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21. 发明授权

US3703674A Line following 失效
标题翻译：线后续
公开(公告)号：US3703674A
公开(公告)日：1972-11-21
申请号：US3703674D
申请日：1970-11-09
申请人： BRITISH OXYGEN CO LTD
发明人： DOXEY BRIAN CECIL
IPC分类号： G05D3/00 , B23D36/00 , B23K9/127 , B23Q33/00 , B23Q35/128 , G05B19/36
CPC分类号： B23Q35/128 , B23K9/1272 , B23Q33/00
摘要： In a method of following a line or silhouette pattern photoelectrically, in order to control associated cutting or other equipment corners or crossovers which are unable to be traced accurately in one pass are traced in two or more passes with the aid of masks positioned in succession over the pattern. Each mask has on it additional paths or blanking portions or both to convert each corner or crossover on the pattern into an unambiguous path of curvature small enough to be followed accurately. The associated equipment is inhibited as the additional paths are followed.
摘要翻译：在以光电方式跟随线或轮廓图案的方法中，为了控制在一次通过中不能精确地跟踪的相关联的切割或其他设备拐角或交叉点，借助于相继定位的掩模在两次或更多遍中进行跟踪模式。每个掩模上都有其他路径或消隐部分或两者，以将图案上的每个角或交叉转换成一个明确的曲率小径，足以准确地跟踪。随着附加路径的跟踪，关联设备被禁止。

22. 发明授权

US09208910B2 Installation for welding nuclear fuel assembly skeletons, and corresponding methods of programming, of skeleton welding, and of making a fuel assembly 有权
标题翻译：用于焊接核燃料组件骨架的安装，以及相应的编程方法，骨架焊接和制造燃料组件
公开(公告)号：US09208910B2
公开(公告)日：2015-12-08
申请号：US13912838
申请日：2013-06-07
申请人： SOCIETE FRANCO-BELGE DE FABRICATION DE COMBUSTIBLE
发明人： Thierry Taillandier
IPC分类号： B23K31/02 , B23K11/00 , B23K9/00 , B23K9/32 , G21C21/00 , G21C3/334 , B23K9/127
CPC分类号： G21C21/00 , B23K9/1272 , G21C3/334 , G21Y2002/202 , G21Y2002/203 , G21Y2002/205 , G21Y2002/304 , G21Y2004/30 , G21Y2004/40 , G21Y2004/501 , Y02E30/40 , Y10S901/42
摘要： The installation provided includes at least one structure for receiving and holding guide tubes and structural elements; a carriage movable parallel to the guide tubes; at least one welding tool; and displacement means for moving the welding tool, the displacement means connecting the pincer to the carriage and presenting at least six degrees of freedom.
摘要翻译：所提供的装置包括至少一个用于接收和保持导管和结构元件的结构; 可平行于导管移动的支架; 至少一个焊接工具; 以及用于移动焊接工具的位移装置，所述位移装置将夹子连接到托架并呈现至少六个自由度。

23. 发明授权

US07965055B2 Control device of work positioning apparatus 有权
标题翻译：工作定位装置的控制装置
公开(公告)号：US07965055B2
公开(公告)日：2011-06-21
申请号：US12030668
申请日：2008-02-13
申请人： Takeshi Koike , Masayuki Shigeyoshi , Masaki Shibaike
发明人： Takeshi Koike , Masayuki Shigeyoshi , Masaki Shibaike
IPC分类号： B25J9/10 , B23K37/047 , B23K9/095
CPC分类号： B25J9/0096 , B23K9/12 , B23K9/1272 , B25J9/1676
摘要： A control device of a work positioning apparatus includes an operating limit line storage unit for storing position coordinates of an operating limit line, a speed reduction zone storage unit for storing a width of a speed reduction zone ranging from a reduction start position to the operating limit line, a check point storage unit for storing position coordinates of check points set in the work, a check point updating unit for determining position coordinates of the check points moved in accordance with an operation of the work positioning apparatus by calculation, an in-speed-reduction-zone determining unit for determining whether the check points enter the speed reduction zone in accordance with the updated position coordinates of the check points, and a work positioning apparatus control unit for instructing a work positioning apparatus motor to reduce a speed if the check points are determined to enter the speed reduction zone.
摘要翻译：工件定位装置的控制装置包括操作限位线存储单元，用于存储操作极限线的位置坐标;减速区存储单元，用于存储从减速开始位置到操作极限的减速区的宽度行检查点存储单元，用于存储在工作中设定的检查点的位置坐标;检查点更新单元，用于根据工作定位装置的运算通过计算确定移动的检查点的位置坐标，速度减速区域确定单元，用于根据检查点的更新的位置坐标来确定检查点是否进入减速区;以及工件定位装置控制单元，用于指示工件定位装置电动机如果检查点降低速度确定点进入减速区。

24. 发明申请

US20080243306A1 CONTROL DEVICE OF WORK POSITIONING APPARATUS 有权
标题翻译：工位定位装置的控制装置
公开(公告)号：US20080243306A1
公开(公告)日：2008-10-02
申请号：US12030668
申请日：2008-02-13
申请人： Takeshi Koike , Masayuki Shigeyoshi , Masaki Shibaike
发明人： Takeshi Koike , Masayuki Shigeyoshi , Masaki Shibaike
IPC分类号： B25J9/10 , B23K37/047 , B23K9/095
CPC分类号： B25J9/0096 , B23K9/12 , B23K9/1272 , B25J9/1676
摘要： A control device of a work positioning apparatus includes an operating limit line storage unit for storing position coordinates of an operating limit line, a speed reduction zone storage unit for storing a width of a speed reduction zone ranging from a reduction start position to the operating limit line, a check point storage unit for storing position coordinates of check points set in the work, a check point updating unit for determining position coordinates of the check points moved in accordance with an operation of the work positioning apparatus by calculation, an in-speed-reduction-zone determining unit for determining whether the check points enter the speed reduction zone in accordance with the updated position coordinates of the check points, and a work positioning apparatus control unit for instructing a work positioning apparatus motor to reduce a speed if the check points are determined to enter the speed reduction zone.
摘要翻译：工件定位装置的控制装置包括操作限位线存储单元，用于存储操作极限线的位置坐标;减速区存储单元，用于存储从减速开始位置到操作极限的减速区的宽度行检查点存储单元，用于存储在工作中设定的检查点的位置坐标;检查点更新单元，用于根据工作定位装置的运算通过计算确定移动的检查点的位置坐标，速度 - 减速区域确定单元，用于根据检查点的更新的位置坐标来确定检查点是否进入减速区;以及工件定位装置控制单元，用于指示工件定位装置电动机如果检查确定点进入减速区。

25. 发明申请

US20070263760A1 Installation for Welding Frameworks of Nuclear Fuel Assemblies, Programming Method, Corresponding Methods for Framework Welding and Assembling 审中-公开
标题翻译：核燃料组件焊接框架安装，编程方法，框架焊接与组装相应方法
公开(公告)号：US20070263760A1
公开(公告)日：2007-11-15
申请号：US11791879
申请日：2005-11-30
申请人： Thierry Taillandier
发明人： Thierry Taillandier
IPC分类号： G21C19/00
CPC分类号： G21C21/00 , B23K9/1272 , G21C3/334 , Y02E30/40 , Y10S901/42
摘要： The installation provided includes at least one structure for receiving and holding guide tubes and structural elements; a carriage movable parallel to the guide tubes; at least one welding tool; and displacement means for moving the welding tool, the displacement means connecting the pincer to the carriage and presenting at least six degrees of freedom.
摘要翻译：所提供的装置包括至少一个用于接收和保持导管和结构元件的结构; 可平行于导管移动的支架; 至少一个焊接工具; 以及用于移动焊接工具的位移装置，所述位移装置将夹子连接到托架并呈现至少六个自由度。

26. 发明申请

US20070145027A1 Control system using working robot, and work processing method using this system 失效
标题翻译：使用工作机器人的控制系统，以及使用该系统的工作处理方法
公开(公告)号：US20070145027A1
公开(公告)日：2007-06-28
申请号：US10544637
申请日：2004-02-05
申请人： Akinobu Izawa , Tetsuo Era , Koji Ueda , Takeshi Yamagami
发明人： Akinobu Izawa , Tetsuo Era , Koji Ueda , Takeshi Yamagami
IPC分类号： B23K9/12
CPC分类号： B25J9/1684 , B23K9/032 , B23K9/0956 , B23K9/127 , B23K9/1272 , B23K9/1274 , B25J9/1694 , B25J19/022 , G05B19/42 , G05B2219/34096 , G05B2219/36407 , G05B2219/36415 , G05B2219/36462 , G05B2219/45104 , G05B2219/4705 , G05B2219/49218
摘要： The control system includes a welding robot (10) which moves a welding torch (16) along a work (W) for welding the work (W), a robot controller (40) for controlling driving of the welding robot (10), a laser sensor head (17) for detecting a shape change in the work (W) during welding by the welding torch (16), and a personal computer (30) for obtaining instruction information for the welding robot (10) in accordance with the shape change, based on a result of detection by the laser sensor head (17). The robot controller (40) moves the welding torch (16) by controlling the driving of the working robot, based on the instruction information obtained by the personal computer (30).
摘要翻译：该控制系统包括焊接机器人（10），其沿焊接工件（W）的工件（W）移动焊炬（16），用于控制焊接机器人（10）的驱动的机器人控制器（40）用于检测通过焊炬（16）进行焊接时的工件（W）的形状变化的激光传感器头（17）和用于根据形状获得焊接机器人（10）的指示信息的个人计算机（30）基于激光传感器头（17）的检测结果来改变。基于由个人计算机（30）获得的指示信息，机器人控制器（40）通过控制工作机器人的驱动来移动焊炬（16）。

27. 发明授权

US5171966A Method of and apparatus for controlling a welding robot 失效
标题翻译：用于控制焊接机器人的方法和装置
公开(公告)号：US5171966A
公开(公告)日：1992-12-15
申请号：US784186
申请日：1991-10-29
申请人： Hisahiro Fukuoka , Yutaka Takano , Yoichi Kamiyama
发明人： Hisahiro Fukuoka , Yutaka Takano , Yoichi Kamiyama
IPC分类号： B23K9/02 , B23K9/127 , B25J9/16 , G05B19/425
CPC分类号： G05B19/425 , B23K9/0216 , B23K9/1272 , B25J9/1679 , G05B2219/35286 , G05B2219/36417 , G05B2219/37405 , G05B2219/45104 , G05B2219/49384
摘要： A welding torch (4) of a welding robot (RO) is supported by arms (2, 3), to be movable under control by a computer (7). When first and second members (W1, W2) are welded by a weld woven across an interspace between them while oscillating a welding torch (4) along a weld line (WL). Data on changes in the interspace between the first and second welded member (W1, W2) along direction of the weld line (WL) are previously stored in advance to welding. During the welding, the computer 7 performs arithmetic to obtain command values on the basis of the data to output the same to the welding robot (RO), so that the welding robot (RO) performs weaving in accordance with the command values while varying a weaving amplitude of the welding torch (4) in response to the change in the interspace. Changes in the direction in which the welding torch is moved to weave the weld are determined by detecting the actual value of the welding current and reversing direction when the detected value exceeds a prescribed threshold value.
摘要翻译：焊接机器人（RO）的焊枪（4）由臂（2,3）支撑，以在计算机（7）的控制下移动。当第一和第二构件（W1，W2）通过横跨它们之间的间隙的编织焊接时，沿焊接线（WL）摆动焊炬（4）。预先在焊接之前预先存储关于第一焊接构件（W1，W2）沿着焊接线（WL）的方向的间隙的变化的数据。在焊接过程中，计算机7进行算术以根据数据获得指令值，以将其输出到焊接机器人（RO），从而焊接机器人（RO）根据命令值进行编织，同时改变响应于间隙的变化，焊炬（4）的织造幅度。通过在检测值超过规定的阈值时检测焊接电流和反转方向的实际值来确定焊炬移动以编织焊缝的方向的变化。

28. 发明授权

US4316076A Automatic speed control for seam welding 失效
标题翻译：缝焊自动调速
公开(公告)号：US4316076A
公开(公告)日：1982-02-16
申请号：US102521
申请日：1979-12-31
申请人： Fredrick J. Balfanz
发明人： Fredrick J. Balfanz
IPC分类号： B23K11/24 , B23K9/12 , B23K9/127
CPC分类号： B23K9/12 , B23K9/1272
摘要： A welding machine for use in connection with seam welding a pair of metal parts which are positioned to form a welding groove, and wherein the groove width undesirably varies at random due to improper part positioning or deviations from desired tolerance. The weld head is moved along the groove by a drive motor and is preceeded by a pair of fixedly connected sensing probes. The primary probe follows the groove wall portion of one of the parts, while an auxiliary probe follows a surface on the other part. Variations in groove width cause variations in the distance between the two probe tips, said latter variations being utilized to automatically change the speed of the weld head drive motor.
摘要翻译：一种焊缝机，用于与缝焊有关的一对金属部件，该金属部件定位成形成焊接槽，并且其中槽宽度由于不正确的部件定位或偏离所期望的公差而随机地变化。焊头通过驱动电机沿凹槽移动，并且前面有一对固定连接的传感探头。主探针遵循其中一个部分的槽壁部分，而辅助探针则在另一部分的表面上。槽宽度的变化导致两个探针尖端之间的距离的变化，所述后者变化用于自动改变焊接头驱动电动机的速度。

29. 发明授权

US3818769A Apparatus for repeated tracing various patterns 失效
标题翻译：重复跟踪各种图案的装置
公开(公告)号：US3818769A
公开(公告)日：1974-06-25
申请号：US30223472
申请日：1972-10-30
申请人： DOW CHEMICAL CO
发明人： TIGNER R , MOUNTS L
IPC分类号： B23K9/127 , B23Q1/62 , B23Q5/34 , B27G11/00 , F16H25/08
CPC分类号： B27G11/00 , B23K9/1272 , B23Q1/621 , B23Q5/341 , Y10T74/18296 , Y10T74/20201
摘要： Apparatus capable of repeatedly tracing a programmed path at constant velocity, and useful for conveying glue applicator heads, cutting or welding tools or devices, and the like. Such apparatus can comprise, as an example, an X-Y table (see FIG. 4) including a platform 35 slidable on a first pair of rods 36 and 38 for reverse movement in the X diretion, and a second pair of rods 60 and 62 slidably carried by platform 35 for reverse movement in the Y direction. A cam 76 is rotatably fixed to 76 35 and operates through cam followers to reversibly drive platform 35 and rods 60 and 62 such that a mounting shaft 72 fixed to the latter, moves with a direction and velocity comprising the vector sum of the movements of platform 35 and rods 60 and 62. Shaft 72, on which multiple glue applicator heads 26 or the like can be mounted, thereby repeatedly traces a certain path P dependent on the configuration of cam 76.
摘要翻译：能够以恒定速度重复地跟踪编程路径，并且可用于输送胶涂机头，切割或焊接工具或装置等的装置。作为示例，这种装置可以包括XY台（参见图4），其包括可在第一对杆36和38上滑动的平台35，用于在X方向上反向运动，第二对杆60和62可滑动地由平台35承载，用于沿Y方向反向移动。凸轮76可旋转地固定到76 35并通过凸轮从动件操作以可逆地驱动平台35和杆60和62，使得固定到其上的安装轴72以包括平台的运动矢量和的方向和速度移动 35和杆60和62.可以安装多个施胶头26等的轴72，从而根据凸轮76的构造重复地追踪特定的路径P.

30. 发明授权

US3469068A Welding skate with computerized control 失效
标题翻译：具有计算机控制的焊接滑板
公开(公告)号：US3469068A
公开(公告)日：1969-09-23
申请号：US3469068D
申请日：1967-10-02
申请人： NASA
发明人： WALL WILLIAM A JR
IPC分类号： B23K9/127 , B23K9/28 , B23K9/12
CPC分类号： B23K9/287 , B23K9/1272 , B23K37/0211

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