专利快速检索-快速检索全球专利，免费商用专利数据库-IPRDB

1. 发明授权

US4951218A Positional information detecting method in arc welding 失效
标题翻译：电弧焊定位信息检测方法
公开(公告)号：US4951218A
公开(公告)日：1990-08-21
申请号：US187664
申请日：1988-03-07
申请人： Shinji Okumura , Hiroaki Ito , Seigo Nishikawa , Tatsumi Nakazato
发明人： Shinji Okumura , Hiroaki Ito , Seigo Nishikawa , Tatsumi Nakazato
IPC分类号： B23K9/095 , B23K9/12 , B23K9/127 , B23Q35/128 , B25J9/16
CPC分类号： B23Q35/128 , B23K9/0956 , B23K9/1274 , B25J9/1684
摘要： Herein disclosed is a method of detecting information on an arc welding position by monitoring the shape and/or position of an welding arc. When in the arc welding along a welding groove position while locating the same, the shape of the arc is picked up from above the joint portion of a member to be welded by means of an image pickup device, and the arc shape picked up is binary-coded. This binary arc shape and/or position are monitored to detect the welding groove position, the height of the welding torch, the welding start point, the welding end point, the external corner point, the internal corner point, the contact point of the welding wire with the work, and the welding groove gap.

2. 发明授权

US5040124A Positional information detecting method in arc welding 失效
公开(公告)号：US5040124A
公开(公告)日：1991-08-13
申请号：US546621
申请日：1990-06-27
申请人： Shinji Okumura , Hiroaki Ito , Seigo Nishikawa , Tatsumi Nakazato
发明人： Shinji Okumura , Hiroaki Ito , Seigo Nishikawa , Tatsumi Nakazato
IPC分类号： B23K9/095 , B23K9/12 , B23K9/127 , B23Q35/128 , B25J9/16
CPC分类号： B23Q35/128 , B23K9/0956 , B23K9/1274 , B25J9/1684
摘要： A method of detecting information on an arc welding position by monitoring the shape and/or position of an welding arc. When in the arc welding along a welding groove position while locating the same, the shape of the arc is picked up from above the joint portion of a member to be welded by means of an image pickup device, and the arc shape picked up is binary-coded. This binary arc shape and/or position are monitored to detect the welding groove position, the height of the welding torch, the welding start point, the welding end point, the external corner point, the internal corner point, the contact point of the welding wire with the work, and the welding groove gap.

3. 发明授权

US5040125A Positional information detecting method in arc welding 失效
公开(公告)号：US5040125A
公开(公告)日：1991-08-13
申请号：US545323
申请日：1990-06-27
申请人： Shinji Okumura , Hiroaki Ito , Seigo Nishikawa , Tatsumi Nakazato
发明人： Shinji Okumura , Hiroaki Ito , Seigo Nishikawa , Tatsumi Nakazato
IPC分类号： B23K9/095 , B23K9/12 , B23K9/127 , B23Q35/128 , B25J9/16
CPC分类号： B23Q35/128 , B23K9/0956 , B23K9/1274 , B25J9/1684
摘要： A method of detecting information on an arc welding position by monitoring the shape and/or position of an welding arc. When in the arc welding along a welding groove position while locating the same, the shape of the arc is picked up from above the joint portion of a member to be welded by means of an image pickup device, and the arc shape picked up is binary-coded. This binary arc shape and/or position are monitored to detect the welding groove position, the height of the welding torch, the welding start point, the welding end point, the external corner point, the internal corner point, the contact point of the welding wire with the work, and the welding groove gap.

4. 发明授权

US5038292A Positional information detecting method in arc welding 失效
标题翻译：电弧焊定位信息检测方法
公开(公告)号：US5038292A
公开(公告)日：1991-08-06
申请号：US545320
申请日：1990-06-27
申请人： Shinji Okumura , Hiroaki Ito , Seigo Nishikawa , Tatsumi Nakazato
发明人： Shinji Okumura , Hiroaki Ito , Seigo Nishikawa , Tatsumi Nakazato
IPC分类号： B23K9/095 , B23K9/12 , B23K9/127 , B23Q35/128 , B25J9/16
CPC分类号： B23Q35/128 , B23K9/0956 , B23K9/1274 , B25J9/1684
摘要： A method of detecting information on an arc welding position by monitoring the shape and/or position of an welding arc. When in the arc welding along a welding groove position while locating the same, the shape of the arc is picked up from above the joint portion of a member to be welded by means of an image pickup device, and the arc shape picked up is binary-coded. This binary arc shape and/or position are monitored to detect the welding groove position, the height of the welding torch, the welding start point, the welding end point, the external corner point, the internal corner point, the contact point of the welding wire with the work, and the welding groove gap.

5. 发明授权

US5359672A Line detecting method using two rectangular windows passing through the line to be detected 失效
标题翻译：线路检测方法使用两条矩形窗口通过要检测的线路
公开(公告)号：US5359672A
公开(公告)日：1994-10-25
申请号：US828960
申请日：1992-02-04
申请人： Shinji Okumura , Seigo Nishikawa , Tatsumi Nakazato , Kiyoshi Hirakawa
发明人： Shinji Okumura , Seigo Nishikawa , Tatsumi Nakazato , Kiyoshi Hirakawa
IPC分类号： G06T7/60 , G06K9/46 , G06T5/00 , G06T7/00 , G06K9/66
CPC分类号： G06K9/4647 , G06T7/0042 , G06T7/0083 , G06T2207/10016
摘要： In the preparatory stage, among all possible lines in two rectangular windows (12) and (14), assuming dust, a flaw or the like to be a part of a line, the most valid one is recognized as a line, and the inclination and characteristic values of the line are obtained, and then each rectangular window is deformed into a parallelogram-shaped window along this inclination. In the detecting stage, the inclination and characteristic values of the line to be detected are obtained by use of the parallelogram-shaped windows. Thus, even if image data is inferior, the detection of a line is possible, so that it is possible to detect a weld line, an edge of an object of detection, etc. with high accuracy.
摘要翻译： PCT No.PCT / JP91 / 00777 Sec。一九九二年二月四日 102（e）日期1992年2月4日PCT Filed 1991年6月10日PCT公布。 WO91 / 20049 PCT出版物日期为1991年12月26日。在准备阶段，在两个矩形窗（12）和（14）的所有可能的线中，假设灰尘，缺陷等是线的一部分，最有效的一个被识别作为线，并且获得线的倾斜度和特征值，然后每个矩形窗口沿着该倾斜变形成平行四边形窗口。在检测阶段，通过使用平行四边形形状的窗口来获得被检测线的倾斜度和特征值。因此，即使图像数据较差，线的检测也是可能的，从而可以高精度地检测焊接线，检测对象的边缘等。

6. 发明授权

US5173592A Method and apparatus for multi-layer welding 失效
标题翻译：多层焊接方法与装置
公开(公告)号：US5173592A
公开(公告)日：1992-12-22
申请号：US598704
申请日：1990-10-17
申请人： Shinji Okumura , Keiichi Takaoka , Tatsumi Nakazato
发明人： Shinji Okumura , Keiichi Takaoka , Tatsumi Nakazato
IPC分类号： B23K9/02 , B23K9/04 , G05B19/4103 , G05B19/425
CPC分类号： B23K9/0216 , B23K9/04 , G05B19/4103 , G05B19/425 , G05B2219/45104 , G05B2219/45238
摘要： Approximate straight lines or approximate curves at the instructed points are obtained on the basis of coordinates actually passed by a welding torch at the instructed points in the welding of the first layer, points on the approximate straight lines or approximate curves are calculated on the basis of distance at the instructed points, and actual welding path is defined at the points. In the locus of the second and succeeding layers, a shift direction and a shift amount are obtained by calculation on the basis of two points instructed as a welding start point and a termination point in the teaching of the first layer and two reference points designated to define the shift direction, and the locus of operation after the second layer is calculated to effect multi-layer welding. For controlling the torch attitude in the welding of the second layer and succeeding layers, a locus of operation of a torch in the welding of the first layer and a locus of operation of the second and succeeding layers are obtained on the basis of a torch rotational angle given from the outside, after which the torch is rotated by a portion of a torch rotational angle about the traveling vector obtained at the instructed point, and the attitude data is obtained by calculation. Welding of the second and succeeding layers is carried out on the basis of the obtained attitude data.
摘要翻译： PCT No.PCT / JP90 / 00212 Sec。 371 1990年10月17日第 102（e）1990年10月17日日期PCT提交1990年2月21日PCT公布。公开号WO90 / 09859 1990年9月7日。指示点的近似直线或近似曲线是根据焊枪实际通过的焊接点在第一层焊接指示点获得的，大致直线或近似点根据指示点的距离计算曲线，并在点上定义实际焊接路径。在第二层和后续层的轨迹中，通过基于指定为第一层的教导中的焊接起始点和终止点的两个点和指定为第一层的两个参考点的两个点进行计算来获得移动方向和移动量定义换档方向，计算第二层后的运行轨迹，实现多层焊接。为了控制第二层和后续层的焊接中的割炬姿态，在第一层的焊接中的焊炬的操作轨迹和第二层和后一层的操作轨迹基于割炬旋转获得角度由外部给出，在此之后，割炬围绕指示点获得的行进矢量旋转割炬旋转角度的一部分，并且通过计算获得姿态数据。基于获得的姿态数据进行第二层和后层的焊接。

7. 发明授权

US4937426A Automatic groove tracing method for an arc welding robot 失效
标题翻译：弧焊机器人的自动凹槽追踪方法
公开(公告)号：US4937426A
公开(公告)日：1990-06-26
申请号：US291304
申请日：1988-12-28
申请人： Seigo Nishikawa , Shinji Okumura , Tadayuki Amano , Kazutoshi Hata
发明人： Seigo Nishikawa , Shinji Okumura , Tadayuki Amano , Kazutoshi Hata
IPC分类号： B23K9/127
CPC分类号： B23K9/127
摘要： A method is disclosed for correcting the travel path of an oscillating robotic welding torch tracing a groove line defined by an upper and lower plate. According to one aspect of the invention, a first integrated value of the welding current at the center of oscillation is compared with second and third integrated values of the welding current at opposite first and second ends of the oscillation, respectively. The travel path of the robotic welding torches adjusted towards the second end of oscillation when the second and third integrated values of the welding current are smaller than the first integrated value of the welding current. According to another aspect of the present invention, a first integrated value of the welding current at the second end of oscillation of a previous oscillation torch is compared with a second integrated value of the welding current at the second end of oscillation of a subsequent oscillation. The travel path of the robotic welding torch is adjusted towards the second end of oscillation when the difference between the first and second integrated value exceeds a predetermined allowable value. According to yet another aspect of the present invention, an integrated value of the welding current at the second end of oscillation is compared with an average integrated value of the second end of oscillation. The average integrated value at the second end of oscillation being a value resulting when the robotic vehicle correctly traverses the groove line. The travel path is adjusted towards the second end of oscillation when the difference between the first and average integrated values exceeds a predetermined allowable deviation value.
摘要翻译：公开了一种用于校正由上下板限定的槽线的振荡自动焊枪的行进路径的方法。根据本发明的一个方面，将振荡中心处的焊接电流的第一积分值分别与在振荡的相对的第一和第二端处的焊接电流的第二和第三积分值进行比较。当焊接电流的第二和第三积分值小于焊接电流的第一积分值时，机器人焊枪的行进路径被调整为朝向第二振荡端。根据本发明的另一方面，将先前的振荡炬的振荡的第二端处的焊接电流的第一积分值与后续振荡的第二振荡结束时的焊接电流的第二积分值进行比较。当第一和第二积分值之间的差超过预定的允许值时，机器人焊炬的移动路径被调整到第二振荡结束。根据本发明的另一方面，将振荡第二端处的焊接电流的积分值与第二振荡结束的平均积分值进行比较。振动第二端的平均积分值是当机器人车辆正好穿过槽线时产生的值。当第一和平均积分值之间的差超过预定的允许偏差值时，行进路径被调整到第二次振荡结束。

8. 发明授权

US5066848A Automatic copying method for a welding torch in an arc welding robot 失效
标题翻译：用于焊接机器的焊接机器的自动复制方法
公开(公告)号：US5066848A
公开(公告)日：1991-11-19
申请号：US514553
申请日：1990-04-25
申请人： Seigo Nishikawa , Shinji Okumura , Tadayuki Amano , Kazutoshi Hata
发明人： Seigo Nishikawa , Shinji Okumura , Tadayuki Amano , Kazutoshi Hata
IPC分类号： B23K9/127
CPC分类号： B23K9/127
摘要： In the case where lap fillet welding is carried out by a conventional arc welding robot, when a weld wire is once departed towards an upper plate, the wire keeps being away from a weld line, and therefore, various teaching techniques so as to prevent such a departure have been re-required. In the case where a weld line is long, if the wire is departed, a defective weld length becomes long, thus posing an significant problem.The present invention provides a control method for an arc sensor by detection of a weld current. That is, a departure of a lap fillet weld towards an upper plate is prevented merely by addition of a detection algorithm, teaching can be simplified and practical merits are great.

9. 发明授权

US06627850B1 Consumable electrode type arc welding method and device therefor 有权
标题翻译：消弧电极型弧焊方法及其设备
公开(公告)号：US06627850B1
公开(公告)日：2003-09-30
申请号：US09936269
申请日：2001-10-10
申请人： Yasuhiro Koga , Shinji Okumura , Takahide Hirayama , Satoru Nio , Haruki Nakashima , Tsuneo Mita
发明人： Yasuhiro Koga , Shinji Okumura , Takahide Hirayama , Satoru Nio , Haruki Nakashima , Tsuneo Mita
IPC分类号： B23K912
CPC分类号： B23K9/0956 , B23K9/124
摘要： The welding method according to the present invention is adapted to carry out a welding operation by feeding a welding wire to a material to be welded, and generating an arc between the material to be welded and welding wire, in which the welding is done with the welding wire feeding speed increased and reduced during the welding operation, the welding wire feeding speed being reduced after the occurrence of short-circuiting is detected, the welding wire feeding speed being increased after the cancellation of the short-circuiting and the transfer of the welding operation to the formation of the arc are detected.
摘要翻译：根据本发明的焊接方法适于通过将焊丝馈送到待焊接的材料，并且在被焊接材料和焊丝之间产生电弧进行焊接操作，其中焊接完成时在焊接操作期间焊丝进给速度增加和减少，检测到发生短路后焊丝进给速度降低，在取消短路和焊接之后焊丝进给速度增加检测到形成电弧的操作。

10. 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。

你已经成功收藏专利！

检索式保存成功!

IPRDB

热门服务

关于我们

友情链接

联系方式