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    • 47. 发明申请
    • ROBOT CONTROLLER THAT CONTROLS TANDEM ARC WELDING SYSTEM, ARC TRACKING CONTROLLING METHOD USING THE ROBOT CONTROLLER, AND THE TANDEM ARC WELDING SYSTEM
    • 机器人控制器,控制电弧焊接系统,使用机器人控制器的电弧跟踪控制方法,以及台阶弧焊接系统
    • US20110278272A1
    • 2011-11-17
    • US13083949
    • 2011-04-11
    • Atsushi FukunagaTakeshi Koike
    • Atsushi FukunagaTakeshi Koike
    • B23K9/10
    • B23K9/1735B23K9/0216B23K9/127
    • A robot controller that controls a tandem arc welding system according to the present invention includes a leading-electrode correcting section that calculates a leading-electrode correction amount, used for correcting a displacement in a left-right direction and an up-down direction, from a leading-electrode changing amount calculated by a leading-electrode processing section; a leading-electrode correcting section that calculates a trailed-electrode correction amount, used for correcting a displacement in a rotational direction, from a trailed-electrode changing amount calculated by a trailed-electrode processing section; a rotational-displacement correction controlling processing section that calculates a rotational-center correction amount for correcting the displacement of the leading electrode; and a robot trajectory planning processing section that corrects a teaching position and a position of a rotational center of a welding torch during tracking correction. By such a structure, even if arc tracking is carried out at any rotational center, displacement of the leading electrode does not occur, so that defective welding does not occur.
    • 根据本发明的控制串联电弧焊接系统的机器人控制器包括:前导电极校正部,其计算用于校正左右方向和上下方向上的位移的引导电极校正量, 由引导电极处理部计算出的引出电极变化量; 引导电极校正部,根据由追踪电极处理部计算出的追踪电极变化量计算用于校正旋转方向上的位移的追踪电极校正量; 旋转位移校正控制处理部,其计算用于校正前导电极的位移的旋转中心校正量; 以及机器人轨迹规划处理部,其在跟踪校正期间校正焊炬的旋转中心的示教位置和位置。 通过这样的结构,即使在任何旋转中心进行电弧跟踪,也不会发生引出电极的位移,不会发生不良焊接。