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1. 发明专利

JPS649116B2 失效
公开(公告)号：JPS649116B2
公开(公告)日：1989-02-16
申请号：JP23337482
申请日：1982-12-22
申请人： NIPPON STEEL CORP
发明人： INAI KAZUYOSHI , KIMURA SHINICHIRO , HIROKAWA TOSHIO , NAGAHAMA YOSHIHISA
IPC分类号： B23K9/127 , B23K7/00 , B23K9/025 , B23K31/10 , B23K37/06

2. 发明专利

JPS59116011A Measuring method of size and shape by robot 失效
标题翻译：机器人尺寸和形状的测量方法
公开(公告)号：JPS59116011A
公开(公告)日：1984-07-04
申请号：JP23337582
申请日：1982-12-22
申请人： Nippon Steel Corp
发明人： KIMURA SHINICHIROU , MATSUSHIMA HARUHIKO , INOUCHI KAZUYOSHI , HIROKAWA TOSHIO , NAGAHAMA YOSHIHISA
IPC分类号： B25J19/02 , G01B21/02 , G01B21/20
CPC分类号： G01B21/20
摘要： PURPOSE:To improve the degree of accuracy in measurement by correcting an intended locus according to the positional deviation between the intended locus and the surface of a material to be inspected, and measuring the size and shape of the surface of the object to be inspected from the corrected locus and the spacing between the corrected locus and the surface of the material to be inspected. CONSTITUTION:A gap sensor 20 is first moved at an intended locus 32 and the deviation in a measuring object is known from the result of the measurement with the sensor. More specifically, a peak part is determined from an actually measured curve 36, and a deviation l is determined in terms of the difference between the X value thereof and the X value in the intended peak part. A command is then given to a robot to shift and locus 32 by the distance l. If the gap is measured by moving the sensor along the corrected locus 33, the surface shape and size of a steel pipe are exactly measured by the measured gap and the locus 33. The correct measurement having the actual bead part 31 at the center of the locus is made possible. The accuracy in the measurement is thus improved.
摘要翻译：目的：通过根据要检查的材料的目标轨迹和表面之间的位置偏差校正预期轨迹，并测量被检查物体的表面的尺寸和形状，来提高测量精度的程度校正轨迹和校正轨迹与待检查材料表面之间的间距。构成：间隙传感器20首先在期望的轨迹32移动，并且从传感器的测量结果可以看出测量对象中的偏差。更具体地，根据实际测量曲线36确定峰值部分，并且根据其X值与预期峰值部分中的X值之间的差异来确定偏差l。然后给机器人一个命令使位移轨迹32移动距离l。如果通过沿校正轨迹33移动传感器来测量间隙，则通过测量的间隙和轨迹33精确地测量钢管的表面形状和尺寸。具有实际胎圈部31在中心的正确测量轨迹是可能的。因此提高了测量的精度。

3. 发明专利

JPS59112209A Measuring method of shape of steel tube weld zone 失效
标题翻译：钢管焊接形状测量方法
公开(公告)号：JPS59112209A
公开(公告)日：1984-06-28
申请号：JP22340882
申请日：1982-12-20
申请人： Nippon Steel Corp
发明人： KIMURA SHINICHIROU , WATANABE SEIICHI , INOUCHI KAZUYOSHI , HIROKAWA TOSHIO , NAGAHAMA YOSHIHISA
IPC分类号： G01B11/24 , G01B11/00
CPC分类号： G01B11/00
摘要： PURPOSE:To take an accurate measurement by making a scan on a nonlinear track in a weld zone by a gap photosensor, and converting its output into the interval of the surface of a steel tube and a straight line nearly perpendicular to the set angle of the weld zone. CONSTITUTION:The steel tube 34 is rotated and positioned by a turning roller 38 so that the weld zone 36 is at the set angle and a articulated robot 10 is operated in said state to allow the sensor 20 fitted atop to trace the straight line. A gap is measured simultaneously to obtain the external surface shape of the steel tube 34 and bead height, bead width, an offset, and peaking are found by signal processing. At this time, the sensor track is made nonlinear so that the gap is within a measurement range, and the sensor output is converted into an output obtained by the linear tracking.
摘要翻译：目的：通过间隙光电传感器对焊接区域的非线性轨迹进行扫描，并将其输出转换为钢管表面的间隔和几乎垂直于钢板的设定角度的直线，进行准确的测量焊接区。构成：钢管34由转动辊38旋转定位，使得焊接区36处于设定角度，并且铰接机器人10在所述状态下操作，以允许安装在顶部的传感器20跟踪直线。同时测量间隙以获得钢管34的外表面形状，并通过信号处理发现焊道高度，焊道宽度，偏移和峰值。此时，传感器轨迹变为非线性，使得间隙在测量范围内，并且传感器输出被转换成通过线性跟踪获得的输出。

4. 发明专利

JPS59118278A Treatment of tab plate for uo pipe 失效
标题翻译：治疗UO管的板片
公开(公告)号：JPS59118278A
公开(公告)日：1984-07-07
申请号：JP23337482
申请日：1982-12-22
申请人： Nippon Steel Corp
发明人： INOUCHI KAZUYOSHI , KIMURA SHINICHIROU , HIROKAWA TOSHIO , NAGAHAMA YOSHIHISA
IPC分类号： B23K9/127 , B23K7/00 , B23K9/025 , B23K31/10 , B23K37/06
CPC分类号： B23K31/10
摘要： PURPOSE:To attach and remove exactly a tab plate to and from a UO steel pipe with a robot by scanning the end face of the pipe with a sensor, and controlling the robot in accordance with the exact information on the shape of the pipe end thereby attaching or removing the tab plate. CONSTITUTION:A UO steel pipe 40 after welding is rotated in such a way that a tab plate is positioned lowermost and is advanced and stopped to a prescribed position. A robot 10 in a retreat position advances to a prescribed position, then rough and precise sensing is executed. The position of the tab plate at the top end of the steel pipe is thus determined and cutting is performed. The robot 10 retreates to the retreat position after cutting, and the pipe 40 advances and stops at the position where the tab plate at the rear end stops in the position opposite to the robot 10. The robot 10 advances and rotates the arm 180 deg. to perform sensing then cutting of the tab.
摘要翻译：目的：通过用传感器扫描管道的端面，通过机器人将U型钢管上的标签板与UO钢管连接并移除，并根据管端形状的确切信息控制机器人，连接或取下翼片板。构成：焊接后的UO钢管40以使得接片板位于最低位置并且前进并停止到规定位置的方式旋转。退避位置的机器人10前进到规定位置，然后进行粗略和精确的检测。因此确定了钢管顶端处的接片板的位置并进行切割。切割后机器人10退回到退避位置，并且管40前进并停止在后端的接片板在与机器人10相对的位置处停止的位置。机器人10使臂180前进并旋转180度。以执行感测，然后切割标签。

5. 发明专利

JPS59114406A Automatic measurement of shape of tube end 失效
标题翻译：自动测量管形
公开(公告)号：JPS59114406A
公开(公告)日：1984-07-02
申请号：JP22456282
申请日：1982-12-21
申请人： Nippon Steel Corp
发明人： KIMURA SHINICHIROU , WATANABE SEIICHI , INOUCHI KAZUYOSHI , HIROKAWA TOSHIO , NAGAHAMA YOSHIHISA
IPC分类号： G01B11/24 , G01B11/00
CPC分类号： G01B11/00
摘要： PURPOSE:To measure the inner diameter, outer diameter and roundness of a member by moving a light gap sensor mounted on a robot along the shape of a steel member. CONSTITUTION:A robot is given a position command signal and moves a sensor in the route of E, A, I, A, F, B, J, B, and G along the locus 40 to perform a measurement for straight parts. As the position coordinates of the locus 40 are captured by the robot, the inner and outer diameters can be determined according to a specified expression by an output signal of the sensor. The measurement of the inner and outer diameters of a steel tube is done by eight equally divided sections and the roundness can be found by determining the long and short diameters from the results of the measurement.
摘要翻译：目的：通过沿着钢构件的形状移动安装在机器人上的轻型间隙传感器来测量构件的内径，外径和圆度。构成：机器人被赋予位置指令信号，沿着轨迹40移动E，A，I，A，F，B，J，B，G的路径中的传感器，对直线部进行测定。当由机器人捕获轨迹40的位置坐标时，可以通过传感器的输出信号根据指定的表达式来确定内径和外径。钢管的内径和外径的测量由八个等分的部分完成，并且可以通过从测量结果确定长和短直径来找到圆度。

6. 发明专利

JPS59112210A Automatic measuring device of size and shape for welded tube 失效
标题翻译：自动测量焊接尺寸和形状的设备
公开(公告)号：JPS59112210A
公开(公告)日：1984-06-28
申请号：JP22340982
申请日：1982-12-20
申请人： Nippon Steel Corp
发明人： KIMURA SHINICHIROU , WATANABE SEIICHI , INOUCHI KAZUYOSHI , HIROKAWA TOSHIO , NAGAHAMA YOSHIHISA
IPC分类号： G01B11/00 , G01B5/00 , G01B11/24
CPC分类号： G01B5/0002
摘要： PURPOSE:To realize labor-saving inspection with high precision and high efficiency by utilizing installed lines for the longitudinal and lateral feeding of a welded tube and inspecting the body and terminals of the steel tube by a robot. CONSTITUTION:A conveyance line L1 which conveys a UO tube lengthwise is provided with a body inspection station SI. Then, robots 10a and 10b are arranged at the station to measure bead height, bead width, an offset, and peaking. Lateral feed lines L2 and L3 perpendicular to said line include beveling stages 46a and 46b as the 1st stages and then tube terminal inspection stations SII and SIII.
摘要翻译：目的：通过利用安装的管线纵向和横向供给焊管，并通过机器人检查钢管的主体和端子，实现高精度，高效率的省力检测。构成：长度方向输送UO管的输送线L1设置有身体检查台SI。然后，机器人10a和10b布置在车站处以测量胎圈高度，胎圈宽度，偏移和峰值。垂直于所述线的横向进给线L2和L3包括作为第一阶段的斜切台46a和46b，然后是管终端检查站SII和SIII。

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