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    • 101. 发明申请
    • GAS SYSTEMS, WELDING SYSTEMS, AND METHODS OF WELDING
    • 气体系统,焊接系统和焊接方法
    • US20160001391A1
    • 2016-01-07
    • US14793078
    • 2015-07-07
    • KUKA Robotics Corporation
    • Timothy James NaceyMitchel DuponMike Maximiuk
    • B23K9/32B23K9/12B23K31/12B23K9/00
    • B23K9/325B23K9/00B23K9/0953B23K9/0956B23K9/126B23K9/164B23K9/167B23K10/00B23K10/02B23K31/125
    • A gas delivery system delivers a shielding gas from a source through one or more hoses to a torch having a nozzle during welding of a workpiece. A shielding gas controller includes an inlet, an outlet, and at least one valve between the inlet and the outlet. The valve operates in response to a predetermined minimum shielding gas flow set point. The shielding gas controller operates the valve before or after a weld to change the flow of the shielding gas according to the predetermined minimum shielding gas flow set point. A method of welding includes predetermining a flow rate of a shielding gas, predetermining another flow rate of the gas, dispensing the gas at the first flow rate proximate a first weld pool during welding, and dispensing the shielding gas at the second flow rate, different from the first flow rate, during welding of another weld on the workpiece.
    • 气体输送系统在焊接工件期间将来自源的保护气体通过一个或多个软管输送到具有喷嘴的手电筒。 保护气体控制器包括入口和出口以及入口和出口之间的至少一个阀。 阀响应于预定的最小保护气体流量设定点而工作。 保护气体控制器在焊接之前或之后操作阀,以根据预定的最小保护气体流量设定点改变保护气体的流量。 焊接方法包括预先确定保护气体的流量,预先确定气体的另一流量,在焊接期间以靠近第一焊池的第一流量分配气体,以及以第二流量分配保护气体, 在第一个流速下,焊接另一个焊接在工件上。
    • 104. 发明申请
    • ARC WELDING SYSTEM, METHOD FOR PERFORMING ARC WELDING, AND METHOD FOR PRODUCING WELDED PRODUCT
    • ARC焊接系统,用于执行电弧焊接的方法,以及用于生产焊接产品的方法
    • US20150352656A1
    • 2015-12-10
    • US14731371
    • 2015-06-04
    • KABUSHIKI KAISHA YASKAWA DENKI
    • Masafumi MURAKAMIKiminori NISHIMURA
    • B23K9/095B23K9/12B23K9/09
    • B23K9/0953B23K9/09B23K9/095B23K9/12B23K9/125Y10S901/02
    • An arc welding system includes a feeder to feed a consumable electrode to a welding torch. A power source supplies power to between the electrode and an object. A welding controller controls the feeder and the power source to cause a short-circuit state and an arc state to repeat between the electrode and the object. A robot moves the welding torch along a welding line. A robot controller controls the robot. A detector detects whether a state between the electrode and the object is the short-circuit state or the arc state. A determiner determines whether a first period or a second period has elapsed since the detector detected the arc state. An instructor instructs the robot controller to decelerate the welding torch when the determiner determines that the first period has elapsed, and to stop the welding torch when the determiner determines that the second period has elapsed.
    • 电弧焊接系统包括将消耗电极馈送到焊炬的馈电器。 电源向电极和物体之间供电。 焊接控制器控制进料器和电源,使电极和物体之间产生短路状态和电弧状态。 机器人沿着焊接线移动焊枪。 机器人控制器控制机器人。 检测器检测电极和物体之间的状态是短路状态还是电弧状态。 确定器确定从检测器检测到电弧状态以来是否经过了第一周期或第二周期。 当确定器确定第一时间段已经过去时,指导者指示机器人控制器减速焊炬,并且当确定器确定第二时间段已经过去时,指示器停止焊炬。
    • 109. 发明申请
    • WEAVING CONTROL DEVICE FOR ARTICULATED ROBOT
    • 用于制作机器人的装配控制装置
    • US20150290804A1
    • 2015-10-15
    • US14434083
    • 2013-10-15
    • KABUSHIKI KAISHA KOBE SEIKO SHO (KOBE STEEL, LTD.)
    • Takashi WadaYoshiharu NishidaYoshihide InoueShuichi Inada
    • B25J9/16B23K9/02
    • B23K9/0216B23K9/0953B23K9/173B25J9/10B25J9/1641Y10S901/42
    • A weaving control device of a multi-joint robot, which achieves high-precision weaving, and suppresses occurrence of weaving movement error stemming from the movement of another joint axis and the dynamic characteristics of the motor driving the joint axis. The weaving control device contains: a signal computation unit that computes the target position signal for each axis; a filter computation unit that computes a target command signal resulting from low-pass filter processing of the target position signal; and a motor control unit that drives each axis with the target command signal as an input. The frequency characteristics of the gain of the motor control unit are configured in an approximately flat manner, and the dynamic characteristics from the target position to the motor output angle are similar to the filter. A weaving signal correction unit computes a target position signal having a corrected gain on the basis of filter characteristics.
    • 一种多关节机器人的织造控制装置,其实现了高精度织造,并抑制了由另一关节轴线运动引起的织造运动误差的发生和驱动关节轴的电动机的动态特性。 编织控制装置包括:信号计算单元,其计算各轴的目标位置信号; 滤波器计算单元,计算由目标位置信号的低通滤波处理得到的目标指令信号; 以及以目标指令信号作为输入驱动各轴的马达控制单元。 马达控制单元的增益的频率特性被构造成大致平坦的方式,并且从目标位置到马达输出角度的动态特性类似于滤波器。 编织信号校正单元基于滤波器特性来计算具有校正增益的目标位置信号。