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1. 发明授权

US5906755A Spot welding control method and apparatus 失效
标题翻译：点焊控制方法及装置
公开(公告)号：US5906755A
公开(公告)日：1999-05-25
申请号：US872187
申请日：1997-06-10
申请人： Hitoshi Arasuna , Satoru Hirayama , Kazutsugu Suita , Yoshitaka Sakamoto , Seiji Suzuki
发明人： Hitoshi Arasuna , Satoru Hirayama , Kazutsugu Suita , Yoshitaka Sakamoto , Seiji Suzuki
IPC分类号： B23K11/24 , B23K11/11 , B23K11/25 , B23K11/10
CPC分类号： B23K11/255 , B23K11/311
摘要： The spot welding electrodes are driven by the servomotor (30) so as to be moved to and pressured against a work surface. The welding pressure controller (27) detects welding pressure corresponding to current flowing through the servomotor (30) via a driver (26) and controls the welding pressure so as to be changed according to the set welding pressure condition. The welding current flowing through the spot welding electrodes is controlled by the welding current controller (28). The welding current controller (28) and the welding pressure controller (27) are both controlled synchronously by the robot CPU (20) via the system bus (21). The robot CPU (20) controls the welding pressure and the welding current on the basis of the welding condition data (22) stored in a memory, so as to be changed in synchronism with each other at a plurality of welding stages, respectively. By doing this, it is possible to control the welding pressure and the welding current during the spot welding synchronously and systematically, thus realizing a spot welding control adaptive to work behavior.
摘要翻译：点焊电极由伺服电动机（30）驱动，以便移动并压靠工作表面。焊接压力控制器（27）经由驱动器（26）检测与流过伺服电动机（30）的电流对应的焊接压力，并根据设定的焊接压力条件控制焊接压力。流过点焊电极的焊接电流由焊接电流控制器（28）控制。焊接电流控制器（28）和焊接压力控制器（27）均由机器人CPU（20）经由系统总线（21）同步控制。机器人CPU（20）基于存储在存储器中的焊接条件数据（22）来控制焊接压力和焊接电流，从而分别在多个焊接阶段彼此同步地改变。通过这样做，可以同步，系统地控制点焊期间的焊接压力和焊接电流，从而实现适应工作行为的点焊控制。

2. 发明授权

US5869799A Welding gun control method 失效
标题翻译：焊枪控制方法
公开(公告)号：US5869799A
公开(公告)日：1999-02-09
申请号：US864890
申请日：1997-05-29
申请人： Hitoshi Arasuna , Satoru Hirayama , Kazutsugu Suita , Seiji Suzuki , Yoshitaka Sakamoto
发明人： Hitoshi Arasuna , Satoru Hirayama , Kazutsugu Suita , Seiji Suzuki , Yoshitaka Sakamoto
IPC分类号： B23K11/24 , B23K11/11 , B23K11/25 , B23K11/10
CPC分类号： B23K11/253 , B23K11/317
摘要： Positions where the pair of electrode chips are in contact with each other are regarded as reference positions. Desired starting positions where the tips of the pair of electrodes are slightly apart from the surfaces of a workpiece are determined on the basis of the reference positions X taking into consideration the thickness d of the workpiece. The electrode chips are moved to the desired starting position. The electrode chips are moved at a predetermined low speed until contact positions where the electrode chips come into contact with the workpiece (20). The electrode chips are then moved at a predetermined speed from the contact positions to overshot positions where the workpiece is compressed between the electrode chips.
摘要翻译：一对电极芯片彼此接触的位置被认为是参考位置。考虑到工件的厚度d，基于参考位置X确定期望的起始位置，其中一对电极的尖端与工件的表面稍微分开。电极芯片移动到所需的起始位置。电极芯片以预定的低速移动直到电极芯片与工件（20）接触的接触位置。然后，电极芯片以预定的速度从接触位置移动到工件在电极芯片之间被压缩的过冲位置。

3. 发明授权

US5340960A Control apparatus for spot welding robot 失效
标题翻译：点焊机器人控制装置
公开(公告)号：US5340960A
公开(公告)日：1994-08-23
申请号：US957108
申请日：1992-10-07
申请人： Denjiro Takasaki , Shuichi Togawa , Akio Kinoshita , Hitoshi Arasuna
发明人： Denjiro Takasaki , Shuichi Togawa , Akio Kinoshita , Hitoshi Arasuna
IPC分类号： B23K11/11 , B23K11/25 , B23K11/31 , B23K11/00
CPC分类号： B23K11/253 , B23K11/115 , B23K11/311 , B23K11/315 , B23K11/317
摘要： A control apparatus for carrying out a spot welding operation using a robot comprises a spot welding gun having a spot welding tip, an electric drive mechanism for driving the tip, and a control unit for controlling the electric drive mechanism, in which the operation of the spot welding gun is synchronously controlled with that of the robot. The electric drive mechanism is composed of an electric drive servo mechanism comprising a servo amplifier, an electric drive servo-motor and a spot welding tip driving unit. The control unit comprises a central processing unit, a random access memory, a read only memory, a timer and an input/output interface which is operatively connected to the servo mechanism and the spot welding gun. The control apparatus further comprises an input unit, a tip position detector, a robot driving unit and a robot position detector, all of which are connected to the control unit.
摘要翻译：用于使用机器人进行点焊操作的控制装置包括具有点焊头的点焊枪，用于驱动尖端的电驱动机构，以及用于控制电驱动机构的控制单元，其中，点焊枪与机器人的同步控制。电驱动机构由包括伺服放大器，电驱动伺服电动机和点焊尖端驱动单元的电驱动伺服机构构成。控制单元包括中央处理单元，随机存取存储器，只读存储器，定时器和可操作地连接到伺服机构和点焊枪的输入/输出接口。控制装置还包括输入单元，尖端位置检测器，机器人驱动单元和机器人位置检测器，所有这些都连接到控制单元。

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