Kawasaki Jukogyo Kabushiki Kaisha

Kabushiki Kaisha Toshiba

Yoshimitsu Kurosaki

Takayuki Murata

Tetsuya Kubota

Mamoru Nishio

Masataka Koyama

Kazuhiko Onoue

Shigekazu Shikoda

Hirotaka Uehara

Eiichi Yagi

Osamu Satoh

Tomoyuki Uno

Ryuichi Kuwata

Masaru Nishimura

Iwao Chikahisa

Tsuguo Kumaki

Kazuyuki IIzuka

Takashi Tanihara

Takao Matsuda

Kazuhiro Abe

Toshiyuki Itoko

Shirou Nakabayashi

Youhei Shiokoshi

Yoshikazu Fukushima

A weld portion detector ( ) and a laser beam projector ( ) disposed a predetermined distance behind the weld portion detector ( ) are moved together. The weld portion detector ( ) detects a weld line and the laser beam projector ( ) projects on the weld line detected by the weld portion detector ( ) for laser welding. Pieces of data on weld positions sequentially detected by the weld portion detector ( ) are stored sequentially in combination with times when the pieces of data on the weld positions are obtained and moving speeds of the weld portion detector ( ) in a memory. A time when the weld portion detector ( ) passed a point at which the laser beam projector ( ) has just arrived is calculated on the basis of the times and the moving speeds stored in the memory. The laser beam projector ( ) projects a laser beam on a weld position detected at the thus calculated time.

Laser welding method and laser welding apparatus

A robot may be taught to perform a task by recording information regarding the positions and attitudes of the joints of the robot body as it performs the task. When this information is subsequently replayed, the robot performs the task in the manner as taught. In particular, the robot may be taught either by an operator situated near the robot body or by an operator situated at a remote location. At the remote location, the robot may be taught by an operator even though the operator cannot see the robot body. More particularly, at the remote location, information regarding the current position and attitude of the joints of the robot body is displayed to the operator, and the operator may adjust this information in order to control the movement of the robot body. As a safety measure, when an operator is located near the robot body, only an operator situated near the robot body can control the robot body.

Robot control unit

An apparatus for controlling operation of a recovery boiler for compensating a predetermined reference temperature of black liquor by a compensation value in accordance with a type of an injecting gun provided in the boiler, a compensation value set by the properties of the black liquor, a compensation value set by the temperature of charbed and a compensation value set by an air flow rate to the boiler representing the magnitude of boiler steam output or load to control the black liquor temperature supplied to the boiler.

Operation control apparatus for recovery boilers

Growing community of inventors

Kakogawa, Japan

Yoshimitsu Kurosaki