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1. 发明专利

JPS59188705A Method for controlling drive of welding torch 失效
标题翻译：用于控制焊接转向驱动的方法
公开(公告)号：JPS59188705A
公开(公告)日：1984-10-26
申请号：JP6337183
申请日：1983-04-11
申请人： Komatsu Ltd
发明人： TAKAGI HIROYUKI , TANAHASHI SAKAE , KIDO NOBUAKI , NISHIDA SATOSHI , KOZONO MASAKAZU , HOTSUTA TOSHIICHI , NAKAGAWA HITOSHI , MATSUDA AKIRA
IPC分类号： B23K9/127 , G05B19/42
CPC分类号： G05B19/42 , G05B2219/36043
摘要： PURPOSE:To easily correct teaching operations in the drive controlling method of a welding torch by erasing an instruction statement and positional information by moving the welding torch in a direction which is opposite to the direction of the instruction statement implemented by designation. CONSTITUTION:The 1st memory 1 stores teaching data and the 2nd memory 2 (main program) stores a movement instructing statement, and then, a CPU3 drives and controls a welding torch. When a non-lock type reverse step delete switch 4 is depressed in the course of teaching operation, the welding torch is moved in a direction which is opposite to the direction of one of latest movement instructing statement written in the 2nd memory 2 based on the movement instructing statement and teaching data stored in the 1st memory 1 in accordance with a program stored in the 3rd memory 5 and, at the same time, the movement instructing statement and teaching data are simultaneously controlled. It is possible to automatically restoring the welding torch to a desired teaching point and erase the movement instructing statement.
摘要翻译：目的：通过沿着与指定实现的指令语句方向相反的方向移动焊炬，通过擦除指令语句和位置信息来轻松校正焊炬的驱动控制方法中的教学操作。构成：第一存储器1存储教学数据，第二存储器2（主程序）存储运动指示语句，然后，CPU3驱动和控制焊枪。当在示教操作过程中按下非锁定型反向踏板删除开关4时，焊枪沿与第二存储器2中写入的最新动作指令语句的方向相反的方向移动，基于根据存储在第三存储器5中的程序，同时控制移动指示语句和教学数据，存储在第一存储器1中的移动指令语句和教学数据被同时控制。可以将焊炬自动恢复到所需的教学点，并擦除动作指示语句。

2. 发明专利

JPS59159272A Device for setting welding condition 失效
标题翻译：用于设置焊接条件的装置
公开(公告)号：JPS59159272A
公开(公告)日：1984-09-08
申请号：JP3407183
申请日：1983-03-02
申请人： Komatsu Ltd
发明人： TAKAGI HIROYUKI , TANAHASHI SAKAE , KIDO NOBUAKI , NISHIDA SATOSHI , KOZONO MASAKAZU , HOTSUTA TOSHIICHI , NAKAGAWA HITOSHI , MATSUDA AKIRA
IPC分类号： B23K9/095 , B23K9/10
CPC分类号： B23K9/10
摘要： PURPOSE:To permit easy welding that meets requirements by storing preliminarily the relation between the welding current and welding speed adapted to individual welding sectional areas, calculating the welding sectional area in accordance with data and determining the welding current or welding speed. CONSTITUTION:Data which determines a welding sectional area is inputted from an input circuit 1 for data on sectional area and the calculation of the welding sectional area is executed in accordance with the data. The result of the calculation is stored in a memory 5. If either value of the welding current or welding speed is set, the other value is obtainable in accordance with the content stored in a memory 4. A CPU3 is inputted with either value of the welding current or welding speed from a setting device to determine the welding conditions and determines the other value of the welding current of welding speed in accordance with said value and the content stored in the memory 4. The values of both the welding current and welding speed are outputted from an output interface 6 as commands for a robot.
摘要翻译：目的：通过初步预先存储焊接电流与适合各个焊接截面积的焊接速度之间的关系，可以根据数据计算焊接截面积，确定焊接电流或焊接速度，从而实现满足要求的易焊接。构成：从输入电路1输入决定焊接截面积的数据，求出截面积的数据，按照数据执行焊接截面积的计算。计算结果存储在存储器5中。如果设定了焊接电流或焊接速度的任一值，则可以根据存储在存储器4中的内容获得另一个值。CPU3输入任一值焊接电流或焊接速度，以确定焊接条件，并根据存储在存储器4中的所述值和内容确定焊接速度的焊接电流的另一个值。焊接电流和焊接速度两者的值作为机器人的命令从输出接口6输出。

3. 发明专利

JP2015012631A 巻線方法及び巻線装置审中-公开
标题翻译：卷绕方法和卷绕装置
公开(公告)号：JP2015012631A
公开(公告)日：2015-01-19
申请号：JP2013134147
申请日：2013-06-26
申请人：株式会社小松製作所 , Komatsu Ltd
发明人： NAKAGAWA HITOSHI , WATANABE YASUHIRO
IPC分类号： H02K15/095
摘要：【課題】占積率を向上させることが可能な巻線方法を提供すること。【解決手段】巻線方法は、ステータコア30のティース31に巻線を行う方法であって、巻回工程(ステップS13〜ステップS17)と、装着工程(ステップS18〜ステップS25)とを備えている。巻回工程は、巻回工程は、ステータコア30の中心軸30aと平行な方向に沿って供給される線材5を、ステータコア30のティース31よりも内側で、ステータコア30の中心軸30aと平行な方向に沿った一対の直線部150を有するコイル形状に巻き回す。装着工程は、コイル形状の線材5をステータコア30の外側に向かって移動し、ティース31に装着する。【選択図】図14
摘要翻译：要解决的问题：提供一种能够提高空间因子的卷绕方法。解决方案：卷绕方法被配置为围绕定子芯30的齿31缠绕，并且包括卷绕步骤（步骤S13-S17）和安装步骤（步骤 S18-S25）。在绕组步骤中，沿着与定子铁芯30的中心轴线30a平行的方向供给的线材5以与定子铁芯30的中心轴线30a平行的方向卷绕成包括一对直线部分150的线圈形状在定子铁心30的齿31的内侧。在安装步骤中，线圈状线5沿着定向铁心30的外侧的方向移动并安装在齿31周围。

4. 发明专利

JPS59189077A Controlling method of welding torch 失效
标题翻译：焊接管理控制方法
公开(公告)号：JPS59189077A
公开(公告)日：1984-10-26
申请号：JP6426283
申请日：1983-04-12
申请人： Komatsu Ltd
发明人： TAKAGI HIROYUKI , TANAHASHI SAKAE , KIDO NOBUAKI , NISHIDA SATOSHI , KOZONO MASAKAZU , HOTSUTA TOSHIICHI , NAKAGAWA HITOSHI , MATSUDA AKIRA
IPC分类号： B25J9/16 , B23K9/127
CPC分类号： B23K9/1272
摘要： PURPOSE:To obtain a product having high welding quality by changing wrist data with respect to the deviation between a welding torch and a weld line when a welding robot is played back in accordance with teaching data, thereby controlling the welding torch and correcting the deviation. CONSTITUTION:Wrist data with the length l3 in the direction Y of a wrist 2 is changed by the value corresponding to a deviation DELTAY by a robot control device 4 and at the same time the wrist data with the length l2 in the direction Z of the wrist 2 is changed by a deviation DELTAZ when a work 15B' deviates by DELTAY and DELTAZ. The magnitude of the DELTAZ, DELTAY necessary for changing the wrist data in this stage is easily known by try-running a torch 1 in accordance with the teaching data or putting preliminarily marks M1, M2 in the symmetrical positions spaced from each other of the work 15, moving the torch 1 to the positions of the marks M1, M2 and comparing and calculating the position data of the torch 1 in these marked positions with the device 4.
摘要翻译：目的：通过根据教学数据回放焊接机器人时，通过改变手枪数据相对于焊枪和焊接线之间的偏差来获得焊接质量高的产品，从而控制焊炬并纠正偏差。构成：手腕2的方向Y上的长度l3的手腕数据由机器人控制装置4改变与偏差DELTAY对应的值，同时沿着方向Z的长度l2的腕部数据改变当工件15B'偏离DELTAY和DELTAZ时，手腕2由偏差DELTAZ改变。在这个阶段改变腕部数据所需的DELTAZ DELTAY的大小通过根据教学数据尝试使用割炬1或者将预先标记的M1，M2放在彼此间隔开的对称位置，如图15所示，将割炬1移动到标记M1，M2的位置，并用装置4比较并计算这些标记位置的割炬1的位置数据。

5. 发明专利

JPS59109910A Teaching method of robot 失效
标题翻译：机器人教学方法
公开(公告)号：JPS59109910A
公开(公告)日：1984-06-25
申请号：JP21992682
申请日：1982-12-15
申请人： Komatsu Ltd
发明人： TAKAGI HIROYUKI , TANAHASHI SAKAE , KIDO NOBUAKI , NISHIDA SATOSHI , KOZONO MASAKAZU , HOTSUTA TOSHIICHI , NAKAGAWA HITOSHI , MATSUDA AKIRA
IPC分类号： B25J9/22 , B23K9/127 , G05B19/406 , G05B19/42
CPC分类号： G05B19/406 , G05B2219/45083 , G05B2219/49157
摘要： PURPOSE:To prevent operation from being interrupted owing to an emergency stop by setting teaching inhibition sections of specific width at both end parts of a movable section in each axial direction of a robot, and teaching the robot in the movable section between the inhibition sections. CONSTITUTION:For example, teaching inhibition sections DELTAL are set at both end parts of the movable section L in the X-axis direction of the robot, and the area L'=A'1-A'2 excluding DELTAL from the section L is set as a teaching area. The coordinate values X'1 and X'2 of A'1 and A'2 are stored in a memory 4 and the X-axis coordinate value XT of each teaching point is compared by a comparing circuit 5 with the coordinate values X'1 and X'2 during teaching operation. When X'1>XT and X'2>XT, a display device 6 is operated to let an operator knows that the teaching point is outside of the area L'. In this case, the teaching operation is stopped to move a work in a specific direction and the teaching is performed again. This operation is repeated as to the Y and Z axes.
摘要翻译：目的：为了通过在机器人的各轴向设置可动部的两端部设置特定宽度的教导禁止部，并且在机器人的可动部之间设置禁止部，来防止由于紧急停止而使操作中断。构成：例如，在机器人的X轴方向上的可动部L的两端设置禁止教导部DELTAL，从L部除去DELTAL以外的区域L'= A'1-A '2 设为教学区。将A'1和A'2的坐标值X'1和X'2存储在存储器4中，并且通过比较电路5将每个示教点的X轴坐标值XT与坐标值X'1进行比较和X'2教学操作。当X'1> XT和X'2> XT时，操作显示装置6以使操作者知道教导点在区域L'之外。在这种情况下，停止教导操作以沿特定方向移动作品，并再次执行教学。对Y轴和Z轴重复此操作。

6. 发明专利

JPS60191672A Method of welding by welding robot 失效
标题翻译：焊接机器人焊接方法
公开(公告)号：JPS60191672A
公开(公告)日：1985-09-30
申请号：JP4768584
申请日：1984-03-13
申请人： Komatsu Ltd
发明人： TANAHASHI SAKAE , KIDO NOBUAKI , HOTSUTA TOSHIICHI , NAKAGAWA HITOSHI , YOSHIMI YASUHIRO
IPC分类号： G05B19/18 , B23K9/095 , B23K9/12 , B23K9/127 , G05B19/404
CPC分类号： B23K9/12
摘要： PURPOSE:To improve quality of multi-layer welding by storing follow up locus of the first layer welding in a memory and using this for control of a torch at the time of multi-layer welding. CONSTITUTION:In welding of the first layer, a torch 3 welds a weld line at rotation speed of a positioner 6 while weaving. During this welding, follow up locus of the torch 3 is stored successively in the memory in a robot control device 2. In welding of the second layer, the torch 3 is controlled by the position obtained by adding amount of shift l1, l2 to the memory of follow up locus of the torch 3 stored in the control device 2. As weld line follow up control is made by an arc sensor in welding of the first layer, follow up control becomes unnecessary in welding of the second layer. By this way in multi-layer welding, welding of good quality can be made without causing positional deviation between the torch and weld line.
摘要翻译：目的：通过将第一层焊接的跟踪轨迹存储在存储器中并用于多层焊接时控制割炬，从而提高多层焊接的质量。规定：在焊接第一层时，焊炬3在编织时以定位器6的转速焊接熔接线。在该焊接中，焊炬3的跟随轨迹被连续地存储在机器人控制装置2的存储器中。在第二层的焊接中，通过将移位量l1，l2的量加到存储在控制装置2中的焊炬3的后续轨迹的记忆。随着第一层焊接中的电弧传感器进行焊接跟踪控制，在第二层的焊接中不需要跟随控制。通过这种方式，在多层焊接中，可以在不导致焊炬和焊接线之间的位置偏差的情况下进行良好的焊接。

7. 发明专利

JPS59194214A Display device for teaching information 失效
标题翻译：教学信息显示装置
公开(公告)号：JPS59194214A
公开(公告)日：1984-11-05
申请号：JP6821783
申请日：1983-04-18
申请人： Komatsu Ltd
发明人： TAKAGI HIROYUKI , TANAHASHI SAKAE , KIDO NOBUAKI , NISHIDA SATOSHI , KOZONO MASAKAZU , HOTSUTA TOSHIICHI , NAKAGAWA HITOSHI , MATSUDA AKIRA
IPC分类号： B25J9/22 , G05B19/4068 , G05B19/4093 , G06F3/153 , G09G5/00
CPC分类号： G05B19/40932 , Y02P90/265
摘要： PURPOSE:To draw a teaching point figure automatically by storing teaching information, etc., successively, and displaying teaching points and point numbers nearby on the basis of the information. CONSTITUTION:A teaching information memory 1 is stored with information on the point number of a teaching point and pieces of teaching information (position data) Xn-Zn on positions of welding, etc. When those pieces of information are displayed, pieces of information P6-P8 on point number corresponding to the positions, pieces of information P5 and P9 on point numbers before and behind it, and pieces of teaching information X6-Z9 are outputted from said memory 1. Those are applied to an arithmetic circuit 2 and converted into pieces of two- dimensional information Xn and Yn, which are applied to a plotting circuit 4 through a reducing circuit 3. Further, this plotting circuit 4 is applied with information Pn on a point number. Then, the teaching points are connected together by solid lines, etc., and point numbers are displayed near the respective teaching points on a CRT display device 5 and a printer 6.
摘要翻译：目的：通过存储教学信息等自动绘制教学点数据，并根据信息显示附近的教学点和点数。构成：在教学信息存储器1中存储关于教学点的点号和焊接位置等上的教学信息（位置数据）Xn-Zn的信息。当显示这些信息时，信息P6 -P8对应于位置的点编号，关于它前后的点编号的信息P5和P9以及教学信息X6-Z9从所述存储器1输出。这些被应用于运算电路2并被转换成通过还原电路3施加到绘图电路4的二维信息Xn和Yn。此外，该绘制电路4在点号上应用信息Pn。然后，通过实线等将教学点连接在一起，并且在CRT显示装置5和打印机6上的各个教学点附近显示点号。

8. 发明专利

JPS59169671A Controlling method of welding robot 失效
标题翻译：焊接机器人的控制方法
公开(公告)号：JPS59169671A
公开(公告)日：1984-09-25
申请号：JP4518583
申请日：1983-03-17
申请人： Komatsu Ltd
发明人： TAKAGI HIROYUKI , TANAHASHI SAKAE , KIDO NOBUAKI , NISHIDA SATOSHI , KOZONO MASAKAZU , HOTSUTA TOSHIICHI , NAKAGAWA HITOSHI , MATSUDA AKIRA
IPC分类号： B23K9/127 , B23K9/12
CPC分类号： B23K9/12
摘要： PURPOSE:To prevent the change in the height of a torch and to perform satisfactory welding by suppressing the change in the welding current with a change in a welding speed by changing the feed speed for a welding wire. CONSTITUTION:A welding speed setter 14 sets the running speed of a torch 3 and the set value thereof is inputted to a memory 11; at the same time, said value is inputted as a command value for a welding speed to a control system 17 for running of the torch consisting of a D/A converter 15, a motor driving circuit 16 and a motor MS for running the torch. A current sensor 18 detects the magnitude of the welding current flowing in the torch 3 and the detected value is fed back via an A/D converter 19 to a subtractor 12. The current deviation outputted from the subtractor 12 is inputted as a command value of the height for the torch 3 to a control system 22 consisting of a D/A converter 20, a motor driving circuit 21 and a motor MH for controlling the height of the torch. The height of the torch 3 is thus controlled so that the welding current attains the current set by a setter 10.
摘要翻译：目的：为了防止焊炬的高度变化，并且通过改变焊丝的进给速度，通过抑制焊接速度的变化来抑制焊接电流的变化来进行满意的焊接。构成：焊接速度设定器14设定焊炬3的行驶速度，其设定值被输入到存储器11; 同时将所述值作为焊接速度的指令值输入到用于运行由D / A转换器15，电动机驱动电路16和用于运行割炬的电动机MS的手电筒的控制系统17。电流传感器18检测在焊炬3中流动的焊接电流的大小，并且将检测值经由A / D转换器19反馈到减法器12.从减法器12输出的电流偏差作为指令值输入用于割炬3到由D / A转换器20组成的控制系统22的高度，电动机驱动电路21和用于控制割炬高度的电动机MH。因此控制焊炬3的高度，使得焊接电流达到由设定器10设定的电流。

9. 发明专利

JPS59163079A Controlling method of welding robot 失效
标题翻译：焊接机器人的控制方法
公开(公告)号：JPS59163079A
公开(公告)日：1984-09-14
申请号：JP3684283
申请日：1983-03-07
申请人： Komatsu Ltd
发明人： TAKAGI HIROYUKI , TANAHASHI SAKAE , KIDO NOBUAKI , NISHIDA SATOSHI , KOZONO MASAKAZU , HOTSUTA TOSHIICHI , NAKAGAWA HITOSHI , MATSUDA AKIRA
IPC分类号： B23K9/12 , B23K9/28 , B25J9/22 , G05B19/42
CPC分类号： B23K9/287
摘要： PURPOSE:To enable changing of only the position angle of a welding torch with the correcting teaching data by determining the moving amount in an arm part corresponding to a change in the position angle of the torch and correcting the teaching data in accordance with said moving amount and the fresh position angle. CONSTITUTION:A welding robot provided with a turning shaft 2 for changing the position angle theta of a welding torch 1 and an arm part 3 for moving the shaft 2 in orthogonal triaxial directions is controlled in accordance with treaching data in the following way. The position angle theta1 of the torch 1 in accordance with said teaching data is changed to an position angle theta2 without changing the position P0 (X, Y, Z) at the tip of the torch 1. Said change is accomplished by determining the moving amount of the arm part 3 with respect to the triaxial directions thereof in accordance with the change theta1-theta2 in the position angle and correcting said teaching data in accordance with the moving amount and the angle theta2. The robot is then controlled by the corrected data.
摘要翻译：目的：通过确定与割炬的位置角度的变化相对应的臂部分中的移动量，并根据所述移动量来校正教导数据，仅通过校正教导数据来改变焊炬的位置角度和新鲜位置角度。构成：设置有用于改变焊炬1的位置角度θ的转动轴2和用于沿正交三轴方向移动轴2的臂部3的焊接机器人按照以下方式的数据进行控制。根据所述教导数据，割炬1的位置角度θ1被改变为位置角度θ2，而不改变手电筒1的尖端处的位置P0（X，Y，Z）。所述改变是通过确定移动量根据位置角度θ1-θ2的变化，根据移动量和角度θ2对所述教导数据进行相对于其三轴方向的臂部3。然后通过校正的数据来控制机器人。

10. 发明专利

JPS59156578A Detector for sticking of spatter 失效
标题翻译：侦察器用于拦截角色
公开(公告)号：JPS59156578A
公开(公告)日：1984-09-05
申请号：JP3057383
申请日：1983-02-25
申请人： Komatsu Ltd
发明人： TAKAGI HIROYUKI , TANAHASHI SAKAE , KIDO NOBUAKI , NISHIDA SATOSHI , KOZONO MASAKAZU , HOTSUTA TOSHIICHI , NAKAGAWA HITOSHI , MATSUDA AKIRA
IPC分类号： B23K9/12 , B23K9/10
CPC分类号： B23K9/10
摘要： PURPOSE:To reduce a cycle time and to impove welding quality by investigating the presence or absence of electrical conduction between the nozzle of a welding torch and a chip and detecting the sticking of spatter. CONSTITUTION:When a detector 10 detects electrical conduction, a switch SW is opened and in this stage the presence or absence of the electrical conduction is investigated again with the detector 10. The case in which the detector 11 detects the electrical conduction is the case in which a nozzle 2 contacts with a base material 6 and the electric current flows from a power source 20 through the detector 10, the nozzle 2 and the material 6. The detection of the electrical conduction by the detector 10 as a result of investigating the electrical conduction by the detector 10 in the second time signifies that the nozzle 2 is in contact with the base material. The case in which the detector 10 does not detect the electrical conduction signifies that the spatter sticks to the nozzle. The spatter is thus automatically detected.
摘要翻译：目的：通过调查焊炬喷嘴与芯片之间是否存在导电并检测飞溅物的粘附，减少循环时间并消除焊接质量。构成：当检测器10检测到电导通时，开关SW断开，在此阶段，检测器10再次检测是否存在导电。检测器11检测到导电的情况是其中喷嘴2与基材6接触，并且电流从动力源20通过检测器10，喷嘴2和材料6流动。由于检查电气的结果，检测器10的电传导的检测第二次检测器10的传导表示喷嘴2与基材接触。检测器10未检测到电传导的情况表示飞溅物附着在喷嘴上。因此自动检测飞溅物。

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