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1. 发明专利

JP4891726B2 Robot control device and the arc tracking control method using the same to control the tandem arc welding system 有权
公开(公告)号：JP4891726B2
公开(公告)日：2012-03-07
申请号：JP2006275044
申请日：2006-10-06
申请人：株式会社神戸製鋼所
发明人：正之重吉
IPC分类号： B23K9/12 , B23K9/127 , B23K9/173
CPC分类号： B23K9/121 , B23K9/0216 , B23K9/1272

2. 发明专利

JP4700646B2 Control device and its program of work positioning device 有权
公开(公告)号：JP4700646B2
公开(公告)日：2011-06-15
申请号：JP2007078209
申请日：2007-03-26
申请人：株式会社神戸製鋼所
发明人：武小池 , 雅樹芝池 , 正之重吉
IPC分类号： G05B19/4061 , B23K9/12 , B23K37/047 , G05B19/4093
CPC分类号： B25J9/0096 , B23K9/12 , B23K9/1272 , B25J9/1676

3. 发明专利

JPS6199579A Automatic welding method 失效
标题翻译：自动焊接方法
公开(公告)号：JPS6199579A
公开(公告)日：1986-05-17
申请号：JP22157484
申请日：1984-10-22
申请人： Aichi Sangyo Kk , Mitsui Eng & Shipbuild Co Ltd
发明人： OKABE KAZUYOSHI , NIIHARA YOKO , DOI ICHIRO , IWAMOTO NOBORU , SHINAGAWA EIKICHI , HAGITANI SHIN
IPC分类号： B23K9/028 , B23K9/12 , B23K9/127
CPC分类号： B23K9/0286 , B23K9/1272
摘要： PURPOSE:To weld easily a butt pipe in case of a narrow gap by fitting the guide roll supported by a welding head to the bevelling face of the butt pipe and by travelling the welding head along the welding line with the guide roll as a guide. CONSTITUTION:A guide roller main body is rotated with rolling a guide roller with being guided by the bevelling guide roll 12 being engaged into a bevelling face 4 on driving a motor. A welding head 11 is accordingly rotated in the same direction along the welding line. An arc is simultaneously generated between butt pipes 2, 3, which are welded in an argon gas atmosphere. In this case an insert ring 28 is melted at the stage of an initial layer and deposited to a root part 26.
摘要翻译：目的：通过将由焊接头支撑的导向辊安装到对接管的斜面上，并且以导向辊为导向的沿着焊接线的焊接头行进，可以容易地焊接对接管。构成：在驱动电动机时，导向辊主体通过滚动引导辊被转动而被倾斜导向辊12引导到斜面4中。因此，焊接头11沿着焊接线沿同一方向旋转。在氩气气氛中焊接的对接管2,3之间同时产生电弧。在这种情况下，插入环28在初始层的阶段熔化并沉积到根部26。

4. 发明专利

JPS6171184A Automatic arc welding method 失效
标题翻译：自动弧焊方法
公开(公告)号：JPS6171184A
公开(公告)日：1986-04-12
申请号：JP19330784
申请日：1984-09-14
申请人： Toyota Motor Corp
发明人： NODA NAOKI
IPC分类号： B25J9/22 , B23K9/12 , B23K9/127 , B25J9/10 , G05B19/18 , G05B19/404 , G05B19/42
CPC分类号： B23K9/1272 , G05B19/42
摘要： PURPOSE:To detect a dislocation width in a short time, and to execute arc welding at a high speed by setting plural teaching points at a desired position of a teaching welding line, detecting a dislocation width against an actual weld ing line by an arc scan, and correcting the teaching welding line, based on the detected dislocation width. CONSTITUTION:Dislocation detecting teaching points m1, m2 and m3 are set at a desired position of a teaching welding line 200. In this case, the teaching points are set at a part where a dislocation of works 20a, 20b on the welding line 200 is apt to be generated. Subsequently, whenever an arc welding reaches the teaching points m1, m2 and m3, a dislocation detecting arc scan by a welding wire 16 is executed along a detecting line SE. In case when a dislocation of a dislocation width (d) has been detected, the teaching welding line 100 based in the dislocation width (d), in a section to the next teaching point, and an arc welding is executed to the works 20a, 20b along the corrected teaching welding line.
摘要翻译：目的：为了在短时间内检测位错宽度，并通过将多个教导点设置在教学焊接线的所需位置，以高速执行电弧焊接，通过电弧扫描检测相对于实际焊接线的位错宽度，并根据检测到的位错宽度校正示教焊接线。构成：将位错检测用教学点m1，m2，m3设定在示教焊接线200的期望位置。在这种情况下，示教点设定在焊接线200上的工件20a，20b的位错为容易生成。随后，每当电弧焊接到达教导点m1，m2和m3时，沿着检测线SE执行通过焊丝16的位错检测电弧扫描。在检测到位错宽度（d）的位错的情况下，在工件20a中执行基于位错宽度（d）的教导焊接线100，在下一个教导点的截面和电弧焊接中， 20b沿校正教学焊接线。

5. 发明专利

JPS59169673A Method for controlling driving of welding torch 失效
标题翻译：控制焊机转向的方法
公开(公告)号：JPS59169673A
公开(公告)日：1984-09-25
申请号：JP4582083
申请日：1983-03-18
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： B23K9/12 , B23K9/127
CPC分类号： B23K9/1272
摘要： PURPOSE:To get away or move safely and quickly a welding torch and to make a welding robot unmanned with lessened manpower by providing safety points by each of weld lines. CONSTITUTION:When a welding torch 5 collides against a work 1 on account of a tack welding error, etc. during welding of a weld line 3, the operation is stopped and the torch 5 is moved along the weld line 3 in an opposite direction. When the torch 5 arrives at the beginning end position P3 of the line 3, the torch 5 is moved to the safety point P2 which is preliminarily taught and further the torch 5 is moved at a high speed by point-to-point control to a check point C2. The torch is further moved from the point C2 to a point C1, and the adequateness of the torch 5 is decided by a means 10 for deciding the adequateness of the welding torch disposed at the point C1. When the torch 5 is decided to be normal, the torch is moved to the point C2 and the torch 5 is moved at a high speed to a safety point S3 taught in accordance with the beginning end position P5 of the weld line 4 next to the line 3 where there is the collision.
摘要翻译：目的：为了摆脱焊枪的安全快速移动，通过为焊接线提供安全点，使焊接机器人无人值班，人力减少。构成：在焊接线3的焊接期间，当焊枪5由于定位焊接误差等而与工件1碰撞时，操作停止，焊炬5沿着焊接线3沿相反方向移动。当手电筒5到达线3的起始位置P3时，手电筒5移动到预先教导的安全点P2，并且进一步通过点对点控制将火炬5高速移动到检查点C2。割炬进一步从点C2移动到点C1，并且通过用于确定设置在点C1处的焊炬的适合性的装置10来确定焊炬5的适合性。当割炬5被判断为正常时，手电筒移动到点C2，并且割炬5以高速移动到根据焊接线4的起始端位置P5所教导的安全点S3 第3行有碰撞。

6. 发明专利

JPS5968603A Method and device for detecting and following up weld line of welded steel pipe 失效
标题翻译：用于检测和跟踪焊接钢管焊接线的方法和装置
公开(公告)号：JPS5968603A
公开(公告)日：1984-04-18
申请号：JP17904782
申请日：1982-10-14
申请人： Maakutetsuku:Kk
发明人： MATSUKAWA HIDEFUMI , HIRATA KIYOSUMI , JINBO JIYUNICHI
IPC分类号： G01B11/00 , B23K9/127 , B23K11/06 , B23K31/00 , B23Q35/128 , G01N29/22
CPC分类号： B23Q35/128 , B23K9/1272
摘要： PURPOSE:To improve the precision by drawing a line in the position, which is shifted from a welding position to the valley side in the circumferential direction at a prescribed angle, in the closest distance of a welding machine with a fluorescent paint and reading this line in the downstream side to determine the weld line position in the position which is shifted to the mountain side in the circumferential direction at a prescribed angle. CONSTITUTION:An electric welding machine 3 is arranged in the same position as a squeeze roll 2 of a steel pipe production line or in the downstream side of the roll 2, and a drawing device 4 which draws the line of the fluorescent paint is provided in the position, which is shifted from the weld line to the valley side in the circumferential direction at an angle theta, a slight length l1 downstream from the welding machine 3. In the upstream side of this device 4, a reader 5 is arranged the closest distance l2 upstream from another process device 6 such as an inspecting device, and the line of the fluorescent paint is read to determine that the weld line exists in the position shifted to the mountain side in the circumferential direction at the angle theta. Thus, the line position is read without the influence of an environmental external diffusing light.
摘要翻译：目的：通过在距离焊接位置到圆周方向的谷侧以规定角度移动的位置，在与荧光漆的焊接机最接近的距离内画一条线，并读取该线来提高精度在下游侧，以规定角度在圆周方向上偏移到山侧的位置上确定焊接线位置。构成：将电焊机3设置在与钢管生产线的挤压辊2相同的位置或辊2的下游侧，并且在荧光漆的线下方设置拉丝装置4 该位置在焊接机3的下游以一角度θ从圆周方向的焊接线移动到谷侧。在该装置4的上游侧，读取器5被布置成最接近距离检测装置等其他处理装置6的上游距离l2，并且读取荧光漆的线以确定焊接线存在于以角度θ向圆周方向偏移到山侧的位置。因此，在不受环境外部漫射光的影响的情况下读取线位置。

7. 发明专利

JPS5964172A Position detecting controlling device of object to be welded 失效
标题翻译：检测要焊接的物体的控制装置的位置检测
公开(公告)号：JPS5964172A
公开(公告)日：1984-04-12
申请号：JP17678982
申请日：1982-10-05
申请人： Hitachi Zosen Corp
发明人： TOMOKIYO OSAMU , OOTANI HIDEJI , HISAYASU AZUMA , MOGI SHIGEO
IPC分类号： B23Q35/04 , B23K9/127
CPC分类号： B23K9/1272
摘要： PURPOSE:To detect the position of an object to be welded accurately by contacting a contact needle to the object to be welded and detecting the position of the object to be welded. CONSTITUTION:A controlling section 58 outputs a rotating device action controlling signal, a positioning controlling signal and a detection controlling signal. A rotating device action section 60 rotates the rotation shaft of the rotating device by the rotating device action controlling signal, and moves a contact needle connected to the rotation shaft. An impression instruction section 61 impresses voltage for detection from a voltage generating section between the contact needle and a stopping part for positioning the contact needle by the positioning controlling signal at the time of positioning of the contact needle. A change-over section 59 impresses voltage for detection between the contact needle and object to be welded by the detection controlling signal at the time of detection of position of the object to be welded. A detecting section 78 detects the time of contact by the contact signal outputted from a voltage generating section 72 at the time of contact of the contact needle with the stopping part and part to be welded. The position detecting controlling device is provided with above-mentioned sections 58, 59, 60, 61, 78.
摘要翻译：目的：通过将接触针接触待焊接物体并检测待焊接物体的位置，准确地检测待焊接物体的位置。构成：控制部58输出旋转装置动作控制信号，定位控制信号和检测控制信号。旋转装置动作部60通过旋转装置动作控制信号使旋转装置的旋转轴旋转，并使与旋转轴连接的接触针移动。印象指示部61在接触针定位时，通过定位控制信号，从接触针和用于定位接触针的止动部之间的电压产生部施加用于检测的电压。转换部分59在检测待焊接物体的位置时，通过检测控制信号，在接触针和被焊接物体之间施加电压来进行检测。检测部78在接触针与停止部和被焊接部接触时，检测从电压产生部72输出的接触信号的接触时间。位置检测控制装置设有上述部分58,59,60,61,78。

8. 发明专利

JPS5945083A Copying device in automatic arc welding 失效
标题翻译：复制自动焊接设备
公开(公告)号：JPS5945083A
公开(公告)日：1984-03-13
申请号：JP15568682
申请日：1982-09-06
申请人： Osaka Denki Kk
发明人： UCHIKOSHI KUNIO , MASAKI KUNIHIRO
IPC分类号： B23Q35/04 , B23K9/02 , B23K9/127 , B23K37/02
CPC分类号： B23K9/1272
摘要： PURPOSE:To enable the sure traveling of a welding carriage while copying a groove by the coopeative effect of the sucton force of one pair of electromagnets or above which are mounted with freely movable rotating bodies and are suspended on both sides of the carriage, the spring members interposed between the magnets and the carriage and a copying roll. CONSTITUTION:Electromagnets 22- mounted with rotating bodies 29- are disposed on both sides of carriage frames 10, 11 supporting pivotally a copying roll 13. Bearings 21 of a support arm 17 mounted orthogonally with the carriage and the stanchions 23 of the electromagnets interposed with coil springs 26- are mounted freely movably back and forth and oscillatably. The electromagnets are then energized simultaneously to maintan the space between the attraction surfaces thereof and base material at a prescribed space and to bring universal wheels 36- into press contact with the base materials. On the other hand, the roll 13 is brought into contact with the slope of a groove 7 by means of the coil springs 26- and the carriage. The exact positioning of the carriage with respect to the irregular groove is thus made possible.
摘要翻译：目的：为了能够通过一对电磁铁或以上的一对电磁铁的安全力的复制效果来复制焊盘，使其能够确定地移动，其安装有可自由移动的旋转体并悬挂在滑架的两侧，弹簧介于磁铁和托架之间的构件和复印辊。构成：安装有旋转体29-的电磁铁22设置在支架10,10,11的两侧，支撑架10,11枢轴地支承复印辊13.支撑臂17的轴承21与支架正交地安装，并且电磁铁的支柱23插入螺旋弹簧26-可自由移动地前后摆动地摆动。然后，电磁体被同时通电，以维持其吸引表面之间的空间和基材在规定的空间，并使通用轮36与基材压接。另一方面，辊13通过螺旋弹簧26和滑架与槽7的斜面接触。因此，滑架相对于不规则凹槽的精确定位成为可能。

9. 发明专利

JP5637753B2 溶接狙い位置計測装置有权
标题翻译：焊接目标位置测量装置
公开(公告)号：JP5637753B2
公开(公告)日：2014-12-10
申请号：JP2010151803
申请日：2010-07-02
申请人：株式会社東芝
发明人：達哉大嶽 , 達哉大嶽 , 徹郎相川 , 徹郎相川 , 美徳佐藤 , 美徳佐藤 , 和夫青山 , 和夫青山
IPC分类号： B23K9/127
CPC分类号： B23K37/00 , B23K9/1272 , B23K9/32

10. 发明专利

JP2008521608A Apparatus for welding a nuclear fuel assembly skeleton, and the corresponding programming, a method of skeleton welding, and fuel assembly production 有权
公开(公告)号：JP2008521608A
公开(公告)日：2008-06-26
申请号：JP2007542055
申请日：2005-11-30
申请人：ソシエテフランコベルジュドファブリカシオンドコンビスティブルエフベーエフセ
发明人：ティエリーテランディエ
IPC分类号： B23K11/00 , B23K9/00 , B23K9/12 , B23K11/11 , G21C3/33 , G21C21/00
CPC分类号： G21C21/00 , B23K9/1272 , G21C3/334 , G21Y2002/202 , G21Y2002/203 , G21Y2002/205 , G21Y2002/304 , G21Y2004/30 , G21Y2004/40 , G21Y2004/501 , Y02E30/40 , Y10S901/42
摘要：【課題】核燃料組立体スケルトンの案内管上に構造要素を溶接するための装置を提供する。
【解決手段】案内管及び構造要素を受け取って保持するための少なくとも１つの構造体（１４）と、案内管に平行に移動可能なキャリッジ（１２）と、少なくとも１つの溶接工具（３６）と、ペンチ（３６）をキャリッジ（１２）に接続して少なくとも自由度６を呈する、溶接工具（３６）を移動させるための移動手段（３８）とを含む装置（１）。
【選択図】図１

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