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1. 发明授权

US07002095B2 Spot welding system and method of controlling pressing force of spot welding gun 有权
标题翻译：点焊系统及点焊枪压力方法
公开(公告)号：US07002095B2
公开(公告)日：2006-02-21
申请号：US10679318
申请日：2003-10-07
申请人： Tetsuaki Kato , Koichi Okanda , Soichi Arita
发明人： Tetsuaki Kato , Koichi Okanda , Soichi Arita
IPC分类号： B23K11/24
CPC分类号： B23K11/25 , B23K11/252 , B23K11/255 , B23K11/31 , B23K11/311 , B23K11/314
摘要： A spot welding system using a spot welding gun having a servomotor for driving welding tips capable of suppressing variation of pressing force due to influence of heat generated by welding current to obtain an uniform pressing force. A difference between the temperature T detected by a temperature sensor and an initial temperature T0 is multiplied by a coefficient A to obtain a pressing force compensation amount α. A pressing force d estimated by an observer is subtracted from the compensated command pressing force p′ and an obtained difference is multiplied by a constant K2 to obtain a torque command (current command) τ for driving the servomotor to press the objects by the welding tips. Since the commanded pressing force is compensated in accordance with the temperature, a constant and stable pressing force is produced without influence of the temperature variation.
摘要翻译：一种使用具有用于驱动焊接头的伺服电动机的点焊枪的点焊系统，其能够抑制由于焊接电流产生的热量的影响而产生的压力变化，以获得均匀的按压力。由温度传感器检测到的温度T与初始温度T 0之间的差乘以系数A以获得按压力补偿量α。从补偿指令按压力p'中减去由观察者估计的按压力d，并且将获得的差乘以常数K 2，以获得用于驱动伺服电动机通过焊接来按压物体的扭矩指令（电流指令）τ 提示。由于根据温度补偿了指令的按压力，所以在不影响温度变化的情况下产生恒定且稳定的按压力。

2. 发明授权

US06486629B2 Method for controlling force application with servo motor and appartus therewith 有权
标题翻译：用伺服电机控制力的应用方法
公开(公告)号：US06486629B2
公开(公告)日：2002-11-26
申请号：US09269070
申请日：1999-03-19
申请人： Tetsuaki Kato , Koichi Okanda
发明人： Tetsuaki Kato , Koichi Okanda
IPC分类号： H02P700
CPC分类号： G05D17/02 , G05B19/19 , G05B2219/41379 , G05B2219/42087 , G05B2219/49132 , G05D15/01
摘要： An applied force Td is estimated by an observer. A gain A is multiplied by a value obtained by subtracting the estimated applied force Td from commanded force Fe. From this multiplied value, a product of a speed feedback amount and a gain Kv is subtracted to obtain a torque command. With this torque command Tc, a servo motor is driven. Since a feedback control of the applied force is performed, response is fast, and an applied force between welding tips and an object to be welded can be accurately controlled. Feedback control of an applied force, whose vibration is prevented, can be performed by adjusting the gains A and Kv.
摘要翻译：施加力Td由观察者估计。增益A乘以通过从指令力Fe中减去估计的施加力Td而获得的值。从该相乘值中减去速度反馈量和增益Kv的乘积以获得转矩指令。利用该转矩指令Tc，驱动伺服电动机。由于执行了施加的力的反馈控制，所以响应快，并且可以精确地控制焊接尖端和被焊接物体之间的施加力。可以通过调节增益A和Kv来进行防止振动的施加力的反馈控制。

3. 发明授权

US06888089B2 Method of and device for setting reference position for servo spot welding gun 失效
标题翻译：伺服点焊枪参考位置设定方法及装置
公开(公告)号：US06888089B2
公开(公告)日：2005-05-03
申请号：US10105185
申请日：2002-03-26
申请人： Koichi Okanda , Takeaki Aramaki
发明人： Koichi Okanda , Takeaki Aramaki
IPC分类号： B25J9/10 , B23K11/11 , B23K11/24 , B23K11/25
CPC分类号： B23K11/255
摘要： A method of and device for automatically setting and updating a reference position of a welding tip of a servo spot welding gun to automatically compensate displacement of a distal end of a welding tip by abrasion thereof. A movable welding tip is moved towards a stationary welding tip to press the stationary welding tip until an estimated disturbance load reaches a fist threshold, and then moved in reverse direction away from the stationary welding tip until the disturbance load is reduced to a second threshold. The position of the movable welding tip when the disturbance load is reduced to the second threshold is set and updated as the reference position of an axis of the movable welding tip. The first threshold is set to be greater than a frictional force exerted on the axis of the movable welding tip in the motion towards the stationary welding tip, and the second threshold is set to be equivalent to the frictional force. The above setting and updating of the reference position is performed in cycles of spot welding operations to compensate the abrading of the welding tip. Since the reference position is automatically set and updated to compensate the abraded amount of the welding tip, the distal end of the movable welding tip is constantly positioned to a predetermined position for applying a predetermined pressure to the workpiece.
摘要翻译：一种用于自动设定和更新伺服点焊枪的焊接头的参考位置的方法和装置，以通过其磨损来自动补偿焊嘴的远端的位移。可移动的焊接尖端朝向固定的焊接尖端移动以按压固定的焊接尖端，直到估计的扰动负载达到第一阈值，然后沿相反方向远离固定的焊接尖端移动，直到扰动负载减小到第二阈值。将干扰负荷降低到第二阈值时的可动焊嘴的位置设定为更新为可动焊接头的轴线的基准位置。第一阈值被设定为大于在朝向固定焊嘴的运动中施加在可动焊嘴的轴线上的摩擦力，并且将第二阈值设定为等于摩擦力。上述参考位置的设定和更新以点焊操作的循环进行，以补偿焊接尖端的磨损。由于参考位置被自动设定和更新以补偿焊接尖端的磨损量，所以可移动焊接尖端的远端总是位于预定位置以向工件施加预定压力。

4. 发明授权

US07174234B2 Servo tool unit attachment and detachment method 有权
标题翻译：伺服工具单元的安装和拆卸方法
公开(公告)号：US07174234B2
公开(公告)日：2007-02-06
申请号：US11199176
申请日：2005-08-09
申请人： Koichi Okanda , Ryusuke Ogawa
发明人： Koichi Okanda , Ryusuke Ogawa
IPC分类号： G06F19/00 , B25J9/16
CPC分类号： B25J15/04 , G05B2219/39468 , Y10T483/10
摘要： A robot controller issues a command to move a servo tool unit to a servo tool unit detachment position. During this movement, a command is issued to stop power supply to an amplifier of the servo tool unit, and a process of invalidating a disconnection error of a power line and a signal line and a process of invalidating servo parameters are executed. The robot controller confirms that power supply has been stopped, and that the process of invalidating the disconnection error and the process of invalidating the servo parameters have been completed. When the robot arrives at a servo tool unit detachment position, a mechanical servo tool unit detachment process is executed. With the attachment of the servo tool unit, a software process required for attachment is executed during a next movement after mechanical attachment of the servo tool unit.
摘要翻译：机器人控制器发出命令将伺服工具单元移动到伺服单元拆卸位置。在该运动中，执行命令以停止对伺服工具单元的放大器的供电，并且执行使电力线和信号线的断开错误无效的处理以及使伺服参数无效的处理。机器人控制器确认电源已停止，使断线错误无效的处理和伺服参数无效的处理完成。当机器人到达伺服工具单元拆卸位置时，执行机械伺服工具单元拆卸处理。通过伺服工具单元的安装，在伺服工具单元的机械附接之后的下一个运动中执行附件所需的软件过程。

5. 发明申请

US20060030967A1 Servo tool unit attachment and detachment method 有权
标题翻译：伺服工具单元的安装和拆卸方法
公开(公告)号：US20060030967A1
公开(公告)日：2006-02-09
申请号：US11199176
申请日：2005-08-09
申请人： Koichi Okanda , Ryusuke Ogawa
发明人： Koichi Okanda , Ryusuke Ogawa
IPC分类号： G06F19/00
CPC分类号： B25J15/04 , G05B2219/39468 , Y10T483/10
摘要： A robot controller issues a command to move a servo tool unit to a servo tool unit detachment position. During this movement, a command is issued to stop power supply to an amplifier of the servo tool unit, and a process of invalidating a disconnection error of a power line and a signal line and a process of invalidating servo parameters are executed. The robot controller confirms that power supply has been stopped, and that the process of invalidating the disconnection error and the process of invalidating the servo parameters have been completed. When the robot arrives at a servo tool unit detachment position, a mechanical servo tool unit detachment process is executed. With the attachment of the servo tool unit, a software process required for attachment is executed during a next movement after mechanical attachment of the servo tool unit.
摘要翻译：机器人控制器发出命令将伺服工具单元移动到伺服单元拆卸位置。在该运动中，执行命令以停止对伺服工具单元的放大器的供电，并且执行使电力线和信号线的断开错误无效的处理以及使伺服参数无效的处理。机器人控制器确认电源已停止，使断线错误无效的处理和伺服参数无效的处理完成。当机器人到达伺服工具单元拆卸位置时，执行机械伺服工具单元拆卸处理。通过伺服工具单元的安装，在伺服工具单元的机械附接之后的下一个运动中执行附件所需的软件过程。

6. 发明授权

US06124693A Robot controller 有权
标题翻译：机器人控制器
公开(公告)号：US06124693A
公开(公告)日：2000-09-26
申请号：US350276
申请日：1999-07-09
申请人： Koichi Okanda , Takeaki Aramaki
发明人： Koichi Okanda , Takeaki Aramaki
IPC分类号： B25J9/10 , B25J9/22 , G05B19/408 , G05B19/423 , B25J9/18
CPC分类号： G05B19/425 , G05B19/4086 , G05B19/423 , G05B2219/39134 , G05B2219/39137 , G05B2219/45104
摘要： Axes used for posture alignment are selected from the axes of a work coordinate system W and a tool coordinate system T, and an angle of intersection between those selected axes are set. A robot is then driven so that the selected axes intersect with each other by the set angle of intersection in response to a posture alignment instruction, causing the tool to assume a target posture with respect to a workpiece. Further, angles for rotating the work coordinate system about each axis thereof are set, then the robot is automatically moved so that a coordinate system produced by rotating the work coordinate system by the set angle in response to a posture alignment instruction. Further, the tool coordinate system set at a movable part of a tool is automatically reset according to an amount of movement every time the movable part of the tool move, and the robot is manually fed based on the tool coordinate system thus reset.
摘要翻译：从工件坐标系W和工具坐标系T的轴中选择用于姿势对准的轴，并设定这些选定轴之间的交点。然后驱动机器人，使得所选择的轴响应于姿势对准指令而相交于设定的交叉角，使得工具相对于工件呈现目标姿态。此外，设置用于围绕其各轴旋转工件坐标系的角度，然后机器人自动移动，使得通过响应于姿势对准指令使工件坐标系旋转设定角度而产生的坐标系。此外，设置在工具的可动部的工具坐标系，每当刀具的可移动部移动时，根据移动量自动复位，并且基于刀具坐标系手动进给机器人，从而复位。

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