JPS5933077A - Double torch supporting device of automatic welding machine - Google Patents
Double torch supporting device of automatic welding machineInfo
- Publication number
- JPS5933077A JPS5933077A JP14373982A JP14373982A JPS5933077A JP S5933077 A JPS5933077 A JP S5933077A JP 14373982 A JP14373982 A JP 14373982A JP 14373982 A JP14373982 A JP 14373982A JP S5933077 A JPS5933077 A JP S5933077A
- Authority
- JP
- Japan
- Prior art keywords
- torch
- torches
- welding
- distance
- weld zones
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000003466 welding Methods 0.000 title claims abstract description 32
- 238000000034 method Methods 0.000 description 3
- 238000002844 melting Methods 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/24—Features related to electrodes
- B23K9/28—Supporting devices for electrodes
- B23K9/287—Supporting devices for electrode holders
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Plasma & Fusion (AREA)
- Mechanical Engineering (AREA)
- Arc Welding In General (AREA)
Abstract
Description
【発明の詳細な説明】
本発明は、一般に溶・接用ロボ・ノドと呼ばれる自動溶
接機に使用される１−チ支持装置に、関するものである
。 。DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a one-chip support device used in an automatic welding machine generally called a welding robot nod. .
従来の溶接用ロボットに使用、されてい・たトーチ支持
装置は、１本のトーチを支持する１つのトーチ支持具を
備えているだけであったため、実施例のようにＴ字状に
突き合せられた板状ワーク間の両側隅肉溶接部を溶接す
る場合、２台の溶接用ロボ□ットを使用して両側−隅＾
溶接部を同時に溶接：す墨か、両側隅肉溶接部を片側ｊ
つ順番に□溶接するしかなかった。実際にはコス□ト面
の□問題から１に＠の方法□が採用されており、従って
両隅自溶接部を同時に溶接する場合に比べて溶接所要時
間が倍増し、□作業能率が大巾に低下していた。又、溶
接ロボ□ットに蛤するティーヂレグ作業に□際しても、
両隅自溶＃：ｕに対して片側づつ□トーチをなぞらせる
必要があった。更に、玲誉ア隅肉゛溶育部に対する溶接
力□イ完γしたとき、反：対−め１肉□′溶接部の溶接
開始位置にトーチを移動□さｉるために、ワビクｉ避は
乍らトーチを大きくミーさせる□必要があり、このトー
チ参勤のための詩画と空間を確保しなけ□ればならな□
かった。 □−゛
本発明は、上記のような従来の問題点を解消し□得るト
ーチ支持装置、即ちＴ′字状□に突き合せられた板状ワ
ーク間に於ける両側の隅肉溶接部を同時に溶接すること
の出来るダブルトーヂ支持装置を提供するものである。The torch support device used in conventional welding robots was only equipped with one torch support that supported one torch, so the torch support device that was used in the conventional welding robot was only equipped with one torch support that supported one torch. When welding fillet welds on both sides between plate-shaped workpieces, two welding robots are used to weld both sides - corners ^
Weld the welds at the same time: Weld the fillet welds on both sides on one side.
I had no choice but to weld them in order. In reality, method 1 is adopted due to cost issues, and therefore the welding time is doubled compared to welding both corner self-welded parts at the same time, and work efficiency is greatly improved. It had declined to . Also, when performing tee leg work that involves welding robots,
Self-melting # on both corners: It was necessary to trace the □ torch on each side of u. Furthermore, when the welding force on the welding part of the fillet is completed, move the torch to the welding start position of the welding part of the opposing fillet. However, it is necessary to make the torch bigger, and we must secure poetry and space for this torch attendance.
won. □-゛The present invention solves the above-mentioned conventional problems and provides a torch support device that simultaneously welds fillet welds on both sides between plate-shaped workpieces that are butted against each other in a T'-shape □. A double toe support device that can be welded is provided.
以下、本発明の一実施例を添付の例示図に基づいて説明
すると、１は自動溶接機のロボットハンド先端ｎ１ζで
あって、水平で互いに直交するＸ軸方向及びＹ軸方向と
、垂直Ｘ軸方向に移動可能である。２は取付は用ベース
であって、前記ロボソ１ハ：／ ド先＄１１に取付けら
れる。６は」二位ガイドロンドであって、前記取付は用
ベース２から連設された一対のブラケソ１４に両端を支
持さ・Ｕている。５は下位ガイドロッドであって、前記
取付は用ベース２の中央位置から連設されたブラケット
６に中央部を支持させている。７．８は左右一対の可動
体であって、その上端部は前記上位ガイドロソじ６に夫
々移動自在に支持され、下端部は前記下位ガイドロット
′５に、中央プラケット６の左右両側で移動自在に支持
されている。Hereinafter, one embodiment of the present invention will be described based on the attached illustrative drawings. Reference numeral 1 denotes a robot hand tip n1ζ of an automatic welding machine. It is possible to move in the direction. Reference numeral 2 is a mounting base, which is attached to the robot robot 1c:/ $11. Reference numeral 6 denotes a second position guide rod, which is mounted at both ends by a pair of brackets 14 connected from the base 2. Reference numeral 5 denotes a lower guide rod, and the central portion thereof is supported by a bracket 6 connected from the central position of the base 2. Reference numeral 7.8 denotes a pair of left and right movable bodies, the upper ends of which are movably supported by the upper guide rod 6, and the lower ends of which are movably supported by the lower guide rod '5 on both the left and right sides of the central placket 6. is supported by
９はシリンダー・ピストンユニットであって、そのシリ
ンダ一本体１０は一方の可動体７に固定され、ピストン
ロッド１１の先端は他方の可動体８に連結されている。Reference numeral 9 denotes a cylinder/piston unit, the cylinder main body 10 of which is fixed to one movable body 7, and the tip of a piston rod 11 connected to the other movable body 8.
１２．１′５は各可動体７゜８の下端から斜め前方に連
設された軸受部７ａ。12.1'5 is a bearing portion 7a which is connected diagonally forward from the lower end of each movable body 7°8.
８ａに支軸１４．１５を介し゛（」二下回動可能に軸支
された１−チ支持具であって、その先端に夫々溶接用ト
ーチ１６．１７を保持している。１８゜１９は、前記Ｉ
−チ支持具１２．１′５を各別に揺動さセるシリンダー
ピストンロッドＩであって、そのシリンダ一本体２０
．２１は、可動体７゜８の上端から斜め前方に連設され
た軸受部７ｂ。8a via support shafts 14.15 so as to be movable in two directions, each holding a welding torch 16.17 at its tip. 18.19 is the above I
- A cylinder piston rod I that swings each support 12.1'5 separately, and its cylinder body 20.
．． Reference numeral 21 denotes a bearing portion 7b that is connected diagonally forward from the upper end of the movable body 7°8.
８ｂに支軸２２．２’５を介して軸支され、そのピスト
ンロンド２４．２５の先端は、前記ｌ・−チ支持具１２
．１５に支軸２６．２７を介して軸支されている。8b via a support shaft 22.2'5, and the tip of the piston rond 24.25 is connected to the l/-ch support 12.
．． 15 via support shafts 26 and 27.
第２図及び第３図に仮想線で示すように、互いにＴ字状
に突き合ゼられた板状ワークＡ、Ｂ間の両側隅肉溶接ｎ
ａ、ｂを溶接するときは、シリンダー・ピストンユニッ
ト９に於けるビス１ンロソド１１を収縮させ、両回動体
７，８を中央ブラケソ１６に当接する接近限位置まで互
いに接近移動させて固定し、両回動体７．８間の間隔を
、前記両隅自溶接部ａ、ｂ間の間隔に適応する最小間隔
にセットすると共に、両シリンダー・ビス１ンユニソト
１８，１９のピストンユニｌ’２４．２５を収縮させて
両１−−チ支持具１２．Ｉｓを上方に回動させ、両Ｉ−
−チ１６，１７を互いに離間する斜め上方に退避さゼた
状態に於て、ロボットハンド１をワークＡ、Ｂに対する
所定位置まで移動さける。そして両シリンダー・ピスト
ンユニｙ １１８．１９のピストンロンド２４．２５を
伸長さ仕て両トーチ支持貝１２，１ｉ５を下降限位置ま
で回動させることにより、両トーチ１６．１７間に一方
のワークＢが位置する状態で、両ｌ−チ１６，１７の先
端を前記両隅自溶接部Ａ、Ｂの溶接開始位置に対向させ
る。かかる状態に於てロボットハンド１を、前記両トー
チ１６．１７の先端が隅肉溶接部Ａ２１３にそって移動
するように運動させ、両隅自溶接部Ａ、 Ｂを両トーチ
１６．１７により同時に溶接することが出来る。As shown by imaginary lines in Figures 2 and 3, fillet welding on both sides between plate-shaped workpieces A and B that are butted against each other in a T-shape.
When welding a and b, the screw rod 11 in the cylinder/piston unit 9 is contracted, and both rotating bodies 7 and 8 are moved close to each other until they come into contact with the central bracket 16, and are fixed. The distance between both rotating bodies 7.8 is set to the minimum distance that corresponds to the distance between the self-welded parts a and b at both corners, and the piston unit l'24.25 of both cylinder screws 18 and 19 is set. Shrink both 1--1 supports 12. Rotate Is upward and press both I-
- Move the robot hand 1 to a predetermined position relative to the works A and B while the hands 16 and 17 are retracted diagonally upward and away from each other. Then, by extending the piston rond 24.25 of both cylinder/piston units 118.19 and rotating both torch support shells 12, 1i5 to the lower limit position, one workpiece B is placed between both torches 16.17. is positioned, the tips of both l-chies 16 and 17 are made to face the welding start positions of the self-welded portions A and B at both corners. In this state, the robot hand 1 is moved so that the tips of the torches 16.17 move along the fillet weld A213, and both corner welds A and B are simultaneously welded by the torches 16.17. Can be welded.
第４図に仮想線で示すように、ワーク八に対してＴ字状
に突き合せられる２枚の板状ワークＢ。As shown by imaginary lines in FIG. 4, two plate-shaped workpieces B are butted against workpiece 8 in a T-shape.
Ｃの外側と前記ワークＡとの間の隅肉溶接部Ｃ２ｄを溶
接するときは、第４図に示すようにシリンダー・ピスト
ンユニット
を伸長させ、両回動体７．８を外側ブラケノ１４に当接
する離間限位置まで移動させて固定し、両回動体７．８
間の間隔を、前記両隅自溶接部Ｃ。When welding the fillet weld C2d between the outside of C and the workpiece A, the cylinder/piston unit is extended as shown in FIG. 4, and both rotating bodies 7.8 are brought into contact with the outer bracket 14. Move to the separation limit position and fix both rotating bodies 7.8
The distance between the two corner self-welded parts C.
ｄｌｉＪｆの間隔に適応する最大間隔に切り替える。こ
の後は前記と同様の手順で使用すれば良い。Switch to the maximum interval that accommodates the interval of dliJf. After this, use the same procedure as above.
尚、実施例では、隅肉溶接部ａ，ｂ又はｃ， ｄが垂
直方向となるように配置されたワークを例示したが、該
隅肉溶接部が水平方向になるように配置されたワークに
対しても、両トーチ１６．１７の角度等を変更すること
により使用可能である。In addition, in the example, the workpiece is arranged so that the fillet welds a, b or c, d are in the vertical direction, but the workpiece is arranged so that the fillet welds are in the horizontal direction. It can also be used by changing the angles of both torches 16 and 17.
又、円外側ブラケット４の内側夫々に、ガイドロッド５
にそって固定位置変更自在なス１−ソバ−を設けること
によって、両回動体７．８間の最大間隔（両トーチ１６
．１７間の作用位置での最大間隔）を変更可能ならしめ
得る。同様に、中央ブラダ・ット６の左右両側に、ガイ
ドロッド５にそって固定位置変更自在なストッパーを設
けることによって、両回動体７．８間の最小間隔（両１
−チ１６，１７間の作用位置での最小間隔）を変更可能
ならしめ得る。Further, a guide rod 5 is installed on each inner side of the circular outer bracket 4.
The maximum distance between both rotary bodies 7.8 (both torches 16
．． 17) can be made variable. Similarly, by providing stoppers on both the left and right sides of the central bladder 6 along the guide rod 5, the fixed position of which can be changed freely, the minimum distance between both rotating bodies 7.8 (both 1
- the minimum distance between the channels 16, 17 in the working position) can be made variable.
本発明のダブルトーチ支持装置は以上のように実施し得
るものであって、Ｔ字状に突き合せられた板状ワークの
両側隅肉溶接部を同時に溶接し得る位置関係で２本のト
ーチを各別に牟持する一対のＩ・−チ支持具と二両トー
ヂ支持、具をワークに対する遠近方向Ｃト移動させる手
段とを備えてい、るものであるから、１台の溶接用ロポ
ッＩ・を使用し乍 。The double torch support device of the present invention can be implemented as described above, and the two torches are placed in a positional relationship that allows simultaneous welding of fillet welds on both sides of plate-shaped workpieces that are butted together in a T-shape. It is equipped with a pair of I/-chi supports that are held separately, two torch supports, and a means for moving the tools in the far and near direction C with respect to the workpiece, so one welding robot I/- Please use it.
ら、Ｔ字状に突き合せられた板状ワークの両側隅肉溶接
部を一対のトーチ支持具□に支持されているトーチによ
らて同時に溶□接することが、出来るのである。従って
、トＬ ’＋’ ｙ”ｍｉを溶接用ロボソＩ′に学習記
憶させるためのティーヂング作業や、実際 １の溶接
作業に必要な時間を半減させ、これ−の作業能率を大巾
に向上させ得る。□又、１本の１−・チを片側の隅肉溶
接部終端位置から反対側の隅肉溶接部の始端位置へ移動
させるための無駄な空間や １時間が全く不要とな
り、この点でも溶接作業の能率向上が期待出来る。Therefore, it is possible to simultaneously weld fillet welds on both sides of plate-shaped workpieces that are butted together in a T-shape using the torches supported by the pair of torch supports □. Therefore, the time required for the teaching work to learn and memorize the welding robot I' and the actual welding work in step 1 can be halved, greatly improving the efficiency of this work. □Also, there is no need for wasted space or 1 hour to move one 1--chi from the end position of the fillet weld on one side to the start position of the fillet weld on the opposite side, and this point is saved. However, it can be expected to improve the efficiency of welding work.
尚、本発明を実施するに際して、実施例にも示したよう
に前記一対のトーチ支持具を、前記ワークに対する遠近
方向の移動とは別に、互いの間の間隔、今変更させるた
めの対称平行移動を可能に構成す□るときは、両側の隅
肉溶接部間の間隔が異なる複数の溶接箇所に対しても、
両側隅肉−接部を同時に溶接ず求作卒方法を適用して能
率、良く溶接作業“を行うことが出来る。この場合、実
施例に示トす邑什構造、のように、□取付側用ベースに
７対の可□、←７，８を、夫々一定範囲内で互いに遠近
、方向−動自在に・支持せしめ、１つの、シリンダ、−
・ビス□ 「ンユニソ］、９のシ′”リンイ一本：体１
０を前記□可動体の一方７に取付け””ｈと元雄、、ピ
ストンロソｌ” １１１を他方の可動体８．１こ取□付
ｉ、両回動体７，８に１ 夫々トーチ支持具１１１ン、
１５二を、ワー□りに対する遠近方向移動自在に装着す
ると共に、このトーチ來持具１２．１ｉ５を移動させる
手段（シリンダー・ビス１ンユニ、７１１８．１９）を
設けることによって、前記シリンダー・ピストンユニッ
ト９を稼動させて、両回動体７，８の間隔、即ち両１−
チ支持具１２．１３に支持されるトーチ１６，１７の先
端部の間隔を、予めワークの両側隅肉溶接部の間隔に対
応して定められた２種類の間隔の一方から他方に瞬時に
切り替えることが出来る。勿論、隅肉溶接部に対してト
ー、チをセットするときやりセットするときには、前記
手段（シリ、ングー・ピストンユニット１８．１９）に
よって１・−チ １′７℃、罪゛′丁°°１“丁”７
・”
尚、前記シリンダー・ピストンユニット、９に代えて、
捻子軸とこれに螺嵌された雌捻子体や、ラックギヤとピ
ニオン、−！′、ヤ等か′／ら成牽伸呻可動体□を □
利用することも出来る。又、片側のトーチ支持具のみを
ワークから逃して退避位置に退避させ得□るように構成
すれば、従来のトーチ支持装置と同様に片側のトーチの
みを使用した溶接作業も容品に行わせ得る。In carrying out the present invention, as shown in the examples, the pair of torch supports is moved in a symmetrical parallel manner in order to change the distance between them, in addition to the movement in the distance direction with respect to the workpiece. When constructing a structure that allows for
It is possible to perform welding work efficiently and efficiently by applying the welding method without welding the fillets and joints on both sides at the same time.In this case, as in the structure shown in the example, Seven pairs of cylinders □, ←7, 8 are supported on the base so that they can move freely in distance and direction, respectively, within a certain range, and one cylinder, -
・Bis □ "Nuniso], 9's shi'"rin'i one: body 1
0 to one of the movable bodies 7, "h" and Motoo, and the piston rotor L 111 to the other movable body 8.1. hmm,
152 so as to be movable in the far and near directions relative to the workpiece, and by providing a means (cylinder/screw unit, 7118.19) for moving this torch holder 12.1i5, the cylinder/piston unit 9, the distance between both rotating bodies 7 and 8, that is, both 1-
The interval between the tips of the torches 16 and 17 supported by the torch support 12.13 is instantly switched from one of two types of intervals predetermined corresponding to the interval between the fillet welds on both sides of the workpiece to the other. I can do it. Of course, when setting the torch and the chi against the fillet weld, the above-mentioned means (the piston unit 18 and 19) are used to set the torch to the fillet weld. 1 “Ding” 7
・"In addition, in place of the cylinder/piston unit 9,
The screw shaft and the female screw body screwed into it, the rack gear and pinion, -! ′、Yetaka′/from the stretched and groaning movable body □ □
You can also use it. Furthermore, if the torch support on one side is configured to escape from the workpiece and be retracted to the retracted position, the workpiece can be welded using only one torch, similar to the conventional torch support device. obtain.
第１図は側面図、第２図は横断平面図、第３図は一部省
略正面図、第４図はトーチ間隔を変更した状態での一部
省略正面図である。
１・・・ロボットハンド、２・・・取付は用ベース、３
．５・・・ガイドロッド、４，６・・・ブラケッ１１．
７゜８・・・可動体、９・・・シリンダー・ビス１ンユ
ニット□、 、１２．１５・・・トーチ支持具、１６．
１７・・・溶接用ト、−チ、１８．１９・・・シリンダ
ー・ピストンユ□。
０1 is a side view, FIG. 2 is a cross-sectional plan view, FIG. 3 is a partially omitted front view, and FIG. 4 is a partially omitted front view with the torch interval changed. 1... Robot hand, 2... Mounting base, 3
．． 5... Guide rod, 4, 6... Bracket 11.
7゜8...Movable body, 9...Cylinder screw unit □, , 12.15...Torch support, 16.
17... Welding tool - - 18.19... Cylinder/piston unit □. 0
Claims (1)
を同時に溶接し得る位置関係、で２本のトーチを各別に
支持する一対のト、−：チ支持具と、・両トーチ支持具
をワークに対する遠近方向・・に移動させる手段とを備
えている・自動、溶接、機のダブルト−チ支持装置。
、 。 ■前記一対のトーチ支持具を２．前記ワークに対する遠
近、方、、向の移動とは、別に、互いの間の間隔を変更
させるための対称平行移動・を可能に構成した第０項記
載の装置。[Claims] ■ A pair of T, -: T supports that separately support two torches in a positional relationship that allows simultaneous welding of fillet welds on both sides of plate-shaped workpieces that are butted together in a T-shape. A double torch support device for automatic, welding, and machine use, comprising: a tool; and a means for moving both torch supports in the direction of distance from and near the workpiece.
, . ■The pair of torch supports 2. 1. The apparatus according to item 0, which is configured to be capable of symmetrical parallel movement for changing the distance between each other, in addition to the distance, direction, and direction movement with respect to the workpiece.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP14373982A JPS5933077A (en) | 1982-08-18 | 1982-08-18 | Double torch supporting device of automatic welding machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP14373982A JPS5933077A (en) | 1982-08-18 | 1982-08-18 | Double torch supporting device of automatic welding machine |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS5933077A true JPS5933077A (en) | 1984-02-22 |
| JPH0231632B2 JPH0231632B2 (en) | 1990-07-16 |
Family
ID=15345883
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP14373982A Granted JPS5933077A (en) | 1982-08-18 | 1982-08-18 | Double torch supporting device of automatic welding machine |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS5933077A (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH03151180A (en) * | 1989-09-14 | 1991-06-27 | General Electric Co <Ge> | Joint chasing type precision laser welding system |
| US5336725A (en) * | 1991-06-21 | 1994-08-09 | Mitsubishi Rayon Co., Ltd. | Method for preparing graft copolymer |
| US5550676A (en) * | 1990-09-12 | 1996-08-27 | Mitsubishi Rayon Co., Ltd | Surface light source element |
| US5711589A (en) * | 1993-06-22 | 1998-01-27 | Mitsubishi Rayon Co., Ltd. | Plane light source unit |
| US5863113A (en) * | 1993-06-22 | 1999-01-26 | Mitsubishi Rayon Co., Ltd. | Plane light source unit |
| JP2005205484A (en) * | 2004-01-26 | 2005-08-04 | Komatsu Engineering Corp | Welding torch mounting structure, and automatic welding method |
| CN1313237C (en) * | 2003-11-10 | 2007-05-02 | 中国石油天然气集团公司 | Symmetrical arc swing mechanism of full position automatic double welding torch pipeline welder |
| CN100439030C (en) * | 2006-05-17 | 2008-12-03 | 崔学斌 | Technique for repairing surface damage on piston rod of hydraulic ram, and dedicated repairing tools |
| US20110259942A1 (en) * | 2010-04-23 | 2011-10-27 | Tangshan Railway Vehicle Co., Ltd. | Welding method of butted profile |
| US9229222B2 (en) | 2005-02-23 | 2016-01-05 | Pixtronix, Inc. | Alignment methods in fluid-filled MEMS displays |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5364643A (en) * | 1976-11-20 | 1978-06-09 | Shin Meiwa Ind Co Ltd | Automatic welding device |
| JPS5630076A (en) * | 1979-08-16 | 1981-03-26 | Nippon Kokan Kk <Nkk> | Robot for welding |
-
1982
- 1982-08-18 JP JP14373982A patent/JPS5933077A/en active Granted
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5364643A (en) * | 1976-11-20 | 1978-06-09 | Shin Meiwa Ind Co Ltd | Automatic welding device |
| JPS5630076A (en) * | 1979-08-16 | 1981-03-26 | Nippon Kokan Kk <Nkk> | Robot for welding |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH03151180A (en) * | 1989-09-14 | 1991-06-27 | General Electric Co <Ge> | Joint chasing type precision laser welding system |
| US5550676A (en) * | 1990-09-12 | 1996-08-27 | Mitsubishi Rayon Co., Ltd | Surface light source element |
| US5336725A (en) * | 1991-06-21 | 1994-08-09 | Mitsubishi Rayon Co., Ltd. | Method for preparing graft copolymer |
| US5711589A (en) * | 1993-06-22 | 1998-01-27 | Mitsubishi Rayon Co., Ltd. | Plane light source unit |
| US5863113A (en) * | 1993-06-22 | 1999-01-26 | Mitsubishi Rayon Co., Ltd. | Plane light source unit |
| CN1313237C (en) * | 2003-11-10 | 2007-05-02 | 中国石油天然气集团公司 | Symmetrical arc swing mechanism of full position automatic double welding torch pipeline welder |
| JP2005205484A (en) * | 2004-01-26 | 2005-08-04 | Komatsu Engineering Corp | Welding torch mounting structure, and automatic welding method |
| JP4510475B2 (en) * | 2004-01-26 | 2010-07-21 | コマツエンジニアリング株式会社 | Automatic welding method |
| US9229222B2 (en) | 2005-02-23 | 2016-01-05 | Pixtronix, Inc. | Alignment methods in fluid-filled MEMS displays |
| CN100439030C (en) * | 2006-05-17 | 2008-12-03 | 崔学斌 | Technique for repairing surface damage on piston rod of hydraulic ram, and dedicated repairing tools |
| US20110259942A1 (en) * | 2010-04-23 | 2011-10-27 | Tangshan Railway Vehicle Co., Ltd. | Welding method of butted profile |
Also Published As
| Publication number | Publication date |
|---|---|
| JPH0231632B2 (en) | 1990-07-16 |
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