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1. 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。

2. 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。

3. 发明授权

US06872915B2 High speed carbon dioxide gas welding method 失效
标题翻译：高速二氧化碳气体焊接方法
公开(公告)号：US06872915B2
公开(公告)日：2005-03-29
申请号：US10204436
申请日：2001-03-01
申请人： Yasuhiro Koga , Shinji Okumura , Haruki Nakashima , Hiroyuki Handa , Takahide Hirayama
发明人： Yasuhiro Koga , Shinji Okumura , Haruki Nakashima , Hiroyuki Handa , Takahide Hirayama
IPC分类号： B23K9/173 , B23K9/073 , B23K9/095 , B23K9/10 , B23K9/12
CPC分类号： B23K9/1062
摘要： An arc welding method which suppresses sputtering and which makes it possible to obtain a smooth bead penetration surface shape as in MIG or MAG welding, without producing undercuts or bumping beads. A carbon dioxide gas welding method effecting welding at welding rates of about not less than 1.5 m/minute using a consumable electrode and a welding power source having a control means for opening a short circuit at a rate of at least about 500 A/msec on detection of such short circuit, wherein welding is effected with a proper volume of globules under the welding conditions obtained by computing a welding voltage corresponding to the proper volume of globules by a first formula representing the relationship between the welding wire feed rate, the welding voltage and the volume of globules traveling to a pond of weld as the welding wire is melting and a second formula representing the relationship between the wire feed rate, the welding voltage, and the period of globules traveling to a pond of weld as the welding wire is melting.
摘要翻译：抑制溅射的电弧焊接方法，并且能够获得像MIG或MAG焊接那样的平滑的珠粒贯通表面形状，而不产生底切或凸起珠。一种二氧化碳气体焊接方法，其使用消耗电极和焊接电源，以约不小于1.5m /分的焊接速率进行焊接，所述焊接电源具有用于以至少约500A / ms的速率打开短路的控制装置检测这种短路，其中在适当体积的小球的焊接条件下，通过计算与适当体积的球体相对应的焊接电压获得的焊接条件下，通过表示焊丝进给速率，焊接电压以及当焊丝熔化时行进到焊池的小球的体积，以及表示焊丝进给速率，焊接电压以及当焊丝行进到焊池的小球的周期之间的关系的第二公式为融化。

4. 发明申请

US20050090934A1 Robot controller 失效
标题翻译：机器人控制器
公开(公告)号：US20050090934A1
公开(公告)日：2005-04-28
申请号：US10988505
申请日：2004-11-16
申请人： Takahide Hirayama , Shinji Okumura , Hiyoyuki Handa , Takeshi Okamoto
发明人： Takahide Hirayama , Shinji Okumura , Hiyoyuki Handa , Takeshi Okamoto
IPC分类号： G05B19/4155 , B23K9/12 , B25J9/16 , B25J9/22 , G05B19/00 , G05B19/425 , G06F19/00
CPC分类号： G05B19/425 , B23K9/126 , B25J9/1656 , G05B19/00 , G05B2219/36045 , G05B2219/40387
摘要： A robot controller for teaching a robot with high efficiency. The robot controller including command storage unit (21) where a movement command and a work command are stored, command identifying unit (24) for discriminating between the movement and work commands, unit (22) for making/editing a series of work programs or discrete work programs by a combination of the commands, work program storage units (23) where the work programs are stored so as to control the robot according to the stored program, further including a work section identifying unit (25) for identifying a work section of the work program by way of the command identification unit (24) and work section automatic stopping unit (27) for automatically stopping or suspending the execution of the work program at the work section in a standby state when the work section identifying unit (25) identifies the work section during the execution of the work program.
摘要翻译：一种用于高效率地教导机器人的机器人控制器。所述机器人控制器包括存储有移动指令和作业命令的命令存储单元（21），用于区分移动和作业命令的命令识别单元（24），用于制作/编辑一系列工作程序的单元（22）通过命令的组合，存储工作程序的工作程序存储单元（23）以便根据存储的程序来控制机器人的分立工作程序，还包括用于识别工作部分的工作部分识别单元（25）通过命令识别单元（24）和工作部分自动停止单元（27），用于在工作部分识别单元（25）处于待机状态时自动停止或暂停在工作部分的工作程序的执行）在执行工作程序期间识别工作部分。

5. 发明授权

US07136723B2 Robot controller 失效
标题翻译：机器人控制器
公开(公告)号：US07136723B2
公开(公告)日：2006-11-14
申请号：US10988505
申请日：2004-11-16
申请人： Takahide Hirayama , Shinji Okumura , Hiyoyuki Handa , Takeshi Okamoto
发明人： Takahide Hirayama , Shinji Okumura , Hiyoyuki Handa , Takeshi Okamoto
IPC分类号： G06F19/00
CPC分类号： G05B19/425 , B23K9/126 , B25J9/1656 , G05B19/00 , G05B2219/36045 , G05B2219/40387
摘要： A robot controller for teaching a robot with high efficiency. The robot controller including command storage unit (21) where a movement command and a work command are stored, command identifying unit (24) for discriminating between the movement and work commands, unit (22) for making/editing a series of work programs or discrete work programs by a combination of the commands, work program storage units (23) where the work programs are stored so as to control the robot according to the stored program, further including a work section identifying unit (25) for identifying a work section of the work program by way of the command identification unit (24) and work section automatic stopping unit (27) for automatically stopping or suspending the execution of the work program at the work section in a standby state when the work section identifying unit (25) identifies the work section during the execution of the work program.
摘要翻译：一种用于高效率地教导机器人的机器人控制器。所述机器人控制器包括存储有移动指令和作业命令的命令存储单元（21），用于区分移动和作业命令的命令识别单元（24），用于制作/编辑一系列工作程序的单元（22）通过命令的组合，存储工作程序的工作程序存储单元（23）以便根据存储的程序来控制机器人的分立工作程序，还包括用于识别工作部分的工作部分识别单元（25）通过命令识别单元（24）和工作部分自动停止单元（27），用于在工作部分识别单元（25）处于待机状态时自动停止或暂停在工作部分的工作程序的执行）在执行工作程序期间识别工作部分。

6. 发明授权

US06853878B2 Robot controller 失效
标题翻译：机器人控制器
公开(公告)号：US06853878B2
公开(公告)日：2005-02-08
申请号：US10182710
申请日：2001-02-08
申请人： Takahide Hirayama , Shinji Okumura , Hiyoyuki Handa , Takeshi Okamoto
发明人： Takahide Hirayama , Shinji Okumura , Hiyoyuki Handa , Takeshi Okamoto
IPC分类号： G05B19/4155 , B23K9/12 , B25J9/16 , B25J9/22 , G05B19/00 , G05B19/425
CPC分类号： G05B19/425 , B23K9/126 , B25J9/1656 , G05B19/00 , G05B2219/36045 , G05B2219/40387
摘要： A robot controller for teaching a robot with high efficiency. The robot controller including command storage unit (21) where a movement command and a work command are stored, command identifying unit (24) for discriminating between the movement and work commands, unit (22) for making/editing a series of work programs or discrete work programs by a combination of the commands, work program storage units (23) where the work programs are stored so as to control the robot according to the stored program, further including a work section identifying unit (25) for identifying a work section of the work program by way of the command identification unit (24) and work section automatic stopping unit (27) for automatically stopping or suspending the execution of the work program at the work section in a standby state when the work section identifying unit (25) identifies the work section during the execution of the work program.
摘要翻译：一种用于高效率地教导机器人的机器人控制器。所述机器人控制器包括存储有移动指令和作业命令的命令存储单元（21），用于区分移动和作业命令的命令识别单元（24），用于制作/编辑一系列工作程序的单元（22）通过命令的组合，存储工作程序的工作程序存储单元（23）以便根据存储的程序来控制机器人的分立工作程序，还包括用于识别工作部分的工作部分识别单元（25）通过命令识别单元（24）和工作部分自动停止单元（27），用于在工作部分识别单元（25）处于待机状态时自动停止或暂停在工作部分的工作程序的执行）在执行工作程序期间识别工作部分。

7. 发明授权

US06271500B1 Arc welding monitoring device 有权
标题翻译：电弧焊监控装置
公开(公告)号：US06271500B1
公开(公告)日：2001-08-07
申请号：US09485170
申请日：2000-02-07
申请人： Takahide Hirayama , Shinji Okumura , Keiichi Takaoka , Noriyuki Ohsawa
发明人： Takahide Hirayama , Shinji Okumura , Keiichi Takaoka , Noriyuki Ohsawa
IPC分类号： B23K9095
CPC分类号： B23K9/0953
摘要： The invention provides an arc welding monitoring device by which it is possible to easily find how detected data such as a welding current and welding voltage correspond to trajectories of a robot, in other words, welding line information of a welding work. The arc welding monitoring device comprises means 4 and 5 for detecting at least either the welding current or welding voltage, a means 14 for storing the detected data, a means 14 for storing trajectories of a robot, and a means for displaying, on a screen display, at least either the welding current or welding voltage detected by said detecting means, and the trajectories of the robot stored by the storing means, wherein a range is determined on the trajectories displayed on the screen display, and arc welding monitoring display is enabled in compliance with the range.
摘要翻译：本发明提供一种电弧焊接监视装置，通过该装置，可以容易地找到诸如焊接电流和焊接电压的检测数据如何对应于机器人的轨迹，换句话说，焊接作业的焊接线信息。电弧焊接监视装置包括用于检测焊接电流或焊接电压中的至少一个的装置4和5，用于存储检测到的数据的装置14，用于存储机器人的轨迹的装置14和用于在屏幕上显示的装置显示由所述检测装置检测到的焊接电流或焊接电压以及由存储装置存储的机器人的轨迹中的至少一个，其中对屏幕显示上显示的轨迹确定范围，并且使能电弧焊接监视显示符合范围。

8. 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。

9. 发明授权

US6096994A Automatic welding condition setting device 失效
标题翻译：自动焊接条件设定装置
公开(公告)号：US6096994A
公开(公告)日：2000-08-01
申请号：US29804
申请日：1998-03-23
申请人： Hiroyuki Handa , Shinji Okumura , Hajime Fujii , Takanori Mitsushio , Keiichi Takaoka , Noriyuki Ohsawa , Isao Nishimura , Kiminori Nishimura , Tadayuki Amano , Michiko Suzushima
发明人： Hiroyuki Handa , Shinji Okumura , Hajime Fujii , Takanori Mitsushio , Keiichi Takaoka , Noriyuki Ohsawa , Isao Nishimura , Kiminori Nishimura , Tadayuki Amano , Michiko Suzushima
IPC分类号： B23K9/095 , B23K9/10 , B23K9/95
CPC分类号： B23K9/1062 , B23K9/0953
摘要： An apparatus for setting a welding operation condition, enabling the simple setting of an operation and a welding condition is disclosed. The apparatus is provided with a welding information recording portion for recording information concerning a welding machine used in arc welding and welding operation, information concerning a welding operation such as shielding gas related information. A welding wire related information or the like, welding information inputting and outputting device is provided for inputting and outputting the welding operation information. A welding operation information setting device is provided for setting the welding operation information. A retrieving device is provided for retrieving the corresponding information from among the information in the welding information recording portion on the basis of the set information. An information controlling device is provided for applying a retrieval demand to the retrieving device when retrieving the information from the information recording portion and outputting the welding information.
摘要翻译： PCT No.PCT / JP96 / 02690 Sec。 371日期：1998年3月23日 102（e）1998年3月23日PCT PCT 1996年9月19日PCT公布。出版物WO97 / 10919 日期1997年3月27日公开了一种用于设定焊接操作条件的设备，能够简单地设置操作和焊接条件。该设备设置有用于记录关于用于电弧焊接和焊接操作的焊接机的信息的焊接信息记录部分，关于诸如保护气体相关信息的焊接操作的信息。提供焊丝相关信息等，焊接信息输入输出装置用于输入和输出焊接操作信息。提供焊接操作信息设定装置，用于设定焊接操作信息。提供检索装置，用于基于所设置的信息从焊接信息记录部分中的信息中检索相应的信息。提供信息控制装置，用于当从信息记录部分检索信息并输出焊接信息时，将检索要求应用于检索装置。

10. 发明授权

US5648027A Porous carbonaceous material and a method for producing the same 失效
标题翻译：多孔碳质材料及其制造方法
公开(公告)号：US5648027A
公开(公告)日：1997-07-15
申请号：US332063
申请日：1994-11-01
申请人： Hiroyuki Tajiri , Yoshiteru Nakagawa , Yoshiaki Iwaya , Yoshiharu Tanaka , Keiichi Asami , Katsuyuki Touma , Shinji Okumura
发明人： Hiroyuki Tajiri , Yoshiteru Nakagawa , Yoshiaki Iwaya , Yoshiharu Tanaka , Keiichi Asami , Katsuyuki Touma , Shinji Okumura
IPC分类号： C04B35/80 , C04B38/00 , D01F9/145 , D01F9/16 , D01F9/22 , D01F9/24 , D04H1/00 , H01M4/66 , H01M4/96 , B29C65/00
CPC分类号： D01F9/145 , C04B35/80 , C04B38/0022 , D01F9/16 , D01F9/22 , D01F9/24 , H01M4/663 , H01M4/96 , C04B2111/00853 , C04B2201/00 , Y10T428/24562 , Y10T428/2457 , Y10T428/24744
摘要： A slurry containing a precursor fiber convertible to carbon fiber and/or a carbon fiber and, based on 100 parts by weight of the fiber, 10 to 300 parts by weight of a thermosetting resin, e.g. phenol resin, is processed into a random web. This web may contain a pitch or an organic granular material. The web is hot-pressed between a pair of belts while curing of the resin is inhibited to prepare a prepreg sheet. This sheet is disposed, leaving a clearance, in a mold having ribs on a molding surface and heated over the melting point of the resin for expansion and complete cure to provide a porous composite sheet equipped with grooves. This porous composite sheet is carbonized or graphitized to produce a porous carbonaceous material for use as a fuel cell electrode material and so on. This porous carbonaceous material has high homogeneity, gas permeability, electrical conductivity, heat conductivity and mechanical strength.
摘要翻译：含有可转化为碳纤维和/或碳纤维的前体纤维的浆料，并且基于100重量份的纤维，10至300重量份的热固性树脂，例如，酚醛树脂，加工成无规网。该网可以包含沥青或有机颗粒材料。在一对带之间热压该纤维网，同时抑制树脂的固化以制备预浸渍片。将该片材放置在具有模制表面上的肋的模具中，并且在树脂的熔点上被加热以进行膨胀和完全固化，以提供配备有凹槽的多孔复合片材。该多孔复合片材被碳化或石墨化以制造用作燃料电池电极材料等的多孔碳质材料。该多孔碳质材料具有高均匀性，透气性，导电性，导热性和机械强度。

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