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1. 发明申请

US20080161964A1 Robot System 有权
标题翻译：机器人系统
公开(公告)号：US20080161964A1
公开(公告)日：2008-07-03
申请号：US11721408
申请日：2005-12-08
申请人： Toshimitsu Irie , Ryuichi Morita , Seigo Nishikawa , Akio Sato , Takeshi Ikeda
发明人： Toshimitsu Irie , Ryuichi Morita , Seigo Nishikawa , Akio Sato , Takeshi Ikeda
IPC分类号： G05B19/4093 , B23K26/08 , B23K26/02
CPC分类号： B25J9/1664 , B23K26/0884 , G05B2219/39177 , G05B2219/39401 , G05B2219/39572 , G05B2219/40416 , G05B2219/45138 , G05B2219/45165
摘要： There is provided a robot system which moves a laser beam in a processing path desired by a manipulator by moving a robot in an instructed path and controlling a driving shaft of a tool. In the robot system which includes a robot 1 having a plurality of driving shafts, a tool 3 having a plurality of driving shafts and fitted on an end portion of the robot 1, a robot control device controlling the driving shafts of the robot 1 and the tool 3, and a laser oscillator 5 connected to the tool 3, the robot 1 moves the tool 3 by means of the drive of the driving shafts of the robot, the tool 3 radiates a laser beam which is incident from the laser oscillator 5 to an object by means of the drive of the driving shafts of the tool, and a robot control device 2 controls the driving shafts of the robot 1 and the driving shafts of the tool 3 in synchronization with each other.
摘要翻译：提供了一种机器人系统，其通过在指示的路径中移动机器人并且控制工具的驱动轴来在操纵器期望的处理路径中移动激光束。在包括具有多个驱动轴的机器人1的机器人系统中，具有多个驱动轴并安装在机器人1的端部的工具3，控制机器人1的驱动轴的机器人控制装置和工具3和连接到工具3的激光振荡器5，机器人1通过机器人的驱动轴的驱动来移动工具3，工具3将从激光振荡器5入射的激光束照射到通过工具的驱动轴的驱动，物体，机器人控制装置2相互同步地控制机器人1的驱动轴和工具3的驱动轴。

2. 发明授权

US07974735B2 Laser tool robot system with coordinated drive shaft control 有权
标题翻译：具有协调驱动轴控制的激光工具机器人系统
公开(公告)号：US07974735B2
公开(公告)日：2011-07-05
申请号：US11721408
申请日：2005-12-08
申请人： Toshimitsu Irie , Ryuichi Morita , Seigo Nishikawa , Akio Sato , Takeshi Ikeda
发明人： Toshimitsu Irie , Ryuichi Morita , Seigo Nishikawa , Akio Sato , Takeshi Ikeda
IPC分类号： G06F19/00
CPC分类号： B25J9/1664 , B23K26/0884 , G05B2219/39177 , G05B2219/39401 , G05B2219/39572 , G05B2219/40416 , G05B2219/45138 , G05B2219/45165
摘要： A robot system includes s a robot (1) which moves a tool (3) attached to an end of the robot (1) by driving a robot drive shaft. The tool (3) applies a laser beam inputted from a laser oscillator (5) by drive of the tool drive shaft to an object. A robot control device (2) controls the robot drive shaft and the tool drive shaft in synchronization.
摘要翻译：机器人系统包括通过驱动机器人驱动轴来移动附接到机器人（1）的端部的工具（3）的机器人（1）。工具（3）通过工具驱动轴的驱动将激光振荡器（5）输入的激光束施加到物体上。机器人控制装置（2）同步地控制机器人驱动轴和工具驱动轴。

3. 发明授权

US07960672B2 Robot welding controller and control method 有权
标题翻译：机器人焊接控制器及控制方法
公开(公告)号：US07960672B2
公开(公告)日：2011-06-14
申请号：US11628738
申请日：2005-05-23
申请人： Kiminori Nishimura , Ryuichi Morita , Seigo Nishikawa
发明人： Kiminori Nishimura , Ryuichi Morita , Seigo Nishikawa
IPC分类号： B23K9/10 , B23K9/12
CPC分类号： B23K9/173 , B23K9/0671 , B23K9/0953 , B23K9/1272
摘要： A robot welding controller and a robot welding control. It comprises a robot having a welding torch at its tip, a robot controller, a wire feeder, and a welding electric power. It performs welding by moving the welding torch on the basis of a commanded welding line. A contact detecting section detects contact of the wire and the base material. A feed direction switching section switches feed directions of the wire. An arc generation detecting section detects that an arc is generated between the wire and the base material. A waveform control section controls electric power waveforms of plural shapes applied between the wire and the base material. A welding sequence section controls the operations of the contact detecting section, the feed direction switching section, the arc generation detecting section and the waveform control section in block.
摘要翻译：机器人焊接控制器和机器人焊接控制。它包括在其尖端具有焊炬的机器人，机器人控制器，送丝机和焊接电力。它通过在指令焊接线的基础上移动焊炬进行焊接。接触检测部检测线和基材的接触。进给方向切换部切换线的供给方向。电弧产生检测部检测线和基材之间产生电弧。波形控制部控制施加在线材和基材之间的多种形状的电力波形。焊接顺序部分控制接触检测部分，进给方向切换部分，电弧产生检测部分和波形控制部分的操作。

4. 发明申请

US20080041834A1 Robot Welding Controller and Control Method 有权
标题翻译：机器人焊接控制器及控制方法
公开(公告)号：US20080041834A1
公开(公告)日：2008-02-21
申请号：US11628738
申请日：2005-05-23
申请人： Kiminori Nishimura , Ryuichi Morita , Seigo Nishikawa
发明人： Kiminori Nishimura , Ryuichi Morita , Seigo Nishikawa
IPC分类号： B23K9/12
CPC分类号： B23K9/173 , B23K9/0671 , B23K9/0953 , B23K9/1272
摘要： The invention provides a robot welding controller and a robot welding control method for realizing welding of high quality by using a robot. The robot welding controller comprises a robot (1) having a welding torch (2) at its tip, a robot controller (5) for controlling the operation of the robot (1), a wire feeder (3) for feeding a wire to the welding torch (2), and a welding electric power source (10) for supplying electric power between the wire and a base material, and performs welding by moving the welding torch (2) on the basis of a commanded welding line. The robot welding controller further comprises a contact detecting section (16) for detecting contact of the wire and the base material; a feed direction switching section (12) for switching feed directions of the wire; an arc generation detecting section (13) for detecting that an arc is generated between the wire and the base material; a waveform control section (22) for controlling electric power waveforms of plural shapes applied between the wire and the base material; and a welding sequence section (20) for controlling the operations of the contact detecting section (16), the feed direction switching section (12), the arc generation detecting section (13) and the waveform control section (22) in block.
摘要翻译：本发明提供了一种通过使用机器人实现高质量焊接的机器人焊接控制器和机器人焊接控制方法。机器人焊接控制器包括：机器人（1），其顶端具有焊炬（2），用于控制机器人（1）的操作的机器人控制器（5），用于将线材馈送到焊枪（2）和用于在电线和基材之间提供电力的焊接电源（10），并且通过基于命令的焊接线移动焊炬（2）来进行焊接。所述机器人焊接控制器还包括用于检测所述线和所述基材的接触的接触检测部（16）。用于切换导线的馈送方向的馈送方向切换部分（12）电弧产生检测部（13），用于检测在所述电线和所述基材之间产生电弧; 波形控制部（22），用于控制施加在所述导线和所述基材之间的多种形状的电力波形; 以及用于控制接触检测部分（16），进给方向切换部分（12），电弧产生检测部分（13）和波形控制部分（22））的操作的焊接序列部分（20）。

5. 发明授权

US07186949B2 Arc welding equipment 有权
标题翻译：电弧焊设备
公开(公告)号：US07186949B2
公开(公告)日：2007-03-06
申请号：US10509492
申请日：2003-03-31
申请人： Seigo Nishikawa , Ryuichi Morita
发明人： Seigo Nishikawa , Ryuichi Morita
IPC分类号： B23K9/095
CPC分类号： B23K9/0956
摘要： It is an object to provide an arc welding apparatus capable of causing an operator to easily decide a welding abnormality and the quality of a welding condition by simultaneously displaying a welding current command value, a welding voltage command value and a wire feeding speed command value and switching and displaying an actual welding current value, an actual welding voltage value and an actual wire feeding speed.There are provided a welding torch (8), a wire feeding device for feeding a wire (9) in contact with the internal surface of a chip (17) of the welding torch (8), a welding source (4) for supplying a power to the chip (17) and a base metal (13), a welding current detector (30) and a welding voltage detector (31), and a wire feeding speed command value, a welding current value and a welding voltage value are displayed independently and simultaneously.
摘要翻译：本发明的目的是提供一种电弧焊接装置，其能够通过同时显示焊接电流指令值，焊接电压指令值和送丝速度指令值，使操作者容易地判定焊接异常和焊接条件的质量，以及切换和显示实际焊接电流值，实际焊接电压值和实际焊丝进给速度。提供了一种焊枪（8），用于供给与焊炬（8）的芯片（17）的内表面接触的电线（9）的送丝装置，用于供给焊枪显示对芯片17和贱金属13的电力，焊接电流检测器30和焊接电压检测器31以及送丝速度指令值，焊接电流值和焊接电压值的显示独立和同时。

6. 发明申请

US20050145610A1 Arc welding epuipment 有权
标题翻译：电弧焊设备
公开(公告)号：US20050145610A1
公开(公告)日：2005-07-07
申请号：US10509492
申请日：2003-03-31
申请人： Seigo Nishikawa , Ryuichi Morita
发明人： Seigo Nishikawa , Ryuichi Morita
IPC分类号： B23K9/095 , B23K9/12
CPC分类号： B23K9/0956
摘要： It is an object to provide an arc welding apparatus capable of causing an operator to easily decide a welding abnormality and the quality of a welding condition by simultaneously displaying a welding current command value, a welding voltage command value and a wire feeding speed command value and switching and displaying an actual welding current value, an actual welding voltage value and an actual wire feeding speed. There are provided a welding torch (8), a wire feeding device for feeding a wire (9) in contact with the internal surface of a chip (17) of the welding torch (8), a welding source (4) for supplying a power to the chip (17) and a base metal (13), a welding current detector (30) and a welding voltage detector (31), and a wire feeding speed command value, a welding current value and a welding voltage value are displayed independently and simultaneously.
摘要翻译：本发明的目的是提供一种电弧焊接装置，其能够通过同时显示焊接电流指令值，焊接电压指令值和送丝速度指令值，使操作者容易地判定焊接异常和焊接条件的质量，以及切换和显示实际焊接电流值，实际焊接电压值和实际焊丝进给速度。提供了一种焊枪（8），用于供给与焊炬（8）的芯片（17）的内表面接触的电线（9）的送丝装置，用于供给焊枪显示对芯片17和贱金属13的电力，焊接电流检测器30和焊接电压检测器31以及送丝速度指令值，焊接电流值和焊接电压值的显示独立和同时。

7. 发明申请

US20120223058A1 NON-CONSUMABLE ELECTRODE TYPE ARC WELDING APPARATUS 审中-公开
标题翻译：不可消耗电极型弧焊机
公开(公告)号：US20120223058A1
公开(公告)日：2012-09-06
申请号：US13505874
申请日：2010-11-04
申请人： Seigo Nishikawa , Takeshi Morimoto , Naomichi Katsumata
发明人： Seigo Nishikawa , Takeshi Morimoto , Naomichi Katsumata
IPC分类号： B23K9/24
CPC分类号： H05H1/34 , B23K9/0678 , B23K9/1075 , B23K9/167 , H05H1/36 , H05H2001/3426
摘要： A non-consumable electrode type arc welding apparatus includes a torch having an electrode portion and a nozzle, a gas supply that supplies, to the torch, a shielding gas flowing through a gap formed between the electrode portion and the nozzle, a first power source that applies a voltage between the electrode portion and the nozzle to generate a pilot arc, a second power source that applies a voltage between the electrode portion and a work to generate a main arc, and a controller that controls the first power source and the second power source. The electrode portion has an electrode and an electrode holding portion holding a base portion of the electrode, the electrode holding portion has a protrusion protruding toward the nozzle from the side facing the nozzle, and the protrusion and the nozzle are caused contact and separate from each other.
摘要翻译：非消耗性电极型电弧焊接装置包括具有电极部分和喷嘴的焊炬，向焊炬提供流过形成在电极部分和喷嘴之间的间隙的保护气体的气体供应源，第一电源其在所述电极部分和所述喷嘴之间施加电压以产生引导电弧，所述第二电源在所述电极部分和工件之间施加电压以产生主电弧;以及控制器，其控制所述第一电源和所述第二电源能量源。电极部具有电极和保持电极的基部的电极保持部，电极保持部具有从面向喷嘴的一侧朝向喷嘴突出的突起，并且使突起和喷嘴与每个部分接触并分离其他。

8. 发明授权

US4926604A Method for correcting abrasion in a robot having a wearing tool mounted thereon 失效
标题翻译：一种用于校正具有安装在其上的佩戴工具的机器人中的磨损的方法
公开(公告)号：US4926604A
公开(公告)日：1990-05-22
申请号：US291300
申请日：1988-12-28
申请人： Masaaki Hara , Seigo Nishikawa , Taketoshi Tazaki , Hiroshi Inokuchi
发明人： Masaaki Hara , Seigo Nishikawa , Taketoshi Tazaki , Hiroshi Inokuchi
IPC分类号： B24B49/04 , B23Q15/16 , B24B47/20 , B24B49/10 , B24B49/18 , B25J9/10 , G05B19/404 , G05B19/41
CPC分类号： B24B49/183 , G05B19/404 , G05B19/41 , G05B2219/45083 , G05B2219/45151 , G05B2219/50315 , G05B2219/50336
摘要： Burring by way of a grind stone using a robot has been rarely practiced because the correction of abrasion of the grind stone involves a problem. There has been hitherto proposed a method for correction of abrasion by making use of a force sensor or a special tool holder apparatus. However, since the apparatus is expensive and low in reliability, it has not been practical. In the present invention, a coordinate system is set to a wearing tool mounted to a wrist of a robot separately from the rectangular coordinates of the robot, and the worn amount of the tool detected by use of a sensor is subjected to parallel shifting on the coordinate system of the tool set to the tool to effect correction of abrasion, which is characterized in that a special hard is not required, and operation is simple.
摘要翻译：通过使用机器人的研磨石头进行磨砂是很少实践的，因为磨石的磨损的纠正涉及问题。迄今为止，提出了通过使用力传感器或专用工具架装置来校正磨损的方法。然而，由于设备昂贵且可靠性低，所以不实用。在本发明中，将坐标系设置为与机器人的直角坐标分开安装在机器人手腕上的佩戴工具，并且使用传感器检测到的工具的磨损量在将工具的坐标系统设置到工具上以实现磨损的校正，其特征在于不需要特殊的硬度，操作简单。

9. 发明授权

US08536487B2 Arc welding method 有权
标题翻译：电弧焊法
公开(公告)号：US08536487B2
公开(公告)日：2013-09-17
申请号：US12780076
申请日：2010-05-14
申请人： Seigo Nishikawa , Kanji Katada , Hirotaka Adachi , Tsuneo Shinada , Hideyasu Machii
发明人： Seigo Nishikawa , Kanji Katada , Hirotaka Adachi , Tsuneo Shinada , Hideyasu Machii
IPC分类号： B23K9/10
CPC分类号： B23K9/173 , B23K9/067 , B23K9/124
摘要： A consumable electrode type arc welding method for generating arc between a plate-shaped work and a welding wire by a mixed shield gas including argon gas to weld the plate-shaped work, includes: making a state of reverse polarity in which the polarity of the welding wire is positive at the welding start time, and switching at least once to a state of positive polarity in which the polarity of the welding wire is negative.
摘要翻译：一种用于通过包括氩气的混合保护气体在板状作业和焊丝之间产生电弧以焊接板状工件的消耗电极型电弧焊接方法，包括：使相反极性的状态成为极性，焊丝在焊接开始时间为正，并且至少切换一次至正极性状态，其中焊丝的极性为负。

10. 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。

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