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1. 发明申请

US20180056434A1 SPOT WELDING APPARATUS THAT JUDGES WELDING STATE 审中-公开
公开(公告)号：US20180056434A1
公开(公告)日：2018-03-01
申请号：US15678426
申请日：2017-08-16
申请人： FANUC CORPORATION
发明人： Toshimichi Aoki , Yasuhiro Amagata
IPC分类号： B23K11/25 , B23K11/11 , G05B13/02
CPC分类号： B23K11/255 , B23K11/115 , B23K11/185 , B23K11/315 , B23K2101/006 , B23K2101/18 , B23K2103/10 , G05B13/0265
摘要： A spot welding apparatus includes a spot welding gun and a welding gun control apparatus. The welding gun control apparatus includes a pressurizing force control part controlling the pressurizing force, a position control part controlling the position of at least one electrode, and a determination part determining whether or not the welding is performed in a normal state. The position control part controls an electrode drive motor so as to hold the electrodes, after the supply of the electric current is started, at positions when the initial pressurizing force is applied before the electric current is supplied. The determination part acquires the pressurizing force and determines whether or not the welding is performed in a normal state based on change tendency in the pressurizing force.

2. 发明申请

US20140291300A1 SPOT WELDING SYSTEM INCLUDING SPOT WELDING GUN 有权
标题翻译： SPOT焊接系统，包括点焊焊枪
公开(公告)号：US20140291300A1
公开(公告)日：2014-10-02
申请号：US14215727
申请日：2014-03-17
申请人： FANUC CORPORATION
发明人： Yasuhiro Amagata
IPC分类号： B23K11/11 , B23K11/25
CPC分类号： B23K11/115 , B23K11/253 , B23K11/3009 , B23K11/311 , B23K11/315
摘要： A spot welding system (1) includes a welding pressure command generating unit (31) which generates a reference welding pressure command for a spot welding gun by applying pressure to workpieces to be welded between two electrode tips and at least one detective welding pressure command, an elastic displacement quantity deviation calculating unit (32) calculating, as an elastic displacement quantity deviation, a rotational position deviation between the rotational position of a servomotor when the reference welding pressure command is used and the rotational position of the servomotor when at least one detective welding pressure command is used, and an estimating unit (34) which estimates that there is an abnormality in the spot welding gun when the deviation between the elastic displacement quantity deviation based on the reference welding pressure command and at least one detective welding pressure command and the reference displacement quantity deviation is greater than a predetermined value.
摘要翻译：点焊系统（1）包括焊接压力指令生成部（31），该焊接压力指令生成部（31）通过对两个电极头部之间要被焊接的工件施加压力和至少一个检测焊接压力指令来产生点焊枪的基准焊接压力指令，弹性位移量偏差计算单元（32）计算当使用基准焊接压力指令时伺服电动机的旋转位置与当至少一个检测时伺服电动机的旋转位置之间的弹性位移量偏差时的旋转位置偏差使用焊接压力指令和估计单元（34），其估计当基于参考焊接压力指令的弹性位移量偏差与至少一个检测焊接压力指令之间的偏差与点焊枪中存在异常时参考位移量偏差大于预定值 d值。

3. 发明授权

US11351626B2 Spot-welding system 有权
公开(公告)号：US11351626B2
公开(公告)日：2022-06-07
申请号：US16844344
申请日：2020-04-09
申请人： FANUC CORPORATION
发明人： Vanbac Nguyen , Shigeo Yoshida , Yasuhiro Amagata
IPC分类号： B23K11/31 , B23K11/25 , B23K11/11
摘要： A spot-welding system including a spot-welding gun including a movable part including a movable electrode, and a drive part that drives the movable part, a controller that controls the drive part, an applied pressure sensor that measures an applied pressure from the movable electrode of the spot-welding gun, and an own-weight calculator that calculates an own weight of the movable part based on the applied pressure detected by the applied pressure sensor in two different postures of the spot-welding gun that places the movable electrode in different movement directions. The controller superimposes a dither signal onto a control signal so as to control the drive part in measuring the applied pressure for use in calculating the own weight of the movable part by the own-weight calculator, and after the own weight is calculated, the controller corrects the control signal based on the calculated own weight.

4. 发明授权

US09905016B2 Robot identification system 有权
公开(公告)号：US09905016B2
公开(公告)日：2018-02-27
申请号：US14937876
申请日：2015-11-11
申请人： FANUC Corporation
发明人： Yasuhiro Amagata
IPC分类号： G06K9/00 , G06T7/20 , B25J9/16 , G06T7/73
CPC分类号： G06T7/251 , B25J9/1605 , G05B2219/32014 , G05B2219/39451 , G06T7/75 , Y10S901/47
摘要： A robot identification system includes a robot having a rotatable arm, an imaging unit imaging the robot, an angle detector detecting a rotation angle of the arm, a model generator producing robot models representing the forms of the robot on the basis of the rotation angle detected by the angle detector, and an image identification unit that compares an image captured by the imaging unit with the robot models generated by the model generator to identify a robot image in the image.

5. 发明授权

US09764414B2 Spot welding system and spot welding method 有权
公开(公告)号：US09764414B2
公开(公告)日：2017-09-19
申请号：US14712310
申请日：2015-05-14
申请人： FANUC Corporation
发明人： Yasuhiro Amagata
IPC分类号： B23K11/31 , B23K11/24 , B23K11/11 , B23K11/25
CPC分类号： B23K11/314 , B23K11/115 , B23K11/24 , B23K11/25 , B23K11/252 , B23K11/253 , B23K11/315
摘要： A spot welding system includes a position detection part which detects the position of a movable arm, a first calculation part which calculates the combined spring constant of the movable arm and a fixed arm based on a position when the movable arm is driven by a predetermined drive force and the drive force, a second calculation part which calculates the spring constant of the movable arm based on a position when the movable arm is driven by a predetermined drive force and the drive force, a third calculation part which calculates the spring constant of the fixed arm based on the combined spring constant and the spring constant of the movable arm, and an elastic displacement calculation part which calculates an amount of elastic displacement of the fixed arm based on the spring constant of the fixed arm and a drive force when welding is performed.

6. 发明公开

US20240009752A1 CONTROL DEVICE, ELECTRODE POLISHING METHOD, AND ELECTRODE POLISHING SYSTEM 审中-公开
公开(公告)号：US20240009752A1
公开(公告)日：2024-01-11
申请号：US18036231
申请日：2021-11-17
申请人： Fanuc Corporation
发明人： Yasuhiro Amagata
IPC分类号： B23K11/30
CPC分类号： B23K11/3063
摘要： A controller includes an operating command generation unit for controlling at least one of a first drive source for applying pressure to an electrode, a second drive source for driving a polishing tool for polishing the electrode, and a third drive source for changing the position and/or orientation of one in relation to the other of the electrode and the polishing tool, and changing an operating command for the first drive source or at least one of the third drive source and the second drive source to be peak-shaped and valley-shaped in the course of at least one cycle of operation of the polishing tool.

7. 发明授权

US11733681B2 Spot welding system 有权
公开(公告)号：US11733681B2
公开(公告)日：2023-08-22
申请号：US17069934
申请日：2020-10-14
申请人： FANUC CORPORATION
发明人： Yasuhiro Amagata
IPC分类号： G05B19/4155 , B23K11/11 , B23K37/02 , G08B21/18 , B25J15/00 , B23K101/00
CPC分类号： G05B19/4155 , B23K11/11 , B23K37/0229 , B23K2101/006 , B25J15/0019 , G05B2219/45104 , G08B21/18
摘要： To provide a spot welding system of high reliability which, when an abnormality such as a spot missing in spot welding occurs, is capable of more precisely and accurately detecting this immediately. Provided are a robot-side system having a robot and a robot-side control unit which controls driving of the robot; and a welder-side system having a welding gun mounted to the robot, and a welder-side control unit, in which the robot-side system includes: a storage unit which stores in advance a required welding time needed in a spot welding operation of one location or a plurality of spot welding operations; a welding time measurement unit which measures an actual time from when a welding start command is outputted until receiving a welding completion command; and a comparative determination unit which determines quality by comparing the required welding time stored in the storage unit and the actual welding time measured by the welding time measurement unit.

8. 发明授权

US10293429B2 Quality check system of spot welding 有权
公开(公告)号：US10293429B2
公开(公告)日：2019-05-21
申请号：US15137289
申请日：2016-04-25
申请人： FANUC CORPORATION
发明人： Yasuhiro Amagata
IPC分类号： B23K11/11 , B23K11/25 , B23K11/31 , B23K11/30 , B23K31/12
摘要： A spot welding quality check system, which can be easily used and can be adapted to various situations. The check system has: a pair of electrodes configured to move toward or away from each other and apply current to a workpiece while pressurizing the workpiece; a displacement detecting part which detects an amount of displacement between the electrodes during spot welding; a checking part which estimates as to whether welding quality is good or poor by using an inner function, based on the detected amount of displacement; a correction receiving part which receives a correction by an operator regarding the estimated welding quality; and a learning part which updates the inner function based on an estimation result when the correction receiving part does not receive the correction, and updates the inner function based on a content of the correction when the correction receiving part receives the correction.

9. 发明申请

US20160318117A1 QUALITY CHECK SYSTEM OF SPOT WELDING 审中-公开
标题翻译：点焊检测质量检测系统
公开(公告)号：US20160318117A1
公开(公告)日：2016-11-03
申请号：US15137289
申请日：2016-04-25
申请人： FANUC CORPORATION
发明人： Yasuhiro Amagata
IPC分类号： B23K11/25 , B23K11/31 , B23K11/11
CPC分类号： B23K11/25 , B23K11/115 , B23K11/253 , B23K11/3009 , B23K11/31 , B23K31/125
摘要： A spot welding quality check system, which can be easily used and can be adapted to various situations. The check system has: a pair of electrodes configured to move toward or away from each other and apply current to a workpiece while pressurizing the workpiece; a displacement detecting part which detects an amount of displacement between the electrodes during spot welding; a checking part which estimates as to whether welding quality is good or poor by using an inner function, based on the detected amount of displacement; a correction receiving part which receives a correction by an operator regarding the estimated welding quality; and a learning part which updates the inner function based on an estimation result when the correction receiving part does not receive the correction, and updates the inner function based on a content of the correction when the correction receiving part receives the correction.
摘要翻译：点焊质量检查系统，可轻松使用，可适应各种情况。检查系统具有：一对电极，其构造成朝向或远离移动，并且在对工件加压的同时向工件施加电流; 位移检测部，其在点焊期间检测电极之间的位移量; 基于检测到的位移量，通过使用内部功能来估计焊接质量是好还是差的检查部件; 校正接收部，其接收操作者关于所估计的焊接质量的校正; 以及学习部，其在校正接收部未接收到校正时基于估计结果来更新内部功能，并且当校正接收部接收到校正时，基于校正的内容来更新内部功能。

10. 发明公开

US20230244208A1 CONTROL DEVICE HAVING TOOL SETTING MANAGEMENT FUNCTION, CONTROL SYSTEM AND TOOL 审中-公开
公开(公告)号：US20230244208A1
公开(公告)日：2023-08-03
申请号：US18009816
申请日：2021-06-09
申请人： Fanuc Corporation
发明人： Yasuhiro Amagata , Shigeo Yoshida , Akinori Nishimura , Sayuki Kashiwagi
IPC分类号： G05B19/4093
CPC分类号： G05B19/40938
摘要： A control device controls a tool having a memory and removably attached to a machine. The control device includes a tool information reading unit that reads at least one of tool setting information and tool status information written in the memory of the tool, and a tool setting unit that sets the tool on the basis of at least one of the read tool setting information and tool status information. The tool is driven by a motor having an encoder, and the memory is attached to the encoder.

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