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1. 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）。

2. 发明授权

US5932122A Process for detecting the initial welding point of a welding robot 失效
标题翻译：用于检测焊接机器人的初始焊接点的工艺
公开(公告)号：US5932122A
公开(公告)日：1999-08-03
申请号：US996543
申请日：1997-12-23
申请人： Sung-Jin Hong
发明人： Sung-Jin Hong
IPC分类号： B23K9/12 , B23K9/00 , B23K9/127
CPC分类号： B23K9/1272 , B23K2201/16
摘要： A method for detecting an initial welding point of a welding robot regardless of any irregularity of a parent metal to be welded and the displacement thereof caused by fastening the parent metal. The method includes identifying a first directional vector oriented toward a virtual point given at a weld end part of a roughly taught welding start point and, identifying a second directional vector indicating a direction of a torch which is oriented toward a weld part and bisects an angle included between welding surfaces of the parent metal. Horizontal and vertical tracking directions are coincided with the direction of the second directional vector are determined when the second vector rotates in a positive(+) and negative(-) direction about the first directional vector, respectively. The torch is moved in the determined horizontal and vertical tracking directions until weld deposition occurs, and after weld deposition, the torch is moved to the determined positions on the basis of operation parameters. The torch is then moved in a direction opposite to a welding proceeding direction on the basis of the determined operation parameters and tracking the end of the parent metal. If the weld deposition occurs at an end of the parent metal, the torch is moved in the welding proceeding direction to return the torch to the initial welding point.
摘要翻译：用于检测焊接机器人的初始焊接点的方法，而不管待焊接的母材的任何不规则性以及由母金属紧固引起的位移。该方法包括识别朝向在粗略教导的焊接起始点的焊接端部处给出的虚拟点的第一方向矢量，以及识别指示朝向焊接部分定向的割炬的方向的第二方向向量，并将角度平分包括母金属的焊接表面之间。当第二矢量分别围绕第一方向矢量以正（+）和负（ - ）方向旋转时，水平和垂直跟踪方向与第二方向矢量的方向一致。焊枪在确定的水平和垂直跟踪方向上移动，直到发生焊接沉积，并且在焊接沉积之后，基于操作参数将焊炬移动到确定的位置。然后，根据所确定的操作参数，并且跟踪母金属的末端，以与焊接进行方向相反的方向移动割炬。如果焊接沉积发生在母体金属的端部，则焊炬在焊接进行方向上移动，以将焊炬返回到初始焊接点。

3. 发明授权

US4870247A Method and apparatus for controlling a welding robot forming a nonuniform weld satisfying predetermined criteria related to an interspace between elements being welded 失效
标题翻译：用于控制形成不均匀焊接的焊接机器人的方法和装置，其满足与被焊接的元件之间的间隙相关的预定标准
公开(公告)号：US4870247A
公开(公告)日：1989-09-26
申请号：US138383
申请日：1987-11-20
申请人： Hisahiro Fukuoka , Yutaka Takano , Yoichi Kamiyama
发明人： Hisahiro Fukuoka , Yutaka Takano , Yoichi Kamiyama
IPC分类号： B23K9/02 , B23K9/127 , B25J9/16 , G05B19/425
CPC分类号： B25J9/1679 , B23K9/0216 , B23K9/1272 , G05B19/425 , G05B2219/35286 , G05B2219/36417 , G05B2219/37405 , G05B2219/45104 , G05B2219/49384
摘要： A welding torch (4) of a welding robot (RO) is supported by arms (2, 3), to be movable under the control of a computer (7). First and second members (W1, W2) are welded by a mold woven while oscillating an welding torch (4) along a weld line (WL), with data on changes in an interspace between the first and second welded members (W1, W2) along a direction of the weld line (WL) being previously obtained and stored in advance of welding. For the welding, the computer 7 performs arithmetic to obtain command values on the basis of the stored data to output the same to the welding robot (RO), so that the welding robot (RO) performs weaving in accordance with the command values while varying a weaving amplitude of the welding torch (4) in response to the change in the interspace.

4. 发明授权

US4590577A Welding robot controlling method 失效
标题翻译：焊接机器人控制方法
公开(公告)号：US4590577A
公开(公告)日：1986-05-20
申请号：US432785
申请日：1982-12-01
申请人： Satoru Nio , Toyoji Hamashima , Shinobu Sato
发明人： Satoru Nio , Toyoji Hamashima , Shinobu Sato
IPC分类号： B23K9/127 , G05B19/42
CPC分类号： B23K9/1272 , G05B19/42 , G05B2219/36417
摘要： A welding robot controlling method for controlling a welding robot having a welding torch which has a tip thereof directed toward a teaching direction and sensor which intermittently generates a locus correction signal for the tip of the welding torch, comprising, (1) giving the locus correction signal as a resultant vector of an arbitrary number of two-dimensional vectors on a plane which intersects a welding line direction, (2) correcting a locus by controlling the three basic axes of the robot in a direction of a resultant vector which is composed of a predetermined length vector of which direction is parallel to a line connecting two teaching points and which passes through a tip of the welding torch and the locus correction vector, when the locus correction signal is generated, (3) controlling the three basic axes of the robot such that the tip of welding torch moves on a line which is parallel to the line connecting the two teaching points, until a subsequent locus correction signal is again given after completion of the locus correction.
摘要翻译：一种焊接机器人控制方法，用于控制焊接机器人，其具有指向教导方向的尖端的焊枪和间歇地产生焊炬尖端的轨迹校正信号的传感器，包括：（1）给出轨迹校正信号作为在与焊接线方向相交的平面上的任意数量的二维矢量的合成矢量，（2）通过在由合成矢量构成的合成矢量的方向上控制机器人的三个基本轴来校正轨迹，当生成轨迹校正信号时，其方向平行于连接两个示教点并穿过焊炬的尖端和轨迹校正矢量的预定长度向量，（3）控制三个基本轴机器人，使得焊炬的尖端在与连接两个教学点的线平行的线上移动，直到随后的轨迹校正信号完成轨迹校正后，再次给出nal。

5. 发明授权

US4468695A Robot 失效
标题翻译：机器人
公开(公告)号：US4468695A
公开(公告)日：1984-08-28
申请号：US322375
申请日：1981-11-17
申请人： Junichi Ikeda , Noriyuki Utsumi , Yukio Otani
发明人： Junichi Ikeda , Noriyuki Utsumi , Yukio Otani
IPC分类号： B23K9/127 , B25J9/00 , B25J9/18 , B25J19/02 , G05B19/423 , H04N7/18
CPC分类号： G05B19/423 , B23K9/1272 , B25J19/021 , B25J9/0093 , G05B2219/36417 , G05B2219/37462 , G05B2219/37572 , G05B2219/39177 , G05B2219/45135
摘要： A robot comprises a platform, a movable arm capable of moving to the platform for operation based on the information prestored in a memory, a working assembly provided movably to an end of the arm, means for detecting the deviation between a position for the working assembly and a position for a portion of a workpiece to be worked and means for displacing the working assembly to the arm so as to compensate the deviation detected by the detection means, and operates accurately.
摘要翻译：机器人包括平台，能够基于预先存储在存储器中的信息移动到平台进行操作的可移动臂，可移动地设置在臂的端部的工作组件，用于检测工作组件的位置之间的偏差的装置以及用于待加工的工件的一部分的位置和用于将工作组件移动到臂的装置，以便补偿由检测装置检测到的偏差，并且精确地操作。

6. 发明授权

US4390775A Automatic and self-adapting process for fusion-welding a joint between two surfaces 失效
标题翻译：自动和自适应过程，用于熔接两个表面之间的接头
公开(公告)号：US4390775A
公开(公告)日：1983-06-28
申请号：US234362
申请日：1981-02-13
申请人： Dominique Biava , Jean Cornu , Jean-Marie Detriche , Richard Galera , Bernard Tiret , Paul Marchal
发明人： Dominique Biava , Jean Cornu , Jean-Marie Detriche , Richard Galera , Bernard Tiret , Paul Marchal
IPC分类号： B23K9/127 , G05B19/42 , B23K9/12
CPC分类号： G05B19/42 , B23K9/1272 , G05B2219/45135 , G05B2219/50353
摘要： The invention relates to an automatic and self-adapting process for fusion-welding a joint between two surfaces, with the aid of a welding head which essentially comprises a joint detector and a torch supported by a carrier mobile along the joint. This welding head is mobile in rotation about a main axis related to the carrier and substantially perpendicular to the plane tangential to the surfaces to be welded at the location of the joint, and mobile in translation along this main axis. The torch and the detector are mobile in rotation about a secondary axis related to the head and parallel to the main axis and the torch is able to pass through the main axis in the course of its rotation about the secondary axis.A reference direction for all the degrees of freedom of the head is defined when the above-mentioned axes as well as the axes of the torch and the detector are in the same plane.This process is characterized in that it consists:in recording the electric voltage corresponding to the angular position of the reference direction;in measuring, in the course of welding and for each position of the holder, the angle of the detector with respect to the reference direction of the head, when the detector is above the joint;in correcting, during the operations following the trial operation, the angular position of the torch when the latter occupies the position previously occupied by the detector, by an angular displacement which is a function, on the one hand, of the angular deviation of the detector with respect to the corresponding reference direction at this point of the joint and, on the other hand, of the speed of displacement of the head on its path.The invention relates also to an automatic device for carrying out this process.
摘要翻译：本发明涉及一种用于熔接焊接两个表面之间的接头的自动和自适应过程，该焊接头基本上包括接头检测器和由沿着接头的载体移动器支撑的割炬。该焊接头围绕与载体相关的主轴线旋转，并且基本上垂直于在接头位置处与要焊接的表面切线的平面，并且沿该主轴线可移动。手电筒和检测器可围绕与头部相关并平行于主轴线的次轴旋转移动，并且割炬能够在围绕副轴线的旋转过程中穿过主轴线。当上述轴线和割炬和检测器的轴线处于同一平面时，限定头部的所有自由度的参考方向。该过程的特征在于：记录对应于参考方向的角位置的电压; 在检测器高于接头时，在焊接过程中以及保持器的每个位置测量检测器相对于头部基准方向的角度; 在试验操作期间的操作期间，当手术器占据先前被检测器占据的位置时，在手术中的角位置校正，角位移一方面是检测器的角度偏差的函数另一方面，头部在其路径上的位移速度相对于该接合点的相应参考方向。本发明还涉及一种用于执行该过程的自动装置。

7. 发明授权

US3026405A Automatic machine control 失效
标题翻译：自动机器控制
公开(公告)号：US3026405A
公开(公告)日：1962-03-20
申请号：US83932259
申请日：1959-09-11
申请人： AIR REDUCTION
发明人： ANDERSON NELSON E
IPC分类号： B23K9/127 , G05B19/12
CPC分类号： B23K9/1272 , G05B19/128

8. 发明申请

US20130098971A1 WELDING TARGET POSITION MEASUREMENT DEVICE 有权
标题翻译：焊接目标位置测量装置
公开(公告)号：US20130098971A1
公开(公告)日：2013-04-25
申请号：US13714527
申请日：2012-12-14
申请人： Tatsuya OHDAKE , Tetsuro AIKAWA , Yoshinori SATOH , Kazuo AOYAMA
发明人： Tatsuya OHDAKE , Tetsuro AIKAWA , Yoshinori SATOH , Kazuo AOYAMA
IPC分类号： B23K37/00
CPC分类号： B23K37/00 , B23K9/1272 , B23K9/32
摘要： According to an embodiment, a welding target position measuring device comprises: a groove wall welding part detection means for detecting a groove wall welding part based on a result of the calculation performed by a groove shape change amount calculation means; a weld bead end detection means for detecting a weld bead end based on a result of the calculation performed by a groove shape difference amount calculation means; and a welding target position selection means for obtaining a welding pass number of a subsequent pass in a welding information stored in a welding information recording means and selecting a welding target position of the subsequent pass which differs depending on welding positions based on results of the detection of the groove wall welding part and the weld bead end.
摘要翻译：根据实施例，焊接对象位置测量装置包括：槽壁焊接部检测装置，用于基于由槽形变化量计算装置进行的计算结果来检测槽壁焊接部; 焊道端检测装置，用于根据由槽形差分量计算装置执行的计算结果检测焊缝端; 以及焊接对象位置选择装置，用于获得存储在焊接信息记录装置中的焊接信息中的随后通过的焊接次数，并且基于检测结果选择随焊接位置而不同的后续通过的焊接目标位置的槽壁焊接部分和焊道端部。

9. 发明授权

US06964364B2 Weld guidance system and method 失效
标题翻译：焊接引导系统及方法
公开(公告)号：US06964364B2
公开(公告)日：2005-11-15
申请号：US10709192
申请日：2004-04-20
申请人： Michael W. Parada
发明人： Michael W. Parada
IPC分类号： B23K9/127 , B23Q15/20
CPC分类号： B23K9/1272
摘要： A method and guidance system for accurately positioning a welding torch relative to a desired weld path. The method and system are based on ultrasonic sensing of information relating to the distance between the welding torch and surfaces on one or more components being welded, and then using this information to move the welding torch to a specific point in space relative to the desired weld path. The method and system maintain the welding torch over the weld path and at a predetermined distance from the weld path during movement of the torch along the weld path.
摘要翻译：一种用于相对于期望的焊接路径精确定位焊炬的方法和引导系统。该方法和系统基于超声波感测与被焊接的一个或多个焊接部件上的焊炬和表面之间的距离的信息，然后使用该信息将焊炬相对于期望的焊接移动到空间中的特定点路径。该方法和系统在割炬沿着焊接路径移动期间将焊炬保持在焊接路径上并且距离焊接路径预定的距离。

10. 发明授权

US6027007A Device for internally welding pipes, comprising proximity sensors of signal emission type 失效
标题翻译：用于内部焊接管道的装置，包括信号发射型的接近传感器
公开(公告)号：US6027007A
公开(公告)日：2000-02-22
申请号：US011149
申请日：1998-01-30
申请人： Paolo Bosio
发明人： Paolo Bosio
IPC分类号： B23K9/028 , B23K9/127 , B23K9/095
CPC分类号： B23K9/0284 , B23K9/1272
摘要： A device for internally butt-welding pipes (1), of the type comprising a support and guide frame (2) for an annular welding member rotatable coaxially to the pipes to be welded, and carrying a plurality of welding heads (4), the device comprising at least one sensor (15) connected to a unit for controlling the movement of said member and arranged to sense the presence of said heads at predetermined points. The sensor (15) comprises a first part (5) arranged to emit a signal and a second part (6) arranged to modify said signal, said two parts being provided respectively in seats (7) provided in said support and guide frame (2) and in said annular welding member (3) or vice versa, said two parts being arranged in such a manner as to remain permanently separated from each other.
摘要翻译： PCT No.PCT / EP96 / 03367 Sec。 371日期1998年1月30日 102（e）1998年1月30日PCT PCT 1996年7月31日PCT公布。公开号WO97 / 05983 日期1997年2月20日用于内部对接焊管（1）的装置，其包括用于可与待焊接的管同轴旋转的环形焊接部件的支撑和引导框架（2），并且承载多个焊接头（4），所述装置包括连接到用于控制所述构件的运动的单元的至少一个传感器（15），并布置成在预定点处感测所述头部的存在。传感器（15）包括布置成发出信号的第一部分（5）和布置成修改所述信号的第二部分（6），所述两个部分分别设置在设置在所述支撑和引导框架（2）中的座（7））并且在所述环形焊接构件（3）中，或者反之亦然，所述两个部件被布置成保持彼此永久分离。

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