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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

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。

3. 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。

4. 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。

5. 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。

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. 发明申请

US20120080416A1 ARC WELDING DEVICE AND ARC WELDING SYSTEM 有权
标题翻译：弧焊设备和弧焊系统
公开(公告)号：US20120080416A1
公开(公告)日：2012-04-05
申请号：US13221883
申请日：2011-08-30
申请人： Masafumi MURAKAMI , Takahide Hirayama
发明人： Masafumi MURAKAMI , Takahide Hirayama
IPC分类号： B23K9/00 , B23K9/09
CPC分类号： B23K9/0953 , B23K9/092 , B23K9/1006
摘要： An arc welding device according to an embodiment carries out welding while repeatedly generating a short circuit state and an arc state between a consumable electrode and a welding member. The arc welding device includes a detection unit and an adjustment unit. The detection unit detects at least one of a length of a short circuit generation period of this time and a length of an arc generation period of this time. The adjustment unit adjusts an increase rate of a short circuit current in a short circuit generation period of next time according to at least one of the length of the short circuit generation period and the length of the arc generation period detected by the detection unit.
摘要翻译：根据实施例的电弧焊装置在消耗电极和焊接部件之间重复产生短路状态和电弧状态的同时进行焊接。电弧焊装置包括检测单元和调整单元。该检测单元检测此时间的短路产生期间的长度和该时间的电弧产生期间的长度中的至少一个。调整单元根据短路发生期间的长度和由检测单元检测出的电弧产生期间的长度中的至少一个来调整下一次的短路发生期间的短路电流的增加率。

9. 发明授权

US09233431B2 Arc welding device and arc welding system 有权
标题翻译：电弧焊设备及电弧焊系统
公开(公告)号：US09233431B2
公开(公告)日：2016-01-12
申请号：US13221883
申请日：2011-08-30
申请人： Masafumi Murakami , Takahide Hirayama
发明人： Masafumi Murakami , Takahide Hirayama
IPC分类号： B23K9/00 , B23K9/09 , B23K9/095 , B23K9/10
CPC分类号： B23K9/0953 , B23K9/092 , B23K9/1006
摘要： An arc welding device according to an embodiment carries out welding while repeatedly generating a short circuit state and an arc state between a consumable electrode and a welding member. The arc welding device includes a detection unit and an adjustment unit. The detection unit detects at least one of a length of a short circuit generation period of this time and a length of an arc generation period of this time. The adjustment unit adjusts an increase rate of a short circuit current in a short circuit generation period of next time according to at least one of the length of the short circuit generation period and the length of the arc generation period detected by the detection unit.
摘要翻译：根据实施例的电弧焊装置在消耗电极和焊接部件之间重复产生短路状态和电弧状态的同时进行焊接。电弧焊装置包括检测单元和调整单元。该检测单元检测此时间的短路产生期间的长度和该时间的电弧产生期间的长度中的至少一个。调整单元根据短路发生期间的长度和由检测单元检测出的电弧产生期间的长度中的至少一个来调整下一次的短路发生期间的短路电流的增加率。

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