structure information of a similar work model having a size different from that of the base work model and having a shape similar to that of the base work model; and a confirmation result display and correction acceptance unit 53 which confirms consistency or inconsistency between individual weld lines in generation of weld line information for the similar work model and displays consistent weld lines and inconsistent weld lines in such a state that they are distinguishable.
摘要翻译：要解决的问题：为了允许更新，删除等信息，并且通过向操作者通知包括新的焊接线的部件的信息的一致性的状态的状态来确保新的工作模型的焊接线的信息的一致性工作模型。焊接线信息设定装置对焊接机器人的工作前的焊接指令的工件设定焊接线信息，包括：焊接线信息存储部61，其中存储有基础工作模型的焊接线信息 ; 类似的工作结构信息获取单元51，其获取具有与基本工作模型的尺寸不同的尺寸的类似工作模型的结构信息，并且具有与基本工作模型类似的形状; 以及确认结果显示和校正接受单元53，其在相似的工作模型的生成焊接线信息中确认各个焊接线之间的一致性或不一致性，并且在可区分的状态下显示一致的焊接线和不一致的焊接线。

8. 发明专利

JP2012035308A Offline teaching method 有权
标题翻译：离线教学方法
公开(公告)号：JP2012035308A
公开(公告)日：2012-02-23
申请号：JP2010179052
申请日：2010-08-09
申请人： Kobe Steel Ltd , 株式会社神戸製鋼所
发明人： HARA OSAMU , IZUMI TOSHIYUKI , HIDA MASATOSHI
IPC分类号： B23K9/12 , B25J9/22 , G05B19/42
CPC分类号： B23K9/124 , B23K9/095 , B23K9/1062 , B23K9/1087 , B23K37/0452 , G05B19/4086 , G05B19/425 , G05B2219/35091 , G05B2219/36432 , G05B2219/36494
摘要： PROBLEM TO BE SOLVED: To provide an offline teaching method capable of accurately performing offline teaching in a welding system without requiring skill of operation.SOLUTION: A three-dimensional rectangular coordinate system is set in which the direction of a weld line is the Y direction, a direction perpendicular to a surface of a material 1 to be welded is the Z direction, and a direction perpendicular to the Y direction and the Z direction is the X direction. A coordinate system A of XYZis set as a previous stage coordinate system, which ranges from a previous step to a current step, and a coordinate system B of XYZis set as a next stage coordinate system, which ranges from the current step to a next step. Accordingly, a weld line segment from the previous step to the current step becomes a Ydirection, and a weld line segment from the current step to the next step becomes a Ydirection. The weld line is defined by these coordinate systems that use the workpiece as a reference, and an operator specifies an amount of travel of a torch in these workpiece coordinate systems.
摘要翻译：要解决的问题：提供一种能够在不需要操作技能的情况下在焊接系统中精确地执行离线教学的离线教学方法。解决方案：设置三维直角坐标系，其中焊接线的方向为Y方向，垂直于待焊接材料1的表面的方向为Z方向，垂直于 Y方向和Z方向是X方向。将 A Y A Z A 的坐标系A设置为从上一步到当前步骤的前一级坐标系以及X B Y B Z B 被设置为下一级坐标系，其范围从当前步骤到下一步。因此，从前一步骤到当前步骤的焊接线段变为Y A 方向，并且从当前步骤到下一步骤的焊接线段变为Y 乙方向。焊接线由使用工件作为参考的这些坐标系定义，并且操作员指定这些工件坐标系中割炬的行程量。版权所有（C）2012，JPO＆INPIT

9. 发明专利

JP2006122937A Automatic fillet welding method 有权
标题翻译：自动焊接焊接方法
公开(公告)号：JP2006122937A
公开(公告)日：2006-05-18
申请号：JP2004313151
申请日：2004-10-27
申请人： Kobe Steel Ltd , 株式会社神戸製鋼所
发明人： IZUMI TOSHIYUKI , HARA OSAMU , KAWAKAMI KOJI , MURAYAMA KOICHI
IPC分类号： B23K9/02 , B23K9/127
摘要： PROBLEM TO BE SOLVED: To provide an automatic fillet welding method, in which bead shapes of corner-winding welding at a terminal end are not dispersive and welding quality is stable.
SOLUTION: Straight torches 9a, 9b are moved to a welding beginning end 12, and the side of the beginning end is sensed to correct a welding line (Step S1). After sensing of the side of the beginning end is finished, an arc is ignited, and corner-winding welding at the side of the beginning end is conducted (Step S2). Following the corner-winding welding at the side of the beginning end, normal welding is conducted (Step S3). The normal welding is temporarily stopped before a terminal end 13, the arc is cut, and the position is memorized (Step S4). The straight torches 9a, 9b are moved to the terminal end 13, and the side of the terminal end is sensed by welding wires of the front ends of the torches to correct the welding line (Step S5). Then, the arc is ignited again at the terminal end 13 to conduct terminal end corner-winding welding, normal welding is conducted till the positions 14, 15 before the terminal end, where the arc is cut in normal welding, and the bead is connected to the end of the former bead (Step S6).
COPYRIGHT: (C)2006,JPO&NCIPI
摘要翻译：要解决的问题：提供一种自动焊接方法，其中末端的拐角焊接的焊道形状不分散，焊接质量稳定。解决方案：将直炬9a，9b移动到焊接开始端12，并且感测起始端的侧面以校正焊接线（步骤S1）。在开始一侧的感测完成之后，点燃电弧，并且进行在开始一侧的拐角绕组焊接（步骤S2）。在开始一侧的拐角缠绕焊接之后，进行正常焊接（步骤S3）。正常焊接在终端13之前暂时停止，电弧被切断，并且存储位置（步骤S4）。直线炬9a，9b移动到终端13，并且通过焊炬的前端的焊丝检测终端的一侧以校正焊接线（步骤S5）。然后，在终端13再次点火，进行终端拐角绕组焊接，进行正常焊接，直到终端前端的位置14,15，其中正常焊接中的电弧被切断，并且焊道被连接到前一个珠的末端（步骤S6）。版权所有（C）2006，JPO＆NCIPI

10. 发明专利

JPH04303211A WORK DATA STORING AND REPRODUCING TYPE CONTROLLER 失效
公开(公告)号：JPH04303211A
公开(公告)日：1992-10-27
申请号：JP9307191
申请日：1991-03-31
申请人： KOBE STEEL LTD
发明人： OKADA KATSUMI , IZUMI TOSHIYUKI
IPC分类号： B05B12/00 , B23K9/127 , G05B19/18 , G05B19/42
摘要： PURPOSE:To obtain a work data storing and reproducing type controller which effectively uses work condition data already corrected in accordance with work and always executes the work in an optimum work condition. CONSTITUTION:Welding condition data given from a teaching device 1 is stored in a work condition data memory 4. Welding condition data outputted from this work condition data memory 4 is stored in a work condition temporary storage means 5. An operator corrects welding condition data stored in the work condition temporary storage means 5 in accordance with the work condition by a work condition correcting means 6. Already corrected welding condition data is held in the work condition temporary storage means 5 and is used on demand.

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