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1. 发明授权

US07868266B2 Spot welding system and method for adjusting welding-gun closing speed 有权
标题翻译：点焊系统及焊枪关闭速度调节方法
公开(公告)号：US07868266B2
公开(公告)日：2011-01-11
申请号：US12137924
申请日：2008-06-12
申请人： Hiromitsu Takahashi , Toshimichi Aoki
发明人： Hiromitsu Takahashi , Toshimichi Aoki
IPC分类号： B23K11/00
CPC分类号： B23K11/252 , B23K11/253
摘要： Spot welding system including a welding gun with an electrode pair actuated by a servo-motor, a robot carrying the welding gun or objective workpieces and operating to change an relative positions and orientations of the welding gun and an workpieces, and a gun motion controller controlling the servo-motor to actuate the electrode pair. The gun motion controller includes a motion commanding section outputting motion commands to the servo-motor in accordance with a speed set-value designating a closing speed of the electrode pair, and a set-value adjusting section automatically adjusting the speed set-value to an appropriate value. The set-value adjusting section includes a force-data obtaining section obtaining force data representing, in a time-series manner, the pressurizing force generated in the electrode pair when the servo-motor actuates the electrode pair to close, and an appropriate-value computing section determining the appropriate value of the speed set-value based on pre-convergence transient data in the force data.
摘要翻译：点焊系统，包括具有由伺服电动机驱动的电极对的焊枪，承载焊枪或目标工件的机器，并且操作以改变焊枪和工件的相对位置和取向，以及枪运动控制器控制伺服电机驱动电极对。枪运动控制器包括运动指令部分，其根据指定电极对的关闭速度的速度设定值向伺服电动机输出运动命令，以及设定值调节部分，将速度设定值自动调整为适当的价值。设定值调整部包括力数据获取部，其获得当伺服电动机致动电极对关闭时在时间序列上表示在电极对中产生的加压力的力数据和适当值计算部分基于力数据中的预收敛瞬时数据来确定速度设定值的适当值。

2. 发明授权

US07863539B2 Positioning method of spot welding robot 有权
标题翻译：点焊机器人的定位方法
公开(公告)号：US07863539B2
公开(公告)日：2011-01-04
申请号：US12139654
申请日：2008-06-16
申请人： Hiromitsu Takahashi , Toshimichi Aoki
发明人： Hiromitsu Takahashi , Toshimichi Aoki
IPC分类号： B23K37/02 , B23K11/25 , B23K11/31 , G01D18/00
CPC分类号： B23K11/315 , B23K11/253
摘要： A positioning method of a spot welding robot, the spot welding robot having a movable electrode tip and an opposition electrode tip opposed to the movable electrode tip. The method sandwiches a work piece to be welded between the pair of electrode tips and includes driving the movable electrode tip towards the opposition electrode tip with a servo motor and stopping the movement upon contact based upon a prescribed current value. The method further includes measuring an open separation of two opposing tips between the movable electrode tip and the opposition electrode tip and moving the opposition electrode tip towards the moveable electrode tip based upon the preset value and the open separation of the two opposing tips.
摘要翻译：点焊机器人的定位方法，点焊机器人具有可移动电极头和与可动电极头相对的对置电极头。该方法将待焊接的工件夹在一对电极头部之间，并且包括用伺服电动机将可动电极头部朝向对置电极头部驱动，并基于规定的电流值停止接触时的移动。该方法还包括测量可移动电极尖端和对置电极尖端之间的两个相对尖端的开放分离，并且基于预设值和两个相对尖端的开放分离来移动相对电极尖端朝向可移动电极尖端。

3. 发明授权

US08513560B2 Spot welding system 有权
标题翻译：点焊系统
公开(公告)号：US08513560B2
公开(公告)日：2013-08-20
申请号：US12944386
申请日：2010-11-11
申请人： Hiromitsu Takahashi , Masanobu Hatada , Toshimichi Aoki , Akinori Nishimura
发明人： Hiromitsu Takahashi , Masanobu Hatada , Toshimichi Aoki , Akinori Nishimura
IPC分类号： B23K11/11
CPC分类号： B23K11/115 , B23K11/253 , B23K11/255 , B23K11/258 , B23K11/315
摘要： A spot welding system including a spot welding gun having a pair of electrodes disposed opposite to each other, and a servo motor for allowing the pair of electrodes to approach each other and separate from each other; a robot for movably holding either a spot welding gun or a workpiece so that a workpiece is disposed between the pair of electrodes of the spot welding gun; a physical quantity detection section for detecting a physical quantity correlative to torque or velocity of the servo motor; a position detection section for detecting positions of the pair of electrodes; a mode switching section for switching, by a switching command, an operation mode of the spot welding system between a spot welding mode for spot-welding the workpiece and a position correction mode for correcting a spot welding position of the workpiece; and a processing section for performing a spot welding process in the spot welding mode and a position correction process in the position correction mode.
摘要翻译：一种点焊系统，包括具有彼此相对设置的一对电极的点焊枪和用于允许所述一对电极彼此接近并分离的伺服电动机; 用于可移动地保持点焊枪或工件的机器人，使得工件设置在点焊枪的一对电极之间; 物理量检测部，用于检测与所述伺服电动机的转矩或速度相关的物理量; 位置检测部，用于检测所述一对电极的位置; 模式切换部，其通过切换命令，在点焊工件的点焊模式和用于校正工件的点焊位置的位置校正模式之间切换点焊系统的动作模式; 以及处理部，用于在点焊模式下进行点焊处理以及位置校正模式中的位置校正处理。

4. 发明授权

US07600435B2 Method of determining deterioration of pressurizing performance of spot welding gun 有权
标题翻译：确定点焊枪加压性能劣化的方法
公开(公告)号：US07600435B2
公开(公告)日：2009-10-13
申请号：US12165879
申请日：2008-07-01
申请人： Toshimichi Aoki , Hiromitsu Takahashi
发明人： Toshimichi Aoki , Hiromitsu Takahashi
IPC分类号： G01N3/00
CPC分类号： B23K11/252 , B23K11/255
摘要： A method of determining deterioration of pressurizing performance of a spot welding, the method having: obtaining reference data that reflect a dynamic state of a servo motor in a case where a movable side electrode tip is operated normally and a wok piece is pressurized by a specified pressurizing force; performing data processing on the reference data to extract a reference characteristic value; obtaining diagnostic data that reflect a dynamic state of the servo motor in a case where a operational state of the movable side electrode tip changes and the work piece is no longer pressurized by a specified pressurizing force; performing data processing on the diagnostic data to extract a diagnostic characteristic value; and determining deterioration of pressurizing performance of the spot welding gun based on the reference characteristic value and the diagnostic characteristic value.
摘要翻译：一种确定点焊加压性能劣化的方法，该方法具有：在可动侧电极末端正常运转的情况下获得反映伺服电动机的动态的参考数据，加压力; 对所述参考数据执行数据处理以提取参考特征值; 在可动侧电极头的操作状态发生变化并且工件不再受规定的加压力加压的情况下，获得反映伺服电动机的动态的诊断数据; 对诊断数据执行数据处理以提取诊断特征值; 以及基于所述基准特性值和所述诊断特性值来确定所述点焊枪的加压性能的劣化。

5. 发明申请

US20080308533A1 SPOT WELDING SYSTEM AND METHOD FOR ADJUSTING WELDING-GUN CLOSING SPEED 有权
标题翻译：点焊焊接系统及调整焊枪关闭速度的方法
公开(公告)号：US20080308533A1
公开(公告)日：2008-12-18
申请号：US12137924
申请日：2008-06-12
申请人： Hiromitsu Takahashi , Toshimichi Aoki
发明人： Hiromitsu Takahashi , Toshimichi Aoki
IPC分类号： B23K11/00
CPC分类号： B23K11/252 , B23K11/253
摘要： A spot welding system including a welding gun with an electrode pair actuated by a servo-motor, a robot carrying the welding gun or objective workpieces and operating to change the relative positions and orientations of the welding gun and the workpieces, and a gun motion controller controlling the servo-motor to actuate the electrode pair to open or close. The gun motion controller includes a motion commanding section outputting a motion command to the servo-motor in accordance with a speed set-value designating a closing speed of the electrode pair, and a set-value adjusting section automatically adjusting the speed set-value to an appropriate value. The set-value adjusting section includes a force-data obtaining section obtaining force data representing, in a time-series manner, the pressurizing force generated in the electrode pair when the servo-motor actuates the electrode pair to close in accordance with the motion command, and an appropriate-value computing section determining the appropriate value of the speed set-value based on pre-convergence transient data in the force data.
摘要翻译：一种点焊系统，包括具有由伺服电动机驱动的电极对的焊枪，承载焊枪或目标工件的机器，并且操作以改变焊枪和工件的相对位置和取向，以及枪运动控制器控制伺服电机使电极对开启或关闭。枪运动控制器包括：运动指令部，其根据指定电极对的关闭速度的速度设定值向伺服电动机输出运动指令;以及设定值调整部，将速度设定值自动调整为一个适当的价值。设定值调整部包括：力数据获取部，根据运动指令，当伺服电动机致动电极对时，获取时间序列表示电极对中产生的加压力的力数据以及适当值计算部分，基于力数据中的预收敛瞬态数据来确定速度设定值的适当值。

6. 发明授权

US08426761B2 Method of detection of welding workpiece position using movable electrode 有权
标题翻译：使用可动电极检测焊接工件位置的方法
公开(公告)号：US08426761B2
公开(公告)日：2013-04-23
申请号：US12883713
申请日：2010-09-16
申请人： Hiromitsu Takahashi , Toshimichi Aoki , Akinori Nishimura
发明人： Hiromitsu Takahashi , Toshimichi Aoki , Akinori Nishimura
IPC分类号： B23K11/10 , B23K9/28 , G06F19/00 , B23K11/00
CPC分类号： B23K11/115
摘要： A spot welding system including spot welding gun having a movable electrode driven by a servo motor, a counter electrode arranged facing it and with a multiarticulated robot, holding one of the welding workpiece and spot welding gun which moves welding workpiece and spot welding gun relative to each other and thereby make the movable electrode and the welding workpiece approach each other from a separated state or vice-versa, monitoring the current or torque of the servo motor, and detecting the surface position of the welding workpiece from the position of the movable electrode and the position of the multiarticulated robot when the trend of the current or torque changes. The precision of detection of the surface position of the welding workpiece by a movable electrode in a spot welding system can now be improved without lengthening the time required for detection of the surface position of the welding workpiece.
摘要翻译：一种点焊系统，包括具有由伺服电动机驱动的可动电极的点焊枪，与其相对配置的对置电极和具有多分段机器人的夹持器，保持焊接工件和点焊枪之一，焊接工件和点焊枪相对于从而使可动电极和焊接工件从分离的状态彼此接近，反之亦然，监视伺服电动机的电流或扭矩，并且从可动电极的位置检测焊接工件的表面位置以及当多个微机器人的电流或扭矩发生变化时的位置。现在可以在不延长检测焊接工件的表面位置所需的时间的情况下，改进点焊系统中的可动电极对焊接工件的表面位置的检测精度。

7. 发明申请

US20110180516A1 POSITION DETECTION DEVICE AND A POSITION DETECTION METHOD FOR A WORKPIECE TO BE WELDED 审中-公开
标题翻译：位置检测装置和待焊接工件的位置检测方法
公开(公告)号：US20110180516A1
公开(公告)日：2011-07-28
申请号：US12978812
申请日：2010-12-27
申请人： Hiromitsu TAKAHASHI , Toshimichi Aoki , Masanobu Hatada , Akinori Nishimura
发明人： Hiromitsu TAKAHASHI , Toshimichi Aoki , Masanobu Hatada , Akinori Nishimura
IPC分类号： B23K11/11
CPC分类号： B23K11/115 , B23K11/255
摘要： A position detection device for a workpiece to be welded including a spot welding gun having a pair of electrodes adapted to be disposed opposite each other across the workpiece; a robot for holding either one of the spot welding gun and the workpiece in a manner movable relate to each other; a servo motor for allowing the pair of electrodes to approach the workpiece and separate from the workpiece; a physical quantity detection section for detecting a physical quantity correlative to a torque of the servo motor when the servo motor allows one of the pair of electrodes to approach a surface of the workpiece so that the one of the pair of electrodes abuts against the surface of the workpiece; a position detection section for detecting positions of the pair of electrodes; a storage section for storing the physical quantity detected by the physical quantity detection section and a value detected by the position detection section; and a computation section for calculating a contact start time at which the one of the pair of electrodes comes into contact with the surface of the workpiece based on time-series data of the physical quantity stored in the storage section, and computing a position of the workpiece at the contact start time based on the value detected by the position detection section stored in the storage section.
摘要翻译：一种待焊接工件的位置检测装置，包括具有一对电极的点焊枪，该电极适于跨过工件彼此相对设置; 用于以可移动的方式保持点焊枪和工件中的任一个的机器人彼此相关; 用于允许所述一对电极接近所述工件并与所述工件分离的伺服电机; 物理量检测部，用于当所述伺服电动机允许所述一对电极中的一个接近所述工件的表面时检测与所述伺服电动机的转矩相关的物理量，使得所述一对电极中的一个抵靠在所述伺服电动机的表面上工件; 位置检测部，用于检测所述一对电极的位置; 存储部，用于存储由物理量检测部检测出的物理量和由位置检测部检测的值; 以及计算部，其基于存储在所述存储部中的所述物理量的时间序列数据，计算所述一对电极中的所述一个电极与所述工件的表面接触的接触开始时刻，基于由存储在存储部中的位置检测部检测出的值在接触开始时刻的工件。

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