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1. 发明授权

US06768078B1 Servo spot welding control system and method of welding workpieces 有权
标题翻译：伺服点焊控制系统及工件焊接方法
公开(公告)号：US06768078B1
公开(公告)日：2004-07-27
申请号：US10339047
申请日：2003-01-09
申请人： Frank Garza , Jason Tsai , Hadi Akeel , Brad Niederquell
发明人： Frank Garza , Jason Tsai , Hadi Akeel , Brad Niederquell
IPC分类号： B23K1111
CPC分类号： B23K11/315 , B23K11/115
摘要： A servo spot welding control system and method to efficiently weld a pair of workpieces together. The system includes a robot movable about the workpieces, a weld gun, servomotors, a transformer, and a controller. The weld gun is mounted on the robot and includes at least two pairs of electrodes. Each pair of electrodes includes a stationary electrode and a moveable electrode. The servomotors are operatively connected to the movable electrodes. The controller actuates the robot to move the robot into position. The controller also actuates the servomotors to clamp the workpieces and to selectively sequence electric current from the transformer to form multiple spot welds on the workpieces.
摘要翻译：一种伺服点焊控制系统和方法，可有效地将一对工件焊接在一起。该系统包括可围绕工件移动的机器人，焊枪，伺服电动机，变压器和控制器。焊枪安装在机器人上，并且包括至少两对电极。每对电极包括固定电极和可动电极。伺服电动机可操作地连接到可动电极。控制器启动机器人以将机器人移动到位。控制器还致动伺服电动机夹紧工件，并选择性地对来自变压器的电流进行排序，以在工件上形成多个点焊。

2. 发明授权

US09144860B2 Robotic weld gun orientation normalization 有权
标题翻译：机器人焊枪方向归一化
公开(公告)号：US09144860B2
公开(公告)日：2015-09-29
申请号：US13433850
申请日：2012-03-29
申请人： Frank Garza , Brad Niederquell
发明人： Frank Garza , Brad Niederquell
IPC分类号： B23K11/31 , B23K11/11 , B23K11/25
CPC分类号： B23K11/115 , B23K11/25 , B23K11/315
摘要： A method for controlling a welding robot having a servo gun with a movable tip and a fixed tip includes the steps of separately contacting a surface of a part with the movable tip to measure a base test point and an at least two additional test points displaced from the base test point. Two non-collinear vectors are calculated from the at least two additional test points. A normal vector is calculated from the two non-collinear vectors. An angle between the original servo gun orientation and the normal vector is determined. An orientation of the servo gun may be corrected, for example, if the angle is within user specified tolerances.
摘要翻译：一种用于控制具有可移动末端和固定末端的伺服枪的焊接机器人的方法包括以下步骤：将部件的表面与可动尖端分开接触，以测量基准测试点和至少两个从基准测试点。从至少两个附加测试点计算两个非共线向量。从两个非共线向量计算法向量。确定原始伺服枪方向与法向量之间的角度。例如，如果角度在用户指定的公差之内，则可以校正伺服枪的取向。

3. 发明申请

US20130256278A1 ROBOTIC WELD GUN ORIENTATION NORMALIZATION 有权
标题翻译：机动焊枪方向正规化
公开(公告)号：US20130256278A1
公开(公告)日：2013-10-03
申请号：US13433850
申请日：2012-03-29
申请人： Frank Garza , Brad Niederquell
发明人： Frank Garza , Brad Niederquell
IPC分类号： B23K9/12
CPC分类号： B23K11/115 , B23K11/25 , B23K11/315
摘要： A method for controlling a welding robot having a servo gun with a movable tip and a fixed tip includes the steps of separately contacting a surface of a part with the movable tip to measure a base test point and an at least two additional test points displaced from the base test point. Two non-collinear vectors are calculated from the at least two additional test points. A normal vector is calculated from the two non-collinear vectors. An angle between the original servo gun orientation and the normal vector is determined. An orientation of the servo gun may be corrected, for example, if the angle is within user specified tolerances.
摘要翻译：一种用于控制具有可移动末端和固定末端的伺服枪的焊接机器人的方法包括以下步骤：将部件的表面与可动尖端分开接触，以测量基准测试点和至少两个从基准测试点。从至少两个附加测试点计算两个非共线向量。从两个非共线向量计算法向量。确定原始伺服枪方向与法向量之间的角度。例如，如果角度在用户指定的公差之内，则可以校正伺服枪的取向。

4. 发明申请

US20080083371A1 ROBOTIC APPARATUS WITH NON-CONDUCTIVE WRIST FOR PAINTING 有权
标题翻译：用于绘画的非导电手表的机器人装置
公开(公告)号：US20080083371A1
公开(公告)日：2008-04-10
申请号：US11872372
申请日：2007-10-15
申请人： Scott Clifford , Paul Copioli , Michael Beem , Robert Foti , Stan McClosky , Matt Zimmerer , Brad Niederquell , W. Mantz
发明人： Scott Clifford , Paul Copioli , Michael Beem , Robert Foti , Stan McClosky , Matt Zimmerer , Brad Niederquell , W. Mantz
IPC分类号： B05B3/00 , B05C11/00 , B05D1/02
CPC分类号： B05B13/0431 , B05B12/14 , B05B13/0452
摘要： A painting robot outer arm includes a non-conductive housing mounting a color changer on the outside and a paint canister on the inside connected by an isolating paint transfer line. The paint canister is releasably attached to a piston ram and drive motor by a quick disconnect coupling. The paint supply is isolated from the applied high voltage by cleaning and drying the transfer line. The rate of filling of the canister can be controlled in response to sensed torque applied by a drive motor moving a piston in the paint canister.
摘要翻译：油漆机器人外臂包括在外部安装换色器的非导电壳体和通过隔离油漆输送线连接的内部的油漆罐。油漆罐通过快速的分离联接件可释放地连接到活塞柱塞和驱动电机。通过清洁和干燥传输线，将油漆供应与施加的高压隔离。罐的填充速率可以响应于由驱动马达在油漆罐中移动活塞而施加的感测扭矩而被控制。

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