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1. 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）。

2. 发明授权

US07605347B2 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：US07605347B2
公开(公告)日：2009-10-20
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 which moves a welding torch along a work for welding the work. A robot controller controls driving of the welding robot. A laser sensor head detects a shape change in the work during welding by the welding torch, and a personal computer obtains instruction information for the welding robot in accordance with the shape change, based on a result of detection by the laser sensor head. The robot controller moves the welding torch by controlling the driving of the working robot, based on the instruction information obtained by the personal computer.
摘要翻译：控制系统包括焊接机器人，该焊接机器人沿着用于焊接工件的工件移动焊炬。机器人控制器控制焊接机器人的驱动。激光传感器头通过焊炬检测焊接期间的工作形状变化，并且个人计算机基于激光传感器头的检测结果，根据形状变化获取焊接机器人的指令信息。基于由个人计算机获得的指示信息，机器人控制器通过控制工作机器人的驱动来移动焊炬。

3. 发明授权

US08575516B2 Arc welding power source 有权
公开(公告)号：US08575516B2
公开(公告)日：2013-11-05
申请号：US12221132
申请日：2008-07-31
申请人： Futoshi Nishisaka , Akihiro Ide , Tetsuo Era , Hiroyasu Mondori
发明人： Futoshi Nishisaka , Akihiro Ide , Tetsuo Era , Hiroyasu Mondori
IPC分类号： B23K9/10
CPC分类号： B23K9/0956
摘要： An arc welding power source supplies a start current, a welding current and a crater current as an output current in accordance with an activating signal supplied from outside. The power source includes a start period setting unit, a crater period setting unit, and a current control unit that controls the output current. The current control unit causes the power source to supply the start current and the welding current consecutively while the activating signal is in an on-state, where the start current is supplied for the start period, and the welding current is supplied for the period following the start period. The current control unit also causes the power source to supply the crater current after the activating signal is turned off, where the crater current is supplied for the crater period.

4. 发明申请

US20070023407A1 Arc start control method in robot welding 有权
标题翻译：机器人焊接电弧启动控制方法
公开(公告)号：US20070023407A1
公开(公告)日：2007-02-01
申请号：US11493158
申请日：2006-07-26
申请人： Toshiro Uezono , Tetsuo Era , Tomoyuki Ueyama , Shugo Hirota
发明人： Toshiro Uezono , Tetsuo Era , Tomoyuki Ueyama , Shugo Hirota
IPC分类号： B23K9/06
CPC分类号： B23K9/0671
摘要： An arc start control method in robot welding includes the steps of shorting a welding wire with a base metal, retracting a welding torch by a welding robot for taking the welding wire off the base metal to generate an initial arc, retracting the welding torch to a predetermined position with maintaining the initial arc maintained while applying an initial arc current smaller than a steady welding current during this initial arc period, and starting to feed the welding wire steadily and to supply the steady welding current so as to make a transition from the initial arc to a steady arc as well as starting to move the welding torch along a welding line. During a re-shorting prevention period which starts from a beginning of the initial arc period, a re-shorting prevention current which is larger than the initial arc current is applied in order to prevent re-shortening between the wire tip and the base metal right after the initial arc was generated. Thereafter, the initial arc current is applied.
摘要翻译：机器人焊接中的电弧启动控制方法包括以下步骤：用贱金属使焊丝短路，通过焊接机器人回收焊炬，将焊丝从母材上取下来产生初始电弧，将焊炬缩回到在该初始电弧期间施加小于稳定焊接电流的初始电弧电流的同时保持初始电弧的预定位置，并开始稳定地供给焊丝并提供稳定的焊接电流，以便从初始电弧电弧到稳定的电弧，并开始沿着焊接线移动焊炬。在从初始电弧期间开始的再次短路防止期间，施加大于初始电弧电流的防短路电流，以防止电线尖端和母材右侧之间的再缩短在最初的电弧生成之后。此后，施加初始电弧电流。

5. 发明授权

US09278402B2 Output control method for consumable electrode arc welding power source 有权
标题翻译：消耗电极电弧焊电源的输出控制方法
公开(公告)号：US09278402B2
公开(公告)日：2016-03-08
申请号：US11589398
申请日：2006-10-30
申请人： Toshiro Uezono , Tetsuo Era
发明人： Toshiro Uezono , Tetsuo Era
IPC分类号： B23K9/10 , B23K9/073
CPC分类号： B23K9/0731
摘要： In the output control method for a consumable electrode arc welding power source, entire application range of an welding current is segmentalized into a plurality of current zones, a norm welding voltage value is set for each of the current zones, a welding current and a welding voltage are detected at each of minute cycles, the current zone which corresponds to a detected value of the welding current is selected, a fluctuation range is calculated with the norm welding voltage value of the selected current zone as a center value, a welding voltage limit value is calculated while the welding voltage detected value is limited to within the fluctuation range, and the output of the welding power source is controlled based on this welding voltage limit value.
摘要翻译：在消耗电极电弧焊接电源的输出控制方法中，将焊接电流的整个施加范围分段为多个电流区域，为每个电流区域设定范围焊接电压值，焊接电流和焊接在每个分钟周期检测电压，选择对应于焊接电流的检测值的当前区域，以所选择的当前区域的标准焊接电压值为中心值计算波动范围，焊接电压极限当焊接电压检测值被限制在波动范围内时，计算值，并且基于该焊接电压限制值来控制焊接电源的输出。

6. 发明授权

US09272356B2 Feed control method for consumable electrode AC arc welding 有权
标题翻译：消耗电极交流电弧焊的进料控制方法
公开(公告)号：US09272356B2
公开(公告)日：2016-03-01
申请号：US12077641
申请日：2008-03-20
申请人： Tetsuo Era , Futoshi Nishisaka , Hiroyasu Mondori , Akihiro Ide
发明人： Tetsuo Era , Futoshi Nishisaka , Hiroyasu Mondori , Akihiro Ide
IPC分类号： B23K9/10 , B23K9/12 , B23K9/133
CPC分类号： B23K9/124 , B23K9/133
摘要： A feed control method is provided for consumable electrode AC arc welding, in which the welding wire is fed at a predetermined wire feed rate, and a welding voltage applied to an arc is switched in alternation between positive polarity and negative polarity. In the method, a welding current setting signal is generated. The wire is fed at a first feed rate during a period of the positive polarity, whereas the wire is fed at a second feed rate different from the first feed rate during a period of the negative polarity.
摘要翻译：提供了一种用于消耗电极AC电弧焊接的馈电控制方法，其中焊丝以预定的送丝速率进给，并且施加到电弧的焊接电压在正极性和负极性之间交替地切换。在该方法中，产生焊接电流设定信号。在正极性的时段期间以第一进料速率供给导线，而在负极性的时段期间，线以不同于第一进料速率的第二进料速率进料。

7. 发明授权

US07800016B2 Polarity switching short circuiting arc welding method 有权
标题翻译：极性开关短路电弧焊法
公开(公告)号：US07800016B2
公开(公告)日：2010-09-21
申请号：US11224528
申请日：2005-09-12
申请人： Tetsuo Era , Hiroyasu Mondori
发明人： Tetsuo Era , Hiroyasu Mondori
IPC分类号： B23K9/10
CPC分类号： B23K9/1062 , B23K9/091 , B23K9/0953
摘要： A method of performing polarity switching short circuiting arc welding is provided. In the arc welding, a welding wire is fed at a constant feeding rate, a short circuiting state and a arcing state appear repeatedly between the welding wire and a base metal, and the output polarity of a welding power source is switched in accordance with a polarity switching signal for performing electrode positive welding and electrode negative welding. In accordance with the method, the welding current is reduced during a predetermined short circuit initial period, when a first arc is formed after the polarity switching signal changes. Then, the output polarity of the welding power source is changed when the short circuit initial period has lapsed. Further, the welding current is increased for terminating the arc forming between the welding wire and the base metal.
摘要翻译：提供了进行极性切换短路电弧焊接的方法。在电弧焊接中，以恒定的供给速度供给焊丝，在焊丝和母材之间重复出现短路状态和电弧状态，焊接电源的输出极性根据用于进行电极正极焊接和电极负极焊接的极性切换信号。根据该方法，在预定的短路初始期间，当在极性切换信号变化之后形成第一弧时，焊接电流减小。然后，在短路初始期间经过时，焊接电源的输出极性发生变化。此外，焊接电流增加以终止焊丝与母材之间的电弧成形。

8. 发明申请

US20100193486A1 ARC START CONTROL METHOD 有权
标题翻译：弧启动控制方法
公开(公告)号：US20100193486A1
公开(公告)日：2010-08-05
申请号：US12678946
申请日：2008-10-14
申请人： Shugo Hirota , Tetsuo Era , Tomoyuki Ueyama
发明人： Shugo Hirota , Tetsuo Era , Tomoyuki Ueyama
IPC分类号： B23K9/10
CPC分类号： B23K9/0671 , B23K9/125 , B23K9/126
摘要： To start consumable electrode arc welding, an initial current is supplied to a welding wire after causing the welding wire to contact a base material and retracting the welding wire from the base material. In this manner, an initial arc is generated. The welding wire is retracted continuously for an initial arc lift period Ti with the initial arc maintained. Afterwards, the initial arc is switched to a steady arc. A predetermined weld pool formation period Tp is set after the initial arc lift period Ti. In the weld pool formation period, a weld pool formation current greater than the initial current is supplied with the initial arc maintained and the welding wire is caused to proceed and fed to the base material. In the weld pool formation period, a weld pool is formed by the initial arc without allowing the welding wire to release droplets and contact the base material. By this method, the initial arc is switched to the steady arc state after the weld pool has been formed. This suppresses generation of spatter caused by transfer of the droplets to the base material.
摘要翻译：为了开始消耗性电极电弧焊接，在使焊丝接触基材并从基材回缩焊丝之后，向焊丝供给初始电流。以这种方式，产生初始电弧。在初始电弧保持时，焊丝连续退回初始电弧提升期间Ti。之后，将初始弧切换成稳定的弧。在初始电弧提升期间Ti之后设定预定的熔池形成周期Tp。在焊池形成期间，提供大于初始电流的熔池形成电流，初始电弧保持并且焊丝进行并馈送到基体材料。在熔池形成期间，通过初始电弧形成焊池，不允许焊丝释放液滴并接触基材。通过这种方法，在形成焊池后，初始电弧切换到稳定电弧状态。这抑制了由于将液滴转移到基材而引起的飞溅物的产生。

9. 发明申请

US20080237208A1 Feed control method for consumable electrode AC arc welding 有权
标题翻译：消耗电极交流电弧焊的进料控制方法
公开(公告)号：US20080237208A1
公开(公告)日：2008-10-02
申请号：US12077641
申请日：2008-03-20
申请人： Tetsuo Era , Futoshi Nishisaka , Hiroyasu Mondori , Akihiro Ide
发明人： Tetsuo Era , Futoshi Nishisaka , Hiroyasu Mondori , Akihiro Ide
IPC分类号： B23K9/12
CPC分类号： B23K9/124 , B23K9/133
摘要： A feed control method is provided for consumable electrode AC arc welding, in which the welding wire is fed at a predetermined wire feed rate, and a welding voltage applied to an arc is switched in alternation between electrode positive polarity and electrode negative polarity. In the method, a welding current setting signal is generated, and the wire feed rate is set to a first feed rate during a period of the electrode positive polarity, based on both the wire welding characteristics for the electrode positive polarity and the welding current setting signal. Further, the wire feed rate is set to a second feed rate during a period of the electrode negative polarity, based on both the wire welding characteristics for the electrode negative polarity and the welding current setting signal.
摘要翻译：提供了一种用于消耗电极AC电弧焊的进料控制方法，其中焊丝以预定的丝线进给速度进给，并且施加到电弧的焊接电压在电极正极性和电极负极性之间交替地切换。在该方法中，基于电极正极性的焊丝特性和焊接电流设定两者，产生焊接电流设定信号，并且在电极正极性期间将送丝速度设定为第一进给速度信号。此外，基于电极负极性的焊丝特性和焊接电流设定信号，将焊丝进给速度设定为电极负极性期间的第二进给速度。

10. 发明授权

US08067714B2 Squeezing detection control method for consumable electrode arc welding 有权
标题翻译：消耗电极电弧焊的挤压检测控制方法
公开(公告)号：US08067714B2
公开(公告)日：2011-11-29
申请号：US12072964
申请日：2008-02-29
申请人： Tetsuo Era , Futoshi Nishisaka , Hiroyasu Mondori , Akihiro Ide
发明人： Tetsuo Era , Futoshi Nishisaka , Hiroyasu Mondori , Akihiro Ide
IPC分类号： B23K9/10
CPC分类号： B23K9/092
摘要： A squeezing detection control method is provided for consumable electrode arc welding. The method includes a step of detecting a droplet squeezing phenomenon by checking that a change in a voltage or resistance between the consumable electrode and base material reaches a squeezing detection reference value, and a step of executing output control for rapidly decreasing a welding current passing through a short-circuited load when the squeezing phenomenon is detected, so that arc re-striking occurs in a state of low current. The squeezing detection reference value is set to a first value during the electrode positive polarity, and set to a second value during the electrode negative polarity. The second value is different from the absolute value of the first value, and each of the first and second values is set such that the resultant welding state is satisfactory.
摘要翻译：提供消耗电极电弧焊的挤压检测控制方法。该方法包括通过检查可消耗电极和基材之间的电压或电阻的变化达到挤压检测基准值来检测液滴挤压现象的步骤，以及执行输出控制以快速减少通过的焊接电流的步骤当检测到挤压现象时发生短路负载，使得在低电流状态下发生电弧重击。挤压检测基准值在电极正极性期间被设定为第一值，并且在电极负极性期间被设定为第二值。第二值不同于第一值的绝对值，并且第一和第二值中的每一个被设置为使得所得到的焊接状态令人满意。

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