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1. 发明授权

EP2687314B1 FRICTION STIR SPOT WELDING DEVICE AND FRICTION STIR SPOT WELDING METHOD 有权
公开(公告)号：EP2687314B1
公开(公告)日：2019-05-01
申请号：EP12760081.5
申请日：2012-03-16
申请人： Kawasaki Jukogyo Kabushiki Kaisha
发明人： OKADA, Hideki , KASHIKI, Hajime , FUKUHARA, Kazumi , FUJIMOTO, Mitsuo
IPC分类号： B23K20/12

2. 发明公开

EP3903997A1 ROBOT OPERATION PLAN CREATION METHOD AND OPERATION PLAN CREATION DEVICE 审中-实审
公开(公告)号：EP3903997A1
公开(公告)日：2021-11-03
申请号：EP19901662.7
申请日：2019-12-27
申请人： Kawasaki Jukogyo Kabushiki Kaisha
发明人： MASAOKA, Koichi , ASAZU, Shota , MORIISHI, Hiroyuki , SAKUMA, Tomoya , HASHIBA, Yuji , FUJIMORI, Jun , NARIAI, Hitoshi , FUKUHARA, Kazumi
IPC分类号： B23Q41/04 , B23Q41/06 , B25J9/10 , B25J9/16 , G05B19/18 , G05B19/418 , G06Q50/04
摘要： A method of planning works for robots is provided, the method including creating a work plan for a plurality of robots, each having a work tool, sharing at at least one station a work to a plurality of work parts of the workpiece. The method includes the steps of calculating a distribution of the work parts to the robots, calculating, as a robot operation, a work order of the work parts and a moving path of the work tool for each of the robots based on the calculated work distribution, and calculating a disposed location of each of the robots with respect to the workpiece and a station where the robot is disposed so that an inter-robot interference does not occur during execution of the calculated robot operation.

3. 发明公开

EP2687315A1 FRICTION STIR SPOT WELDING DEVICE AND FRICTION STIR SPOT WELDING METHOD 有权
标题翻译：摩擦点焊点装置和摩擦点焊点焊方法
公开(公告)号：EP2687315A1
公开(公告)日：2014-01-22
申请号：EP12760984.0
申请日：2012-03-16
申请人： Kawasaki Jukogyo Kabushiki Kaisha
发明人： OKADA, Hideki , KASHIKI, Hajime , FUKUHARA, Kazumi , FUJIMOTO, Mitsuo
IPC分类号： B23K20/12
CPC分类号： B23K20/122 , B23K20/1245 , B23K20/1255 , B23K20/126 , B23K20/1265 , B23K2201/006 , B23K2201/18
摘要： A tool driving section (53) of a friction stir spot welding device is configured to cause each of a pin member (11) and a shoulder member (12) to advance and retract, and is controlled by a tool driving control section (21). A press-fit reference point setting section (22) sets a position where the pin member (11) or the shoulder member (12) contacts an object to be welded (60) as a press-fit reference point, and the tool driving control section (21) controls the position of the pin member (11) with respect to the shoulder member (12) on the basis of the press-fit reference point, thereby controlling the press-fit depth of a rotating tool (51) press-fitted from the surface of the object to be welded (60). This achieves the excellent welding quality at suitable precision according to welding conditions especially in a double-acting friction stir spot welding method.
摘要翻译：搅拌摩擦点焊装置的工具驱动部（53）构成为使销部件（11）和肩部部件（12）分别进退，由工具驱动控制部（21）进行控制，。压入基准点设定部（22）将销构件（11）或肩部构件（12）与作为压入基准点的被焊接物（60）接触的位置，以及工具驱动控制（21）根据压入基准点来控制销部件（11）相对于肩部件（12）的位置，从而控制旋转工具（51）的压入深度，从要被焊接的物体（60）的表面装配。特别是在双作用摩擦搅拌点焊方法中，根据焊接条件以适当的精度实现优异的焊接质量。

4. 发明授权

EP2687315B1 FRICTION STIR SPOT WELDING DEVICE AND FRICTION STIR SPOT WELDING METHOD 有权
标题翻译：摩擦点焊点装置和摩擦点焊点焊方法
公开(公告)号：EP2687315B1
公开(公告)日：2017-10-18
申请号：EP12760984.0
申请日：2012-03-16
申请人： Kawasaki Jukogyo Kabushiki Kaisha
发明人： OKADA, Hideki , KASHIKI, Hajime , FUKUHARA, Kazumi , FUJIMOTO, Mitsuo
IPC分类号： B23K20/12 , B23K101/00 , B23K101/18
CPC分类号： B23K20/122 , B23K20/1245 , B23K20/1255 , B23K20/126 , B23K20/1265 , B23K2201/006 , B23K2201/18

5. 发明公开

EP2687314A1 FRICTION STIR SPOT WELDING DEVICE AND FRICTION STIR SPOT WELDING METHOD 有权
标题翻译：摩擦点焊点装置和摩擦点焊点焊方法
公开(公告)号：EP2687314A1
公开(公告)日：2014-01-22
申请号：EP12760081.5
申请日：2012-03-16
申请人： Kawasaki Jukogyo Kabushiki Kaisha
发明人： OKADA, Hideki , KASHIKI, Hajime , FUKUHARA, Kazumi , FUJIMOTO, Mitsuo
IPC分类号： B23K20/12
CPC分类号： B23K20/123 , B23K20/002 , B23K20/122 , B23K20/125 , B23K20/1265 , B23K20/26
摘要： A tool driving section of a friction stir spot welding device is configured to advance and retract each of a pin member (11) and a shoulder member (12). A tool driving control section is configured to control the tool driving section such that an absolute value of a tool average position Tx defined by a following equation:
Ap·Pp + As·Ps = Tx, where Ap is a cross-section area of a front end surface of the pin member (11), As is a cross-section area of a front end surface of the shoulder member (12), Pp is a press-fit depth of the pin member (11) press-fitted from a front surface of an object to be welded (60), and Ps is a press-fit depth of the shoulder member (12) press-fitted from the front surface of the object to be welded (60),is small. Thus, especially in a double acting friction stir spot welding, excellent welding quality can be accurately achieved according to welding conditions, and an internal cavity defect can be prevented or suppressed.
摘要翻译：搅拌摩擦点焊装置的工具驱动部构造成使销构件（11）和肩部构件（12）中的每一个进退。刀具驱动控制部分被配置为控制刀具驱动部分，使得刀具平均位置Tx的绝对值由以下等式定义：Ap·Pp + As·Ps = Tx，其中Ap是销部件（11）的前端面与肩部部件（12）的前端面的截面积相同，Pp是从销部件（11）压入的销部件（11）的压入深度被焊接物60的前表面，Ps是从被焊接物60的前表面压入的肩部件12的压入深度。因此，特别是在双作用式搅拌摩擦点焊中，能够根据焊接条件准确地实现良好的焊接质量，并且可以防止或抑制内腔缺陷。

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