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1. 发明申请

US20080041834A1 Robot Welding Controller and Control Method 有权
标题翻译：机器人焊接控制器及控制方法
公开(公告)号：US20080041834A1
公开(公告)日：2008-02-21
申请号：US11628738
申请日：2005-05-23
申请人： Kiminori Nishimura , Ryuichi Morita , Seigo Nishikawa
发明人： Kiminori Nishimura , Ryuichi Morita , Seigo Nishikawa
IPC分类号： B23K9/12
CPC分类号： B23K9/173 , B23K9/0671 , B23K9/0953 , B23K9/1272
摘要： The invention provides a robot welding controller and a robot welding control method for realizing welding of high quality by using a robot. The robot welding controller comprises a robot (1) having a welding torch (2) at its tip, a robot controller (5) for controlling the operation of the robot (1), a wire feeder (3) for feeding a wire to the welding torch (2), and a welding electric power source (10) for supplying electric power between the wire and a base material, and performs welding by moving the welding torch (2) on the basis of a commanded welding line. The robot welding controller further comprises a contact detecting section (16) for detecting contact of the wire and the base material; a feed direction switching section (12) for switching feed directions of the wire; an arc generation detecting section (13) for detecting that an arc is generated between the wire and the base material; a waveform control section (22) for controlling electric power waveforms of plural shapes applied between the wire and the base material; and a welding sequence section (20) for controlling the operations of the contact detecting section (16), the feed direction switching section (12), the arc generation detecting section (13) and the waveform control section (22) in block.
摘要翻译：本发明提供了一种通过使用机器人实现高质量焊接的机器人焊接控制器和机器人焊接控制方法。机器人焊接控制器包括：机器人（1），其顶端具有焊炬（2），用于控制机器人（1）的操作的机器人控制器（5），用于将线材馈送到焊枪（2）和用于在电线和基材之间提供电力的焊接电源（10），并且通过基于命令的焊接线移动焊炬（2）来进行焊接。所述机器人焊接控制器还包括用于检测所述线和所述基材的接触的接触检测部（16）。用于切换导线的馈送方向的馈送方向切换部分（12）电弧产生检测部（13），用于检测在所述电线和所述基材之间产生电弧; 波形控制部（22），用于控制施加在所述导线和所述基材之间的多种形状的电力波形; 以及用于控制接触检测部分（16），进给方向切换部分（12），电弧产生检测部分（13）和波形控制部分（22））的操作的焊接序列部分（20）。

2. 发明授权

US07960672B2 Robot welding controller and control method 有权
标题翻译：机器人焊接控制器及控制方法
公开(公告)号：US07960672B2
公开(公告)日：2011-06-14
申请号：US11628738
申请日：2005-05-23
申请人： Kiminori Nishimura , Ryuichi Morita , Seigo Nishikawa
发明人： Kiminori Nishimura , Ryuichi Morita , Seigo Nishikawa
IPC分类号： B23K9/10 , B23K9/12
CPC分类号： B23K9/173 , B23K9/0671 , B23K9/0953 , B23K9/1272
摘要： A robot welding controller and a robot welding control. It comprises a robot having a welding torch at its tip, a robot controller, a wire feeder, and a welding electric power. It performs welding by moving the welding torch on the basis of a commanded welding line. A contact detecting section detects contact of the wire and the base material. A feed direction switching section switches feed directions of the wire. An arc generation detecting section detects that an arc is generated between the wire and the base material. A waveform control section controls electric power waveforms of plural shapes applied between the wire and the base material. A welding sequence section controls the operations of the contact detecting section, the feed direction switching section, the arc generation detecting section and the waveform control section in block.
摘要翻译：机器人焊接控制器和机器人焊接控制。它包括在其尖端具有焊炬的机器人，机器人控制器，送丝机和焊接电力。它通过在指令焊接线的基础上移动焊炬进行焊接。接触检测部检测线和基材的接触。进给方向切换部切换线的供给方向。电弧产生检测部检测线和基材之间产生电弧。波形控制部控制施加在线材和基材之间的多种形状的电力波形。焊接顺序部分控制接触检测部分，进给方向切换部分，电弧产生检测部分和波形控制部分的操作。

3. 发明申请

US20080161964A1 Robot System 有权
标题翻译：机器人系统
公开(公告)号：US20080161964A1
公开(公告)日：2008-07-03
申请号：US11721408
申请日：2005-12-08
申请人： Toshimitsu Irie , Ryuichi Morita , Seigo Nishikawa , Akio Sato , Takeshi Ikeda
发明人： Toshimitsu Irie , Ryuichi Morita , Seigo Nishikawa , Akio Sato , Takeshi Ikeda
IPC分类号： G05B19/4093 , B23K26/08 , B23K26/02
CPC分类号： B25J9/1664 , B23K26/0884 , G05B2219/39177 , G05B2219/39401 , G05B2219/39572 , G05B2219/40416 , G05B2219/45138 , G05B2219/45165
摘要： There is provided a robot system which moves a laser beam in a processing path desired by a manipulator by moving a robot in an instructed path and controlling a driving shaft of a tool. In the robot system which includes a robot 1 having a plurality of driving shafts, a tool 3 having a plurality of driving shafts and fitted on an end portion of the robot 1, a robot control device controlling the driving shafts of the robot 1 and the tool 3, and a laser oscillator 5 connected to the tool 3, the robot 1 moves the tool 3 by means of the drive of the driving shafts of the robot, the tool 3 radiates a laser beam which is incident from the laser oscillator 5 to an object by means of the drive of the driving shafts of the tool, and a robot control device 2 controls the driving shafts of the robot 1 and the driving shafts of the tool 3 in synchronization with each other.
摘要翻译：提供了一种机器人系统，其通过在指示的路径中移动机器人并且控制工具的驱动轴来在操纵器期望的处理路径中移动激光束。在包括具有多个驱动轴的机器人1的机器人系统中，具有多个驱动轴并安装在机器人1的端部的工具3，控制机器人1的驱动轴的机器人控制装置和工具3和连接到工具3的激光振荡器5，机器人1通过机器人的驱动轴的驱动来移动工具3，工具3将从激光振荡器5入射的激光束照射到通过工具的驱动轴的驱动，物体，机器人控制装置2相互同步地控制机器人1的驱动轴和工具3的驱动轴。

4. 发明授权

US07186949B2 Arc welding equipment 有权
标题翻译：电弧焊设备
公开(公告)号：US07186949B2
公开(公告)日：2007-03-06
申请号：US10509492
申请日：2003-03-31
申请人： Seigo Nishikawa , Ryuichi Morita
发明人： Seigo Nishikawa , Ryuichi Morita
IPC分类号： B23K9/095
CPC分类号： B23K9/0956
摘要： It is an object to provide an arc welding apparatus capable of causing an operator to easily decide a welding abnormality and the quality of a welding condition by simultaneously displaying a welding current command value, a welding voltage command value and a wire feeding speed command value and switching and displaying an actual welding current value, an actual welding voltage value and an actual wire feeding speed.There are provided a welding torch (8), a wire feeding device for feeding a wire (9) in contact with the internal surface of a chip (17) of the welding torch (8), a welding source (4) for supplying a power to the chip (17) and a base metal (13), a welding current detector (30) and a welding voltage detector (31), and a wire feeding speed command value, a welding current value and a welding voltage value are displayed independently and simultaneously.
摘要翻译：本发明的目的是提供一种电弧焊接装置，其能够通过同时显示焊接电流指令值，焊接电压指令值和送丝速度指令值，使操作者容易地判定焊接异常和焊接条件的质量，以及切换和显示实际焊接电流值，实际焊接电压值和实际焊丝进给速度。提供了一种焊枪（8），用于供给与焊炬（8）的芯片（17）的内表面接触的电线（9）的送丝装置，用于供给焊枪显示对芯片17和贱金属13的电力，焊接电流检测器30和焊接电压检测器31以及送丝速度指令值，焊接电流值和焊接电压值的显示独立和同时。

5. 发明授权

US07974735B2 Laser tool robot system with coordinated drive shaft control 有权
标题翻译：具有协调驱动轴控制的激光工具机器人系统
公开(公告)号：US07974735B2
公开(公告)日：2011-07-05
申请号：US11721408
申请日：2005-12-08
申请人： Toshimitsu Irie , Ryuichi Morita , Seigo Nishikawa , Akio Sato , Takeshi Ikeda
发明人： Toshimitsu Irie , Ryuichi Morita , Seigo Nishikawa , Akio Sato , Takeshi Ikeda
IPC分类号： G06F19/00
CPC分类号： B25J9/1664 , B23K26/0884 , G05B2219/39177 , G05B2219/39401 , G05B2219/39572 , G05B2219/40416 , G05B2219/45138 , G05B2219/45165
摘要： A robot system includes s a robot (1) which moves a tool (3) attached to an end of the robot (1) by driving a robot drive shaft. The tool (3) applies a laser beam inputted from a laser oscillator (5) by drive of the tool drive shaft to an object. A robot control device (2) controls the robot drive shaft and the tool drive shaft in synchronization.
摘要翻译：机器人系统包括通过驱动机器人驱动轴来移动附接到机器人（1）的端部的工具（3）的机器人（1）。工具（3）通过工具驱动轴的驱动将激光振荡器（5）输入的激光束施加到物体上。机器人控制装置（2）同步地控制机器人驱动轴和工具驱动轴。

6. 发明申请

US20050145610A1 Arc welding epuipment 有权
标题翻译：电弧焊设备
公开(公告)号：US20050145610A1
公开(公告)日：2005-07-07
申请号：US10509492
申请日：2003-03-31
申请人： Seigo Nishikawa , Ryuichi Morita
发明人： Seigo Nishikawa , Ryuichi Morita
IPC分类号： B23K9/095 , B23K9/12
CPC分类号： B23K9/0956
摘要： It is an object to provide an arc welding apparatus capable of causing an operator to easily decide a welding abnormality and the quality of a welding condition by simultaneously displaying a welding current command value, a welding voltage command value and a wire feeding speed command value and switching and displaying an actual welding current value, an actual welding voltage value and an actual wire feeding speed. There are provided a welding torch (8), a wire feeding device for feeding a wire (9) in contact with the internal surface of a chip (17) of the welding torch (8), a welding source (4) for supplying a power to the chip (17) and a base metal (13), a welding current detector (30) and a welding voltage detector (31), and a wire feeding speed command value, a welding current value and a welding voltage value are displayed independently and simultaneously.
摘要翻译：本发明的目的是提供一种电弧焊接装置，其能够通过同时显示焊接电流指令值，焊接电压指令值和送丝速度指令值，使操作者容易地判定焊接异常和焊接条件的质量，以及切换和显示实际焊接电流值，实际焊接电压值和实际焊丝进给速度。提供了一种焊枪（8），用于供给与焊炬（8）的芯片（17）的内表面接触的电线（9）的送丝装置，用于供给焊枪显示对芯片17和贱金属13的电力，焊接电流检测器30和焊接电压检测器31以及送丝速度指令值，焊接电流值和焊接电压值的显示独立和同时。

7. 发明授权

US5601739A Method and apparatus for controlling arc welding robot 失效
标题翻译：电弧焊机器人控制方法及装置
公开(公告)号：US5601739A
公开(公告)日：1997-02-11
申请号：US507430
申请日：1995-09-07
申请人： Shinji Okumura , Takahide Hirayama , Ryuichi Morita
发明人： Shinji Okumura , Takahide Hirayama , Ryuichi Morita
IPC分类号： B23K9/095 , B23K9/10 , B23K9/12
CPC分类号： B23K9/0953 , B23K9/1043
摘要： Arc generation time is obtained for each region to be welded by measuring the time during which the arc current (or voltage) exceeds a reference current (or voltage) and is compared with predetermined time which is set depending on the welding operation. An abnormality is detected in welding if the arc generation time is shorter.
摘要翻译： PCT No.PCT / JP94 / 00407 Sec。 371 1995年9月7日第 102（e）日期1995年9月7日PCT 1994年3月15日PCT公布。出版物WO94 / 21416 PCT 日期1994年9月29日通过测量电弧电流（或电压）超过参考电流（或电压）的时间，并与根据焊接设定的预定时间进行比较，获得每个待焊接区域的生成时间操作。如果电弧产生时间较短，则在焊接中检测到异常。

8. 发明申请

US20080057968A1 Wireless Communication Apparatus and Communication Control Method Thereof 审中-公开
标题翻译：无线通信装置及其通信控制方法
公开(公告)号：US20080057968A1
公开(公告)日：2008-03-06
申请号：US10581662
申请日：2004-10-26
申请人： Kenji Matsukuma , Michiharu Tanaka , Ryuichi Morita , Naoyuki Motomura , Hiroyuki Handa , Seiichiro Okada
发明人： Kenji Matsukuma , Michiharu Tanaka , Ryuichi Morita , Naoyuki Motomura , Hiroyuki Handa , Seiichiro Okada
IPC分类号： H04Q7/20
CPC分类号： H04W74/08 , H04W74/002
摘要： A wireless operating system is provided which can be applied even to such an environment that a plurality of controllers and a plurality of operating terminals are mixed with each other, and also, can readily establish communications within a short time.A first wireless station transmits a calling instruction to a second wireless station via a connection-purpose channel which has been set, and when the first wireless station receives a response, the first wireless station switches the connection-purpose channel to a communication-purpose channel contained in the response data. Further, the second wireless station waits the calling instruction from the first wireless station via the preset connection-purpose channel, and when the second wireless station receives the calling instruction, the second wireless station seeks a channel which is not used so as to determine a communication channel, and transmits response data containing a communication-purpose channel number thereof to the first wireless station, and thereafter, switches the connection-purpose channel into the determined communication-purpose channel.
摘要翻译：提供了一种无线操作系统，其可以甚至应用于使多个控制器和多个操作终端彼此混合的环境，并且还可以在短时间内容易地建立通信。第一无线站经由已经设置的连接用途信道向第二无线站发送呼叫指示，当第一无线站接收到响应时，第一无线站将连接目的信道切换到通信用信道包含在响应数据中。此外，第二无线站经由预设的连接用途信道等待来自第一无线站的呼叫指示，当第二无线站接收到呼叫指示时，第二无线站寻求未被使用的信道，以便确定通信信道，并将包含其通信目的信道号的响应数据发送到第一无线站，然后将连接目的信道切换到确定的通信目的信道。

9. 发明申请

US20050065659A1 Robot control device 失效
标题翻译：机器人控制装置
公开(公告)号：US20050065659A1
公开(公告)日：2005-03-24
申请号：US10502944
申请日：2003-02-10
申请人： Michiharu Tanaka , Ryuichi Morita
发明人： Michiharu Tanaka , Ryuichi Morita
IPC分类号： B25J13/06 , B25J9/16 , G05B19/409 , G05B19/4155 , G06F19/00
CPC分类号： B25J9/1658 , G05B2219/35287 , G05B2219/36017 , Y10S707/99945 , Y10S707/99948
摘要： A robot control apparatus capable of displaying work programs related to a work program in a list form in combination with related information is provided. The robot control apparatus is provided with: program display means (6) for displaying the work program in a list form; child program list producing means (3) for retrieving another work program which is called by the work program so as to form a child program list; mother program list producing means (4) for retrieving another work program which calls the work program so as to form a mother program list; related program storage means (5) for storing both the child program list and the mother program list in the storage means; and display selecting means (7) for selecting a display way in the case that the work program is displayed in the lit form.
摘要翻译：提供一种能够结合相关信息显示与列表形式的工作程序相关的工作程序的机器人控制装置。机器人控制装置具有：用于以列表形式显示工作程序的程序显示装置（6）子程序列表生成单元（3），用于检索由所述工作程序调用以形成子程序列表的另一工作程序; 母亲节目表产生装置（4），用于检索调用工作程序的另一个工作程序，以便形成母亲节目表; 相关程序存储装置（5），用于在存储装置中存储子程序列表和母
程序列表; 以及在以点亮形式显示工作程序的情况下用于选择显示方式的显示选择装置（7）。

10. 发明授权

US07515993B2 Robot control apparatus 失效
标题翻译：机器人控制装置
公开(公告)号：US07515993B2
公开(公告)日：2009-04-07
申请号：US10502944
申请日：2003-02-10
申请人： Michiharu Tanaka , Ryuichi Morita
发明人： Michiharu Tanaka , Ryuichi Morita
IPC分类号： G06F19/00
CPC分类号： B25J9/1658 , G05B2219/35287 , G05B2219/36017 , Y10S707/99945 , Y10S707/99948
摘要： A robot control apparatus for controlling a robot based upon a work program registered in storage means. A program display means is provided for displaying said work program in a list form. A child program list producing means retrieves another work program which is called by said work program and produces a child program list thereof A mother program list producing means retrieves another work program which calls said work program, and produces a mother program list. A related program storage means stories both said child program list and said mother program list in said storage means. A display selecting means selects a display way when said work program is displayed in the list form.
摘要翻译：一种用于基于在存储装置中登记的工作程序来控制机器人的机器人控制装置。提供了用于以列表形式显示所述工作程序的程序显示装置。子程序列表生成单元检索由所述工作程序调用的其他工作程序，并生成子程序列表。母亲程序列表生成单元检索调用所述工作程序的另一工作程序，并生成母程序列表。相关的程序存储装置在所述存储装置中叙述所述子程序列表和所述母
程序列表。当所述工作程序以列表形式显示时，显示选择装置选择显示方式。

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