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1. 发明申请

US20070023404A1 ROBOT LASER PROCESSING SYSTEM 有权
标题翻译：机器人激光加工系统
公开(公告)号：US20070023404A1
公开(公告)日：2007-02-01
申请号：US11460498
申请日：2006-07-27
申请人： HIROMITSU TAKAHASHI , YOSHITAKE FURUYA
发明人： HIROMITSU TAKAHASHI , YOSHITAKE FURUYA
IPC分类号： B23K26/08 , G06F19/00
CPC分类号： G05B19/414 , B23K26/702 , G05B2219/33162 , G05B2219/45104
摘要： A robot laser processing system (10) comprises at least one robot controller (14) for controlling at least one robot, a host controller (12) connected to the robot controller through a first network (11) for overall control of the robot controller, and a plurality of laser oscillators (16-1 to 16-n) selectively connectable to the processing nozzle (35) mounted on each robot and connected to the robot controller through a second network (18-1 to 18-n). An instruction from the host controller is transmitted to the robot controller through the first network, so that the robot controller determines the laser oscillator to be controlled and directly controls the particular laser oscillator through the second network. As a result, a processing command can be issued directly to the laser oscillator from the robot controller without intervention by the host controller.
摘要翻译：机器人激光处理系统（10）包括用于控制至少一个机器人的至少一个机器人控制器（14），通过第一网络（11）连接到机器人控制器的主机控制器（12），用于机器人控制器的总体控制，以及多个可选择地连接到安装在每个机器人上的处理喷嘴（35）的激光振荡器（16-1至16-n），并通过第二网络（18-1至18-n）连接到机器人控制器。来自主机控制器的指令通过第一网络发送到机器人控制器，使得机器人控制器确定要被控制的激光振荡器，并通过第二网络直接控制特定的激光振荡器。结果，可以从机器人控制器直接向激光振荡器发出处理命令，而无需主机控制器的干预。

2. 发明申请

US20050143861A1 Processing system 审中-公开
标题翻译：处理系统
公开(公告)号：US20050143861A1
公开(公告)日：2005-06-30
申请号：US11019466
申请日：2004-12-23
申请人： Atsushi Watanabe , Mitsuhiro Okuda , Yoshitake Furuya
发明人： Atsushi Watanabe , Mitsuhiro Okuda , Yoshitake Furuya
IPC分类号： B25J13/08 , B25J9/16 , G05B19/42 , G06F19/00
CPC分类号： B25J9/1684 , G05B2219/45057
摘要： A processing system for stably processing a workpiece even if the shape of the workpiece changes every production lot of the workpiece, or by a change of the workpiece. The distance between the workpiece and an end of a nozzle of a laser machining head is measured by a distance sensor. A data correcting value ΔZ′mn is calculated using a measured distance ΔZrn at each teaching point and a set gap value ΔZs (step S6-S15). By using ΔZ′mn, the data of the teaching points are corrected to new data of the teaching points of the program (step S16-S19). The distance between the workpiece and the end of the nozzle of the laser machining head does not become larger because the teaching points of the processing program are corrected every time when the workpiece is processed. The interference between the workpiece and the head may be prevented and the processing may be stably implemented because the amount of correction becomes smaller when the position of the head is corrected during the processing.
摘要翻译：即使工件的形状改变工件的每个生产批次，也可以通过工件的变化来稳定地处理工件的处理系统。通过距离传感器测量工件与激光加工头的喷嘴端部之间的距离。使用每个教导点处的测量距离DeltaZrn和设定的间隙值DeltaZs来计算数据校正值DeltaZ'mn（步骤S6〜15）。通过使用DeltaZ'mn，将教学点的数据校正为程序的教学点的新数据（步骤S 16 -S 19）。激光加工头部的工件与喷嘴的端部之间的距离不会变大，这是因为每当加工工件被处理时校正处理程序的教导点。可以防止工件和头部之间的干涉，并且可以稳定地执行处理，因为在处理期间校正头部的位置时校正量变小。

3. 发明授权

US07291806B2 Robot laser processing system 有权
标题翻译：机器人激光加工系统
公开(公告)号：US07291806B2
公开(公告)日：2007-11-06
申请号：US11460498
申请日：2006-07-27
申请人： Hiromitsu Takahashi , Yoshitake Furuya
发明人： Hiromitsu Takahashi , Yoshitake Furuya
IPC分类号： B23K26/08 , G06F19/00
CPC分类号： G05B19/414 , B23K26/702 , G05B2219/33162 , G05B2219/45104
摘要： A robot laser processing system (10) comprises at least one robot controller (14) for controlling at least one robot, a host controller (12) connected to the robot controller through a first network (11) for overall control of the robot controller, and a plurality of laser oscillators (16-1 to 16-n) selectively connectable to the processing nozzle (35) mounted on each robot and connected to the robot controller through a second network (18-1 to 18-n). An instruction from the host controller is transmitted to the robot controller through the first network, so that the robot controller determines the laser oscillator to be controlled and directly controls the particular laser oscillator through the second network. As a result, a processing command can be issued directly to the laser oscillator from the robot controller without intervention by the host controller.
摘要翻译：机器人激光处理系统（10）包括用于控制至少一个机器人的至少一个机器人控制器（14），通过第一网络（11）连接到机器人控制器的主机控制器（12），用于机器人控制器的总体控制，以及多个可选择地连接到安装在每个机器人上的处理喷嘴（35）的激光振荡器（16-1至16-n），并通过第二网络（18-1至18-n）连接到机器人控制器。来自主机控制器的指令通过第一网络发送到机器人控制器，使得机器人控制器确定要被控制的激光振荡器，并通过第二网络直接控制特定的激光振荡器。结果，可以从机器人控制器直接向激光振荡器发出处理命令，而无需主机控制器的干预。

4. 发明申请

US20050284853A1 Arc starting method in arc welding attended with laser irradiation, welding device for performing the method, and controller 审中-公开
标题翻译：电弧焊接电弧启动方法参与了激光照射，用于执行该方法的焊接装置和控制器
公开(公告)号：US20050284853A1
公开(公告)日：2005-12-29
申请号：US11157810
申请日：2005-06-22
申请人： Hiromitsu Takahashi , Yoshitake Furuya
发明人： Hiromitsu Takahashi , Yoshitake Furuya
IPC分类号： B23K9/067 , B23K26/14 , B23K9/06
CPC分类号： B23K9/0675 , B23K26/348
摘要： From the robot controller, a laser irradiation start command is issued to the laser oscillator, together with a laser power command condition before arc generation. The laser power command before arc generation is used to suppress an amount of heat input, and is selected from among the first to the third laser power commands according to conditions of the material and thickness of base metal and the like. An arc welding start command is issued to the arc welding power source, together with welding voltage and wire feeding speed commands. Before the arc welding command is issued and the wire comes into contact with the base metal, the voltage becomes no-load voltage. Also, the slow wire feeding speed is instructed before the arc is generated. When the wire comes into contact with the base metal and the arc is generated, it is detected and the laser power command condition is changed to a condition for processing.
摘要翻译：从机器人控制器，激光照射开始命令与激光功率指令条件一起发出到激光振荡器。电弧产生前的激光功率指令用于抑制热输入量，并且根据材料的条件和贱金属的厚度等从第一至第三激光功率命令中选择。与焊接电压和送丝速度指令一起向电弧焊电源发出电弧焊启动命令。在发出电弧焊接指令并且电线与母材接触之前，电压变为空载电压。此外，在电弧产生之前指示慢送丝速度。当电线与基体金属接触并产生电弧时，检测到激光功率指令条件变为处理条件。

5. 发明申请

US20060212170A1 Laser-welding teaching device and method 审中-公开
标题翻译：激光焊接教学装置及方法
公开(公告)号：US20060212170A1
公开(公告)日：2006-09-21
申请号：US11362870
申请日：2006-02-28
申请人： Yoshiharu Nagatsuka , Yoshitake Furuya
发明人： Yoshiharu Nagatsuka , Yoshitake Furuya
IPC分类号： G06F19/00
CPC分类号： B23K26/0884 , B25J9/1671 , G05B19/4207 , G05B2219/35216 , G05B2219/36407 , G05B2219/40613 , G05B2219/45104
摘要： A laser welding teaching device, and a teaching method, for simplifying the teaching of the motion of a scanner and for reducing a welding operation time by a welding robot. The laser welding teaching device is connected to a robot control device for controlling the welding robot for welding a workpiece and sends a command to the robot control device. A laser oscillator is connected to a work tool of the robot and a laser scanner is mounted on the work tool. By using the laser scanner capable of moving at high-speed, the motion of the robot during the air cut motion may be greatly reduced, resulting in a significant reduction of the cycle time of the whole system.
摘要翻译：一种激光焊接教学装置和教学方法，用于简化扫描器运动的教导以及通过焊接机器人减少焊接操作时间。激光焊接教学装置连接到机器人控制装置，用于控制用于焊接工件的焊接机器人，并向机器人控制装置发送命令。激光振荡器连接到机器人的工作工具，激光扫描器安装在工作工具上。通过使用能够高速移动的激光扫描仪，在空气切割运动期间机器人的运动可能大大降低，导致整个系统的循环时间的显着降低。

6. 发明授权

US07038165B2 Laser machining robot 失效
标题翻译：激光加工机器人
公开(公告)号：US07038165B2
公开(公告)日：2006-05-02
申请号：US10814275
申请日：2004-04-01
申请人： Mitsuhiro Okuda , Yoshitake Furuya
发明人： Mitsuhiro Okuda , Yoshitake Furuya
IPC分类号： B23K26/02
CPC分类号： B23K26/0884 , B23K26/04
摘要： If a machining program is reproduced in a robot controller and a robot is moved on a machining route, then a detection signal of a distance sensor is fetched through a distance sensor amplifier, and tracer control is carried out so as to keep a distance between a laser machining head and a workpiece at a predetermined value. In an acceleration and decoration processing in a corner, a restriction means that restricts a maximum acceleration and a maximum jerk is used to control an acceleration and a jerk of the robot not to exceed respective predetermined values, and prevents generation of a vibration when the laser machining head passes through the corner.
摘要翻译：如果在机器人控制器中再现加工程序并且机器人在加工路径上移动，则通过距离传感器放大器获取距离传感器的检测信号，并且执行跟踪器控制以保持距离传感器激光加工头和工件处于预定值。在拐角处的加速加工处理中，限制装置的最大加速度和最大加加速度的限制装置用于控制机器人的加速度和加加速度不超过相应的预定值，并且当激光器加工头通过角落。

7. 发明申请

US20050011867A1 Laser welding unit 审中-公开
标题翻译：激光焊接机组
公开(公告)号：US20050011867A1
公开(公告)日：2005-01-20
申请号：US10883718
申请日：2004-07-06
申请人： Mitsuhiro Okuda , Yoshitake Furuya
发明人： Mitsuhiro Okuda , Yoshitake Furuya
IPC分类号： B23K26/00 , B23K26/03 , B23K26/04 , B23K26/08 , B23K26/20
CPC分类号： B23K26/032 , B23K26/03 , B23K26/034
摘要： When a laser beam is irradiated from a laser welding torch onto a surface of a welding target workpiece, a plasma is generated. This plasma is introduced to an optical fiber, extracted by a filter-added half-silvered mirror, branched by half-silvered mirrors and a reflecting mirror, split by a bandpass filter, and detected by an optical sensor. Using a detection result of the optical sensor, a control for keeping the intensity or the temperature of a plasma beam constant is exercised.
摘要翻译：当将激光束从激光焊枪照射到焊接工件的表面上时，产生等离子体。该等离子体被引入光纤，由被半透明反射镜分支的过滤器半镀镜反射镜和由带通滤光器分离的反射镜提取，并由光学传感器检测。使用光学传感器的检测结果，执行用于保持等离子体束的强度或温度恒定的控制。

8. 发明申请

US20060226128A1 Laser welding method and laser welding robot 审中-公开
标题翻译：激光焊接方法和激光焊接机器人
公开(公告)号：US20060226128A1
公开(公告)日：2006-10-12
申请号：US11398582
申请日：2006-04-06
申请人： Kazuhisa Otsuka , Yoshitake Furuya
发明人： Kazuhisa Otsuka , Yoshitake Furuya
IPC分类号： B23K26/22
CPC分类号： B23K26/0884
摘要： A laser welding method using a laser welding robot irradiating a workpiece with a laser beam, the laser welding method has firing the laser beam at a time of not welding, making the laser beam move to the next weld location at a feed rate faster than the feed rate at a time of welding and not leaving a heat affected layer at the workpiece in a state while firing the laser beam, and successively welding a plurality of weld locations of the workpiece. It is possible to make the laser beam move at the time of not welding while defocused. Also, a laser welding robot irradiating a workpiece with a laser beam, provided with a laser output controller controlling the robot to fire a laser beam both at a time of welding and at a time of not welding and fast feed mechanisms for making the laser beam move by a feed rate faster than the feed rate at the time of welding and not leaving a heat affected layer at the workpiece. It is possible to make the fast feed mechanism move simultaneously with movement of the robot body.
摘要翻译：使用激光焊接机器人激光焊接机器人用激光束照射工件的激光焊接方法，激光焊接方法在不焊接时激发激光束，使得激光束以比该焊接速度更快的进给速度移动到下一个焊接位置在烧制激光束的状态下，焊接时的进给速度和工件的热影响层不会离开，并且依次焊接工件的多个焊接位置。在散焦时可以使激光束在不焊接时移动。此外，激光焊接机器人用激光束照射工件，设置有激光输出控制器，该激光输出控制器控制机器人在焊接时和焊接时都不激发激光束，并且用于制造激光束的快速进给机构以比焊接时的进给速度更快的进给速度移动，并且不会在工件处留下热影响层。可以使机器人本体的移动同时移动快速进给机构。

9. 发明授权

US06680461B2 Nozzle system for laser machining 失效
标题翻译：激光加工用喷嘴系统
公开(公告)号：US06680461B2
公开(公告)日：2004-01-20
申请号：US10118978
申请日：2002-04-10
申请人： Atsushi Watanabe , Mitsuhiro Okuda , Yoshitake Furuya
发明人： Atsushi Watanabe , Mitsuhiro Okuda , Yoshitake Furuya
IPC分类号： B23K2602
CPC分类号： B23K26/04
摘要： A nozzle system for laser machining capable of maintaining an interference region of a robot in a teaching operation to be substantially the same as that in a laser machining operation. An optical fiber supporting unit is attached to a nozzle body unit having laser beam converging lens for performing a laser machining operation. An optical fiber for supplying a laser beam is connected to an optical fiber connector on the optical fiber supporting unit. A laser machining is performed by combination of the nozzle body unit and the optical fiber supporting member attached to a distal end of a robot arm. In a teaching operation, a camera supporting unit (dummy nozzle) having substantially the same dimension as the nozzle body unit and supporting a camera at a predetermined position is used in place of the optical fiber supporting unit and the nozzle body unit. Alternatively, the nozzle body unit may be used commonly in combination with the optical fiber supporting unit in the machining operation and with the camera supporting unit in the teaching operation. A visual sensor using projection of a spot beam or slit beams may be adopted.
摘要翻译：一种用于激光加工的喷嘴系统，其能够将教导操作中的机器人的干涉区域保持为与激光加工操作基本相同的激光加工。光纤支撑单元附接到具有用于进行激光加工操作的激光束会聚透镜的喷嘴主体单元。用于提供激光束的光纤连接到光纤支撑单元上的光纤连接器。激光加工通过喷嘴体单元和附接到机器人臂的远端的光纤支撑构件的组合来执行。在教学操作中，代替光纤支撑单元和喷嘴体单元，使用具有与喷嘴主体单元基本相同的尺寸并且将相机支撑在预定位置的相机支撑单元（虚拟喷嘴）。或者，喷嘴主体单元可以在加工操作中与光纤支撑单元共同使用，并且在教学操作中可与照相机支撑单元一起使用。可以采用使用点光束或狭缝光束的投影的视觉传感器。

10. 发明申请

US20060113392A1 Laser processing robot system and method for controlling the same 审中-公开
标题翻译：激光加工机器人系统及其控制方法
公开(公告)号：US20060113392A1
公开(公告)日：2006-06-01
申请号：US11288132
申请日：2005-11-29
申请人： Kazuhisa Otsuka , Yoshitake Furuya
发明人： Kazuhisa Otsuka , Yoshitake Furuya
IPC分类号： G06K7/10
CPC分类号： B23K26/0884 , B23K26/08 , B23K37/0235
摘要： A laser processing robot system including a manipulator, a laser processing tool attached to the manipulator, and a control unit for controlling operations of the manipulator and the laser processing tool. The laser processing tool includes a laser scan head with a movable mirror incorporated therein, and a movable support mechanism movably supporting the laser scan head. The control unit includes a rapid-traverse operation controlling section for controlling an operation of the movable support mechanism to make the laser scan head perform a rapid-traverse operation during a non-processing period when the laser scan head does not emit a laser beam. The rapid-traverse operation controlling section can control an operation of at least one of the manipulator and the movable mirror, in addition to an operation control of the movable support mechanism, during the non-processing period.
摘要翻译：一种激光加工机器人系统，包括操纵器，附接到所述操纵器的激光加工工具，以及用于控制所述操纵器和所述激光加工工具的操作的控制单元。激光加工工具包括其中结合有可移动镜的激光扫描头和可移动地支撑激光扫描头的可移动支撑机构。控制单元包括快速移动操作控制部分，用于控制可移动支撑机构的操作，以使激光扫描头在激光扫描头不发射激光束的非处理期间执行快速移动操作。除了可移动支撑机构的操作控制之外，快速移动操作控制部分可以在非处理期间内控制操纵器和可移动反射镜中的至少一个的操作。

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