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11. 发明授权

US06750428B2 Automatic welding device and welding skill training device 有权
标题翻译：自动焊接装置和焊接技能训练装置
公开(公告)号：US06750428B2
公开(公告)日：2004-06-15
申请号：US10148213
申请日：2002-10-03
申请人： Takeshi Okamoto , Shinji Okumura , Hiroyuki Handa
发明人： Takeshi Okamoto , Shinji Okumura , Hiroyuki Handa
IPC分类号： B23K9095
CPC分类号： B23K31/12 , B23K9/095 , B23K9/0953 , B23K31/006
摘要： A technique for judging a welding quality for acceptance or rejection and displaying the result in diagrams, and an automatic welding device incorporating the technique therein. When an operation result record status judging means judges that past operation records are available, temperature distribution operation result records at joints of works to be welded are displayed by a weld penetration display means (23) and bead surface shape operation result records are displayed by a bead surface shape display means (25), whereby time required for operation by a temperature distribution operation means and time required for operation by a bead surface shape operation means (24) are omitted by an operation time omitting means incorporated in the automatic welding device.
摘要翻译：用于判断接收或拒绝的焊接质量以及将结果显示在图中的技术，以及将技术结合在其中的自动焊接装置。当操作结果记录状态判断装置判断过去操作记录可用时，通过焊接穿透显示装置（23）显示要焊接的工件的接头处的温度分布操作结果记录，并且焊道表面形状操作结果记录由胎圈表面形状显示装置（25），其中由温度分布操作装置操作所需的时间和由胎圈表面形状操作装置（24）操作所需的时间由结合在自动焊接装置中的操作时间省略装置来省略。

12. 发明授权

US4951218A Positional information detecting method in arc welding 失效
标题翻译：电弧焊定位信息检测方法
公开(公告)号：US4951218A
公开(公告)日：1990-08-21
申请号：US187664
申请日：1988-03-07
申请人： Shinji Okumura , Hiroaki Ito , Seigo Nishikawa , Tatsumi Nakazato
发明人： Shinji Okumura , Hiroaki Ito , Seigo Nishikawa , Tatsumi Nakazato
IPC分类号： B23K9/095 , B23K9/12 , B23K9/127 , B23Q35/128 , B25J9/16
CPC分类号： B23Q35/128 , B23K9/0956 , B23K9/1274 , B25J9/1684
摘要： Herein disclosed is a method of detecting information on an arc welding position by monitoring the shape and/or position of an welding arc. When in the arc welding along a welding groove position while locating the same, the shape of the arc is picked up from above the joint portion of a member to be welded by means of an image pickup device, and the arc shape picked up is binary-coded. This binary arc shape and/or position are monitored to detect the welding groove position, the height of the welding torch, the welding start point, the welding end point, the external corner point, the internal corner point, the contact point of the welding wire with the work, and the welding groove gap.

13. 发明授权

US4937426A Automatic groove tracing method for an arc welding robot 失效
标题翻译：弧焊机器人的自动凹槽追踪方法
公开(公告)号：US4937426A
公开(公告)日：1990-06-26
申请号：US291304
申请日：1988-12-28
申请人： Seigo Nishikawa , Shinji Okumura , Tadayuki Amano , Kazutoshi Hata
发明人： Seigo Nishikawa , Shinji Okumura , Tadayuki Amano , Kazutoshi Hata
IPC分类号： B23K9/127
CPC分类号： B23K9/127
摘要： A method is disclosed for correcting the travel path of an oscillating robotic welding torch tracing a groove line defined by an upper and lower plate. According to one aspect of the invention, a first integrated value of the welding current at the center of oscillation is compared with second and third integrated values of the welding current at opposite first and second ends of the oscillation, respectively. The travel path of the robotic welding torches adjusted towards the second end of oscillation when the second and third integrated values of the welding current are smaller than the first integrated value of the welding current. According to another aspect of the present invention, a first integrated value of the welding current at the second end of oscillation of a previous oscillation torch is compared with a second integrated value of the welding current at the second end of oscillation of a subsequent oscillation. The travel path of the robotic welding torch is adjusted towards the second end of oscillation when the difference between the first and second integrated value exceeds a predetermined allowable value. According to yet another aspect of the present invention, an integrated value of the welding current at the second end of oscillation is compared with an average integrated value of the second end of oscillation. The average integrated value at the second end of oscillation being a value resulting when the robotic vehicle correctly traverses the groove line. The travel path is adjusted towards the second end of oscillation when the difference between the first and average integrated values exceeds a predetermined allowable deviation value.
摘要翻译：公开了一种用于校正由上下板限定的槽线的振荡自动焊枪的行进路径的方法。根据本发明的一个方面，将振荡中心处的焊接电流的第一积分值分别与在振荡的相对的第一和第二端处的焊接电流的第二和第三积分值进行比较。当焊接电流的第二和第三积分值小于焊接电流的第一积分值时，机器人焊枪的行进路径被调整为朝向第二振荡端。根据本发明的另一方面，将先前的振荡炬的振荡的第二端处的焊接电流的第一积分值与后续振荡的第二振荡结束时的焊接电流的第二积分值进行比较。当第一和第二积分值之间的差超过预定的允许值时，机器人焊炬的移动路径被调整到第二振荡结束。根据本发明的另一方面，将振荡第二端处的焊接电流的积分值与第二振荡结束的平均积分值进行比较。振动第二端的平均积分值是当机器人车辆正好穿过槽线时产生的值。当第一和平均积分值之间的差超过预定的允许偏差值时，行进路径被调整到第二次振荡结束。

14. 发明授权

US06642483B1 High-speed CO2 gas welding method 失效
标题翻译：高速CO2气焊方法
公开(公告)号：US06642483B1
公开(公告)日：2003-11-04
申请号：US09926650
申请日：2001-11-28
申请人： Yasuhiro Koga , Hiroyuki Handa , Shinji Okumura , Haruki Nakashima , Takafumi Mitsushio
发明人： Yasuhiro Koga , Hiroyuki Handa , Shinji Okumura , Haruki Nakashima , Takafumi Mitsushio
IPC分类号： B23K910
CPC分类号： B23K9/173 , B23K9/0953 , B23K9/1056 , B23K9/124
摘要： A welding voltage is determined based on an expression, P=k2×Vw2+k3×Vw, where, with a welding wire feed speed and a welding wire radius used as inputs, a power factor is P(kW), the a melting speed of a welding wire is Vw(g/sec), and k2 and k3 are constants(k2=0.898 and k3=4.625).
摘要翻译：基于表达式P = k2×Vw2 + k3×Vw确定焊接电压，其中，以焊丝进给速度和焊丝半径作为输入，功率因数为P（kW），熔化速度为焊丝为Vw（g / sec），k2和k3为常数（k2 = 0.898，k3 = 4.625）。

15. 发明授权

US5783921A Welding robot with base stand having self contained welding power source 失效
标题翻译：带底座的焊接机器人具有自备焊接电源
公开(公告)号：US5783921A
公开(公告)日：1998-07-21
申请号：US722042
申请日：1996-10-09
申请人： Hiroyuki Handa , Yukio Misumi , Shinji Okumura , Michiharu Tanaka
发明人： Hiroyuki Handa , Yukio Misumi , Shinji Okumura , Michiharu Tanaka
IPC分类号： B23K9/10 , B23K9/12 , B23K9/28 , B25J9/00 , B25J9/18 , B25J13/00 , B25J19/00
CPC分类号： B23K9/12 , B23K9/10 , B23K9/287 , B25J13/00 , B25J19/00 , B25J19/0054 , B25J19/0075 , B25J9/0009
摘要： A robot body has an articulated manipulator arm having a welding tool. The robot body is installed on a base stand housing electric circuits including a welding power source. The electric circuits provide for driving and controlling the welding tool. The robot thus provided minimizes the space needed for installation thereof and requires less time for installation and fewer parts, whereby it becomes possible to reduce the manufacturing cost, simplify the robot installation operation and obtain a stable welding performance.
摘要翻译： PCT No.PCT / JP96 / 00321 Sec。 371日期1996年10月9日第 102（e）日期1996年10月9日PCT提交1996年2月13日PCT公布。公开号WO96 / 25275 日期1996年8月22日机器人体具有具有焊接工具的铰接式操纵臂。机器人体安装在容纳包括焊接电源的电路的基座上。电路用于驱动和控制焊接工具。这样提供的机器人使得安装所需的空间最小化，并且需要更少的安装时间和更少的部件，从而可以降低制造成本，简化机器人安装操作并获得稳定的焊接性能。

16. 发明授权

US5173592A Method and apparatus for multi-layer welding 失效
标题翻译：多层焊接方法与装置
公开(公告)号：US5173592A
公开(公告)日：1992-12-22
申请号：US598704
申请日：1990-10-17
申请人： Shinji Okumura , Keiichi Takaoka , Tatsumi Nakazato
发明人： Shinji Okumura , Keiichi Takaoka , Tatsumi Nakazato
IPC分类号： B23K9/02 , B23K9/04 , G05B19/4103 , G05B19/425
CPC分类号： B23K9/0216 , B23K9/04 , G05B19/4103 , G05B19/425 , G05B2219/45104 , G05B2219/45238
摘要： Approximate straight lines or approximate curves at the instructed points are obtained on the basis of coordinates actually passed by a welding torch at the instructed points in the welding of the first layer, points on the approximate straight lines or approximate curves are calculated on the basis of distance at the instructed points, and actual welding path is defined at the points. In the locus of the second and succeeding layers, a shift direction and a shift amount are obtained by calculation on the basis of two points instructed as a welding start point and a termination point in the teaching of the first layer and two reference points designated to define the shift direction, and the locus of operation after the second layer is calculated to effect multi-layer welding. For controlling the torch attitude in the welding of the second layer and succeeding layers, a locus of operation of a torch in the welding of the first layer and a locus of operation of the second and succeeding layers are obtained on the basis of a torch rotational angle given from the outside, after which the torch is rotated by a portion of a torch rotational angle about the traveling vector obtained at the instructed point, and the attitude data is obtained by calculation. Welding of the second and succeeding layers is carried out on the basis of the obtained attitude data.
摘要翻译： PCT No.PCT / JP90 / 00212 Sec。 371 1990年10月17日第 102（e）1990年10月17日日期PCT提交1990年2月21日PCT公布。公开号WO90 / 09859 1990年9月7日。指示点的近似直线或近似曲线是根据焊枪实际通过的焊接点在第一层焊接指示点获得的，大致直线或近似点根据指示点的距离计算曲线，并在点上定义实际焊接路径。在第二层和后续层的轨迹中，通过基于指定为第一层的教导中的焊接起始点和终止点的两个点和指定为第一层的两个参考点的两个点进行计算来获得移动方向和移动量定义换档方向，计算第二层后的运行轨迹，实现多层焊接。为了控制第二层和后续层的焊接中的割炬姿态，在第一层的焊接中的焊炬的操作轨迹和第二层和后一层的操作轨迹基于割炬旋转获得角度由外部给出，在此之后，割炬围绕指示点获得的行进矢量旋转割炬旋转角度的一部分，并且通过计算获得姿态数据。基于获得的姿态数据进行第二层和后层的焊接。

17. 发明授权

US5040124A Positional information detecting method in arc welding 失效
公开(公告)号：US5040124A
公开(公告)日：1991-08-13
申请号：US546621
申请日：1990-06-27
申请人： Shinji Okumura , Hiroaki Ito , Seigo Nishikawa , Tatsumi Nakazato
发明人： Shinji Okumura , Hiroaki Ito , Seigo Nishikawa , Tatsumi Nakazato
IPC分类号： B23K9/095 , B23K9/12 , B23K9/127 , B23Q35/128 , B25J9/16
CPC分类号： B23Q35/128 , B23K9/0956 , B23K9/1274 , B25J9/1684
摘要： A method of detecting information on an arc welding position by monitoring the shape and/or position of an welding arc. When in the arc welding along a welding groove position while locating the same, the shape of the arc is picked up from above the joint portion of a member to be welded by means of an image pickup device, and the arc shape picked up is binary-coded. This binary arc shape and/or position are monitored to detect the welding groove position, the height of the welding torch, the welding start point, the welding end point, the external corner point, the internal corner point, the contact point of the welding wire with the work, and the welding groove gap.

18. 发明授权

US5066848A Automatic copying method for a welding torch in an arc welding robot 失效
标题翻译：用于焊接机器的焊接机器的自动复制方法
公开(公告)号：US5066848A
公开(公告)日：1991-11-19
申请号：US514553
申请日：1990-04-25
申请人： Seigo Nishikawa , Shinji Okumura , Tadayuki Amano , Kazutoshi Hata
发明人： Seigo Nishikawa , Shinji Okumura , Tadayuki Amano , Kazutoshi Hata
IPC分类号： B23K9/127
CPC分类号： B23K9/127
摘要： In the case where lap fillet welding is carried out by a conventional arc welding robot, when a weld wire is once departed towards an upper plate, the wire keeps being away from a weld line, and therefore, various teaching techniques so as to prevent such a departure have been re-required. In the case where a weld line is long, if the wire is departed, a defective weld length becomes long, thus posing an significant problem.The present invention provides a control method for an arc sensor by detection of a weld current. That is, a departure of a lap fillet weld towards an upper plate is prevented merely by addition of a detection algorithm, teaching can be simplified and practical merits are great.

19. 发明授权

US5040125A Positional information detecting method in arc welding 失效
公开(公告)号：US5040125A
公开(公告)日：1991-08-13
申请号：US545323
申请日：1990-06-27
申请人： Shinji Okumura , Hiroaki Ito , Seigo Nishikawa , Tatsumi Nakazato
发明人： Shinji Okumura , Hiroaki Ito , Seigo Nishikawa , Tatsumi Nakazato
IPC分类号： B23K9/095 , B23K9/12 , B23K9/127 , B23Q35/128 , B25J9/16
CPC分类号： B23Q35/128 , B23K9/0956 , B23K9/1274 , B25J9/1684
摘要： A method of detecting information on an arc welding position by monitoring the shape and/or position of an welding arc. When in the arc welding along a welding groove position while locating the same, the shape of the arc is picked up from above the joint portion of a member to be welded by means of an image pickup device, and the arc shape picked up is binary-coded. This binary arc shape and/or position are monitored to detect the welding groove position, the height of the welding torch, the welding start point, the welding end point, the external corner point, the internal corner point, the contact point of the welding wire with the work, and the welding groove gap.

20. 发明授权

US5038292A Positional information detecting method in arc welding 失效
标题翻译：电弧焊定位信息检测方法
公开(公告)号：US5038292A
公开(公告)日：1991-08-06
申请号：US545320
申请日：1990-06-27
申请人： Shinji Okumura , Hiroaki Ito , Seigo Nishikawa , Tatsumi Nakazato
发明人： Shinji Okumura , Hiroaki Ito , Seigo Nishikawa , Tatsumi Nakazato
IPC分类号： B23K9/095 , B23K9/12 , B23K9/127 , B23Q35/128 , B25J9/16
CPC分类号： B23Q35/128 , B23K9/0956 , B23K9/1274 , B25J9/1684
摘要： A method of detecting information on an arc welding position by monitoring the shape and/or position of an welding arc. When in the arc welding along a welding groove position while locating the same, the shape of the arc is picked up from above the joint portion of a member to be welded by means of an image pickup device, and the arc shape picked up is binary-coded. This binary arc shape and/or position are monitored to detect the welding groove position, the height of the welding torch, the welding start point, the welding end point, the external corner point, the internal corner point, the contact point of the welding wire with the work, and the welding groove gap.

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