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1. 发明授权

US5233158A Arc welding current and voltage control method 失效
标题翻译：弧焊电流和电压控制方法
公开(公告)号：US5233158A
公开(公告)日：1993-08-03
申请号：US674331
申请日：1991-04-15
申请人： Tatsuo Karakama , Eiichi Kobayashi
发明人： Tatsuo Karakama , Eiichi Kobayashi
IPC分类号： B23K9/073 , B23K9/095 , B23K9/10 , B23K9/12
CPC分类号： B23K9/0956 , B23K9/073
摘要： A control method capable of effecting satisfactory arc welding by automatically controlling arc welding current and voltage. A processor calculates (106, 112) errors (.epsilon.I, .epsilon.V) between mean value (I, V) of actual welding currents and voltages periodically detected a predetermined number of times and target values IO, VO) of the welding current and voltage. If the welding current error falls outside an allowable range, a wire feeding speed correction amount is determined (.DELTA.FW) (109) by substituting the mean value (I) of the welding currents and a welding current correction amount (.DELTA.I) equivalent to the product of the calculated welding current error and a current gain into a calculation formula containing a first-degree polynomial (g'(I)) for the welding current and a welding current change amount (.DELTA.I) as variables. The wire feeding speed correction amount is input to a welding machine. If the welding voltage error falls outside an allowable range, the processor determines a power supply output correction amount (.DELTA.U) (115) by substituting the welding current correction amount (.DELTA.I) and a welding voltage correction amount (.DELTA.V) equivalent to the product of the calculated welding voltage error and a voltage gain into a calculation formula containing welding current and voltage charge amounts (.DELTA.I, .DELTA.V) as variables. The power supply output correction amount is input to the welding machine. The welding machine adjusts the wire feeding speed and power supply output, to rationalize the welding current and voltage.
摘要翻译： PCT No.PCT / JP90 / 00989 Sec。 371日期：1991年4月15日 102（e）日期1991年4月15日PCT提交1990年8月2日PCT公布。公开号WO91 / 03351 日期1991年3月21日。一种能够通过自动控制电弧焊接电流和电压来实现令人满意的电弧焊接的控制方法。处理器计算焊接电流和电压的实际焊接电流的平均值（I，V）和周期性检测到的电压预定次数和目标值IO，VO之间的（106,112）误差（ε，ε，ε）。如果焊接电流误差在容许范围之外，则通过将焊接电流的平均值（I）和相当于焊接电流的焊接电流校正量（DELTA I）代入，确定送丝速度校正量（DELTA FW）（109）将计算出的焊接电流误差和电流增益的产物计算为包含用于焊接电流的一次多项式（g'（I））和焊接电流变化量（DELTA I））作为变量的计算公式。送丝速度修正量被输入焊接机。如果焊接电压误差超出允许范围，则处理器通过将焊接电流校正量（DELTA I）和焊接电压校正量（DELTA V）相当的焊接电流校正量（DELTA V）来代替电源输出校正量（DELTA U）（115）将计算出的焊接电压误差和电压增益乘以包含焊接电流和电压电荷量（DELTA I，DELTA V）的计算公式的乘积作为变量。电源输出校正量被输入焊接机。焊机调整送丝速度和电源输出，使焊接电流和电压合理化。

2. 发明授权

US5300868A Robot teaching method 失效
标题翻译：机器人教学法
公开(公告)号：US5300868A
公开(公告)日：1994-04-05
申请号：US923802
申请日：1992-09-02
申请人： Atsushi Watanabe , Tatsuo Karakama , Taro Arimatsu , Kazuhiko Akiyama
发明人： Atsushi Watanabe , Tatsuo Karakama , Taro Arimatsu , Kazuhiko Akiyama
IPC分类号： B25J9/10 , B25J9/16 , B25J9/22 , G05B19/408 , G05B19/4093 , G05B19/42
CPC分类号： G05B19/4083 , B25J9/1607 , G05B2219/36405 , G05B2219/36503 , G05B2219/37572
摘要： A operation program of a robot is simply changed by using a workpiece body without using a master body. The operation program of the robot is corrected by correction data obtained from cameras. When a point of the operation program is desired to be changed to another point, a point on the workpiece body is changed to a changed point. A robot control unit reads the changed point as the coordinate values of the respective axes and changes the same to space coordinate values. Further, the space coordinate values are converted to reference space coordinate values on the master body by an inverse conversion matrix of the correction data. The reference space coordinate values are inversely converted to the coordinate values of respective reference axes. Since the operation program is commanded by the coordinate values of the respective reference axes, the point of the operation program is converted to the another point by using the coordinate values of the respective reference axes. With this method, the operation program can be simply changed without using the master body.
摘要翻译： PCT No.PCT / JP92 / 00065 Sec。 371日期：1992年9月2日 102（e）1992年9月2日PCT PCT 1992年1月23日PCT公布。出版物WO92 / 12830 PCT 日期：1992年8月6日。通过使用工件体，简单地改变机器人的操作程序，而不使用主体。通过从照相机获得的校正数据校正机器人的操作程序。当需要将操作程序的点改变为另一点时，将工件体上的点改变为变化点。机器人控制单元读取改变的点作为各轴的坐标值，并将其改变为空间坐标值。此外，空间坐标值通过校正数据的逆转换矩阵转换到主体上的参考空间坐标值。参考空间坐标值被反向转换为各个参考轴的坐标值。由于操作程序由各个参考轴的坐标值指令，所以通过使用各个参考轴的坐标值将操作程序的点转换为另一个点。使用该方法，可以简单地改变操作程序而不使用主体。

3. 发明授权

US4700118A System for setting workpiece Cartesian coordinate system of robot 失效
标题翻译：机器人工件笛卡尔坐标系设定系统
公开(公告)号：US4700118A
公开(公告)日：1987-10-13
申请号：US928207
申请日：1986-10-16
申请人： Hajimu Kishi , Shinsuke Sakakibara , Tatsuo Karakama
发明人： Hajimu Kishi , Shinsuke Sakakibara , Tatsuo Karakama
IPC分类号： B23Q15/00 , B25J9/16 , B25J9/18 , G05B19/18 , G05B19/404
CPC分类号： B25J9/1692
摘要： Provided is a system for setting a workpiece Cartesian coordinate system in a robot. In teaching the nose position (TCP) of a working member (tool) mounted on the hand of an articulated robot, the user moves the tool mounted on the hand to teach a reference point, any point on a predetermined axis and a third point defining a plane together with the other two points, whereupon a single coordinate system is specified by the position data indicative of these three points P1, P2, P3. A plurality of tool coordinate systems having a fixed relationship to the reference coordinate system of the robot can be set.
摘要翻译： PCT No.PCT / JP86 / 00075 Sec。 371日期1986年10月16日第 102（e）日期1986年10月16日PCT提交1986年2月19日PCT公布。出版物WO86 / 05010 日期1986年8月28日。提供了一种在机器人中设置工件笛卡尔坐标系的系统。在教导安装在铰接机器人手上的工作构件（工具）的鼻部位置（TCP）时，用户移动安装在手上的工具，以教导参考点，预定轴上的任何点和第三点一个平面与其他两个点一起，由此表示这三个点P1，P2，P3的位置数据指定单个坐标系。可以设置与机器人的参考坐标系具有固定关系的多个工具坐标系。

4. 发明授权

US5292066A Sealant flow control method in sealing by an industrial robot 失效
标题翻译：工业机器人密封密封流量控制方法
公开(公告)号：US5292066A
公开(公告)日：1994-03-08
申请号：US945976
申请日：1992-11-04
申请人： Nobutoshi Torii , Tatsuo Karakama , Hitoshi Mizuno
发明人： Nobutoshi Torii , Tatsuo Karakama , Hitoshi Mizuno
IPC分类号： F16J15/02 , B05B12/12 , B05C11/10 , G05B19/42 , B05B17/04
CPC分类号： G05B19/42 , B05B12/126 , B05C11/1013 , B05C11/1023 , G05B2219/25405 , G05B2219/34387 , G05B2219/45065 , G05B2219/49056
摘要： A sealing gun (31) of a sealant application unit, which controls the flow of the sealant in accordance with the value of an input signal, is attached to the end of a robot arm. The value of a signal applied to the sealant application unit (30) is controlled in association with acceleration/deceleration control of the moving speed of the sealing gun. The moving speed (TSA) of the sealing gun and the flow (SC) of the sealant discharged from the sealing gun are in direct proportion; therefore, the bead width becomes uniform independently of the moving speed (TSA) of the sealing gun.
摘要翻译：根据输入信号的值控制密封剂的流动的密封剂施加单元的密封枪（31）附接到机器人手臂的端部。关于密封剂施加单元（30）的信号的值与密封枪的移动速度的加速/减速控制相关联地进行控制。密封枪的移动速度（TSA）和从密封枪排出的密封剂的流量（SC）是直接比例的; 因此，独立于密封枪的移动速度（TSA），胎圈宽度变得均匀。

5. 发明授权

US5136223A Robot operating method capable of manual correction 失效
标题翻译：可进行手动校正的机器人操作方法
公开(公告)号：US5136223A
公开(公告)日：1992-08-04
申请号：US543840
申请日：1990-07-19
申请人： Tatsuo Karakama , Kouichi Okanda
发明人： Tatsuo Karakama , Kouichi Okanda
IPC分类号： B25J9/10 , B25J9/16 , B25J9/18 , G05B19/4093 , G05B19/42 , G05B19/425
CPC分类号： G05B19/40932 , G05B19/425 , G05B2219/34337 , G05B2219/35242 , G05B2219/36087 , G05B2219/36095 , G05B2219/36503 , G05B2219/45083 , Y02P90/265
摘要： A robot operating method capable of easily performing manual correction of a previously taught teaching point during an automatic robot operation, and of accurately and effectively performing a desired robot operation without the need of employing a visual sensor. After switching is made from an automatic operation mode to a manual operation mode in response to reading of a predetermined command code from a program (S1, S2), a robot tool positioned at a first teaching position is moved to a first working position on a workpiece by a control apparatus which responds to an operation of a remote operation board by an operator, so as to compensate for a dislocation of the teaching point attributable to a positional dislocation of the workpiece (S3), and then a correction data indicative of the results of a manual adjustment is calculated in response to supply of an external signal generated by an operator's operation and is stored in a memory (S4, S5). After completion of robot working at the first working position, second and later teaching points are sequentially corrected based on the correction data in response to reading of a position correcting command code from the program, whereby the robot working is accurately carried out at second and later working positions on the workpiece.
摘要翻译： PCT No.PCT / JP89 / 01234 Sec。 371日期1990年7月19日 102（e）1990年7月19日PCT PCT 1989年12月8日PCT公布。出版物WO90 / 06836 日期：1990年6月28日。一种机器人操作方法，其能够在自动机器人操作期间容易地执行先前教导的教导点的手动校正，并且准确且有效地执行期望的机器人操作，而不需要使用视觉传感器。响应于从程序（S1，S2）读取预定命令代码，从自动操作模式切换到手动操作模式时，位于第一教学位置的机器人工具被移动到第一工作位置工件，其由操作者响应于远程操作板的操作的控制装置，以补偿由于工件的位置偏差引起的示教点的位错（S3），然后指示表示工件的修正数据响应于由操作者的操作产生的外部信号的供给来计算手动调整的结果，并存储在存储器中（S4，S5）。在完成在第一工作位置的机器人工作之后，响应于来自程序的位置校正命令代码的读取，基于校正数据顺序地校正第二和稍后的教导点，从而在第二和稍后精确地执行机器人工作工件上的工作位置。

6. 发明授权

US4728872A Robot path error correction system 失效
标题翻译：机器人路径纠错系统
公开(公告)号：US4728872A
公开(公告)日：1988-03-01
申请号：US899299
申请日：1986-08-14
申请人： Hajimu Kishi , Shinsuke Sakakibara , Takayuki Ito , Tatsuo Karakama
发明人： Hajimu Kishi , Shinsuke Sakakibara , Takayuki Ito , Tatsuo Karakama
IPC分类号： B25J9/16 , B25J9/10 , B25J9/18 , B25J13/00 , G05B19/18 , G05B19/404 , G05B19/416 , G05B11/26
CPC分类号： G05B19/416 , G05B2219/35569 , G05B2219/43009 , G05B2219/43085 , G05B2219/43115 , G05B2219/45083
摘要： A robot path error correction system is provided for driving and controlling a movable element in a designated direction. The system includes a sensing device for sensing a remaining amount of command pulses at deceleration of the movable element; timing deciding device for specifying start timing of a pulse distribution calculation along a subsequent travel path in dependence upon the sensed amount of command pulses remaining; and an adding device for adding command pulses which accelerate the feedrate and command pulses which decelerate the feedrate in accordance with a commanded velocity and commanded position at the specified timing.
摘要翻译： PCT No.PCT / JP85 / 00724 Sec。 371日期1986年8月14日 102（e）日期1986年8月14日PCT提交1985年12月26日PCT公布。公开号WO86 / 04162 日期1986年7月17日。一种机器人路径误差校正系统，用于沿指定方向驱动和控制可移动元件。该系统包括用于感测可移动元件减速时的指令脉冲剩余量的感测装置; 定时决定装置，用于根据感测到的指令脉冲量来确定沿着后续行进路径的脉冲分布计算的开始定时; 以及添加装置，用于添加加速进给速度的指令脉冲和根据指定时刻的指令速度和指令位置使进给速度减速的指令脉冲。

7. 发明授权

US5845053A Method for teaching welding torch orientation 失效
标题翻译：焊枪方向教学方法
公开(公告)号：US5845053A
公开(公告)日：1998-12-01
申请号：US548146
申请日：1995-10-25
申请人： Atsushi Watanabe , Takayuki Ito , Tatsuo Karakama
发明人： Atsushi Watanabe , Takayuki Ito , Tatsuo Karakama
IPC分类号： B23K9/12 , B23K9/127 , B25J9/22 , G05B19/42 , G06F15/18
CPC分类号： B23K9/12 , B23K9/16 , B23K9/32 , G05B19/427 , G05B2219/45104 , Y02P90/265
摘要： First, an operator sequentially teaches the start point A, the end point F and junction points B, C, D, E on the welding path by moving the torch head by jog feed without paying attention to the torch orientation. Next, a reference plane to define the orientation of the torch is specified, and an inclination angle and a forward angle representing the torch orientation be inputted into a robot controller. On the basis of these inputted angle data and the taught data, a basic welding orientation is automatically calculated. Further auxiliary points are set around the junction points B through E each forming corner parts connecting straight lines; tool vectors which may give a smooth torch orientation change through the corner parts are automatically calculated for the auxiliary points and the junction points; and on the basis of the results, a welding program is produced. Among elements which determine the torch orientation, an element relating to the rotation around the torch axis reflects the state at the time of teaching of points A to E.
摘要翻译：首先，操作者通过点动进给来移动割炬头，而不注意割炬方向，顺序地教导焊接路径上的起点A，终点F和结点B，C，D，E。接下来，指定用于限定割炬定向的参考平面，并且将表示割炬方位的倾斜角度和向前角度输入到机器人控制器中。基于这些输入的角度数据和教导的数据，自动计算基本的焊接取向。另外辅助点设置在连接点B至E周围，每个连接点形成连接直线的拐角部分; 自动计算辅助点和连接点的刀具向量，可以给出通过拐角部分平滑的手电筒取向变化; 并根据结果，生产焊接程序。在确定割炬方向的元件中，与割炬轴线周围的旋转有关的元件反映了点A到E的教学时的状态。

8. 发明授权

US5600759A Robot capable of generating patterns of movement path 失效
标题翻译：能够产生运动路径图案的机器人
公开(公告)号：US5600759A
公开(公告)日：1997-02-04
申请号：US270216
申请日：1994-07-01
申请人： Tatsuo Karakama
发明人： Tatsuo Karakama
IPC分类号： G05B19/425 , B25J9/16 , B25J9/22 , G05B13/00
CPC分类号： G05B19/425
摘要： A robot which is capable of automatically generating movement path patterns based on taught data and in which a data teaching operation associated with pattern generation is simplified and no special data teaching is required even when the pitch between pattern segments is to be changed. During a manual robot operation, when start and end points (P0, Pn) of a spraying pattern which consists of a series of subpatterns, and a first cornering point (P1) of a first subpattern are taught to the robot, taught data representing these three point is stored in a robot control unit, together with a spraying command code and a spraying pitch (d) taught separately. During a playback robot operation, in response to the spraying command code, a vector (A) directed from the start point (P0) to the first cornering point (P1) and a vector (D) directed from the first cornering point (P1) to a second cornering point (P2) are calculated based on the taught data and the pitch. Each time a plasma jet torch reaches one of the start point, first to third cornering points and end point of a subpattern, the end point of a corresponding one of the vector (A), the vector (B), and a vector derived by reversing the vector (A), all having a start point thereof coinciding with the reached point, is determined as a new target position, thereby generating a spraying pattern.
摘要翻译：能够基于所教导的数据自动生成移动路径图案的机器人，并且其中与图案生成相关联的数据教导操作被简化，并且即使要改变图案片段之间的间距也不需要特殊的数据教学。在手动机器人操作期间，向机器人教导了由一系列子模式组成的喷射模式的起点和终点（P0，Pn）和第一子模式的第一转弯点（P1）时，表示这些三点存储在机器人控制单元中，以及分别教导的喷涂命令代码和喷涂间距（d）。在回放机器人操作期间，响应于喷射命令代码，从起始点（P0）到第一转弯点（P1）的向量（A）和从第一转弯点（P1）引导的向量（D）基于教导的数据和间距来计算到第二转弯点（P2）。每次等离子体喷射炬达到子图案的起始点，第一至第三拐点和终点之一时，矢量（A），矢量（B）中的相应一个的终点和由将具有与达到点一致的起始点的矢量（A）反转，被确定为新的目标位置，由此产生喷射模式。

9. 发明授权

US4771222A Tool coordinate system setting system 失效
标题翻译：工具坐标系设定系统
公开(公告)号：US4771222A
公开(公告)日：1988-09-13
申请号：US843696
申请日：1986-03-04
申请人： Seiichiro Nakashima , Kenichi Toyoda , Shinsuke Sakakibara , Tatsuo Karakama
发明人： Seiichiro Nakashima , Kenichi Toyoda , Shinsuke Sakakibara , Tatsuo Karakama
IPC分类号： B25J9/22 , B23K9/12 , B23K9/127 , B23Q15/00 , B25J9/10 , B25J9/16 , B25J9/18 , G05B19/18 , G05B19/404
CPC分类号： B25J9/1692 , G05B2219/36503 , G05B2219/45083
摘要： A system for setting a tool coordinate system brings directions ( , , ) of respective basic axes of the tool coordinate system into coincidence with directions (X, Y, Z) of basic axes of a robot reference coordinate system. A tool center point (TCP) serves as an origin, and the system causes a robot to memorize metric values on each motion axis of the robot at the moment of coincidence as setting information for setting the tool coordinate system. The system uses this setting information as information for subsequent robot motion. With the present invention, the setting of tool coordinates, which was a troublesome operation in the prior art, can be performed easily and accurately through a simple method.
摘要翻译： PCT No.PCT / JP85 / 00390 Sec。 371日期：1986年3月4日 102（e）日期1986年3月4日PCT提交1985年7月11日PCT公布。出版物WO86 / 00727 日期：1986年1月30日。一种用于设定工具坐标系的系统，将工具坐标系的各基准轴的方向（，，）与机器人基准坐标系的基准轴的方向（X，Y，Z）。工具中心点（TCP）用作原点，并且系统使机器人在重合时记忆机器人的每个运动轴上的度量值作为设置刀具坐标系的设置信息。系统使用该设置信息作为后续机器人运动的信息。利用本发明，通过简单的方法可以容易且准确地进行现有技术中的麻烦操作的工具坐标的设定。

10. 再颁专利

USRE38570E1 Control unit and control method of robot used for arc welding 失效
标题翻译：用于电弧焊的机器人的控制单元和控制方法
公开(公告)号：USRE38570E1
公开(公告)日：2004-08-24
申请号：US09335871
申请日：1999-06-18
申请人： Tatsuo Karakama , Hiromitsu Takahashi
发明人： Tatsuo Karakama , Hiromitsu Takahashi
IPC分类号： G06F1900
CPC分类号： B23K9/0953 , G05B19/406 , G05B2219/35291 , G05B2219/45104
摘要： A welding voltage value Vf and a welding current value IF are respectively monitored by a detector during execution of arc welding in accordance with a robot operation program, indexes are calculated which show how far the monitored values Vf and If are deviated from a command welding voltage value Vc and a command welding current value Ic specified in the operation program, and it is decided that there is a possibility of occurrence of a defective weld in arc welding under execution, when the calculated index exceeds a preset threshold value. Then, the data for arc-welding execution conditions and execution results are cumulatively stored in a defective weld history data area provided in a memory in accordance with the line number and the statement of the line in the operation program for each line constituting the program, and the cumulatively-stored data is displayed on a screen.

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