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1. 发明申请

US20050173419A1 Induction heating of rail welds 失效
标题翻译：铁路焊接感应加热
公开(公告)号：US20050173419A1
公开(公告)日：2005-08-11
申请号：US10296635
申请日：2001-06-04
申请人： Richard Miller
发明人： Richard Miller
IPC分类号： B23K9/02 , B23K13/00 , B23K13/01 , G05B19/42 , H05B6/06 , H05B6/14 , H05B6/16
CPC分类号： B23K9/0216 , B23K9/0213 , B23K9/12 , B23K9/127 , B23K9/173 , B23K13/01 , B23K37/0235 , B23K2101/26 , G05B19/4207 , G05B2219/36407 , G05B2219/37043 , G05B2219/40233 , G05B2219/45104
摘要： An apparatus (10) and method for preheating welds uses a centered induction plate (12) having preferably a plurality of induction coils (30, 32) to impart the generation of heat in the materials to be welded (14), being interactively controlled by at least a temperature sensor (90, 92) and power supply control loop (16) so that even preheating can be obtained for a selected length of time given the parameters of the weld desired.
摘要翻译：用于预热焊接的装置（10）和方法使用优选地具有多个感应线圈（30,32）的中心感应板（12），以在被焊接材料（14）中产生热量，由热交换控制至少一个温度传感器（90,92）和电源控制回路（16），使得在所需焊接参数的给定时间内可以获得均匀的预热。

2. 发明申请

US20040010342A1 Gap welding process 失效
标题翻译：间隙焊接工艺
公开(公告)号：US20040010342A1
公开(公告)日：2004-01-15
申请号：US10297000
申请日：2003-05-09
发明人： Richard L. Thelen
IPC分类号： G06F019/00
CPC分类号： B23K9/0216 , B23K9/0213 , B23K9/12 , B23K9/127 , B23K9/173 , B23K13/01 , B23K37/0235 , B23K2101/26 , G05B19/4207 , G05B2219/36407 , G05B2219/37043 , G05B2219/40233 , G05B2219/45104
摘要： A gap welding process (10) for manipulating a movable robotic welder (30) for making a weld between two or more substantially immovable work pieces (51) using a higher level programming language (20). The gap welding process (10) performs a data transfer routine which takes spreadsheet data (18) representing expected variables, runs a data conversion program (20) that creates weld program data including point position, user frames (34 and 36), weld schedule, seam tracking schedule, weave schedule, azimuth orientation, travel speed, wait time, weave type and number of digital output control data. The gap welding process (10) also performs a gap-sensing routine (28) for actual weld gap measuring by using the robotic welder (30) to touch specific locations on pieces forming the gap or fixturing to produce weld variance data. The gap welding process (10) then uses a weld control program in conjunction with the weld program data (22), weld variance data (26), and feedback data (44) that is gathered during the welding process to determine and perform the correct manipulation required to produce torch movements to accurately weld the gap (32).
摘要翻译：一种用于操纵可移动机器人焊接机（30）的间隙焊接工艺（10），用于使用较高级编程语言（20）在两个或更多个基本上不可移动的工件（51）之间进行焊接。间隙焊接过程（10）执行数据传输程序，该程序采用表示预期变量的电子表格数据（18），运行数据转换程序（20），该数据转换程序（20）创建包括点位置，用户框架（34和36），焊接计划，缝线跟踪计划，编织时间表，方位角方向，行驶速度，等待时间，编织类型和数字输出控制数据数。间隙焊接工艺（10）还通过使用机器人焊接机（30）来触摸形成间隙的零件上的特定位置或夹具来执行用于实际焊接间隙测量的间隙感测程序（28），以产生焊接方差数据。间隙焊接过程（10）然后使用焊接控制程序与焊接程序数据（22），焊接方差数据（26）和在焊接过程中收集的反馈数据（44）相结合，以确定和执行正确的产生割炬运动以精确地焊接间隙（32）所需的操作。

3. 发明授权

US07605347B2 Control system using working robot, and work processing method using this system 失效
标题翻译：使用工作机器人的控制系统，以及使用该系统的工作处理方法
公开(公告)号：US07605347B2
公开(公告)日：2009-10-20
申请号：US10544637
申请日：2004-02-05
申请人： Akinobu Izawa , Tetsuo Era , Koji Ueda , Takeshi Yamagami
发明人： Akinobu Izawa , Tetsuo Era , Koji Ueda , Takeshi Yamagami
IPC分类号： B23K9/12
CPC分类号： B25J9/1684 , B23K9/032 , B23K9/0956 , B23K9/127 , B23K9/1272 , B23K9/1274 , B25J9/1694 , B25J19/022 , G05B19/42 , G05B2219/34096 , G05B2219/36407 , G05B2219/36415 , G05B2219/36462 , G05B2219/45104 , G05B2219/4705 , G05B2219/49218
摘要： The control system includes a welding robot which moves a welding torch along a work for welding the work. A robot controller controls driving of the welding robot. A laser sensor head detects a shape change in the work during welding by the welding torch, and a personal computer obtains instruction information for the welding robot in accordance with the shape change, based on a result of detection by the laser sensor head. The robot controller moves the welding torch by controlling the driving of the working robot, based on the instruction information obtained by the personal computer.
摘要翻译：控制系统包括焊接机器人，该焊接机器人沿着用于焊接工件的工件移动焊炬。机器人控制器控制焊接机器人的驱动。激光传感器头通过焊炬检测焊接期间的工作形状变化，并且个人计算机基于激光传感器头的检测结果，根据形状变化获取焊接机器人的指令信息。基于由个人计算机获得的指示信息，机器人控制器通过控制工作机器人的驱动来移动焊炬。

4. 发明授权

US06836702B1 Method for fine tuning of a robot program 有权
标题翻译：微调机器人程序的方法
公开(公告)号：US06836702B1
公开(公告)日：2004-12-28
申请号：US10458785
申请日：2003-06-11
申请人： Torgny Brogårdh , Håkan Brantmark , Zhongxue Gan , Gregory Rossano , Xiongzi Li , Yunquan Sun , Quing Tang
发明人： Torgny Brogårdh , Håkan Brantmark , Zhongxue Gan , Gregory Rossano , Xiongzi Li , Yunquan Sun , Quing Tang
IPC分类号： G06F1900
CPC分类号： B25J9/1664 , B23K26/04 , B23K26/0884 , B25J9/1692 , G05B19/4083 , G05B19/425 , G05B2219/36404 , G05B2219/36407
摘要： A method for fine tuning of a robot program for a robot application comprising an industrial robot, a tool and a work object to be processed by the tool along a path comprising a number of desired poses on the work object, the robot program comprises a number of program instructions containing programmed poses corresponding to the desired poses, wherein the method comprises: defining a fine tuning coordinate system Xft, Yft, Zft, selecting one of said programmed poses pi, calculating said selected pose in the fine tuning coordinate system, producing program instructions for said selected pose in the fine tuning coordinate system, running said one or more program instructions by the robot, determining the difference between the pose obtained after running the program instructions and the desired pose, adjusting the fine tuning coordinate system in dependence of said difference, producing program instructions for said selected pose in the adjusted fine tuning coordinate system Xft′, Yft′, Zft′.
摘要翻译：一种用于机器人应用的机器人程序的微调方法，所述机器人程序包括工业机器人，工具和工具，所述工具由所述工具沿着包括所述工件上的多个所需姿势的路径处理，所述机器人程序包括：包含与期望姿势相对应的程序化姿势的程序指令，其中该方法包括：定义微调坐标系Xft，Yft，Zft，选择所述编程姿态pi中的一个，在微调坐标系中计算所述选定姿势，产生程序用于在微调坐标系中的所述选定姿态的指令，由机器人运行所述一个或多个程序指令，确定在运行程序指令之后获得的姿态与所需姿势之间的差异，根据所述姿势调整微调坐标系在调整的微调坐标系Xft'，Yft'中产生用于所述选定姿态的程序指令，，Zft'。

5. 发明授权

US07123990B2 Gap welding process 失效
标题翻译：间隙焊接工艺
公开(公告)号：US07123990B2
公开(公告)日：2006-10-17
申请号：US10297000
申请日：2001-06-01
申请人： Richard L. Thelen
发明人： Richard L. Thelen
IPC分类号： G06F19/00
CPC分类号： B23K9/0216 , B23K9/0213 , B23K9/12 , B23K9/127 , B23K9/173 , B23K13/01 , B23K37/0235 , B23K2101/26 , G05B19/4207 , G05B2219/36407 , G05B2219/37043 , G05B2219/40233 , G05B2219/45104
摘要： A gap welding process (10) for manipulating a movable robotic welder (30) for making a weld between two or more substantially immovable work pieces (51) using a higher level programming language (20). The gap welding process (10) performs a data transfer routine which takes spreadsheet data (18) representing expected variables, runs a data conversion program (20) that creates weld program data including point position, user frames (34 and 36), weld schedule, seam tracking schedule, weave schedule, azimuth orientation, travel speed, wait time, weave type and number of digital output control data. The gap welding process (10) also performs a gap-sensing routine (28) for actual weld gap measuring by using the robotic welder (30) to touch specific locations on pieces forming the gap or fixturing to produce weld variance data. The gap welding process (10) then uses a weld control program in conjunction with the weld program data (22), weld variance data (26), and feedback data (44) that is gathered during the welding process to determine and perform the correct manipulation required to produce torch movements to accurately weld the gap (32).
摘要翻译：一种用于操纵可移动机器人焊接机（30）的间隙焊接工艺（10），用于使用较高级编程语言（20）在两个或更多个基本上不可移动的工件（51）之间进行焊接。间隙焊接过程（10）执行数据传输程序，该程序采用表示预期变量的电子表格数据（18），运行数据转换程序（20），该数据转换程序（20）创建包括点位置，用户框架（34和36），焊接计划，缝线跟踪计划，编织时间表，方位角方向，行驶速度，等待时间，编织类型和数字输出控制数据数。间隙焊接工艺（10）还通过使用机器人焊接机（30）来触摸形成间隙的零件上的特定位置或夹具来执行用于实际焊接间隙测量的间隙感测程序（28），以产生焊接方差数据。间隙焊接过程（10）然后使用焊接控制程序与焊接程序数据（22），焊接方差数据（26）和在焊接过程中收集的反馈数据（44）相结合，以确定和执行正确的产生割炬运动以精确地焊接间隙（32）所需的操作。

6. 发明申请

US20060191875A1 GAP WELDING PROCESS 审中-公开
标题翻译： GAP焊接工艺
公开(公告)号：US20060191875A1
公开(公告)日：2006-08-31
申请号：US11381946
申请日：2006-05-05
申请人： Richard Thelen
发明人： Richard Thelen
IPC分类号： B23K11/24 , G06F19/00
CPC分类号： B23K9/0216 , B23K9/0213 , B23K9/12 , B23K9/127 , B23K9/173 , B23K13/01 , B23K37/0235 , B23K2101/26 , G05B19/4207 , G05B2219/36407 , G05B2219/37043 , G05B2219/40233 , G05B2219/45104
摘要： A gap welding process (10) for manipulating a movable robotic welder (30) for making a weld between two or more substantially immovable work pieces (51) using a higher level programming language (20). The gap welding process (10) performs a data transfer routine which takes spreadsheet data (18) representing expected variables, runs a data conversion program (20) that creates weld program data including point position, user frames (34 and 36), weld schedule, seam tracking schedule, weave schedule, azimuth orientation, travel speed, wait time, weave type and number of digital output control data. The gap welding process (10) also performs a gap-sensing routine (28) for actual weld gap measuring by using the robotic welder (30) to touch specific locations on pieces forming the gap or fixturing to produce weld variance data. The gap welding process (10) then uses a weld control program in conjunction with the weld program data (22), weld variance data (26), and feedback data (44) that is gathered during the welding process to determine and perform the correct manipulation required to produce torch movements to accurately weld the gap (32).
摘要翻译：一种用于操纵可移动机器人焊接机（30）的间隙焊接工艺（10），用于使用较高级编程语言（20）在两个或更多个基本上不可移动的工件（51）之间进行焊接。间隙焊接过程（10）执行数据传输程序，该程序采用表示预期变量的电子表格数据（18），运行数据转换程序（20），该数据转换程序（20）创建包括点位置，用户框架（34和36），焊接计划，缝线跟踪计划，编织时间表，方位角方向，行驶速度，等待时间，编织类型和数字输出控制数据数。间隙焊接工艺（10）还通过使用机器人焊接机（30）来触摸形成间隙的块上的特定位置或夹具来执行用于实际焊接间隙测量的间隙感测程序（28），以产生焊接方差数据。间隙焊接过程（10）然后使用焊接控制程序与焊接程序数据（22），焊接方差数据（26）和在焊接过程中收集的反馈数据（44）相结合，以确定和执行正确的产生割炬运动以精确地焊接间隙（32）所需的操作。

7. 发明授权

US4429266A Method of controlling an industrial robot 失效
标题翻译：控制工业机器人的方法
公开(公告)号：US4429266A
公开(公告)日：1984-01-31
申请号：US329510
申请日：1981-12-10
申请人： Hans R. Tradt
发明人： Hans R. Tradt
IPC分类号： B25J9/18 , G05B19/42
CPC分类号： G05B19/42 , G05B2219/36407 , G05B2219/45083 , G05B2219/50252 , Y02P90/265
摘要： An industrial robot, designed to machine a workpiece by means of a tool supported on an extremity of a mobile arm, is controlled by a programmer whose memory is initially loaded with a preliminary program including the locations of a multiplicity of closely juxtaposed but discrete points on the workpiece surface and instructions for the guidance of that extremity establishing rectilinear or circularly arcuate paths between these points. With the tool replaced by a sensor contacting a pattern corresponding to the desired shape of the workpiece, the preliminary program is executed and deviations from the established paths are registered to modify the stored instructions, thereby converting the preliminary program into a definite program subsequently used in shaping the actual workpiece.
摘要翻译：设计用于通过支撑在移动臂的末端上的工具加工工件的工业机器人由程序员来控制，该程序员的存储器最初被加载有初步程序，该程序包括多个紧密并列的离散点的位置工件表面和指导，以指导这一点在这些点之间建立直线或圆弧形路径。通过接触与工件的期望形状相对应的图案的传感器替换工具，执行初步程序并注册与建立的路径的偏离以修改存储的指令，从而将初步程序转换成随后在成形实际工件。

8. 发明授权

US07253380B2 Induction heating of rail welds 失效
标题翻译：铁路焊接感应加热
公开(公告)号：US07253380B2
公开(公告)日：2007-08-07
申请号：US10296635
申请日：2001-06-04
申请人： Richard Miller
发明人： Richard Miller
IPC分类号： H05B6/08 , H05B6/10 , B23K13/01
CPC分类号： B23K9/0216 , B23K9/0213 , B23K9/12 , B23K9/127 , B23K9/173 , B23K13/01 , B23K37/0235 , B23K2101/26 , G05B19/4207 , G05B2219/36407 , G05B2219/37043 , G05B2219/40233 , G05B2219/45104
摘要： An apparatus (10) and method for preheating welds uses a centered induction plate (12) having preferably a plurality of induction coils (30, 32) to impart the generation of heat in the materials to be welded (14), being interactively controlled by at least a temperature sensor (90, 92) and power supply control loop (16) so that even preheating can be obtained for a selected length of time given the parameters of the weld desired.
摘要翻译：用于预热焊接的装置（10）和方法使用优选地具有多个感应线圈（30,32）的中心感应板（12），以在被焊接材料（14）中产生热量，由热交换控制至少一个温度传感器（90,92）和电源控制回路（16），使得在所需焊接参数的给定时间内可以获得均匀的预热。

9. 发明申请

US20070145027A1 Control system using working robot, and work processing method using this system 失效
标题翻译：使用工作机器人的控制系统，以及使用该系统的工作处理方法
公开(公告)号：US20070145027A1
公开(公告)日：2007-06-28
申请号：US10544637
申请日：2004-02-05
申请人： Akinobu Izawa , Tetsuo Era , Koji Ueda , Takeshi Yamagami
发明人： Akinobu Izawa , Tetsuo Era , Koji Ueda , Takeshi Yamagami
IPC分类号： B23K9/12
CPC分类号： B25J9/1684 , B23K9/032 , B23K9/0956 , B23K9/127 , B23K9/1272 , B23K9/1274 , B25J9/1694 , B25J19/022 , G05B19/42 , G05B2219/34096 , G05B2219/36407 , G05B2219/36415 , G05B2219/36462 , G05B2219/45104 , G05B2219/4705 , G05B2219/49218
摘要： The control system includes a welding robot (10) which moves a welding torch (16) along a work (W) for welding the work (W), a robot controller (40) for controlling driving of the welding robot (10), a laser sensor head (17) for detecting a shape change in the work (W) during welding by the welding torch (16), and a personal computer (30) for obtaining instruction information for the welding robot (10) in accordance with the shape change, based on a result of detection by the laser sensor head (17). The robot controller (40) moves the welding torch (16) by controlling the driving of the working robot, based on the instruction information obtained by the personal computer (30).
摘要翻译：该控制系统包括焊接机器人（10），其沿焊接工件（W）的工件（W）移动焊炬（16），用于控制焊接机器人（10）的驱动的机器人控制器（40）用于检测通过焊炬（16）进行焊接时的工件（W）的形状变化的激光传感器头（17）和用于根据形状获得焊接机器人（10）的指示信息的个人计算机（30）基于激光传感器头（17）的检测结果来改变。基于由个人计算机（30）获得的指示信息，机器人控制器（40）通过控制工作机器人的驱动来移动焊炬（16）。

10. 发明申请

US20060212170A1 Laser-welding teaching device and method 审中-公开
标题翻译：激光焊接教学装置及方法
公开(公告)号：US20060212170A1
公开(公告)日：2006-09-21
申请号：US11362870
申请日：2006-02-28
申请人： Yoshiharu Nagatsuka , Yoshitake Furuya
发明人： Yoshiharu Nagatsuka , Yoshitake Furuya
IPC分类号： G06F19/00
CPC分类号： B23K26/0884 , B25J9/1671 , G05B19/4207 , G05B2219/35216 , G05B2219/36407 , G05B2219/40613 , G05B2219/45104
摘要： A laser welding teaching device, and a teaching method, for simplifying the teaching of the motion of a scanner and for reducing a welding operation time by a welding robot. The laser welding teaching device is connected to a robot control device for controlling the welding robot for welding a workpiece and sends a command to the robot control device. A laser oscillator is connected to a work tool of the robot and a laser scanner is mounted on the work tool. By using the laser scanner capable of moving at high-speed, the motion of the robot during the air cut motion may be greatly reduced, resulting in a significant reduction of the cycle time of the whole system.
摘要翻译：一种激光焊接教学装置和教学方法，用于简化扫描器运动的教导以及通过焊接机器人减少焊接操作时间。激光焊接教学装置连接到机器人控制装置，用于控制用于焊接工件的焊接机器人，并向机器人控制装置发送命令。激光振荡器连接到机器人的工作工具，激光扫描器安装在工作工具上。通过使用能够高速移动的激光扫描仪，在空气切割运动期间机器人的运动可能大大降低，导致整个系统的循环时间的显着降低。

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